CN209499896U - A kind of hand surgical navigational positioning system - Google Patents
A kind of hand surgical navigational positioning system Download PDFInfo
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- CN209499896U CN209499896U CN201821692948.8U CN201821692948U CN209499896U CN 209499896 U CN209499896 U CN 209499896U CN 201821692948 U CN201821692948 U CN 201821692948U CN 209499896 U CN209499896 U CN 209499896U
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Abstract
The utility model relates to the field of medical instrument technology, a kind of hand surgical navigational positioning system, including positional tracking sensors are disclosed, for sending and receiving infrared signal or electromagnetic signal；Hand structure is able to carry out the movement of up, down, left, right, before and after and the rotation of all directions；Locating and tracking label, is arranged in hand structure and can reflect the infrared signal or electromagnetic signal of positional tracking sensors sending；Wear-type imaging arrangement；Control cabinet is equipped with the image registration module that the three-dimensional image space information that can be shown in wear-type imaging arrangement can be obtained according to the spatial positional information that positional tracking sensors acquire in the inside of control cabinet；And locking structure, the inside of hand structure is set, and can lock after hand structure motion to Target space position to hand structure.The hand surgical navigational positioning system has the advantages that save economic cost, accurate positioning and is able to carry out automatic locking.
Description
Technical field
The utility model relates to the field of medical instrument technology, more particularly to a kind of hand surgical navigational positioning system.
Background technique
Currently, it is intracorporal that the application of Technology of surgery navigation can be such that doctor sees clearly in the fields such as orthopaedics and neurosurgery
Bone and internal organs, and corresponding operation tool is navigated to by correct spatial position by multi-freedom robot.But due to
The cost of robot is more expensive, larger using difficulty, and there are the risks of motion collision, and there is very in actual use
Big limitation.
Therefore it provides a kind of facilitate positioning, accurate positioning and can lock rapidly after reaching target position to realize sky
Between the operation guiding system that positions just become the emphasis of research.
Utility model content
(1) technical problems to be solved
The purpose of the utility model is to provide a kind of hand surgical navigational positioning systems, at least to solve in the prior art
It is mostly that corresponding operation tool is navigated to by correct spatial position using robot, however, the cost of robot is more expensive,
It is larger using difficulty, and there is technical issues that motion collision one of.
(2) technical solution
In order to solve the above-mentioned technical problem, the utility model provides a kind of hand surgical navigational positioning system, comprising: fixed
Position tracking transducer, for sending and receiving infrared signal or electromagnetic signal；
Hand structure, the hand structure are able to carry out the movement and all directions of up, down, left, right, before and after
Rotation；Locating and tracking label is arranged in the hand structure and can reflect the infrared of the positional tracking sensors sending
Signal or electromagnetic signal；Wear-type imaging arrangement；Control cabinet, being equipped in the inside of the control cabinet can be according to the positioning
The spatial positional information of tracking transducer acquisition is empty to obtain the 3-D image that can be shown in the wear-type imaging arrangement
Between information image registration module；And locking structure, the inside of the hand structure is set, and can be described manual
The hand structure is locked after formula structure motion to Target space position.
Wherein, the hand structure includes the first movement bar portion and the second movement bar portion, and the first movement bar portion is logical
It crosses hinge joint to be connected with the second movement bar portion, wherein the second movement bar portion can be towards close to and far from described
The direction of first movement bar portion is moved.
Wherein, the first rotary joint and the first bulb are connected in turn from top to bottom in the bottom end of the first movement bar portion
Joint, wherein first rotary joint can promote the first movement bar portion to be circumferentially rotated, first bulb joint
The first movement bar portion can be promoted to carry out multi-faceted rotation.
Wherein, the second rotary joint and the second bulb are connected in turn from bottom to up on the top of the second movement bar portion
Joint, wherein second rotary joint can promote the second movement bar portion to be circumferentially rotated, second bulb joint
The second movement bar portion can be promoted to carry out multi-faceted rotation.
Wherein, first rotary joint include with the first rotating shaft that is fixedly connected of bottom end of the first movement bar portion with
And it is set in the first outer barrel of the periphery of the first rotating shaft, wherein the first rotating shaft being capable of relatively described first outer cylinder
Body is circumferentially rotated.
Wherein, the hand surgical navigational positioning system further includes mounting base, and first bulb joint includes and institute
The first spherical shell that the first outer barrel is fixedly connected is stated, is configured with first of opening downward in the lower end surface of first spherical shell
Groove, having in the inner containment of first groove can be carried out the first bulb being freely rotated, wherein first bulb passes through
First club is fixedly connected with the mounting base.
Wherein, second rotary joint include with the second shaft for being fixedly connected of top of the second movement bar portion with
And it is set in the second outer barrel of the periphery of second shaft, wherein second shaft being capable of relatively described second outer cylinder
Body is circumferentially rotated.
Wherein, the hand surgical navigational positioning system further includes surgical instrument, second bulb joint include with
The second spherical shell that second outer barrel is fixedly connected is configured with the of opening downward in the lower end surface of second spherical shell
Two grooves, having in the inner containment of second groove can be carried out the second bulb being freely rotated, wherein second bulb is logical
It crosses the second club to be fixedly connected with the surgical instrument, the locating and tracking label is installed in the surgical instrument.
Wherein, the locking structure includes the first locking structure and the setting that the inside of the first movement bar portion is arranged in
The second locking structure in the inside of the second movement bar portion, first locking structure include the first telescope motor and setting
The first lock ball bowl in the top of first bulb, wherein pass through the first telescopic rod court in first telescope motor
It is moved close to the direction of the first lock ball bowl, so that the first lock ball bowl be promoted to compress first bulb；It is described
Second locking structure includes the second lock ball bowl of the second telescope motor with the lower section that second bulb is arranged in, wherein logical
The second telescopic rod crossed in second telescope motor is moved towards the direction close to the second lock ball bowl, to promote described
Second lock ball bowl compresses second bulb.
Wherein, the hand surgical navigational positioning system further includes being wrapped in the disinfection of the periphery of the hand structure
Film.
(3) beneficial effect
Hand surgical navigational positioning system provided by the utility model has the advantages that compared with prior art
The hand structure is installed on by operating bed by operation consent, meanwhile, positional tracking sensors and control cabinet are pacified
It sets in operating room.Operator wears wear-type imaging arrangement, can be stored in advance in control cabinet patient CT (cat scanner)
MRI (nuclear magnetic resonance) preoperative information, and information in art is obtained in situations in the surgery room.Using conventional surgical instrument as described below
Afterwards, positional tracking sensors can issue infrared signal or electromagnetic signal, and locating and tracking label can issue positional tracking sensors
Infrared signal or electromagnetic signal reflected, which will be according to reflected infrared signal or electromagnetism
Signal knows the current spatial location information of locating and tracking label, and by using image registration module, can be calculated is needed
It is shown in the three-dimensional spatial position information of the surgical instrument on the wear-type image-forming module, operator drags the hand with hand
Structure, so that it is moved into spatial position to be performed the operation, at this point, hand structure is locked by locking structure, from
And surgical instrument is fully positioned at the spatial position to be performed the operation.It can be seen that the hand surgical navigational of the application positions
System has the advantages that manually implemented surgical instrument accurate positioning and can carry out locking rapidly after positioning to surgical instrument.
In this way, not only reducing whole economic cost, and existing robot is also efficiently avoided in the process operated
It is middle that there is a situation where mechanical collisions.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the hand surgical navigational positioning system of embodiments herein；
Fig. 2 is the overall structure diagram of the hand structure in Fig. 1；
Fig. 3 be Fig. 2 in the first rotary joint, the first bulb joint and the first locking structure connection relationship structure
Schematic diagram；
Fig. 4 be Fig. 2 in the second rotary joint, the second bulb joint and the second locking structure connection relationship structure
Schematic diagram.
In figure, 1: positional tracking sensors；2: hand structure；21: the first movement bar portions；211: the first rotary joints；
211a: first rotating shaft；211b: the first outer barrel；212: the first rotary joints；212a: the first spherical shell；212b: the first bulb；
212c: the first club；22: the second movement bar portions；221: the second rotary joints；221b: the second outer barrel；222: the second bulbs close
Section；222a: the second spherical shell；222b: the second bulb；222c: the second club；3: locating and tracking label；4: wear-type imaging arrangement；
5: control cabinet；6: image registration module；7: locking structure；71: the first lock ball bowls；72: the second lock ball bowls；8: hinge closes
Section；9: mounting base；10: surgical instrument；20: disinfection film.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Example is not intended to limit the scope of the present invention for illustrating the utility model.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
Embodiment 1:
As shown in Figures 1 to 4, schematically show that the hand surgical navigational positioning system includes locating and tracking in figure
Sensor 1, hand structure 2, locating and tracking label 3, wear-type imaging arrangement 4, control cabinet 5, image registration module 6 and lock
Determine structure 7.
In embodiments herein, the positional tracking sensors 1 are for sending and receiving infrared signal or electromagnetic signal.
The hand structure 2 is able to carry out the movement of up, down, left, right, before and after and the rotation of all directions.
Locating and tracking label 3 is arranged in the hand structure 2 and can reflect the infrared of the positional tracking sensors 1 sending
Signal or electromagnetic signal.
Wear-type imaging arrangement 4 is usually worn on the front on the head of operator and being located at the eyes of operator.
The inside of the control cabinet 5 be equipped with can according to the positional tracking sensors 1 acquire spatial positional information come
Obtain the image registration module 6 for the three-dimensional image space information that can be shown in the wear-type imaging arrangement 4.It needs to illustrate
Be, the specific structure of the image registration module 6 and play the role of be it is well-known to those skilled in the art, for save a piece
For the sake of width, it is not detailed herein.
The inside of the hand structure 2 is arranged in locking structure 7, and can move to target empty in the hand structure 2
Meta position, which postpones, locks the hand structure 2.Specifically, which is installed on by operating bed by operation consent,
Meanwhile positional tracking sensors 1 and control cabinet 5 being all positioned in operating room.Operator wears wear-type imaging arrangement 4,
Can be stored in advance in control cabinet 5 patient CT (cat scanner) MRI (nuclear magnetic resonance) preoperative information, and obtain in situations in the surgery room
Information in art.After using conventional surgical instrument 10 as described below, positional tracking sensors 1 can issue infrared signal or electricity
Magnetic signal, locating and tracking label 3 can reflect infrared signal or electromagnetic signal that positional tracking sensors 1 issue, this is fixed
Position tracking transducer 1 will know the current spatial of locating and tracking label 3 according to reflected infrared signal or electromagnetic signal
Location information can be calculated by using image registration module 6 and need to be shown on the wear-type image-forming module 4
The three-dimensional spatial position information of surgical instrument 10, operator drags the hand structure 2 with hand, to be moved into wait perform the operation
Spatial position, at this point, being locked to hand structure 2 by locking structure 7, so that surgical instrument 10 is fully positioned at
The spatial position to be performed the operation.It can be seen that the hand surgical navigational positioning system of the application has manually implemented surgical device
10 accurate positioning of tool and the advantage that surgical instrument 10 can be locked rapidly after positioning.In this way, not only reducing entirety
Economic cost, and also efficiently avoid the feelings that mechanical collision occurs during being operated for existing robot
Condition.
It should be noted that the control cabinet 5 can be PC or other industrial PCs, pass through positional tracking sensors 1
Spatial position needed for acquisition, the control cabinet 5 can receive the medical images such as DICOM (digital imaging and communications in medicine) in real time
Data simultaneously generate 3-dimensional image data, or directly receive 3 d image datas such as STL (Standard Template Library).
The wear-type imaging arrangement 4 can be AR glasses or augmented reality glasses, be electrically connected with control cabinet 5, can when operation
Three-dimensional image projection in the visual field of operator, to be instructed operator adjust the position of hand structure 2.
The surgical instrument can be abutment sleeve or holding screw etc..
It should also be noted that, the hand structure 2 can control the hand structure 2 by external switch respectively
The second telescopic rod in the first telescopic rod and the second telescope motor in the first interior telescope motor extends and retracts, to make
Hand structure 2 can neatly be switched between the state unclamped and locked.
As shown in Figures 2 to 4, to advanced optimize the hand structure 2 in above-mentioned technical proposal, in above-mentioned technical proposal
On the basis of, which includes the first movement bar portion 21 and the second movement bar portion 22, which passes through
Hinge joint 8 with this second movement bar portion 22 be connected, wherein this second movement bar portion 22 can towards close to and far from this first
The direction of movement bar portion 21 is moved.Specifically, by increasing between the first movement bar portion 21 and the second movement bar portion 22
If hinge joint 8, it is readily appreciated that, which adds, only so that the first movement bar portion 21 and the second moving lever
Can only have the movement in a direction between portion 22, that is, be usually such that this second movement bar portion 22 towards close to and far from this first
The direction of movement bar portion 21 is moved.
It should be noted that due to the structure of hinge joint 8 be it is well-known to those skilled in the art, for save length rise
See, is not detailed herein.
As shown in Figures 2 to 4, in the ratio of the application more preferably technical solution, in the first movement bar portion 21
Bottom end be connected with the first rotary joint 211 and the first bulb joint 212 in turn from top to bottom, wherein first rotary joint
211 can promote the first movement bar portion 21 to be circumferentially rotated, which can promote the first movement bar portion 21
Carry out multi-faceted rotation.In this way, passing through the setting of first rotary joint 211, the first movement bar portion 21 can be made to have
There is the freedom degree in a direction, that is, the first movement bar portion 21 is circumferentially rotated around the axis direction of itself.It should
The setting of first bulb joint 212 can make the first movement bar portion 21 have the freedom in 3 directions, that is, can make this
First movement bar portion 21 has the effect of multi-faceted spatial movement.In this way, just greatly increasing the first movement bar portion 21
The flexibility of spatial movement allows to be moved to as needed on the position of any direction.
As shown in Figures 2 to 4, in the ratio of the application more preferably technical solution, in the second movement bar portion 22
Top be connected with the second rotary joint 221 and the second bulb joint 222 in turn from bottom to up, wherein second rotary joint
221 can promote the second movement bar portion 22 to be circumferentially rotated, which can promote the second movement bar portion 22
Carry out multi-faceted rotation.Specifically, by the setting of second rotary joint 221, the second movement bar portion 22 can be made
Freedom degree with a direction, that is, the second movement bar portion 22 is circumferentially rotated around the axis direction of itself.
The setting of second bulb joint 222 can make the second movement bar portion 22 have the freedom degree in 3 directions, that is, can make
Obtaining the second movement bar portion 22 has the effect of multi-faceted spatial movement.In this way, just greatly increasing second moving lever
The flexibility of 22 spatial movement of portion, allows to be moved to as needed on the position of any direction.
As shown in Figures 2 to 4, in one embodiment, first rotary joint 211 packet is also schematically shown in figure
It includes the first rotating shaft 211a being fixedly connected with the bottom end of the first movement bar portion 21 and is set in the outer of first rotating shaft 211a
The the first outer barrel 211b enclosed, wherein first rotating shaft 211a can be circumferentially rotated with respect to first outer barrel 211b.Tool
Body, by being fixedly connected with first rotating shaft 211a and the bottom end of the first movement bar portion 21, in this way, being pulled in operator
When the hand structure 2, circumferentially rotating for the first movement bar portion 21 can be realized.
As shown in Figure 1, Figure 2, fixed to advanced optimize the hand surgical navigational in above-mentioned technical proposal shown in Fig. 3 and Fig. 4
Position system, based on the above technical solution, which further includes mounting base 9, first ball
Head joint 212 includes the first spherical shell 212a being fixedly connected with first outer barrel 211b, in the lower end of first spherical shell 212a
Surface construction has the first groove (not shown) of opening downward, can be carried out freedom in the inner containment of first groove
First bulb 212b of rotation, wherein the first bulb 212b is fixedly connected by the first club 212c with the mounting base 9.It needs
It is noted that by so that the first spherical shell 212a is fixedly connected with first outer barrel 211b, in this way, just realize this
The connection of one rotary joint 211 and the first bulb joint 212, when hand structure 2 is being dragged to target empty meta position by operator
It postpones, the movement of the first movement bar portion 21 can be than smoothly, will not there is a situation where limitation of movement.
It should be noted that the mounting base 9 setting is on the ground, play the role of fixing first bulb joint 212, into
One step, achieve the purpose that the bottom end to the first movement bar portion 21 is fixed.
In a preferred embodiment, which includes solid with the top of the second movement bar portion 22
Second outer barrel 221b of the second shaft (not shown) for connecting surely and the periphery for being set in second shaft, wherein
Second shaft can be circumferentially rotated with respect to second outer barrel 221b.Specifically, by making second shaft and being somebody's turn to do
The bottom end of second movement bar portion 22 is fixedly connected, in this way, when operator pulls the hand structure 2, can realize this
Two movement bar portions 22 circumferentially rotate.
In another preferred embodiment of the application, which further includes surgical instrument
10, which includes the second spherical shell 222a being fixedly connected with second outer barrel 221b, in second spherical shell
The lower end surface of 222a is configured with the second groove (not shown) of opening downward, has in the inner containment of second groove
It can be carried out the second bulb 222b being freely rotated, wherein the second bulb 222b passes through the second club 222c and the surgical instrument
10 are fixedly connected, and the locating and tracking label 3 is equipped in the surgical instrument 10.It should be noted that pass through so that this second
Spherical shell 222a is fixedly connected with second outer barrel 221b, in this way, just realizing second rotary joint 221 and the second bulb pass
The connection of section 222, when operator is after being dragged to Target space position for hand structure 2, the fortune of the second movement bar portion 22
It is dynamic can be than smoothly, will not there is a situation where limitation of movement.
As shown in Figure 3 and Figure 4, to advanced optimize the locking structure 7 in above-mentioned technical proposal, in above-mentioned technical proposal
On the basis of, the locking structure 7 include be arranged in the inside of the first movement bar portion 21 the first locking structure and setting this
Two movement bar portions 22 inside the second locking structure, first locking structure include the first telescope motor (not shown) and
First lock ball bowl 71 of the top of first bulb 212b is set, wherein is stretched by first in first telescope motor
Contracting bar is moved towards the direction close to the first lock ball bowl 71, so that the first lock ball bowl 71 be promoted to compress first bulb
212b.Specifically, after hand structure 2 is dragged to Target space position by operator, by starting first telescope motor,
The first telescopic rod in first telescope motor can gradually push the first lock ball bowl 71, so that the first lock ball bowl
71 move towards the direction close to first bulb 212b, until the first lock ball bowl 71 is pressed on the upper of first bulb 212b
Behind end, stop motion has just achieved the purpose that lock first bulb 212b at this time, in this way it is ensured that this first
Position of the bar portion 21 in object space is moved, avoids that it collides other positions or there is a situation where position inaccurates.
Second locking structure includes the second telescope motor (not shown) and is arranged under second bulb 222b
Second lock ball bowl 72 of side, wherein by the second telescopic rod in second telescope motor towards close to the second lock ball bowl
72 direction movement, so that the second lock ball bowl 72 be promoted to compress second bulb 222b.Specifically, when operator will be manual
After formula structure 2 drags to Target space position, by starting second telescope motor, second in second telescope motor is flexible
Bar can gradually push the second lock ball bowl 72 so that the second lock ball bowl 72 towards close to second bulb 222b side
To movement, until stop motion just reaches at this time after the second lock ball bowl 72 is pressed on the upper end of second bulb 222b
The purpose that second bulb 222b is locked, in this way it is ensured that the position of the second movement bar portion 22 in object space
It sets, avoids that it collides other positions or there is a situation where position inaccurates.
It should be noted that the second telescopic rod in the first telescopic rod and the second telescope motor in first telescope motor
Should move synchronously, in this way, just may insure that the first movement bar portion 21 and the second movement bar portion 22 are moving to target empty
Meta position, which postpones, to be locked simultaneously.Further, it is ensured that the first movement bar portion 21 moves consistent with the second movement bar portion 22
Property.
In addition it is also necessary to explanation, the movement of first telescope motor and the second telescope motor can be by being arranged at this
Switch (not shown) on control cabinet 5 is controlled, that is, when turning on the switch, first in first telescope motor stretches
The second telescopic rod in contracting bar and the second telescope motor starts to make synchronous stretch out motion.When pressing the switch again, this
One telescopic rod and the second telescopic rod will make stop motion simultaneously.
As shown in Figure 1, also schematically showing the hand surgical navigational positioning system in one embodiment, in figure
It further include the disinfection film 20 for being wrapped in the periphery of the hand structure 2.It specifically, can be by this manually in order to guarantee sterility requirements
2 sets of formula structure in sterile disinfection film, to play the role of completely cutting off bacterium, avoid working in the hand structure 2
When, bring bacterium into.
It should be noted that the material of the disinfection film 20 be it is well-known to those skilled in the art, for save length for the sake of,
It is not detailed herein.
In conclusion operation consent, which is installed on by operating bed, meanwhile, by positional tracking sensors 1
It is all positioned in operating room with control cabinet 5.Operator wears wear-type imaging arrangement 4, and patient can be stored in advance in control cabinet 5
CT (cat scanner) MRI (nuclear magnetic resonance) preoperative information, and in situations in the surgery room obtain art in information.Using it is conventional as
After the lower surgical instrument 10, positional tracking sensors 1 can issue infrared signal or electromagnetic signal, 3 meeting of locating and tracking label
Infrared signal or electromagnetic signal that positional tracking sensors 1 issue are reflected, which will be according to anti-
It is emitted back towards the infrared signal or electromagnetic signal come, the current spatial location information of locating and tracking label 3 is known, matches by using image
The three-dimensional space position for needing to be shown in the surgical instrument 10 on the wear-type image-forming module 4 can be calculated in quasi-mode block 6
Information, operator drags the hand structure 2 with hand, so that spatial position to be performed the operation is moved into, at this point, passing through locking
Structure 7 locks hand structure 2, so that surgical instrument 10 is fully positioned at the spatial position to be performed the operation.Thus
As it can be seen that the hand surgical navigational positioning system of the application has manually implemented 10 accurate positioning of surgical instrument and after positioning
The advantage that surgical instrument 10 can be locked rapidly.In this way, not only reducing whole economic cost, and also effectively
Avoiding existing robot, there is a situation where mechanical collisions during being operated.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (10)
1. a kind of hand surgical navigational positioning system characterized by comprising
Positional tracking sensors, for sending and receiving infrared signal or electromagnetic signal；
The end of hand structure, the hand structure is able to carry out the movement and all directions of up, down, left, right, before and after
Rotation；
Locating and tracking label is arranged in the hand structure and can reflect the infrared letter that the positional tracking sensors issue
Number or electromagnetic signal；
Wear-type imaging arrangement；
Control cabinet is equipped with the space bit confidence that can be acquired according to the positional tracking sensors in the inside of the control cabinet
It ceases to obtain the image registration module for the three-dimensional image space information that can be shown in the wear-type imaging arrangement；And
The inside of the hand structure is arranged in locking structure, and can be in the hand structure motion to object space
The hand structure is locked behind position.
2. hand surgical navigational positioning system according to claim 1, which is characterized in that the hand structure includes
First movement bar portion and the second movement bar portion, the first movement bar portion are connected by hinge joint with the second movement bar portion
It connects, wherein the second movement bar portion can be moved towards the direction close to and far from the first movement bar portion.
3. hand surgical navigational positioning system according to claim 2, which is characterized in that in the first movement bar portion
Bottom end be connected with the first rotary joint and the first bulb joint in turn from top to bottom, wherein first rotary joint can promote
Circumferentially rotate the first movement bar portion, it is multi-party that first bulb joint can promote the first movement bar portion to carry out
The rotation of position.
4. hand surgical navigational positioning system according to claim 3, which is characterized in that in the second movement bar portion
Top be connected with the second rotary joint and the second bulb joint in turn from bottom to up, wherein second rotary joint can promote
Circumferentially rotate the second movement bar portion, it is multi-party that second bulb joint can promote the second movement bar portion to carry out
The rotation of position.
5. hand surgical navigational positioning system according to claim 4, which is characterized in that the first rotary joint packet
Include the with the first rotating shaft that is fixedly connected of bottom end of the first movement bar portion and the periphery for being set in the first rotating shaft
One outer barrel, wherein the first rotating shaft can relatively described first outer barrel circumferentially rotated.
6. hand surgical navigational positioning system according to claim 5, which is characterized in that the hand surgical navigational
Positioning system further includes mounting base, and first bulb joint includes the first spherical shell being fixedly connected with first outer barrel,
It is configured with the first groove of opening downward in the lower end surface of first spherical shell, is had in the inner containment of first groove
It can be carried out the first bulb being freely rotated, wherein first bulb is fixedly connected by the first club with the mounting base.
7. hand surgical navigational positioning system according to claim 6, which is characterized in that the second rotary joint packet
Include the with the second shaft for being fixedly connected of top of the second movement bar portion and the periphery for being set in second shaft
Two outer barreies, wherein second shaft can relatively described second outer barrel circumferentially rotated.
8. hand surgical navigational positioning system according to claim 7, which is characterized in that the hand surgical navigational
Positioning system further includes surgical instrument, and second bulb joint includes the second ball being fixedly connected with second outer barrel
Shell is configured with the second groove of opening downward in the lower end surface of second spherical shell, holds in the inside of second groove
It receives and can be carried out the second bulb being freely rotated, wherein second bulb is fixed by the second club and the surgical instrument
Connection is equipped with the locating and tracking label in the surgical instrument.
9. hand surgical navigational positioning system according to claim 8, which is characterized in that the locking structure includes setting
Set the first locking structure and the second of the inside that the second movement bar portion is set in the inside of the first movement bar portion
Locking structure, first locking structure include the first locking of the first telescope motor with the top that first bulb is arranged in
Ball bowl, wherein it is moved by the first telescopic rod in first telescope motor towards the direction close to the first lock ball bowl,
To promote the first lock ball bowl to compress first bulb；
Second locking structure includes the second lock ball bowl of the second telescope motor with the lower section that second bulb is arranged in,
Wherein, it is moved by the second telescopic rod in second telescope motor towards the direction close to the second lock ball bowl, thus
The second lock ball bowl is promoted to compress second bulb.
10. hand surgical navigational positioning system according to any one of claim 1 to 9, which is characterized in that the hand
Dynamic formula surgical navigational positioning system further includes the disinfection film for being wrapped in the periphery of the hand structure.
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| CN201821692948.8U CN209499896U (en) | 2018-10-18 | 2018-10-18 | A kind of hand surgical navigational positioning system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109350241A (en) * | 2018-10-18 | 2019-02-19 | 北京罗森博特科技有限公司 | A kind of hand surgical navigational positioning system |
| CN110811808A (en) * | 2019-11-15 | 2020-02-21 | 北京积水潭医院 | Rod-shaped handheld operating device and method for synchronously measuring force and position thereof |
| CN112716605A (en) * | 2021-03-31 | 2021-04-30 | 上海龙慧医疗科技有限公司 | Two-way self-locking lever of ball socket type positioner |
| CN109350241B (en) * | 2018-10-18 | 2024-05-10 | 北京罗森博特科技有限公司 | Manual operation navigation positioning system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109350241A (en) * | 2018-10-18 | 2019-02-19 | 北京罗森博特科技有限公司 | A kind of hand surgical navigational positioning system |
| CN109350241B (en) * | 2018-10-18 | 2024-05-10 | 北京罗森博特科技有限公司 | Manual operation navigation positioning system |
| CN110811808A (en) * | 2019-11-15 | 2020-02-21 | 北京积水潭医院 | Rod-shaped handheld operating device and method for synchronously measuring force and position thereof |
| CN110811808B (en) * | 2019-11-15 | 2021-04-06 | 北京积水潭医院 | Rod-shaped handheld operating device and method for synchronously measuring force and position thereof |
| CN112716605A (en) * | 2021-03-31 | 2021-04-30 | 上海龙慧医疗科技有限公司 | Two-way self-locking lever of ball socket type positioner |
| CN112716605B (en) * | 2021-03-31 | 2021-06-11 | 上海龙慧医疗科技有限公司 | Two-way self-locking lever of ball socket type positioner |
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