CN213910504U

CN213910504U - Surgical navigation device

Info

Publication number: CN213910504U
Application number: CN202022218198.4U
Authority: CN
Inventors: 叶泽群; 蔡广杰; 宋诚谦
Original assignee: Hefei Meyer Optoelectronic Technology Inc
Current assignee: Hefei Meyer Optoelectronic Technology Inc
Priority date: 2020-09-29
Filing date: 2020-09-29
Publication date: 2021-08-10
Anticipated expiration: 2030-09-29

Abstract

The present disclosure provides a surgical navigation device, which includes a navigation adjusting device and a main control device. The navigation adjusting device comprises a motion control module, a pitching rotation module and a lifting module. The main control device is in communication connection with the motion control module, the pitching rotation module and the lifting module are in communication connection with the motion control module respectively, and the pitching rotation module is connected to the lifting module; the pitching rotation module is used for mounting the camera and driving the camera to do pitching and horizontal rotation motions; the lifting module is used for driving the pitching rotating module and the camera to do up-and-down lifting motion; the main control device is used for sending control signals to the motion control module, controlling the pitching rotation module to drive the camera to perform pitching and horizontal rotation motion by the motion control module, controlling the lifting module to drive the pitching rotation module and the camera to perform vertical lifting motion, and receiving position signals of lifting, rotating and pitching of the camera from the motion control module. Therefore, the posture adjustment of the camera for surgical navigation can be remotely completed, and the operation efficiency is improved.

Description

Surgical navigation device

Technical Field

The present disclosure relates to the technical field of medical equipment, and in particular, to a surgical navigation device.

Background

In the field of surgical navigation, the positioning principle of a navigation camera for surgical navigation is as follows: the camera detects the active/passive small identification balls in the visual field range in real time, and the small balls are fixed on different supports and arranged according to a specific rule to form the tracer with different position characteristics. The tracer is fixed to the target person or tool and the tracer feature is unique within the field of view of the camera. The camera can therefore resolve the human body or different tools from different tracers and can be spatially positioned.

In order to ensure that the navigation positioning visual field is in the optimal range or avoid the shielding of other surgical instruments and human bodies, the navigation camera needs to be adjusted in the operation, and the height and the pitch angle of the navigation camera are adjusted. In the existing surgical navigation system, when the irradiation direction of a camera needs to be adjusted during surgery, medical staff needs to manually drag a mechanism provided with the camera to adjust the height and the pitch angle of the navigation camera, and then observe a navigation image on a main control computer until the camera is properly directed. Since the camera direction is dragged and then confirmed, one-time in-place is difficult to ensure, and multiple adjustments are needed. If one person adjusts the camera, one person confirms the image, requiring additional assistance personnel to participate. If the operation is completed by one person alone, the continuity of the operation can be influenced by multiple times of adjustment, the energy of medical staff is dispersed, and the operation efficiency is reduced.

SUMMERY OF THE UTILITY MODEL

In view of the defects of the prior art, the present disclosure aims to provide a surgical navigation device capable of remotely completing the posture adjustment of a camera for surgical navigation, thereby improving the operation efficiency.

In order to achieve the above object, in one aspect, the present disclosure provides a surgical navigation device including a navigation adjusting means and a main control means. The navigation adjusting device comprises a motion control module, a pitching rotation module and a lifting module. The main control device is in communication connection with the motion control module, the pitching rotation module and the lifting module are in communication connection with the motion control module respectively, and the pitching rotation module is connected to the lifting module; the pitching rotation module is used for mounting the camera and driving the camera to do pitching motion and horizontal rotation motion; the lifting module is used for driving the pitching rotating module and the camera to do up-and-down lifting motion; the main control device is used for sending control signals to the motion control module, controlling the pitching rotation module to drive the camera to do pitching motion and horizontal rotation motion by the motion control module, controlling the lifting module to drive the pitching rotation module and the camera to do up-and-down lifting motion, and receiving position signals of lifting, rotating and pitching of the camera from the motion control module.

In an embodiment, the tilt rotation module includes a camera mount and a tilt rotation body. The pitching rotating body comprises a base, a supporting piece, a first driving mechanism and a second driving mechanism. The base is fixed on the lifting module, the supporting piece comprises a first main body part and a first connecting part, the first main body part is provided with a first cavity, the first connecting part protrudes from the first main body part to the base to form a protruding part and is rotatably connected with the base, and the first main body part, the first connecting part and the base enclose a first accommodating space; the first driving mechanism comprises a first driving motor and a first transmission unit, the first driving motor is accommodated in the first cavity, the first transmission unit is accommodated in the first accommodating space, the first transmission unit is connected with a first output shaft of the first driving motor and one of the base and the supporting piece, and the first driving motor drives the first transmission unit to drive one of the base and the supporting piece to horizontally rotate relative to the other one of the base and the supporting piece; the second driving mechanism is accommodated in the first cavity and is pivotally connected with the camera bracket.

In an embodiment, the tilt rotation module includes a camera mount and a tilt rotation body. The pitching rotating body is used for driving the camera support and the camera to do pitching motion and horizontal rotating motion. The camera bracket includes a support portion, a fixing portion, and a second connecting portion. The fixing part is bent from the supporting part and forms an L-shaped structure with the supporting part, the fixing part and/or the supporting part is used for mounting a camera, and at least part of the camera is positioned in a second accommodating space formed by the fixing part and the supporting part; the second connecting portion extends from the supporting portion toward a direction away from the fixing portion, and is used for being pivotably connected with the pitching rotating body.

In an embodiment, an installation cavity which is opened upwards is formed in the base, the protruding part of the first connecting part of the supporting part is inserted into the installation cavity, a bearing cavity for installing the first bearing is formed between the protruding part and the installation cavity, and the supporting part and the base are rotatably connected through the first bearing.

In one embodiment, the first drive unit comprises an internal gear and an external gear which mesh with each other. A boss is arranged on the base around the mounting cavity, and the inner gear is fixed on the boss and sleeved on the periphery of the protruding part; the external gear is disposed on a first output shaft of the first drive motor.

In one embodiment, the second driving mechanism includes a second driving motor, a second transmission unit and a supporting frame. The supporting frame comprises two second side walls which are oppositely arranged, the end parts of the two second side walls are respectively provided with an installation part, the supporting frame is connected with the supporting piece through the installation parts, and a second cavity is formed between the two second side walls; the second driving motor extends along the vertical direction of the first main body part and is accommodated in the second cavity, the second transmission unit comprises a support rotating shaft and a transmission assembly, the support rotating shaft penetrates through the two second side walls and is rotatably connected with the two second side walls, and the support rotating shaft penetrates through the first main body part of the supporting piece and is connected with the camera support; the transmission assembly is connected with the support rotating shaft and a second output shaft of the second driving motor and used for achieving turning transmission or turning speed reduction transmission, wherein turning is to change rotation around the second output shaft into rotation around the support rotating shaft.

In one embodiment, the support frame and the first driving motor are arranged in the first cavity adjacent to each other along the transverse direction of the first main body part, and the support frame is connected to the first connecting part through the mounting part; the transmission assembly comprises a worm wheel and a worm which are arranged in the second cavity and are meshed with each other, the worm wheel is connected with the rotating shaft of the support, and the worm is connected with a second output shaft of the second driving motor. Or, the transmission assembly comprises a worm wheel, a worm, a first transmission shaft and gear sets, the worm wheel and the worm are arranged in the first cavity and are meshed with each other, the gear sets are respectively arranged on the first transmission shaft and the support rotating shaft and are meshed with each other, the worm wheel is connected with the first transmission shaft, the worm is connected with a second output shaft of the second driving motor, and the gear sets are arranged on the outer side of the support frame.

In one embodiment, the surgical navigation device further comprises a first detection module and a first detected module; one of the first detection module and the first detected module is arranged on the support frame, the other one is arranged on the support rotating shaft, and the first detection module is used for detecting the position information of the first detected module so as to limit the preset limit position of the support rotating shaft and the support frame in relative rotation. And/or the surgical navigation device further comprises a second detection module and a second detected module; one of the second detection module and the second detected module is arranged on the supporting piece, the other one is arranged on the base, and the second detection module is used for detecting the position information of the second detected module so as to limit the preset limit position of the relative rotation of the supporting piece and the base.

In an embodiment, the navigation adjusting device further includes a support column, the motion control module is disposed in the support column, and the lifting module is disposed at the top of the support column.

In one embodiment, a master control device includes a master console and a display. A main control panel is arranged on the main control table, and a hand lever, a first button and a second button are arranged on the main control panel; the hand rocker, the first button and the second button are respectively in communication connection with the motion control module; the display is used for displaying the current position of the camera corresponding to the position signals of the camera lifting, rotating and pitching.

The beneficial effects of this disclosure are as follows:

in the operation navigation equipment according to the present disclosure, a control signal is sent to the motion control module of the navigation adjusting device through the main control device, the pitching rotation module is controlled by the motion control module to drive the camera to make pitching motion and horizontal rotation motion, and the lifting module is controlled to drive the pitching rotation module and the camera to make up-and-down lifting motion, so that the posture adjustment of the camera for operation navigation can be remotely completed in an electric control mode, the adjustment process of the camera is simplified, the operation is convenient, the operation efficiency is improved, and the operation efficiency is improved when the operation navigation equipment is used in the operation process.

Drawings

Fig. 1 is a perspective schematic view of an embodiment of a surgical navigation device of the present disclosure.

Fig. 2 is an exploded schematic view of the navigation adjustment device and camera of the embodiment of the surgical navigation device of fig. 1.

Fig. 3 is a perspective view of a camera mount and a pitch rotation body of a pitch rotation module of a navigation adjustment device of the embodiment of the surgical navigation apparatus of fig. 1.

Fig. 4 is a schematic cross-sectional view of a pitch rotation body of a pitch rotation module of a navigation adjustment device of the embodiment of the surgical navigation apparatus of fig. 1.

Fig. 5 is a perspective view of a second drive mechanism of the pitch rotation body of the pitch rotation module of the navigation adjustment device of the embodiment of the surgical navigation apparatus of fig. 1.

Fig. 6 is a perspective view of a second driving mechanism of the pitch rotating body of the pitch rotating module of the navigation adjusting device of another embodiment of the surgical navigation apparatus of the present disclosure.

Fig. 7 is a partial perspective view of a main control panel of a main control console of the main control device of the embodiment of the surgical navigation apparatus of fig. 1.

Wherein the reference numerals are as follows:

100 navigation adjustment device 101 second side wall

1 motion control Module 102 mounting

2 pitching rotation module 225 limiting sheet

21 camera support 226 photoelectric switch

211 support 227 proximity switch

212 fixed part 3 lifting module

213 second connecting part 31 telescopic shaft

22 pitch rotating body 4 support post

221 base 41 armrest

221A mounting Cavity 42 first wheel set

221B boss 200 main control device

222 support 201 master console

222A first body portion 201a and a second wheel set

C1 first cavity 202 display

Top 203 main control panel on P1

P2 lower end face 203A hand rocker

P3 first side wall 203B first button

222B first connection 203C second button

222C projection 204 keyboard

223 first driving mechanism 300 camera

223A first drive motor 400 tracer

223B first transmission unit 500 communication cable

Second cavity of gear C2 in 223C

223D external gear L1 first axis

224 second drive mechanism L2 second axis

224A second drive motor B1 first bearing

224B second transmission unit B2 second bearing

224D first drive shaft B3 third bearing

224E Worm wheel T1 first Direction

224F worm T2 second direction

224G bracket rotating shaft S1 first accommodating space

Second accommodating space of 224H gear set S2

Transverse direction of H1 small transmission gear X first main body part

H2 longitudinal direction of the first main body part of the large transmission gear Y

Vertical direction of first main body part of 224C support frame Z

Detailed Description

The accompanying drawings illustrate embodiments of the present disclosure and it is to be understood that the disclosed embodiments are merely examples of the disclosure, which can be embodied in various forms, and therefore, specific details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present disclosure.

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure; the terms "including" and "having," and any variations thereof, in the description and claims of this disclosure and the description of the above figures are intended to cover non-exclusive inclusions. In the description of the present disclosure, unless otherwise explicitly specified or limited, the terms "first", "second", and the like in the description and claims of the present disclosure or in the above-described drawings are used for distinguishing between different objects, and are not intended to describe a particular order or primary-secondary relationship, nor are they to be construed as indicating or implying relative importance. The terms "connected" and "coupled" are to be construed broadly, e.g., "connected" and "coupled" may be a fixed or removable connection or an integral or communicative connection or signaling connection; "connected" may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the disclosure. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The presence of "a plurality" in this disclosure means more than two (including two).

A surgical navigation apparatus according to the present disclosure is explained in detail below with reference to the accompanying drawings.

Referring to fig. 1 and 2, the surgical navigation apparatus of the present disclosure includes a navigation adjusting device 100 and a main control device 200. The navigation adjusting apparatus 100 includes a motion control module 1, a pitch rotation module 2, and a hoist module 3. The main control device 200 is in communication connection with the motion control module 1, the pitching rotation module 2 and the lifting module 3 are in communication connection with the motion control module 1 respectively, and the pitching rotation module 2 is connected to the lifting module 3. The tilt rotation module 2 is used to mount the camera 300 and drive the camera 300 to perform tilt movement and horizontal rotation movement. The lifting module 3 is used for driving the pitching rotating module 2 to move up and down together with the camera 300. The main control device 200 is configured to send a control signal to the motion control module 1, control the pitching rotation module 2 to drive the camera 300 to perform pitching motion and horizontal rotation motion by the motion control module 1, control the lifting module 3 to drive the pitching rotation module 2 and the camera 300 to perform up-and-down lifting motion, and receive position signals of lifting, rotating and pitching of the camera 300 from the motion control module 1.

In the surgical navigation apparatus according to the present disclosure, a control signal is sent to the motion control module 1 of the navigation adjustment device 100 through the main control device 200, the motion control module 1 controls the pitching rotation module 2 to drive the camera 300 to perform pitching motion and horizontal rotation motion, and controls the lifting module 3 to drive the pitching rotation module 2 and the camera 300 to perform up-and-down lifting motion, so that the posture adjustment of the camera 300 for surgical navigation can be remotely completed in an electric control manner, the adjustment process of the camera 300 is simplified, and the operation is convenient, thereby improving the operation efficiency, and further improving the operation efficiency when the surgical navigation apparatus is used in a surgical process.

Referring to fig. 2 and 3, in some embodiments, the pitch rotation module 2 includes a camera support 21 and a pitch rotation body 22. The camera mount 21 is used to fix and support the camera 300. The tilting rotary body 22 is used to drive the camera mount 21 and the camera 300 to perform tilting motion and horizontal rotary motion.

Referring to fig. 3, in some embodiments, the camera stand 21 includes a supporting portion 211, a fixing portion 212, and a second connecting portion 213. The fixing portion 212 is bent from the supporting portion 211 and forms an L-shaped structure with the supporting portion 211, the fixing portion 212 is used for mounting the camera 300, and the camera 300 is at least partially located in the second receiving space S2 formed by the fixing portion 212 and the supporting portion 211. The second connecting portion 213 extends from the supporting portion 211 toward a direction away from the fixing portion 212 for pivotably connecting with the pitch rotating body 22. The camera 300 is supported by the supporting portion 211 and fixed by the fixing portion 212, and the L-shaped structure provides stable support to the camera 300, so that the camera 300 can be reliably fixed in the second receiving space S2 formed by the fixing portion 212 and the supporting portion 211. The camera mount 21 may be made of a metal material or a non-metal material, such as an aluminum alloy or a non-metal material such as a carbon fiber. In other embodiments, the supporting portion 211 is used to mount the camera 300, or both the fixing portion 212 and the supporting portion 211 are used to mount the camera.

Referring to fig. 4 to 6, in some embodiments, the pitch rotating body 22 may include a base 221, a support 222, a first driving mechanism 223, and a second driving mechanism 224.

Specifically, referring to fig. 4 to 6, in some embodiments, the base 221 is fixed to the lifting module 3, the supporting member 222 may include a first main body portion 222A and a first connecting portion 222B, the first main body portion 222A has a first cavity C1, the first connecting portion 222B protrudes from the first main body portion 222A toward the base 221 to form a protruding portion 222C, and is rotatably connected to the base 221, and the first main body portion 222A, the first connecting portion 222B and the base 221 enclose a first receiving space S1.

As shown in fig. 4, the first body portion 222A of the supporting member 222 may include an upper top surface P1, a lower end surface P2, and a first side wall P3 connecting the upper top surface P1 and the lower end surface P2, the first cavity C1 is defined by a portion of the upper top surface P1, the lower end surface P2, and the first side wall P3, and the first receiving space S1 is defined by another portion of the first side wall P3, the lower end surface P2, the first connecting portion 222B, and the base 221. The first driving mechanism 223 may include a first driving motor 223A and a first transmission unit 223B, the first driving motor 223A is received in the first cavity C1, the first transmission unit 223B is received in the first receiving space S1, the first transmission unit 223B is connected to a first output shaft of the first driving motor 223A and one of the base 221 and the support 222, and the first driving motor 223A drives the first transmission unit 223B to drive one of the base 221 and the support 222 to make horizontal rotation movement relative to the other. The second driving mechanism 224 is accommodated in the first cavity C1 and is pivotally connected to the camera bracket 21. Therefore, the support member 222 is rotatably connected to the base 221, and the support member 222 is connected to the base 221 by the first driving mechanism 223, so that the relative horizontal rotation between the support member 222 and the base 221 is realized. In the pitch rotary body 22, the first drive motor 223A and the second drive mechanism 224 of the first drive mechanism 223 are housed in the first cavity C1 of the first body portion 222A, and the first transmission unit 223B of the first drive mechanism 223 is housed in the first housing space S1 surrounded by the first body portion 222A, the first connection portion 222B, and the base 221, so that the first drive mechanism 223 and the second drive mechanism 224 can be collectively disposed in the support member 222 and in the space surrounded by the support member 222 and the base 221, and the pitch rotary body 22 is compact in structure and space-saving.

Further, referring to fig. 4, in some embodiments, an upwardly open mounting cavity 221A is formed in the base 221, a protruding portion 222C of the first connecting portion 222B of the supporting member 222 is inserted into the mounting cavity 221A and forms a bearing cavity with the mounting cavity 221A for mounting the first bearing B1, and the supporting member 222 is rotatably connected with the base 221 through the first bearing B1. The protrusion 222C is inserted into the mounting cavity 221A to form a bearing cavity, and the bearing cavity is matched with the shape of the first bearing B1, so that the first bearing B1 is mounted in the bearing cavity, and the support 222 is rotatably connected with the base 221. In addition, the protruding portion 222C is inserted into the mounting cavity 221A in the base 221 to form a bearing cavity, so that the space between the support 222 and the base 221 can be fully utilized, and the structure of the pitching rotation body 22 is more compact.

As an example shown in fig. 4, the first transmission unit 223B may include an inner gear 223C and an outer gear 223D that mesh with each other. The base 221 is provided with a boss 221B around the mounting cavity 221A, and the inner gear 223C is fixed to the boss 221B and fitted around the outer circumference of the protrusion 222C. The external gear 223D is provided on a first output shaft of the first drive motor 223A. By providing the internal gear 223C and the external gear 223D in the first housing space S1 surrounded by the first body portion 222A, the first connection portion 222B, and the base 221, the free space in the vertical direction Z of the first body portion 222A is fully utilized, and additional space in the lateral direction X and the longitudinal direction Y of the first body portion 222A does not need to be occupied, thereby making the structure of the pitch rotation body 22 compact and saving space in the lateral direction X and the longitudinal direction Y of the pitch rotation body 22 in the first body portion 222A. In fig. 4, the longitudinal direction Y is a direction perpendicular to the lateral direction X and the vertical direction Z.

Referring to fig. 1 to 4, when the camera 300 horizontally rotates, the motion control module 1 controls the first driving motor 223A to drive the outer gear 223D to rotate, the inner gear 223C and the outer gear 223D are engaged with each other to generate a relative motion, because the first driving motor 223A is fixed to the support 222, the inner gear 223C is fixed to the base 221, and the support 222 and the base 221 are connected through the first bearing B1, the support 222 and the base 221 generate a relative motion, and the support 222 drives the camera support 21 connected to the support 222 to horizontally rotate together with the camera 300.

Referring to fig. 5, in some embodiments, the second driving mechanism 224 may include a second driving motor 224A, a second transmission unit 224B, and a support bracket 224C. The supporting frame 224C includes two second side walls 101 disposed oppositely, and the end portions of the two second side walls 101 are each provided with a mounting portion 102, the supporting frame 224C is connected with the supporting member 222 through the mounting portion 102, and a second cavity C2 is formed between the two second side walls 101. The mounting portion 102 may be bent from an end of the corresponding second sidewall 101 and extend outward relative to the corresponding second sidewall 101, so as to be connected to the supporting member 222, and when the second driving mechanism 224 is fixed in the first cavity C1, the mounting portion 102 is prevented from occupying too much space, thereby improving the space utilization. The second driving motor 224A extends along the vertical direction Z of the first body portion 222A and is accommodated in the second cavity C2. The second transmission unit 224B includes a bracket rotating shaft 224G and a transmission assembly, the bracket rotating shaft 224G penetrates through the two second side walls 101 and is rotatably connected with the two second side walls 101, and the bracket rotating shaft 224G is connected with the camera bracket 21 through the first body portion 222A of the support member 222. The transmission assembly connects the support rotation axis 224G and a second output axis of the second driving motor 224A for implementing a direction-changing transmission or a direction-changing deceleration transmission, wherein the direction-changing is to change the rotation around the second output axis into the rotation around the support rotation axis 224G. The second driving motor 224A and the second transmission unit 224B are intensively arranged on the supporting frame 224C through the arrangement of the supporting frame 224C, so that the structure of the second driving mechanism 224 is reasonable and compact, when the second driving mechanism 224 is accommodated in the first cavity C1, because the second driving motor 224A extends along the vertical Z of the first main body part 222A, the space occupied by the second driving motor 224A in the transverse direction X and the longitudinal direction Y of the first main body part 222A is reduced, and the spare space in the vertical Z of the first main body part 222A is fully utilized. Through the speed reduction setting, the precision of angle adjustment can be improved.

As shown in fig. 4, in some embodiments, the support bracket 224C and the first driving motor 223A are disposed adjacent to each other in the first cavity C1 along the transverse direction X of the first main body portion 222A, and the support bracket 224C is connected to the first connecting portion 222B through the mounting portion 102, so as to dispose the second driving mechanism 224 in the first main body portion 222A and make the structure compact, and make the first main body portion 222A small in overall volume.

Referring to the embodiment shown in fig. 5, the transmission assembly may include a worm wheel 224E and a worm 224F disposed in the second cavity C2 and engaged with each other, a first transmission shaft 224D, and a gear set 224H disposed on the first transmission shaft 224D and the bracket rotation shaft 224G and engaged with each other, respectively, the worm wheel 224E being connected with the first transmission shaft 224D, the worm 224F being connected with the second output shaft of the second driving motor 224A, and the gear set 224H being disposed outside the supporting bracket 224C. The worm wheel 224E and the worm 224F have large transmission ratio and compact structure. As shown in fig. 5, a first axis L1 where the first transmission shaft 224D is located is different from a second axis L2 where the second output shaft of the second driving motor 224A is located, that is, the first transmission shaft 224D and the second output shaft are two staggered shafts, the motion and power between the two staggered shafts are transmitted through the structure of the worm wheel 224E and the worm 224F, and the worm wheel 224E and the worm 224F are engaged with each other, so that the rotation around the second axis L2 is changed into the rotation around the first axis L1, and the direction change function is performed. In addition, the worm 224F connected to the second driving motor 224A is active, and performs reduction transmission through the worm wheel 224E, and the rotation speed of the second driving motor 224A can be effectively reduced to the rotation speed required by the first transmission shaft 224D by using the worm wheel 224E and the worm 224F for transmission, and the transmission is performed by providing a gear set 224H engaged with each other between the second transmission shaft 224G and the first transmission shaft 224D arranged in parallel to further reduce the rotation speed required by the first transmission shaft 224D to the rotation speed required by the holder rotation shaft 224G, thereby achieving smooth transmission from the second driving motor 224A to the holder rotation shaft 224G. The gear set 224H includes a small transmission gear H1 and a large transmission gear H2, which are engaged with each other, the small transmission gear H1 is disposed on the first transmission shaft 224D, and the large transmission gear H2 is disposed on the second transmission shaft 224G. The first transmission shaft 224D and the support frame 224C may be connected by a second bearing B2. The second transmission shaft 224G and the support bracket 224C may be connected by a third bearing B3.

Referring to fig. 1 to 5, when the camera 300 performs a pitching motion, the second driving motor 224A is controlled by the motion control module 1 to drive the worm 224F to rotate, the worm wheel 224E and the worm 224F are engaged with each other, and the worm wheel 224E drives the first transmission shaft 224D to rotate, and the first transmission shaft 224D drives the bracket rotating shaft 224G to rotate through the small transmission gear H1 and the large transmission gear H2 which are engaged with each other, so as to drive the camera bracket 21 connected to the bracket rotating shaft 224G and the camera 300 to perform a pitching motion.

Referring to the embodiment shown in fig. 6, the transmission assembly may include a worm wheel 224E and a worm 224F disposed in the second cavity C2 and engaged with each other, the worm wheel 224E being connected to the bracket rotating shaft 224G, and the worm 224F being connected to the second output shaft of the second drive motor 224A. As shown in fig. 6, the worm wheel 224E and the worm 224F have a large transmission ratio and a compact structure. The movement and the power between the two staggered shafts are transmitted through the structure of the worm wheel 224E and the worm 224F, and the worm wheel 224E and the worm 224F are meshed with each other, so that the rotation of the second output shaft is changed into the rotation of the support rotating shaft 224G, and the direction changing effect is achieved. The worm 224F is active and is driven to reduce the speed by the worm wheel 224E, and the rotation speed of the second drive motor 224A can be effectively reduced directly to the rotation speed required for the holder rotation shaft 224G by using the worm wheel 224E and the worm 224F.

In order to provide limited protection for the relative rotation between the support frame 224C and the support frame rotation shaft 224G, in some embodiments, the surgical navigation device may further include a first detection module and a first detected module. One of the first detecting module and the first detected module is disposed on the supporting frame 224C, and the other is disposed on the supporting frame rotating shaft 224G, and the first detecting module is configured to detect position information of the first detected module so as to limit a preset limit position of the supporting frame rotating shaft 224G and the supporting frame 224C to rotate relatively. For example, in the embodiment shown in fig. 5 and the embodiment shown in fig. 6, the first detecting module is the photoelectric switch 226, the first detected module is the limiting sheet 225, the limiting sheet 225 is disposed on the second transmission shaft 224G and located outside the second sidewall 101, and the photoelectric switch 226 is disposed on the supporting frame 224C and located on the same side as the limiting sheet 225. In the cooperative use of the photoelectric switch 226 and the limiting sheet 225, because the limiting sheet 225 rotates together with the second transmission shaft 224G, after the pitching angle of the camera 300 performing pitching motion reaches the preset limit position, the limiting sheet 225 rotates to the detection position in the photoelectric switch 226, due to the shielding of the limiting sheet 225, the photoelectric switch 226 cannot detect the photoelectric signal, and sends the information that the photoelectric signal is not detected to the main control device 200, so that the photoelectric switch 226 detects that the pitching angle of the camera 300 reaches the limit, and the main control device 200 controls the pitching rotation module 2 to stop driving the camera 300 to perform pitching motion, so as to play a role of limiting protection.

In order to provide limited protection for the horizontal rotational movement between the support 222 and the base 221, in some embodiments, the surgical navigation device may further include a second detection module and a second detected module. One of the second detecting module and the second detected module is disposed on the supporting member 222, and the other is disposed on the base 221, and the second detecting module is configured to detect position information of the second detected module so as to define a preset limit position of the relative rotation between the supporting member 222 and the base 221. The second detection module can be a photoelectric switch (not shown), the second detected module can be a limit sheet (not shown), the limit sheet can be arranged on the support piece 222 through the cooperation of the photoelectric switch and the limit sheet, the photoelectric switch is arranged on the base 221, when the rotation angle of the support piece 222 rotating horizontally relative to the base 221 reaches a preset limit position, the limit sheet rotates to the detection position in the photoelectric switch, due to the shielding of the limit sheet, the photoelectric switch cannot detect the photoelectric signal, and sends the information that the photoelectric signal is not detected to the main control device 200, so that the photoelectric switch detects that the rotation angle of the support piece 222 reaches the limit, the main control device 200 controls the pitching rotation module 2 to stop driving the support piece 222 and the base 221 to rotate relative to achieve the limit protection effect.

Referring to fig. 4, in some embodiments, the second detection module may be a proximity switch 227, the proximity switch 227 may be disposed on the supporting member 222, the second detected module may be a protrusion or a recess provided at a preset limit position of the base 221, the proximity switch 227 is used for detecting a relative distance between the supporting member 222 and the base 221, a sensing end of the proximity switch 227 is disposed opposite to the base 221, whether there is a position of the protrusion or the recess on the surface of the base 221 is detected by detecting the relative distance between the supporting member 222 and the base 221, the proximity switch 227 sends a detection signal to the main control device 200, and the main control device 200 controls the pitch rotation module 2 to stop driving the supporting member 222 and the base 221 to rotate relative to each other, so as to provide a limit protection for a horizontal rotation motion between the supporting member 222 and the base 221. In addition, the support 222 and the base 221 are provided with limit positions, so that the winding between the cables arranged subsequently can be avoided.

It is explained here that the first drive motor 223A and the second drive motor 224A have encoders to implement a position feedback function, and the first drive motor 223A and the second drive motor 224A are controlled by the motion control module 1 and feed back a position signal of rotation and a position signal of pitch of the camera 300 to the motion control module 1.

Referring to fig. 2, the lifting module 3 may be an electric push rod, an electric worm gear, a linear motor, or the like. The lifting module 3 is fixed to the base 221, and the lifting module 3 has a position feedback function, and the lifting module 3 receives control of the motion control module 1 and feeds back a position signal of lifting of the camera 300 to the motion control module 1. Specifically, the lifting module 3 may have a telescopic shaft 31, and the telescopic shaft 31 is inserted into and fixedly coupled to a bottom end of the base 221. When the camera 300 needs to perform a lifting motion, the motion control module 1 controls the telescopic shaft 31 of the lifting module 3 to extend up and down, so as to drive the pitching rotation module 2 to perform a lifting motion together with the camera 300.

Referring to fig. 1 and 2, the navigation adjusting apparatus 100 may further include a support column 4, the support column 4 is a hollow structure, the motion control module 1 is disposed inside the support column 4, and the lifting module 3 is disposed at the top of the support column 4. As shown in fig. 1, an armrest 41 may also be provided on the support column 4 to facilitate grasping by an operator to move the position of the navigational adjustment device 100. The bottom of the support column 4 may be provided with a first wheel set 42 to facilitate flexible movement of the position of the navigation adjusting device 100.

Referring to fig. 1, the main control device 200 and the navigation adjusting device 100 may be connected through a communication cable 500, wherein the communication cable 500 is connected with the motion control module 1, thereby transmitting a control signal to the motion control module 1 and acquiring position signals of the elevation, rotation, and tilt of the camera 300 from the motion control module 1.

Referring to fig. 1 and 7, in some embodiments, a master device 200 includes a master console 201 and a display 202. The main console 201 is provided with a main control panel 203, and the main control panel 203 is provided with a hand lever 203A, a first button 203B and a second button 203C. The hand lever 203A, the first button 203B and the second button 203C are respectively in communication connection with the motion control module 1. The display 202 is used to display the current position of the camera 300 corresponding to the position signals of the camera 300 elevation, rotation and pitch. As shown in fig. 1, a second wheel set 201a may be disposed at the bottom of the console 201 to facilitate flexible movement of the position of the console 200.

In the surgical navigation apparatus of the present disclosure, the control signals transmitted from the main control device 200 to the motion control module 1 include a horizontal rotation signal, a pitch motion signal, a rise signal, and a fall signal. The hand lever 203A is used for sending a horizontal rotation signal and a pitching motion signal, the first button 203B is used for sending an ascending signal, and the second button 203C is used for sending a descending signal. For example, in fig. 7, T1 represents a first direction, T2 represents a second direction, when the master control device 200 needs to send a pitch signal to the motion control module 1 to make the motion control module 1 control the camera 300 to make a pitch motion, the operator can operate the hand stick 203A to move along the first direction T1, and when the master control device 200 needs to send a horizontal rotation signal to the motion control module 1 to make the motion control module 1 control the camera 300 to make a horizontal rotation motion, the operator can operate the hand stick 203A to move along the second direction T2; when the main control device 200 needs to send a rising signal to the motion control module 1 to enable the motion control module 1 to control the camera 300 to make a rising motion, the operator may press the first button 203B; when the main control device 200 needs to send a descending signal to the motion control module 1 so that the motion control module 1 controls the camera 300 to make a descending motion, the operator may press the second button 203C.

As in the embodiment shown in fig. 1, a display 202 and a keyboard 204 may also be provided on the console 201 for operator convenience. By inputting a corresponding operation instruction to the keyboard 204, the motion control module 1 controls the motion of the lifting module 3 and the motion of the pitching rotating module 2 according to the operation instruction.

Referring to fig. 1, when the surgical navigation apparatus of the present disclosure is used for surgery, the navigation adjusting device 100 and the main control device 200 are placed at appropriate positions, the tracer 400 is placed on the patient, the surgical navigation apparatus is activated, and the camera 300 starts to detect the tracer 400 within the visual field. The operator presses the first button 203B on the main control panel 203 of the main control apparatus 200, and the raising and lowering module 3 is raised, and the tilt and tilt module 2 and the camera 300 are raised. After the camera 300 is initially in place, the operator can push the hand lever 203A along the first direction T1 or the second direction T2 according to the display information of the display 202, and the camera 300 follows the pitching rotation module 2 to perform corresponding pitching or horizontal rotation, so that the tracer 400 fixed on the patient is located within the optimal visual field range of the camera. During the operation, if the patient position is adjusted, for example, the height of the operating table is adjusted, the posture of the camera 300 (i.e., the height, the pitch angle, and the horizontal rotation angle of the camera 300) needs to be adjusted again, the operator can adjust the posture of the camera through the hand lever 203A, the first button 203B, and the second button 203C on the main control panel 203, and after the operation is finished, the operator can press the second button 203C to retract the lifted camera 300.

The above detailed description describes exemplary embodiments, but is not intended to limit the combinations explicitly disclosed herein. Thus, unless otherwise specified, various features disclosed herein can be combined together to form a number of additional combinations that are not shown for the sake of brevity.

The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A surgical navigation device is characterized in that,

the surgical navigation equipment comprises a navigation adjusting device (100) and a main control device (200);

the navigation adjusting device (100) comprises a motion control module (1), a pitching rotation module (2) and a lifting module (3);

the main control device (200) is in communication connection with the motion control module (1), the pitching rotation module (2) and the lifting module (3) are in communication connection with the motion control module (1) respectively, and the pitching rotation module (2) is connected to the lifting module (3);

the pitching rotation module (2) is used for installing the camera (300) and driving the camera (300) to do pitching motion and horizontal rotation motion;

the lifting module (3) is used for driving the pitching rotating module (2) and the camera (300) to do up-and-down lifting motion;

the main control device (200) is used for sending a control signal to the motion control module (1), controlling the pitching rotation module (2) to drive the camera (300) to do pitching motion and horizontal rotation motion by the motion control module (1), controlling the lifting module (3) to drive the pitching rotation module (2) and the camera (300) to do up-and-down lifting motion, and receiving position signals of lifting, rotating and pitching of the camera (300) from the motion control module (1).

2. The surgical navigation apparatus of claim 1,

the pitching rotation module (2) comprises a camera bracket (21) and a pitching rotation body (22);

the pitching rotating body (22) comprises a base (221), a support (222), a first driving mechanism (223) and a second driving mechanism (224);

the base (221) is fixed on the lifting module (3),

the support piece (222) comprises a first main body part (222A) and a first connecting part (222B), the first main body part (222A) is provided with a first cavity (C1), the first connecting part (222B) protrudes from the first main body part (222A) towards the base (221) to form a protruding part (222C), the protruding part is rotatably connected with the base (221), and the first main body part (222A), the first connecting part (222B) and the base (221) enclose a first accommodating space (S1);

the first driving mechanism (223) comprises a first driving motor (223A) and a first transmission unit (223B), the first driving motor (223A) is accommodated in the first cavity (C1), the first transmission unit (223B) is accommodated in the first accommodating space (S1), the first transmission unit (223B) is connected with a first output shaft of the first driving motor (223A) and one of the base (221) and the support piece (222), and the first driving motor (223A) drives the first transmission unit (223B) to drive one of the base (221) and the support piece (222) to horizontally rotate relative to the other;

the second driving mechanism (224) is accommodated in the first cavity (C1) and is connected with the camera bracket (21) in a pivoting way.

3. The surgical navigation apparatus according to claim 1, wherein the elevation rotation module (2) includes a camera support (21) and an elevation rotation body (22), the elevation rotation body (22) being configured to drive the camera support (21) and the camera (300) to perform an elevation motion and a horizontal rotation motion;

the camera support (21) comprises a supporting part (211), a fixing part (212) and a second connecting part (213), the fixing part (212) is bent from the supporting part (211) and forms an L-shaped structure with the supporting part (211), the fixing part (212) and/or the supporting part (211) is used for installing the camera (300), and at least part of the camera (300) is positioned in a second accommodating space (S2) formed by the fixing part (212) and the supporting part (211); the second connecting portion (213) extends from the support portion (211) toward a direction away from the fixing portion (212) for pivotably connecting with the pitch rotating body (22).

4. The surgical navigation apparatus of claim 2,

an installation cavity (221A) with an upward opening is formed in the base (221), a protruding portion (222C) of a first connecting portion (222B) of the supporting piece (222) is inserted into the installation cavity (221A) and forms a bearing cavity used for installing a first bearing (B1) with the installation cavity (221A), and the supporting piece (222) is rotatably connected with the base (221) through a first bearing (B1).

5. The surgical navigation apparatus of claim 4,

the first transmission unit (223B) comprises an internal gear (223C) and an external gear (223D) which are meshed with each other;

a boss (221B) is arranged on the base (221) around the mounting cavity (221A), and the inner gear (223C) is fixed on the boss (221B) and sleeved on the periphery of the protruding portion (222C);

an external gear (223D) is provided on the first output shaft of the first drive motor (223A).

6. The surgical navigation apparatus of claim 2,

the second driving mechanism (224) comprises a second driving motor (224A), a second transmission unit (224B) and a supporting frame (224C),

the supporting frame (224C) comprises two second side walls (101) which are oppositely arranged, the end parts of the two second side walls (101) are respectively provided with a mounting part (102), the supporting frame (224C) is connected with the supporting part (222) through the mounting parts (102), and a second cavity (C2) is formed between the two second side walls (101);

the second driving motor (224A) extends along the vertical direction (Z) of the first main body part (222A) and is contained in the second cavity (C2),

the second transmission unit (224B) comprises a bracket rotating shaft (224G) and a transmission assembly,

the support rotating shaft (224G) penetrates through the two second side walls (101) and is rotatably connected with the two second side walls (101), and the support rotating shaft (224G) penetrates through the first main body part (222A) of the supporting part (222) and is connected with the camera support (21);

the transmission assembly is connected with the support rotating shaft (224G) and a second output shaft of the second driving motor (224A) and is used for realizing direction-changing transmission or direction-changing speed-reducing transmission, wherein the direction change is that the rotation around the second output shaft is changed into the rotation around the support rotating shaft (224G).

7. The surgical navigation apparatus of claim 6,

a support bracket (224C) and a first drive motor (223A) are arranged adjacent to each other in the first cavity (C1) along the transverse direction (X) of the first main body portion (222A), the support bracket (224C) is connected to the first connecting portion (222B) through the mounting portion (102);

the transmission assembly comprises a worm wheel (224E) and a worm (224F) which are arranged in the second cavity (C2) and meshed with each other, the worm wheel (224E) is connected with the support rotating shaft (224G), and the worm (224F) is connected with a second output shaft of the second driving motor (224A);

or, the transmission assembly comprises a worm wheel (224E) and a worm (224F) which are arranged in the second cavity (C2) and are meshed with each other, a first transmission shaft (224D) and a gear set (224H) which is respectively arranged on the first transmission shaft (224D) and the support rotating shaft (224G) and is meshed with each other, the worm wheel (224E) is connected with the first transmission shaft (224D), the worm (224F) is connected with a second output shaft of the second driving motor (224A), and the gear set (224H) which is meshed with each other is arranged on the outer side of the support frame (224C).

8. The surgical navigation apparatus of claim 6, further comprising a first detection module and a first detected module; one of the first detection module and the first detected module is arranged on the support frame (224C), the other one is arranged on the support rotating shaft (224G), and the first detection module is used for detecting the position information of the first detected module so as to limit the preset limit position of the support rotating shaft (224G) and the support frame (224C) in relative rotation;

and/or the presence of a gas in the gas,

the surgical navigation device further comprises a second detection module and a second detected module; one of the second detection module and the second detected module is arranged on the supporting piece (222), the other one is arranged on the base (221), and the second detection module is used for detecting the position information of the second detected module so as to limit the preset limit position of the relative rotation of the supporting piece (222) and the base (221).

9. The surgical navigation apparatus according to claim 1, wherein the navigation adjusting device (100) further includes a support column (4), the motion control module (1) is disposed in the support column (4), and the lifting module (3) is disposed on top of the support column (4).

10. The surgical navigation apparatus according to claim 1, wherein the master control device (200) includes a master console (201) and a display (202);

a main control panel (203) is arranged on the main control console (201), and a hand lever (203A), a first button (203B) and a second button (203C) are arranged on the main control panel (203);

the hand lever (203A), the first button (203B) and the second button (203C) are respectively in communication connection with the motion control module (1);

the display (202) is used for displaying the current position of the camera (300) corresponding to the position signals of the camera (300) for lifting, rotating and pitching.