CN213963687U

CN213963687U - Joint locking mechanism, headstock connection structure and operation navigation equipment

Info

Publication number: CN213963687U
Application number: CN202022133937.XU
Authority: CN
Inventors: 李盛
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2020-09-25
Filing date: 2020-09-25
Publication date: 2021-08-17
Anticipated expiration: 2030-09-25

Abstract

The utility model provides a joint locking mechanism, headstock connection structure and operation navigation equipment. This joint locking mechanism includes: the guide sleeve is provided with a first mounting hole and a second mounting hole, the axes of which are intersected or are different in surface; the first connecting rod is coaxially connected with the first mounting hole; the second connecting rod is rotatably arranged in the second mounting hole; and the locking assembly is arranged in the second mounting hole and used for locking the positions of the first connecting rod and the second connecting rod relative to the guide sleeve. The first connecting rod and the second connecting rod are locked and unlocked through the guide sleeve and the locking assembly, and the head frame structure is reliably connected with the surgical navigation equipment, so that the head of a patient is fixed with the surgical navigation equipment, the surgical precision is ensured, and the surgical accuracy is improved.

Description

Joint locking mechanism, headstock connection structure and operation navigation equipment

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a joint locking mechanism, headstock connection structure and operation navigation equipment.

Background

At present, in order to ensure the accuracy of the operation, the fixing problem of the surgical navigation equipment and the head of a patient needs to be ensured, and a doctor needs to fix the head of the patient in the use process of the surgical navigation equipment. In the fixing process, a doctor needs to hold the head of the patient, and another doctor fixes the head of the patient and the surgical navigation equipment. However, due to the positioning of the operating bed and the surgical navigation device, the positioning may change according to the specific situation of the operating room, and the head frame of the operating bed cannot be accurately connected with the surgical navigation device, which affects the accuracy of fixing the head and the surgical navigation device, and further affects the surgical precision.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a joint locking mechanism, a head frame connecting structure and a surgical navigation device for solving the problem that the head frame and the surgical navigation device of the current surgical bed cannot be connected.

The above purpose is realized by the following technical scheme:

a joint locking mechanism, comprising:

the guide sleeve is provided with a first mounting hole and a second mounting hole, the axes of which are intersected or are different in surface;

the first connecting rod is coaxially connected with the first mounting hole;

the second connecting rod is rotatably arranged in the second mounting hole;

the locking assembly is arranged in the second mounting hole and used for locking the positions of the first connecting rod and the second connecting rod relative to the guide sleeve;

in one embodiment, the guide sleeve comprises a guide main body and a guide pressing plate connected with the guide main body, the guide main body is provided with the second mounting hole, the guide pressing plate surrounds the first mounting hole, and a preset distance exists between the guide pressing plate and the guide main body.

In one embodiment, the guide pressing plate includes a guide arc plate connected to the guide main body and a guide fixing plate connected to the guide arc plate, the guide arc plate is enclosed in the first mounting hole, and the guide fixing plate is parallel to the surface of the guide main body and has the predetermined distance from the guide main body.

In one embodiment, the locking assembly includes a first lock disc, a second lock disc, an elastic member disposed between the first lock disc and the second lock disc, and a trip member for locking or unlocking the first lock disc and the second lock disc.

In one embodiment, the first lock disk has a first locking portion and the second lock disk has a second locking portion, the first locking portion being in locking engagement with the second locking portion;

the first locking part and the second locking part are arranged in a tooth shape, or the first locking part and the second locking part are matched by a protrusion and a groove.

In one embodiment, the trip member includes a connecting shaft and a locking wrench rotatably connected to the connecting shaft, the connecting shaft passes through the guide pressing plate and the guide main body and is connected to the first lock plate and the second lock plate, and the locking wrench drives the guide pressing plate to abut against the guide main body through the connecting shaft, so that the first lock plate and the second lock plate are connected in an involutive locking manner.

In one embodiment, the end of the locking wrench that is connected to the connecting shaft is cammed.

In one embodiment, the trip member further includes a stop member, the stop member is sleeved on the connecting shaft and arranged on the guide sleeve, and the stop member is used for limiting the position of the locking wrench when the locking wrench is locked.

In one embodiment, the stop member has a limit groove, and the locking wrench is located in the limit groove when the locking wrench is locked.

A headstock connecting structure, comprising a plurality of joint locking mechanisms according to any of the above technical features, the plurality of joint locking mechanisms being connected in series;

the first connecting rod of one of the joint locking mechanisms is connected with the first connecting rod or the second connecting rod of the adjacent joint locking mechanism, and/or the second connecting rod of one of the joint locking mechanisms is connected with the second connecting rod or the first connecting rod of the adjacent joint locking mechanism.

A surgical navigation device comprises a supporting rack, a surgical mechanical arm arranged on the supporting rack, and a head frame connecting structure according to the technical characteristics;

the surgical mechanical arm is movably arranged on the supporting rack, and the head frame connecting structure is arranged on the supporting rack and can move relative to the supporting rack so that the head frame connecting structure can be connected with and fix the head frame structure.

After the technical scheme is adopted, the utility model discloses following technological effect has at least:

the utility model discloses a joint locking mechanism, headstock connection structure and operation navigation equipment, first connecting rod are installed in the first mounting hole of uide bushing, and locking Assembly installs in the second mounting hole of uide bushing, and locking Assembly sets up in the second mounting hole. When the locking assembly is locked, the positions of the first connecting rod and the second connecting rod relative to the guide sleeve are fixed, and the joint locking mechanism is locked; when the locking assembly unlocks the first connecting rod and the second connecting rod, the first connecting rod and the second connecting rod can move relative to the guide sleeve, and the joint locking mechanism is unlocked. The locking and unlocking of the first connecting rod and the second connecting rod are realized through the matching of the locking assembly and the guide sleeve, the problem that the head frame of the existing operating table cannot be connected with the operation navigation equipment is effectively solved, and the reliable connection of the head frame structure and the operation navigation equipment is realized, so that the head of a patient and the operation navigation equipment are fixed in position, the operation precision is ensured, and the operation accuracy is improved.

Drawings

Fig. 1 is a schematic view of a surgical navigation device connected to a hospital bed system according to an embodiment of the present invention;

FIG. 2 is a perspective view of a headgear connection arrangement of the surgical navigation device of FIG. 1;

FIG. 3 is an exploded view of the joint locking mechanism of the headgear connection shown in FIG. 2;

FIG. 4 is a cross-sectional view of the knuckle locking mechanism shown in FIG. 3 in a locked position;

FIG. 5 is a cross-sectional view of the knuckle locking mechanism shown in FIG. 3 in an unlocked position.

Wherein: 10. a headstock connection structure; 100. a joint locking mechanism; 110. a guide sleeve; 111. a first mounting hole; 112. a second mounting hole; 113. a guide body; 114. a guide pressure plate; 1141. a guide arc plate; 1142. a guide fixing plate; 120. a first link; 121. a connector; 130. a locking assembly; 131. a locking member; 1311. a first lock collar; 1312. a second lock collar; 1313. an elastic member; 132. a trip piece; 1321. a connecting shaft; 1322. locking the wrench; 1323. a stopper; 13231. a limiting groove; 1324. a nut member; 140. a second link; 141. a connecting disc; 20. a support frame; 30. a patient's head; 40. a surgical manipulator; 50. a hospital bed system; 510. an operating bed; 520. a head frame structure.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1-5, the present invention provides a joint locking mechanism 100. The joint locking mechanism 100 is applied to a surgical navigation device, is used for connecting a head frame structure 520 of a hospital bed system 50 with the surgical navigation device, and can realize the connection between the head frame structure 520 at any position and the surgical navigation device so as to reliably connect and support the head frame structure 520, ensure the connection accuracy of the head frame structure 520 and the surgical navigation device, and facilitate the guarantee of the surgical precision. It is understood that the joint locking mechanism 100 may separately connect the head frame structure 520 with the surgical navigation device; of course, a plurality of joint locking mechanisms 100 may be connected to form the headgear connection structure 10, and the support frame 20 of the surgical navigation apparatus is connected through the headgear connection structure 10. Furthermore, in an embodiment of the present invention, the joint locking mechanism 100 is used to connect the surgical navigation device with the headgear structure 520. Of course, in other embodiments of the present invention, the joint locking mechanism 100 may also achieve connection and fixation between other components. The present invention will be described with reference to the joint locking mechanism 100 being used to connect a surgical navigation device to a headgear structure 520.

As can be appreciated, the surgical navigational apparatus is used in conjunction with a patient bed system 50. The hospital bed system 50 includes an operating bed 510 and a headgear structure 520 disposed at one end of the operating bed 510. The patient lies on the operating table 510, and the head 30 of the patient is placed on the head frame structure 520, and the head 30 of the patient is held by the head frame structure 520. Further, the headgear structure 520 includes a headgear and a support rod for supporting the headgear on the operating table 510, the support rod plays a supporting role, and the headgear is reliably supported on the operating table 510 through the support rod. Moreover, the head frame can be lifted along with the operation table 510 through the supporting rod, and when the operation table 510 collapses, the head frame can also sink along with the operation table 510.

Because the positions of the operating bed and the operation navigation equipment can be changed according to the specific conditions in the operating room, the head frame structure of the operating bed cannot be accurately connected with the operation navigation equipment, the positioning precision between the head of the patient and the operation current equipment can be influenced, the position of the head of the patient is not unique, and the accuracy of the operation is influenced. Therefore, the utility model discloses a joint locking mechanism 100 connects head frame structure 520 and operation navigation equipment, realizes reliable being connected of head frame structure 520 and operation navigation equipment to make patient's head 30 and operation navigation equipment's rigidity, guarantee the operation precision, improve the operation accuracy. The headgear connection structure 10 formed in connection with the joint locking mechanism 100 is described in detail below.

Moreover, the joint locking mechanism 100 has an unlocking position and a locking position, and when the joint locking mechanism 100 is in the unlocking position, the position of the joint locking mechanism 100 can be adjusted to adapt to the connection between the surgical navigation equipment at different positions and the head frame structure 520, so that the connection is convenient; when the joint locking mechanism 100 is in the locked position, the joint locking mechanism 100 may fix the surgical navigation device and the head frame structure 520, so as to ensure reliable fixation between the head frame structure 520 and the surgical navigation device, and facilitate fixation of the head 30 of the patient during the later operation.

Referring to fig. 1, 3-5, in one embodiment, the joint locking mechanism 100 includes a guide sleeve 110, a first link 120, a locking assembly 130, and a second link 140. The guide sleeve 110 has a first mounting hole 111 and a second mounting hole 112 with intersecting or non-coplanar axes, i.e. the axes of the first mounting hole 111 and the second mounting hole 112 may be in a coplanar arrangement and the two corresponding axes may intersect (or be parallel), or the two corresponding axes may be in a non-coplanar arrangement. The first link 120 is coaxially connected with the first mounting hole 111. The locking assembly 130 is rotatably disposed in the second mounting hole 112, and the locking assembly 130 can be locked or unlocked. The second link 140 is connected to the locking assembly 130 and rotatably disposed in the second mounting hole 112. The locking assembly 130 is used to lock the position of the first link 120 and the second link 140 relative to the guide sleeve 110.

The guide sleeve 110 is a fixing body of the joint locking mechanism 100, and the relative positions of the first link 120 and the second link 140 are fixed by the guide sleeve 110. The first mounting hole 111 and the second mounting hole 112 are disposed through the guide sleeve 110, and an axis of the first mounting hole 111 intersects with an axis of the second mounting hole 112 or is disposed in a different plane. That is, the axis of the first mounting hole 111 and the axis of the second mounting hole 112 are offset from each other, so that interference between the components mounted in the first mounting hole 111 and the second mounting hole 112 can be avoided. Optionally, the first mounting hole 111 and the second mounting hole 112 are angled in three-dimensional space. Further, the first mounting hole 111 and the second mounting hole 112 are orthogonally (non-planarly) disposed in a three-dimensional space.

The first link 120 is coaxially connected with the first mounting hole 111, that is, the first link 120 is disposed in the first mounting hole 111, and the first link 120 can move along the axial direction of the first mounting hole 111 and can rotate in the first mounting hole 111. The second connecting rod 140 is rotatably installed in the second installation hole 112, the locking assembly 130 is also installed in the second installation hole 112, the end of the locking assembly 130 exposed out of the second installation hole 112 is connected to the second connecting rod 140, and the locking assembly 130 can drive the second connecting rod 140 to rotate. When the joint lock mechanism 100 is in the unlock position, the first link 120 has a freedom of movement and a freedom of rotation in the axial direction of the first mounting hole 111, and the second link 140 has a freedom of rotation in the axial direction of the second mounting hole 112. In this manner, the connection length and orientation of the joint locking mechanism 100 may be adjusted to accommodate the distance and yaw between the surgical navigation device and the headgear structure 520.

Optionally, the first link 120 and the second link 140 are rod-shaped structures. Optionally, at least one end of the first link 120 is provided with a connector, and the first link 120 may be connected to the first link 120, the second link 140 or the locking assembly 130 of the adjacent joint locking mechanism 100 through the connector 121. Optionally, at least one end of the second link 140 has a connecting plate 141 that may be connected to the first link 120, the second link 140, or the locking assembly 130 of the adjacent joint locking mechanism 100.

The locking assembly 130 has a locking position and an unlocking position, when the locking assembly 130 is in the locking position, the locking assembly locks the first link 120 and the second link 140 to the guide sleeve 110, and the positions of the first link 120 and the second link 140 relative to the guide sleeve 110 are fixed, so that the first link 120 and the second link 140 cannot move relative to the guide sleeve 110, and the joint locking mechanism 100 is locked. When the locking assembly 130 is in the unlocking position, the locking assembly 130 unlocks the first link 120 and the second link 140 to the guide sleeve 110, and the first link 120 and the second link 140 can move relative to the guide sleeve 110, so that the joint locking mechanism 100 is unlocked.

The joint locking mechanism 100, the guide sleeve 110 and the locking assembly 130 of the above embodiment realize locking and unlocking of the first connecting rod 120 and the second connecting rod 140, effectively solve the problem that the head frame of the current operating table cannot be connected with the surgical navigation device, and realize reliable connection between the head frame structure 520 and the surgical navigation device, so that the position of the head 30 of the patient and the surgical navigation device is fixed, the surgical precision is ensured, and the surgical accuracy is improved.

In one embodiment, the locking assembly 130 includes a locking member 131 and a trip member 132 connected to the locking member 131, the locking member 131 is movably disposed in the second mounting hole 112, and the trip member 132 is used to lock or unlock the locking member 131. The locking member 131 is rotatably mounted in the second mounting hole 112, an end of the locking member 131 exposed out of the second mounting hole 112 is connected to the second connecting rod 140, and the locking assembly 130 can drive the second connecting rod 140 to rotate. The trip member 132 is movably disposed at the guide sleeve 110 and connected to the locking member 131. When the trigger 132 moves, the locking member 131 is driven to move and move relative to the guide sleeve 110.

The trigger 132 has a locking position and an unlocking position, so that the locking assembly 130 is in the locking position or the unlocking position. When the trigger 132 moves to the locking position, the trigger 132 drives the locking member 131 to move, so that the locking member 131 locks the second connecting rod 140 to limit the rotational displacement of the second connecting rod 140 along the axial direction of the second mounting hole 112. Meanwhile, the trip member 132 can also abut against the guide sleeve 110, so that the guide sleeve 110 locks the first link 120 to limit the moving displacement and the rotating displacement of the first link 120 along the axial direction of the first mounting hole 111. At this time, the joint locking mechanism 100 is in the locked position, and the joint locking mechanism 100 does not have any degree of freedom and cannot generate any displacement, so that the reliable connection between the surgical navigation device and the head frame structure 520 can be ensured, the unique position between the head 30 of the patient and the surgical navigation device is ensured, and the positioning accuracy of the head 30 of the patient is ensured.

When the trigger 132 moves to the unlocking position, the trigger 132 drives the locking member 131 to move, so that the locking member 131 unlocks the second connecting rod 140, and the second connecting rod 140 can rotate along the axial direction of the second mounting hole 112. Meanwhile, the trip member 132 is also separated from the guide sleeve 110, so that the guide sleeve 110 unlocks the first link 120, and the first link 120 can move and rotate along the axial direction of the first mounting hole 111. At this time, the joint locking mechanism 100 is in the unlocking position, the joint locking mechanism 100 has multi-directional freedom, and the positions of the first link 120 and the second link 140 relative to the guide sleeve 110 can be adjusted to adapt to the distance between the surgical navigation apparatus and the headgear structure 520, so that the connection relationship between the headgear structure 520 and the surgical navigation apparatus can be ensured to be accurate.

In one embodiment, the guide sleeve 110 includes a guide body 113 and a guide pressing plate 114 connected to the guide body 113, the guide body 113 has a second mounting hole 112, the guide pressing plate 114 is enclosed in the first mounting hole 111, and a predetermined distance exists between the guide pressing plate 114 and the guide body 113. When the locking assembly 130 is in the locked position, the locking assembly 130 can push the guide pressure plate 114 to fix the first link 120.

The guide body 113 is a body portion to which the guide sleeve 110 is fixedly coupled. The guide body 113 has a second mounting hole 112 penetrating therethrough, the locking member 131 of the locking assembly 130 is located in the second mounting hole 112, and the trigger 132 of the locking assembly 130 partially extends into the second mounting hole 112 to connect with the locking member, so as to drive the locking member 131 to move, and thus the locking member 131 locks or unlocks the second connecting rod 140. One end of the guide pressing plate 114 is connected with the guide main body 113, the other end of the guide pressing plate 114 is a free end, and the inner wall of the guide pressing plate 114 and the guide main body 113 enclose a first mounting hole 111.

A preset interval exists between the guide pressing plate 114 and the guide body 113. When the guide pressing plate 114 is away from the guide body 113, i.e., the preset interval is decreased, the size of the aperture of the first mounting hole 111 is increased, and when the guide pressing plate 114 is moved toward the guide body 113, i.e., the preset interval is decreased, the size of the aperture of the first mounting hole 111 is decreased. That is, the preset interval may enable the adjustment of the tightness between the first mounting hole 111 and the first link 120. Thus, when the guide pressing plate 114 moves towards the guide main body 113, that is, the preset distance decreases, the guide pressing plate 114 presses the first link 120, so that the first link 120 cannot move in the first mounting hole 111, and the first link 120 is locked; when the preset interval is returned to normal or increased, the first link 120 may move in the first mounting hole 111.

When the locking assembly 130 is in the locked position, the locking assembly 130 abuts the guide pressure plate 114 to push the guide pressure plate 114 to move toward the guide body 113 so that the guide pressure plate 114 presses the first link 120. At this time, the pressing force of the guide pressure plate 114 against the first link 120 and the friction between the guide pressure plate 114 and the first link 120 limit the movement of the first link 120 in the first mounting hole 111, so that the first link 120 is reliably fixed in the first mounting hole 111. Optionally, the diameter of the first mounting hole 111 is equal to or larger than the diameter of the first link 120. This facilitates the first link 120 to be mounted in the first mounting hole 111, and simultaneously facilitates the first link 120 to be movable and rotatable in the first mounting hole 111. Of course, in other embodiments of the present invention, the diameter of the first mounting hole 111 may be smaller than the diameter of the first link 120.

Alternatively, the guide body 113 and the guide pressure plate 114 are of an integral structure. Thus, the number of parts can be reduced, the assembly steps can be reduced, and the use is convenient; meanwhile, the reliability of the joint of the guide main body 113 and the guide pressure plate 114 can be ensured, and the reliable operation of the guide main body 113 and the guide pressure plate 114 can be ensured.

Optionally, the inner wall of the second mounting hole 112 has a limiting protrusion, the limiting protrusion is convexly disposed along the radial direction of the second mounting hole 112, and the limiting protrusion is disposed at one end of the second mounting hole 112 facing the trip member 132. After the locking member 131 is mounted in the second mounting hole 112, one end of the locking member 131 abuts against the limiting protrusion, and the other end of the locking member 131 is connected to the second link 140. The displacement of the locking piece 131 in the axial direction of the second mounting hole 112 is restricted by the stopper protrusion. Moreover, when the trip member 132 drives the locking member to lock, the locking member 131 can be reliably locked by the stopping function of the limiting protrusion; meanwhile, the trip member 132 can also push the guide pressure plate 114 to move toward the guide body 113 to lock the first link 120.

In one embodiment, the guide pressure plate 114 includes a guide arc plate 1141 connected to the guide main body 113 and a guide fixing plate 1142 connected to the guide arc plate 1141, the guide arc plate 1141 is enclosed in the first mounting hole 111, and the guide fixing plate 1142 is parallel to the surface of the guide main body 113 and has a predetermined interval with the guide main body 113. One end of the guide arc plate 1141 is connected to the guide main body 113, the other end of the guide arc plate 1141 is connected to the guide fixing plate 1142, and the guide arc plate 1141 and the guide main body 113 are enclosed to form the first mounting hole 111. The guide fixing plate 1142 has a flat plate shape and is parallel to the end surface of the second mounting hole 112. The trip member 132 is coupled through the locking assembly 130 in the second mounting hole 112 of the guide fixing plate 1142.

When the trigger 132 is in the locking position, the trigger 132 abuts against the guide fixing plate 1142 and pushes the guide fixing plate 1142 to move toward the guide main body 113, so that the guide arc plate 1141 compresses the first link 120, at this time, the guide arc plate 1141 and the first link 120 are tightly fitted, and the first link 120 cannot move in the first mounting hole 111, thereby locking the first link 120. When the trigger 132 is in the unlocking position, the trigger 132 disengages from the guide fixing plate 1142, the guide fixing plate 1142 resets, at this time, the guide arc plate 1141 is loosely fitted with the first connecting rod 120, and the first connecting rod 120 can move in the first mounting hole 111, so as to unlock the first connecting rod 120.

Optionally, the guide arc plate 1141 is of unitary construction with the guide fixing plate 1142. Thus, the number of parts can be reduced, the assembly steps can be reduced, and the use is convenient; meanwhile, the reliability of the joint of the guide arc-shaped plate 1141 and the guide fixing plate 1142 can be ensured, and the reliable operation of the guide arc-shaped plate 1141 and the guide fixing plate 1142 is ensured.

Alternatively, the shape of the guide body 113 is not limited in principle. The guide body 113 may be a guide block, a guide seat, etc., as long as the second mounting hole 112 can be opened and has a certain bearing strength. Illustratively, the guide body 113 is a square and cylindrical split structure. Of course, in other embodiments of the present invention, the guide body 113 may also be square, prism, etc.

In an embodiment, the locking member 131 includes a first lock plate 1311, a second lock plate 1312, and an elastic member 1313 disposed between the first lock plate 1311 and the second lock plate 1312. The trigger 132 is used to lock or unlock the first lock plate 1311 and the second lock plate 1312. The elastic force of the elastic member 1313 moves the first lock collar 1311 and the second lock collar 1312 away from each other; when the trigger 132 is in the locking position, the trigger 132 makes the first lock plate 1311 and the second lock plate 1312 compress the elastic member 1313 for involution locking connection.

After the first lock plate 1311 and the second lock plate 1312 are mounted in the second mounting hole 112, the first lock plate 1311 is fixed in the second mounting hole 112, and the second lock plate 1312 is coupled to the second link 140. After the first lock plate 1311 is matched with the second lock plate 1312, the first lock plate 1311 limits the rotation movement of the second lock plate 1312, and further limits the second connecting rod 140 to be incapable of rotating; when the second lock plate 1312 is separated from the first lock plate 1311, the second lock plate 1312 and the second link 140 may rotate in the second mounting hole 112.

The elastic member 1313 is located between the first and

second lock disks

1311 and 1312, and the elastic force of the elastic member 1313 may move the first and

second lock disks

1311 and 1312 away from each other to maintain the unlocked state of the second link 140. When the trigger 132 is in the locking position, the trigger 132 can drive the second lock tray 1312 to compress the elastic member 1313, so that the second lock tray 1312 is close to the first lock tray 1311 and is aligned with the first lock tray 1311, and at this time, the first lock tray 1311 locks the second link 140 through the second lock tray 1312. When the trigger 132 moves to the unlocking position, the second lock collar 1312 loses the external force, and the elastic force of the elastic member 1313 pushes the second lock collar 1312 to disengage the second lock collar 1312 from the first lock collar 1311. Optionally, the elastic member 1313 is a spring. Optionally, the number of the elastic members 1313 is at least one.

In one embodiment, the first lock plate 1311 has a first locking portion and the second lock plate 1312 has a second locking portion, and the first locking portion is in locking engagement with the second locking portion when the first lock plate 1311 is mated and locked with the second lock plate 1312. A surface of the first lock plate 1311 facing the second lock plate 1312 has a first locking portion, and a surface of the second lock plate 1312 facing the first lock plate 1311 has a second locking portion. After the first lock plate 1311 and the second lock plate 1312 are connected in an involutory manner, the first lock portion is matched with the second lock portion, the first lock portion can limit the rotation of the second lock portion, and further the second lock plate 1312 is limited to drive the second connecting rod 140 to rotate, so that the second connecting rod 140 is locked.

Optionally, the first locking portion and the second locking portion are disposed in a tooth shape. Illustratively, the first and second locking portions are intermeshing teeth, by which rotation of the second lock collar 1312 is limited. Optionally, the first position-limiting portion and the second position-limiting portion are protrusions matched with the grooves. Illustratively, the first locking portion is a protrusion and the second locking portion is a recess, and the protrusion and the recess cooperate to limit the rotation of the second lock collar 1312. Of course, the first locking portion and the second locking portion may be members such as stopper posts or hooks disposed in a staggered manner to restrict the rotation of the second lock plate 1312.

In one embodiment, the pulling member 132 includes a connecting shaft 1321 and a locking wrench 1322 rotatably connected to the connecting shaft 1321, the connecting shaft 1321 passes through the guide pressing plate 114 and the guide main body 113 and is connected to the first locking plate 1311 and the second locking plate 1312, when the locking wrench 1322 is in the locking position, the locking wrench 1322 drives the guide pressing plate 114 to abut against the guide main body 113 through the connecting shaft 1321, and the first locking plate 1311 and the second locking plate 1312 are connected in an involution and locking manner. The connecting shaft 1321 movably connects the guide pressure plate 114, the guide body 113, the first lock collar 1311, and the second lock collar 1312.

The locking wrench 1322 is movable relative to the connecting shaft 1321, and the locking wrench 1322 is movable relative to the locking wrench 1322 to a locking position and an unlocking position. When the locking wrench 1322 is wrenched to move to the locking position, the locking wrench 1322 drives the connecting shaft 1321 to move along the axis of the second mounting hole 112 toward a direction away from the second connecting rod 140, and at this time, the connecting shaft 1321 drives the second lock plate 1312 to compress the elastic member 1313 and move toward the first lock plate 1311, so as to lock the second lock plate 1312; simultaneously, the locking wrench 1322 pushes the guide pressure plate 114 to move toward the guide body 113 to lock the first link 120.

When the locking wrench 1322 is wrenched to move to the unlocking position, the locking wrench 1322 drives the connecting shaft 1321 to move along the axis of the second mounting hole 112 toward the direction of the second connecting rod 140, and at this time, the second lock plate 1312 is separated from the first lock plate 1311 under the elastic force of the elastic member 1313, so as to unlock the second connecting rod 140. At the same time, the locking wrench 1322 is disengaged from the guide pressure plate 114, and the guide pressure plate 114 is reset to unlock the first link 120.

Optionally, the connecting shaft 1321 may further connect the second link 140. Of course, the second lock collar 1312 may be separately connected to the second link 140. Optionally, the wrench 132 further includes a nut member 1324, and the nut member 1324 is disposed at an end of the connecting shaft 1321 for fixing various components on the connecting shaft 1321. Furthermore, the nut member 1324 can adjust the distance between the first locking plate 1311 and the second locking plate 1312, and also adjust the preset distance between the guide main body 113 and the guide pressure plate 114, so as to adjust the pulling force of the locking wrench 1322. Further, the nut member 1324 is a double nut. This prevents the nut member 1324 from being loosened, and ensures the stability of the entire structure.

In one embodiment, the end of locking wrench 1322 that is connected to connecting shaft 1321 is cammed. That is, the locking wrench 1322 abuts against the guide pressure plate 114 through the cam portion to push the guide pressure plate 114 to move toward the guide body 113. Specifically, when the cam portion of the locking wrench 1322 abuts against the guide pressure plate 114, the position of the locking wrench 1322 is fixed due to the limit action of the first lock plate 1311, and the cam portion can only push the guide pressure plate 114 to move toward the guide main body 113; when the cam portion of the locking wrench 1322 is disengaged from the guide pressure plate 114, the guide pressure plate 114 can be reset without external force.

Optionally, when the locking wrench 1322 is in the locking position, the locking wrench 1322 is disposed orthogonal to the first and

second links

120, 140 in space. Therefore, the unlocking space of the locking wrench 1322 can be reduced, the situation that the locking wrench 1322 cannot be pulled to unlock due to the fact that the space between the locking wrench 1322 and the first connecting rod 120 and the second connecting rod 140 is too small is avoided, and the locking wrench is convenient to use.

In another embodiment, the locking member 131 comprises a second locking plate 1312, and an elastic member 1313 disposed between the second locking plate 1312 and the second mounting hole 112, wherein the second mounting hole 112 has a circumferential protrusion therein, and the second locking plate 1312 is in locking engagement with the circumferential protrusion. The surfaces of the circumferential projections that are in mating contact with the second lock collar 1312 are provided with a tooth-like structure, and the second locking portions are mated with the tooth-like structure to lock the rotation of the second lock collar 1312 and thus the rotation of the second link 140 when abutted against each other. The elastic force of the elastic member 1313 moves the second lock collar 1312 and the circumferential projection of the second mounting hole away from each other.

In a further embodiment of the present invention, the locking member 131 comprises an elastic member 1313 disposed between the second connecting rod 140 and the second mounting hole 112, the second mounting hole 112 has an annular protrusion therein, the mounting end of the second connecting rod 140 and the second mounting hole 112 is provided with a mounting protrusion matching with the second mounting hole 112, and the annular protrusion is in locking engagement with the mounting protrusion. The surfaces of the annular protrusions contacting the locking protrusions are respectively provided with a tooth-shaped structure, and when the annular protrusions and the locking protrusions are mutually abutted, the annular protrusions and the tooth-shaped structures of the locking protrusions are meshed relatively to lock the rotation of the second connecting rod 140. The circumferential projection of the second mounting hole and the mounting projection of the second link 140 are spaced apart from each other by the elastic force of the elastic member 1313.

In one embodiment, the trigger 132 further includes a stop 1323, the stop 1323 is disposed on the connecting shaft 1321 and is disposed on the guide sleeve 110, and the stop 1323 is used for limiting a position of the locking wrench 1322 when being locked. The stop 1323 is connected to the guide pressure plate 114, and when the locking wrench 1322 is in the locking position, the locking wrench 1322 is located in the stop 1323, and the rotation of the locking wrench 1322 is limited by the stop 1323, so that the locking is ensured to be accurate.

It will be appreciated that as the locking wrench 1322 is rotated about the connection axis 1321, the locking wrench 1322 may move into or out of the stop member 1323. When the locking wrench 1322 moves from the unlocking position to the locking position, the locking wrench 1322 moves into the stop 1323, the stop 1323 limits the rotation of the locking wrench 1322, so that the locking wrench 1322 is accurately located at the locking position, and the locking wrench 1322 is perpendicular to the first connecting rod 120 and the second connecting rod 140 all the time, thereby facilitating the later unlocking operation. As the locking wrench 1322 is moved from the locked position to the unlocked position, the locking wrench 1322 moves out of the stop.

Optionally, stop 1323 is a structure of a mount or mounting platform for enabling the installation of locking wrench 1322. In one embodiment, the stop 1323 has a limiting slot 13231, and when the locking wrench 1322 is locked, the locking wrench 1322 is located in the limiting slot 13231. The locking wrench 1322 is reliably located in the limiting groove 13231 when in the locking position due to the stopping action of the inner wall of the limiting groove 13231 on the locking wrench 1322. Of course, in another embodiment of the present invention, the stopper 1323 may be provided with a stopper member such as a stopper post.

The working principle of the joint locking mechanism 100 of the utility model is that: referring to fig. 3 and 4, when the locking wrench 1322 is pulled to move to the locking position, the locking wrench 1322 is pressed, the locking wrench 1322 drives the second lock plate 1312 to compress the elastic member 1313 to move toward the first lock plate 1311, and is locked to the first lock plate 1311 in an involutory manner, so that the relative rotation between the first lock plate 1311 and the second lock plate 1312 is limited, and the second connecting rod 140 is locked. Meanwhile, the locking wrench 1322 presses the guide pressure plate 114 through the cam portion so that the guide pressure plate 114 moves toward the guide body 113, and at this time, the guide pressure plate 114 presses the first link 120, thereby locking the first link 120.

Referring to fig. 3 and 5, when the locking wrench 1322 is moved to the unlocking position, the locking wrench 1322 is pulled up, the external force applied to the second lock collar 1312 disappears, the second lock collar 1312 is separated from the first lock collar 1311 by the elastic force of the elastic member 1313, the first lock collar 1311 and the second lock collar 1312 can rotate relatively, and the second link 140 is unlocked and can rotate along the second mounting hole 112. Meanwhile, the locking wrench 1322 is disengaged from the guide pressure plate 114, the guide pressure plate 114 is reset, the preset gap is a normal value, and the first link 120 is unlocked and can rotate and move in the first mounting hole 111.

In addition, when the locking wrench 1322 is in the unlocking position, the first link 120 can be rotated and moved, and the second link 140 can be rotated, so that the joint locking mechanism 100 has three degrees of freedom. The locking wrench 1322 can lock the three degrees of freedom in the locked position. The joint locking mechanism 100 of the present invention can realize the quick locking of the first connecting rod 120 and the second connecting rod 140, so that the medical staff can quickly fix the head 30 of the patient, which is convenient for use.

Referring to fig. 1-3, the present invention further provides a headgear connection structure 10 comprising a plurality of joint locking mechanisms 100 of the above embodiments, wherein the plurality of joint locking mechanisms 100 are connected in series. The first link 120 of one of the joint locking mechanisms 100 is connected to the first link 120 or the second link 140 of an adjacent joint locking mechanism 100, and the second link 140 of one of the joint locking mechanisms 100 is connected to the second link 140 or the first link 120 of an adjacent joint locking mechanism 100. That is, the headgear connection structure 10 is formed by a plurality of joint locking mechanisms 100, and a connection relationship between the headgear structure 520 and the support frame 20 of the surgical navigation apparatus is established. It can be understood that, when the distance between the head frame structure 520 on the operating table 510 and the support frame 20 of the surgical navigation device is relatively large, the head frame structure cannot be accurately connected by a single joint locking mechanism 100, and at this time, the head frame connecting structure 10 is formed by a plurality of joint locking mechanisms 100, so that on one hand, the connection length can be ensured, and on the other hand, the head frame connecting structure also has a plurality of degrees of freedom, thereby meeting the connection requirements of different directions.

The joint locking mechanism 100 at the head end of the headgear connection structure 10 is connected to the support frame 20 and the joint locking mechanism 100 at the end of the headgear connection structure 10 is connected to the headgear structure 520. Two adjacent knuckle locking mechanisms 100 are connected in series. This allows both the support frame 20 of the surgical navigation device to be connected to the headgear structure 520 of the patient bed system 50. Illustratively, the headgear connection structure 10 includes two joint locking mechanisms 100, and the two joint locking mechanisms 100 are connected in series to have six degrees of freedom, so that any desired positioning of the surgical navigation device with the headgear structure 520 can be achieved. Of course, in other embodiments of the present invention, the number of the joint locking mechanisms 100 may be three, four or even more.

The utility model discloses a support frame 20 of connection operation navigation equipment that headstock connection structure 10 can be accurate and the headstock structure 520 of sick bed system 50 for relative position between patient's head 30 and the operation navigation equipment is unique, is convenient for fix a position patient's head 30, guarantees the accuracy of operation process.

The utility model also provides a surgical navigation device, which is characterized in that the surgical navigation device comprises a support frame 20, a surgical mechanical arm 40 arranged on the support frame 20, and the head frame connecting structure 10 in the above embodiment. The surgical robot 40 is movably disposed on the support frame 20, and the headgear connection structure 10 is disposed on the support frame 20 and is movable relative to the support frame 20 such that the headgear connection structure 10 can connect and fix the headgear structure 520. The surgical robot 40 has one end fixed to the support frame 20 and the other end holding a surgical instrument. Alternatively, the surgical instrument includes, but is not limited to, a puncture needle, a scalpel, etc., and may be other types of hand-held instruments.

The utility model discloses a surgery navigation equipment adopts above-mentioned headstock connection structure 10 back, can reliably connect and fix headstock structure 520, guarantees patient's head 30 and operation arm 40's relative position, can not take place any relative displacement, improves the operation precision, guarantees the security of operation.

In one embodiment, the surgical robotic arm 40 is a serial arm and/or a parallel arm. That is, the surgical robot 40 may include a plurality of serial robots, and the surgical operation may be performed by connecting the plurality of serial robots. The surgical robotic arm 40 may also include a plurality of parallel robotic arms connected to perform a surgical procedure. Of course, the surgical robotic arm 40 may further include at least one serial robotic arm and at least one parallel robotic portion, and the serial robotic arm and the parallel robotic arm cooperate to perform the surgical operation, in which case the parallel robotic arm is located at the end of the serial robotic arm. It will be appreciated that the tandem robot arm comprises a plurality of single arms, with rotatable connections between adjacent single arms. The parallel robotic arm may comprise, for example, a stewart platform.

The technical features of the embodiments described above can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A joint locking mechanism, comprising:

the first connecting rod is coaxially connected with the first mounting hole;

the second connecting rod is rotatably arranged in the second mounting hole;

and the locking assembly is arranged in the second mounting hole and used for locking the positions of the first connecting rod and the second connecting rod relative to the guide sleeve.

2. The joint locking mechanism according to claim 1, wherein the guide sleeve comprises a guide main body and a guide pressing plate connected with the guide main body, the guide main body is provided with the second mounting hole, the guide pressing plate is arranged to surround the first mounting hole, and a preset distance exists between the guide pressing plate and the guide main body.

3. The joint locking mechanism according to claim 2, wherein the guiding pressure plate comprises a guiding arc plate connected to the guiding main body and a guiding fixing plate connected to the guiding arc plate, the guiding arc plate is enclosed in the first mounting hole, and the guiding fixing plate is parallel to the surface of the guiding main body and has the predetermined distance from the guiding main body.

4. The joint locking mechanism according to claim 2 or 3, wherein the locking assembly comprises a locking member movably disposed in the second mounting hole and a toggle member connected to the locking member for locking or unlocking the locking member;

the locking piece comprises a first lock disc, a second lock disc and an elastic piece arranged between the first lock disc and the second lock disc, and the trip piece is used for locking or unlocking the first lock disc and the second lock disc.

5. The joint locking mechanism of claim 4, wherein the first lock collar has a first locking portion and the second lock collar has a second locking portion, the first locking portion being in locking engagement with the second locking portion;

6. The joint locking mechanism according to claim 4, wherein the pulling member comprises a connecting shaft and a locking wrench rotatably connected to the connecting shaft, the connecting shaft passes through the guide pressing plate and the guide main body and is connected to the first locking plate and the second locking plate, and the locking wrench drives the guide pressing plate to abut against the guide main body through the connecting shaft and enables the first locking plate and the second locking plate to be connected in an involution and locking manner.

7. The joint locking mechanism of claim 6, wherein the end of the locking wrench connected to the connecting shaft is cammed.

8. The joint locking mechanism of claim 7, wherein the trigger further comprises a stop member, the stop member is sleeved on the connecting shaft and arranged on the guide sleeve, and the stop member is used for limiting the position of the locking trigger when the locking trigger is locked.

9. The joint locking mechanism of claim 8, wherein the retainer has a retaining groove, and wherein the locking wrench is positioned in the retaining groove when the locking wrench is locked.

10. A headgear connection comprising a plurality of joint locking mechanisms according to any one of claims 1 to 9, a plurality of said joint locking mechanisms being connected in series;

11. A surgical navigation apparatus, comprising a support frame, a surgical robotic arm disposed on the support frame, and a headgear connection structure according to claim 10;