CN215228371U

CN215228371U - Array support frame, operation navigation device and operation robot

Info

Publication number: CN215228371U
Application number: CN202120446478.2U
Authority: CN
Inventors: 黄朋; 朱龙威
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2021-03-02
Filing date: 2021-03-02
Publication date: 2021-12-21
Anticipated expiration: 2031-03-02

Abstract

The utility model relates to an array support frame, including coupling assembling and adjusting part. The coupling assembling includes the bracing piece, and the one end of bracing piece can set up in surgical instruments. The adjusting component rotates and sets up in the other end of bracing piece, and the contained angle between the pivot of adjusting component and the extending direction of bracing piece is acute angle, right angle or obtuse angle, and adjusting component can fixed mounting array frame. The utility model discloses still provide operation navigation head and operation robot including above-mentioned array support frame. Above-mentioned array support frame, operation navigation head and surgical robot, adjusting part not only can rotate for the bracing piece, and the pivot of adjusting part and the contained angle between the extending direction of bracing piece be acute angle, right angle or obtuse angle, provide more possibilities for the angular adjustment of array frame, make array support frame can adapt to more complicated operation condition under the prerequisite that does not influence surgical instruments. The operator can realize the adjustment of angle through drive adjusting part or array frame, simple structure.

Description

Array support frame, operation navigation device and operation robot

Technical Field

The utility model relates to the technical field of medical equipment, especially relate to array support frame, operation navigation head and operation robot.

Background

The surgical navigation technology combines medical image diagnosis technology, spatial positioning technology, three-dimensional image processing technology and high-performance computers, and is also called frameless three-dimensional trend surgery or image navigation surgery. The position of the surgical instrument is tracked and positioned in real time in the operation process, and the position of the surgical instrument is updated and displayed on the image of the patient in real time, so that the position of the surgical instrument relative to a planned operation route and a focus is clear at a glance, the surgical instrument is guided not to deviate from an operation plan, and meanwhile, normal tissues are prevented from being damaged. In orthopaedic robotic joint surgery, it is necessary to track the position and angle of surgical instruments (extractors, stem implanters, power tools, etc.), which is of great importance in orthopaedic surgery. In a general surgical navigation device, after an array support seat is fixed, the angle of a reflecting small ball array is not adjustable or the adjusting structure is complex and huge, so that the mounting and the adjustment are inconvenient, and the mounting positions of the array support seat and a tracking device matched with a reflecting ball are limited in a surgical process.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide an array support frame, a surgical navigation device, and a surgical robot, which are convenient for adjusting the angle of the reflective bead array, in order to solve the problem that the angle of the reflective bead array in a general surgical robot is inconvenient to adjust.

An array support frame comprising:

the connecting assembly comprises a supporting rod, and one end of the supporting rod can be arranged on a surgical instrument;

the adjusting part rotates set up in the other end of bracing piece, adjusting part's pivot with contained angle between the extending direction of bracing piece is acute angle, right angle or obtuse angle, adjusting part can fixed mounting array frame.

In one embodiment, the adjustment assembly comprises a ball and socket joint.

In one embodiment, the adjusting assembly further comprises a first locking member movably arranged at the ball hinge joint; the first locking piece is provided with a locking position and an avoiding position, the first locking piece limits the rotation of the ball hinge joint when moving to the locking position, and the first locking piece allows the ball hinge joint to rotate when moving to the avoiding position.

In one embodiment, the ball hinge joint comprises a ball head shaft and a sleeve, the ball head shaft is fixedly arranged at one end of the supporting rod, and a spherical groove for accommodating the ball head shaft is formed in the sleeve; the adjusting assembly further comprises an interface board, the interface board is fixedly arranged on the sleeve and can be fixedly connected with the array frame, through holes are formed in the sleeve and the interface board, and the first locking piece sequentially penetrates through the array frame, the interface board and the sleeve and abuts against the ball head shaft.

In one embodiment, the adjusting assembly further comprises a transfer shaft, two ends of the transfer shaft are respectively and fixedly connected with the sleeve and the interface plate, and a threaded through hole is formed in the transfer shaft; the first locking piece comprises a locking screw, the locking screw sequentially penetrates through the array frame, the through hole of the interface board, the threaded hole of the transfer shaft and the through hole of the sleeve, and the locking screw is abutted to the ball head shaft.

In one embodiment, the adjusting assembly comprises a fixed tooth, an adjusting tooth and a second locking member, the fixed tooth is fixedly arranged at the other end of the supporting rod, and the adjusting tooth can be fixedly arranged on an array frame; the adjusting teeth are rotatably arranged on the fixed teeth, and the rotating shaft direction of the adjusting teeth is perpendicular to the extending direction of the supporting rod; the second locking member is configured to limit or allow rotation of the adjustment tooth relative to the fixed tooth.

In one embodiment, the adjusting assembly comprises a fixed joint, a rotating pin, an adjusting joint and a third locking piece, wherein the fixed joint is fixedly arranged at the other end of the supporting rod; the rotating pin is rotatably arranged on the fixed joint, and the extending direction of the rotating pin is vertical to the extending direction of the supporting rod; the adjusting joint can be fixedly provided with an array frame, and the adjusting joint is rotatably arranged on the fixed joint through the rotating pin; the third locking member is movably arranged on the fixed joint and limits or allows the adjusting joint to rotate relative to the fixed joint.

In one embodiment, the connecting assembly further comprises a fixing member, one end of the supporting rod can be rotatably arranged on a surgical instrument, and the fixing member is fixedly connected with the supporting rod and the surgical instrument.

In one embodiment, the fixing member includes a fixing nut, the fixing nut is sleeved on the support rod, and the fixing nut can be in threaded connection with a threaded portion of the surgical instrument.

A surgical navigation device comprising an array support and the array support of any one of the various embodiments above; the array frame is fixedly arranged on the adjusting component.

In one embodiment, the array frame is provided with a through hole, and the through hole allows a locking screw to pass through.

In one embodiment, the surgical navigation device further comprises a tracking device and a plurality of reflective balls, the reflective balls are respectively and fixedly arranged on the array frame, and the reflective balls and the array frame form a reflective ball array; the tracking device is capable of tracking the position and angle of the array of light-reflecting spheres.

A surgical robot comprising a surgical instrument and the surgical navigation device of any one of the above embodiments, wherein one end of the support rod is disposed on the surgical instrument; the surgical instrument comprises a knockout or a stem-planting device.

Above-mentioned array support frame, operation navigation head and surgical robot, coupling assembling are used for connecting surgical instruments, and adjusting part can fixed mounting array frame for array frame and surgical instruments have relatively fixed position relation. Meanwhile, the adjusting assembly can rotate relative to the supporting rod, and an included angle between a rotating shaft of the adjusting assembly and the extending direction of the supporting rod is an acute angle, a right angle or an obtuse angle, so that more possibilities are provided for angle adjustment of the array frame, and the array support frame can adapt to more complex operation conditions on the premise of not influencing surgical instruments. The operator can realize the adjustment of angle through drive adjusting part or array frame, simple structure.

Drawings

Fig. 1 is a schematic view of a first state structure of a surgical navigation device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a second state of the surgical navigation device according to an embodiment of the present invention;

fig. 3 is a schematic view of an internal structure of a surgical navigation device according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of a surgical navigation device according to another embodiment of the present invention;

fig. 5 is a schematic structural view of a fixing tooth portion according to another embodiment of the present invention;

fig. 6 is a schematic structural view of an adjusting tooth portion according to another embodiment of the present invention;

fig. 7 is a first perspective view of a surgical navigation device mounted to a surgical instrument according to an embodiment of the present invention;

fig. 8 is a second perspective view of a surgical navigation device mounted to a surgical instrument according to an embodiment of the present invention;

fig. 9 is a schematic perspective view of a surgical navigation device according to another embodiment of the present invention.

Wherein: 10. a surgical navigation device; 100. an array support frame; 110. a connecting assembly; 111. a support bar; 112. fixing a nut; 120. an adjustment assembly; 121. a ball end shaft; 122. a sleeve; 123. a first locking member; 124. fixing teeth; 125. adjusting teeth; 126. a second locking member; 127. fixing the joint; 128. a rotation pin; 129. adjusting the joint; 131. a third locking member; 130. an interface board; 140. a transfer shaft; 200. a reflective ball array; 210. an array rack; 220. a light reflecting ball; 20. a surgical instrument.

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.

As shown in fig. 1-2, 4 and 9, an embodiment of the present invention provides an array support 100 for supporting an array frame 210, and a reflective ball 220 mounted on the array frame 210 can be used for tracking the position and angle of a surgical instrument 20. The array support frame 100 includes a connection assembly 110 and an adjustment assembly 120. The connecting component 110 is used for connecting with the surgical instrument 20, so as to realize the relative fixation of the position between the reflective ball 220 and the surgical instrument 20; and then the position and angle of the surgical instrument 20 can be obtained by tracking the position and angle of the reflective ball 220. Specifically, the connection assembly 110 includes a support rod 111, and one end of the support rod 111 can be disposed on the surgical instrument 20, so as to connect the array support 100 and the surgical instrument 20. The adjusting component 120 is rotatably disposed at the other end of the supporting rod 111, an included angle between a rotating shaft of the adjusting component 120 and the extending direction of the supporting rod 111 is an acute angle, a right angle or an obtuse angle, and the adjusting component 120 can fixedly mount the array frame 210. It will be appreciated that the array stage 210 rotates synchronously with the adjustment assembly 120.

The array support 100 and the connecting assembly 110 are used for connecting the surgical instrument 20, and the adjusting assembly 120 can fixedly mount the array frame 210, so that the array frame 210 and the surgical instrument 20 have a relatively fixed positional relationship. Meanwhile, the adjusting component 120 can rotate relative to the supporting rod 111, and an included angle between a rotating shaft of the adjusting component 120 and the extending direction of the supporting rod 111 is an acute angle, a right angle or an obtuse angle, so that more possibilities are provided for angle adjustment of the array frame 210, and the array support frame 100 can adapt to more complex surgical conditions on the premise of not affecting the surgical instrument 20. The operator can realize the angle adjustment by driving the adjusting component 120 or the array frame 210, and the structure is simple.

For example, in the case of a robot-assisted orthopaedic joint replacement operation, when the surgical instrument 20 such as a knockout, a stem-planting device or a power tool is used in the operation process, the posture and the angle need to be adjusted, the array support 100 provided in the above embodiment allows the array support 100 to be rotated to a proper direction in advance, thereby avoiding affecting the recognition of the position and the angle of the light-reflecting ball 220 by the tracking device. The array support frame 100 provided by the above embodiment has a simple structure, is convenient to install and adjust, and has lower limitation on the installation position of the tracking device matched with the reflective ball 220.

The rotation of the adjustment assembly 120 relative to the support rod 111 is critical to achieving angular adjustment of the array frame 210. Optionally, the adjustment assembly 120 has a fixed direction of rotation or a variable direction of rotation during rotation. The rotation axis in the fixed direction may form an acute angle, a right angle or an obtuse angle with the support rod 111. The direction-variable rotating shaft can be changed within a set range or is in a ball-hinge joint or a universal joint.

As shown in fig. 1-3, in an embodiment of the present invention, the adjusting component 120 includes a ball-and-socket joint, the ball-and-socket joint can rotate around its own center within the working range, the direction perpendicular to its instantaneous rotation plane is defined as the direction of its rotation axis, the ball-and-socket joint can be regarded as having countless possible rotation axes, and theoretically, a straight line passing through its center can be used as the instantaneous rotation axis. The ball-and-socket joint can rotate along a fixed axis during a single rotation, or can rotate irregularly, and the axis of rotation of the adjustment assembly 120 is considered to be constantly changing. The ball-and-socket joint allows the adjusting assembly 120 to perform a wider range of more convenient angular adjustment, thereby driving the array frame 210 and the reflective ball 220 to perform a wider range of more convenient position and angular adjustment.

The adjusting assembly 120 including the ball-and-socket joint not only can realize convenient rotation, but also needs to stably stay at a set position after rotating a certain angle. Optionally, the ball-hinged joint is in interference fit, and has a large friction force, so that the ball-hinged joint can be stabilized at any angle. Or the adjustment assembly 120 further comprises a first locking member 123 for locking the ball and socket joint. As shown in fig. 1-3, the first locking member 123 is movably disposed at the ball-and-socket joint. The first locking member 123 has a locked position that limits rotation of the ball hinge joint when the first locking member 123 is moved to the locked position and an avoidance position that allows rotation of the ball hinge joint when the first locking member 123 is moved to the avoidance position. The first locking piece 123 can ensure the stability of the ball hinge joint at any position, and the situation that the friction force of the ball hinge joint is reduced due to abrasion after the ball hinge joint rotates for many times is avoided.

In an embodiment of the present invention, as shown in fig. 1-3, the ball-and-socket joint includes a ball shaft 121 and a sleeve 122, the ball shaft 121 is fixedly disposed at one end of the supporting rod 111, and a spherical groove for accommodating the ball shaft 121 is formed in the sleeve 122. The adjusting assembly 120 further includes an interface board 130, the interface board 130 is fixedly disposed on the sleeve 122, the interface board 130 can be fixedly connected to the array frame 210 (for example, clamped or connected by a screw), through holes are formed in the sleeve 122 and the interface board 130, and the first locking member 123 sequentially penetrates through the array frame 210, the interface board 130, and the sleeve 122 and abuts against the ball head shaft 121. Disposing the first locking member 123 sequentially through the array frame 210, the interface plate 130, and the sleeve 122 and in abutment with the ball stud shaft 121 facilitates an operator driving the first locking member 123 in a larger operating space.

Alternatively, the first locking member 123 is provided on the ball and socket joint in a snap or screw connection. In an embodiment of the present invention, as shown in fig. 1-3, the adjusting assembly 120 further includes a coupling shaft 140, the two ends of the coupling shaft 140 are respectively fixed to the connecting sleeve 122 and the interface board 130, and a threaded through hole is formed in the coupling shaft 140. The first locking member 123 includes a locking screw, the locking screw sequentially passes through the array frame 210, the through hole of the interface board 130, the threaded hole of the adapter shaft 140, and the through hole of the sleeve 122, and the locking screw abuts against the ball joint shaft 121. A first locking member 123 in the form of a locking screw moves to an escape position when unscrewed and allows the ball stud shaft 121 to rotate relative to the sleeve 122, thereby effecting positional and angular adjustment of the array mount 210 relative to the surgical instrument 20. As shown in fig. 3, when screwed in, the first locking member 123 in the form of a locking screw moves to the locking position and abuts against the ball-end shaft 121, so as to limit the rotation of the ball-end shaft 121 relative to the sleeve 122, and further limit the position and angle adjustment of the array frame 210 relative to the surgical instrument 20, and keep the position and angle of the light reflecting ball 220 stable.

An included angle between a rotating shaft of the adjusting assembly 120 and the extending direction of the supporting rod 111 is an acute angle, a right angle or an obtuse angle, when the adjusting assembly 120 rotates, a swept plane in the rotating process of the adjusting assembly 120 also forms an acute angle or an obtuse angle with the extending direction of the supporting rod 111, or a swept plane in the rotating process of the adjusting assembly 120 passes through the supporting rod 111 or is parallel to the extending direction of the supporting rod 111. In an embodiment of the present invention, as shown in fig. 1-3, the connecting assembly 110 further includes a fixing member, one end of the supporting rod 111 can be rotatably disposed on the surgical instrument 20, and the fixing member fixedly connects the supporting rod 111 and the surgical instrument 20. The array support frame 100 provided by the embodiment can rotate around the extension axis of the support rod 111 to further adjust the positions and angles of the array frame 210 and the reflective ball 220, so that the array support frame can adapt to more complex surgical conditions. As one way of accomplishing this, one end of the support rod 111 can be snapped onto the surgical instrument 20. As another way to realize this, a threaded portion is provided on the surgical instrument 20, the fixing member includes a fixing nut 112, the fixing nut 112 is sleeved on the supporting rod 111, and when the supporting rod 111 rotates to a proper angle, the fixing nut 112 can be in threaded connection with the threaded portion on the surgical instrument 20. Further, can also set up on surgical instruments 20 and prevent slow-witted recess, the one end and the prevent slow-witted recess adaptation of bracing piece 111, bracing piece 111 can realize setting for the circumference spacing after the angle rotates.

The following paragraphs briefly describe the steps of mounting the array support 100, the array frame 210 and the reflective balls 220 in the above embodiments: as shown in fig. 1 to 3, the fixing nut 112, the support rod 111, the ball stud shaft 121, the sleeve 122, the adapter shaft 140 and the interface board 130 are assembled together after leaving the factory, the support rod 111 and the ball stud shaft 121 are assembled together in an interference fit manner or a welding manner, and the sleeve 122, the adapter shaft 140 and the interface board 130 are also connected together in an interference fit manner or a welding manner. When the support rod 111 and the ball joint shaft 121 are assembled together, the ball joint shaft 121 is first installed in the sleeve 122, and the fixing nut 112 is installed on the support rod 111. Similarly, when the sleeve 122, the adapting shaft 140 and the interface board 130 are assembled, it is ensured that the ball joint shaft 121 is already installed in the sleeve 122, and the fixing nut 112 is sleeved on the supporting rod 111. The reflective ball 220 is mounted on the array frame 210 to form the reflective ball array 200, which is fixed to the interface board 130 by screws.

As shown in fig. 1-3, during use: firstly, the support rod 111 is inserted into a designated interface of the surgical instrument 20, the array support frame 100 can be adjusted to axially rotate to a proper angle along the support rod 111 by rotating the support rod 111, and the array support frame 100 is fixedly arranged at a designated position on the surgical instrument 20 by screwing the fixing nut 112; when the first locking member 123 in the form of a locking screw is loosened, the orientation of the reflective ball array 200 can be adjusted by rotating the reflective ball array 200, any one of the sleeve 122, the adapter shaft 140, the interface board 130, the reflective ball array 200 and the first locking member 123 can be rotated according to personal habits of an operator, and after the angle of the reflective ball array 200 is adjusted, the first locking member 123 in the form of a locking screw is screwed, and the locking screw abuts against the ball head shaft 121, so that the adjustment of the reflective ball array 200 can be completed.

In other embodiments of the present invention, the rotation axis of the adjusting teeth 125 is perpendicular to the extending direction of the supporting rod 111. In one implementation, as shown in fig. 4-8, the adjusting assembly 120 includes a fixing tooth 124, an adjusting tooth 125, and a second locking member 126, the fixing tooth 124 is fixedly disposed at the other end of the supporting rod 111, and the adjusting tooth 125 can be fixedly mounted to the array frame 210. The adjusting teeth 125 are rotatably disposed on the fixing teeth 124, and the rotating shaft direction of the adjusting teeth 125 is perpendicular to the extending direction of the supporting rod 111. Second locking member 126 is adapted to limit or allow rotation of adjustment tooth 125 relative to stationary tooth 124. Further, the second locking member 126 is also a locking screw. As shown in fig. 4 to 6, the fixing nut 112, the supporting rod 111 and the fixing teeth 124 are integrated, wherein the supporting rod 111 and the fixing teeth 124 are fixedly connected by welding or interference, and it should be noted that the fixing nut 112 is first installed on the supporting rod 111. After the assembly is completed, the fixing nut 112 can slide and rotate along the axial direction of the support rod 111. The interface plate 130, the adapter shaft 140 and the second locking member 126 are integrated and fixedly connected by welding or interference. The interface board 130 and the reflective ball array 200 are fixed together by screws.

Compared with the adjusting assembly 120 in the form of a ball-and-socket joint, the adjusting assembly 120 in this embodiment has a structure that the ball pair is changed into a tooth socket, and a matching tooth socket structure is arranged between the adjusting teeth 125 and the fixing teeth 124. The adjustment assembly 120 in this embodiment is able to know the relative rotation angle value with respect to the ball pair structure. The specific adjusting steps are as follows: after the second locking member 126 is released, the adapter shaft 140 is lifted upward, the spline can be rotated to a desired mating tooth position after disengagement, and then the second locking member 126 in the form of a locking screw is tightened.

In other embodiments of the present invention, the rotation axis of the adjusting teeth 125 is perpendicular to the extending direction of the supporting rod 111. As another realizable manner, as shown in fig. 9, the adjusting assembly 120 includes a fixed joint 127, a rotation pin 128, an adjusting joint 129, and a third locker 131, and the fixed joint 127 is fixedly disposed at the other end of the supporting bar 111. The rotation pin 128 is rotatably disposed at the fixed joint 127, and the extension direction of the rotation pin 128 is perpendicular to the extension direction of the support rod 111. The adjusting joint 129 can be fixedly installed on the array frame 210, and the adjusting joint 129 is rotatably arranged on the fixed joint 127 through the rotating pin 128. A third locking member 131 is movably disposed on the fixed joint 127, the third locking member 131 limiting or allowing rotation of the adjustment joint 129 relative to the fixed joint 127. Further, the third locking member 131 is a set screw, the set screw is screwed into the fixing joint 127, the set screw abuts against the rotating pin 128 when being screwed, the rotating pin 128 is allowed to rotate when the set screw is loosened, the angle of the reflective ball array 200 is further allowed to be adjusted, and the set screw can be screwed again after being adjusted in place.

An embodiment of the present invention further provides a surgical navigation device 10, as shown in fig. 1-2, 4 and 9, the surgical navigation device 10 includes an array frame 210 and the array support frame 100 described in any of the above embodiments. The array stage 210 is fixedly mounted to the adjustment assembly 120. Further, the surgical navigation device 10 further includes a tracking device and a plurality of reflective balls 220, the reflective balls 220 are respectively and fixedly disposed on the array frame 210, and the reflective ball array 200 is formed by the reflective balls 220 and the array frame 210. The tracking device is capable of tracking the position and angle of the reflective ball array 200, such as using an infrared type tracking device or an electromagnetic type tracking device. When the ball-and-socket joint adjustment assembly 120 is used, the array frame 210 is provided with through holes that allow the locking screws to pass through. In the surgical navigation device 10, the connecting assembly 110 is used for connecting the surgical instrument 20, and the adjusting assembly 120 can fixedly mount the array frame 210, so that the array frame 210 and the surgical instrument 20 have a relatively fixed positional relationship. Meanwhile, the adjusting component 120 can rotate relative to the supporting rod 111, and an included angle between a rotating shaft of the adjusting component 120 and the extending direction of the supporting rod 111 is an acute angle, a right angle or an obtuse angle, so that more possibilities are provided for angle adjustment of the array frame 210, and the array support frame 100 can adapt to more complex surgical conditions on the premise of not affecting the surgical instrument 20. The operator can realize the angle adjustment by driving the adjusting component 120 or the array frame 210, and the structure is simple.

An embodiment of the present invention further provides a surgical robot, as shown in fig. 7-8, comprising a surgical instrument 20 and the surgical navigation device 10 described in the above embodiments, wherein one end of the support rod 111 is disposed on the surgical instrument 20. The surgical instrument 20 includes a knockout, a stem planter, or other power tool. In the surgical robot, the connecting assembly 110 is used for connecting the surgical instrument 20, and the adjusting assembly 120 can fixedly mount the array frame 210, so that the array frame 210 and the surgical instrument 20 have a relatively fixed positional relationship. Meanwhile, the adjusting component 120 can rotate relative to the supporting rod 111, and an included angle between a rotating shaft of the adjusting component 120 and the extending direction of the supporting rod 111 is an acute angle, a right angle or an obtuse angle, so that more possibilities are provided for angle adjustment of the array frame 210, and the array support frame 100 can adapt to more complex surgical conditions on the premise of not affecting the surgical instrument 20. The operator can realize the angle adjustment by driving the adjusting component 120 or the array frame 210, and the structure is simple.

The technical features of the embodiments described above may 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 being within 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. An array support frame, comprising:

2. The array support frame of claim 1, wherein the adjustment assembly comprises a ball and socket joint.

3. The array support frame of claim 2, wherein the adjustment assembly further comprises a first locking member movably disposed at the ball and socket joint; the first locking piece is provided with a locking position and an avoiding position, the first locking piece limits the rotation of the ball hinge joint when moving to the locking position, and the first locking piece allows the ball hinge joint to rotate when moving to the avoiding position.

4. The array support frame of claim 3, wherein the ball hinge joint comprises a ball head shaft and a sleeve, the ball head shaft is fixedly arranged at one end of the support rod, and a spherical groove for accommodating the ball head shaft is arranged in the sleeve; the adjusting assembly further comprises an interface board, the interface board is fixedly arranged on the sleeve and can be fixedly connected with the array frame, through holes are formed in the sleeve and the interface board, and the first locking piece sequentially penetrates through the array frame, the interface board and the sleeve and abuts against the ball head shaft.

5. The array support frame of claim 4, wherein the adjusting assembly further comprises a transfer shaft, two ends of the transfer shaft are respectively and fixedly connected with the sleeve and the interface plate, and a threaded through hole is formed in the transfer shaft; the first locking piece comprises a locking screw, the locking screw sequentially penetrates through the array frame, the through hole of the interface board, the threaded hole of the transfer shaft and the through hole of the sleeve, and the locking screw is abutted to the ball head shaft.

6. The array support of claim 1, wherein the adjustment assembly comprises a fixed tooth, an adjustment tooth and a second locking member, the fixed tooth is fixedly disposed at the other end of the support rod, and the adjustment tooth is capable of fixedly mounting an array frame; the adjusting teeth are rotatably arranged on the fixed teeth, and the rotating shaft direction of the adjusting teeth is perpendicular to the extending direction of the supporting rod; the second locking member is configured to limit or allow rotation of the adjustment tooth relative to the fixed tooth.

7. The array support frame of claim 1, wherein the adjustment assembly comprises a fixed joint, a rotating pin, an adjustment joint and a third locking member, the fixed joint is fixedly arranged at the other end of the support rod; the rotating pin is rotatably arranged on the fixed joint, and the extending direction of the rotating pin is vertical to the extending direction of the supporting rod; the adjusting joint can be fixedly provided with an array frame, and the adjusting joint is rotatably arranged on the fixed joint through the rotating pin; the third locking member is movably arranged on the fixed joint and limits or allows the adjusting joint to rotate relative to the fixed joint.

8. The array support frame of any one of claims 1-7, wherein the connection assembly further comprises a fixing member, one end of the support rod is rotatably disposed on a surgical instrument, and the fixing member fixedly connects the support rod and the surgical instrument.

9. The array support frame of claim 8, wherein the fixing member comprises a fixing nut, the fixing nut is sleeved on the support rod, and the fixing nut can be in threaded connection with a threaded portion on a surgical instrument.

10. A surgical navigation device comprising an array support of any one of claims 1-9 and an array stand; the array frame is fixedly arranged on the adjusting component.

11. The surgical navigation device of claim 10, wherein the array mount defines through holes that allow locking screws to pass therethrough.

12. The surgical navigation device according to claim 10 or 11, further comprising a tracking device and a plurality of reflective balls, wherein the plurality of reflective balls are respectively fixedly arranged on the array frame, and the plurality of reflective balls and the array frame form a reflective ball array; the tracking device is capable of tracking the position and angle of the array of light-reflecting spheres.

13. A surgical robot comprising a surgical instrument and the surgical navigation device of any one of claims 10 to 12, wherein one end of the support bar is disposed to the surgical instrument; the surgical instrument comprises a knockout or a stem-planting device.