CN216962624U - Connection device with tracer - Google Patents
Connection device with tracer Download PDFInfo
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- CN216962624U CN216962624U CN202123369414.6U CN202123369414U CN216962624U CN 216962624 U CN216962624 U CN 216962624U CN 202123369414 U CN202123369414 U CN 202123369414U CN 216962624 U CN216962624 U CN 216962624U
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- tracer
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- connecting piece
- connection device
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Abstract
The utility model relates to a connection device with a tracer, comprising: the first connecting piece comprises a first butt joint part and a first locking part, the first butt joint part is connected with the front end pin head of the mechanical arm in a matched mode, and the first locking part is used for locking the first butt joint part and the front end pin head which are connected in the matched mode together; one end of the second connecting piece is connected to the first connecting piece, and the other end of the second connecting piece is used for connecting a tool; a tracer disposed on the connection device, the tracer including a plurality of optical indicator points. The connecting device of the utility model can be conveniently butted to the front end of the mechanical arm of the surgical robot and can be locked. Through setting up the location structure that prevents changeing, can be so that connect accurate, remain stable in the use. Different connecting interfaces can be selected for different tools, and the application scene of the mechanical arm is expanded. Also, the position of the tool can be tracked in real time by the tracer using the navigation camera.
Description
Technical Field
The utility model belongs to the field of medical instruments, relates to a robot system technology for operation, and particularly relates to a connecting device with a tracer for the front end of a mechanical arm.
Background
Currently, surgical robots are increasingly used in bone surgery to assist physicians in performing complex bone surgeries. The surgical robot can accurately correlate the image data of the patient with the physiological anatomy of the patient, assist the surgeon in performing surgical planning, and can guide the surgeon in operating surgical instruments. The orthopedic surgery robot enables the orthopedic surgery to be more accurate, rapid and safe.
With the development of surgical robot technology, the robot needs to assist doctors to perform more operations, so that different tools need to be installed at the front end of the mechanical arm of the surgical robot to cooperate with the doctors to complete the operation. Meanwhile, in an orthopedic surgery to which a surgical robot is applied, it is necessary to determine the position of a surgical instrument using a navigation camera.
Therefore, there is a need in the art for a connection device mountable at the front end of a surgical robotic arm that can be used to connect different tools while being position-recognized by a navigation camera.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems of the prior art, the present invention provides a connection device with a tracer, comprising:
the first connecting piece comprises a first butt-joint part and a first locking part, the first butt-joint part is connected with the front end pin head of the mechanical arm in a matched mode, and the first locking part is used for locking the first butt-joint part and the front end pin head which are connected in the matched mode together;
one end of the second connecting piece is connected to the first connecting piece, and the other end of the second connecting piece is used for connecting a tool;
a tracer disposed on the connection device, the tracer including a plurality of optical indicator points.
Further, the tracer includes a mounting bracket on which the plurality of optical indication points are disposed;
the multiple optical indication points are located on the same plane, but not on the same straight line.
Further, the plurality of optical indication points satisfy that the distance between two points is not less than 30mm, and the difference of the distances is not less than 5 mm.
Further, 4 optical indication points are included.
Further, the optical indication points are luminous or reflective balls with the diameter of 5mm-20 mm.
Furthermore, the first butt joint part is provided with an anti-rotation positioning structure, and the front end pin head of the mechanical arm is provided with a matched anti-rotation positioning structure.
Further, first locking portion includes first stay and second stay, first stay and second stay detachably hinge together, the parcel is in first butt joint portion outside for lock first butt joint portion and front end round pin head.
Further, the first butt joint part is disc-shaped;
at least one part of the first locking piece and the second locking piece is of a circular ring structure, a clamping groove is formed in the inner surface of the circular ring structure, and the outer edge of the first butt joint portion is embedded into the clamping groove.
Further, the second connecting piece comprises a second butt joint part and a second locking part;
the second locking portion is disposed on the second docking portion for locking a component within the second docking portion.
Further, the second butt joint part is provided with a butt joint jack.
The connecting device of the utility model can be conveniently butted to the front end of the mechanical arm of the surgical robot and can be locked. Through setting up the location structure of preventing changeing, can be so that connect accurate, remain stable in the use. Different connecting interfaces can be selected for different tools, and the application scene of the mechanical arm is expanded. Also, the position of the tool can be tracked in real time by the tracer using a navigation camera.
In addition to the technical problems addressed by the present invention, the technical features constituting the technical solutions and the advantages brought by the technical features of the technical solutions described above, other technical features of the present invention and the advantages brought by the technical features of the technical solutions will be further explained with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of a first connecting member according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a connecting device according to a first embodiment of the present invention.
Fig. 3 is a schematic structural view of a connecting device connected to a robot arm according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of a connecting device according to a second embodiment of the present invention.
In the figure:
1. a first locking tab; 2. a second locking tab; 3. a first locking knob cap; 4. a first mating portion; 5. an anti-rotation positioning structure; 6. a hinge portion; 7. a locking lever; 8. a mechanical arm; 9. mounting a bracket; 10. an optical pointer;
21. a second docking portion; 22. a second mating jack; 23. a second locking knob; 31. a third docking portion; 32. a third docking receptacle; 33. a second locking knob; 34. a connecting rod.
Detailed Description
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present invention, unless otherwise specified, "plurality", "plural groups" means two or more, and "several", "several groups" means one or more.
The utility model provides a connection device with a tracer, comprising:
the first connecting piece comprises a first butt-joint part and a first locking part, the first butt-joint part is connected with the front end pin head of the mechanical arm in a matched mode, and the first locking part is used for locking the first butt-joint part and the front end pin head which are connected in the matched mode together;
one end of the second connecting piece is connected to the first connecting piece, and the other end of the second connecting piece is used for connecting a tool;
a tracer disposed on the connection device, the tracer including a plurality of optical indicator points.
The coupling device of the utility model is provided with two coupling members, one for coupling to the front end of the robot arm and the other for coupling to the tool.
The second connector may have a variety of configurations selected depending primarily on the type of tool joint to be connected, such as a connector rod, a female connector, a male connector, a female connector, etc. Alternatively, the connecting rod may be a straight rod, a connecting rod with a radian or a connecting rod with a specific shape. The cross section of the jack can be selected from various shapes, and can be circular, elliptical, polygonal and the like. The slot may also be selected from a variety of shapes.
Preferably, a positioning structure can be further arranged on the second connecting piece and used for accurately positioning when a tool is connected, and the tool can be quickly and correctly installed.
The second locking member of the second connecting member is used for locking the connected tool, so that the tool is stable and reliable in the using process. The locking member is not limited to the screw form, and those skilled in the art can select different forms of locking member as desired.
Alternatively, the first connecting member and the second connecting member may be fixedly connected together, for example, by a connecting portion, or the first connecting member and the second connecting member may be detachably connected together, and different second connecting members may be replaced according to the use requirement.
Preferably, the optical indication points of the present invention may be light emitting bodies or light reflecting bodies, and the shapes may be small balls, sheets with various shapes, prisms with multiple reflecting surfaces, cones, tables, etc., and different optical indication points may be selected according to the usage scene, which is mainly convenient for the navigation camera of the surgical robot system to track to the optical indication points, thereby determining the position of the tracer. The optical indicator points are preferably infrared reflective pellets, more preferably three or more infrared reflective pellets.
Further, the mounting bracket can be a hollow frame body, and the shape can be an irregular polygon or a plurality of branched structures. A plurality of mounting holes are arranged on the bracket and used for mounting the optical indicating points.
Preferably, the plurality of optical indication points are located on the same plane, but not on the same straight line. Preferably, more than three optical indication points are provided, the plane in which the optical indication points are located can be determined, and more preferably, four optical indication points are provided, the spatial position in which the tracer is located can be calculated and calibrated more accurately.
Preferably, the plurality of optical indication points satisfy that the distance between two points is not less than 30mm and the difference in distance is not less than 5 mm.
Alternatively, the mounting bracket of the tracer may be provided on the attachment means directly by the connecting rod, or may be removably mounted on the attachment means by a third attachment of the mounting means.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The first embodiment:
as shown in fig. 1 to 3, the coupling device according to the first embodiment of the present invention includes a first coupling member and a second coupling member. Wherein, first connecting piece includes first locking portion, and first locking portion includes first stay 1, second stay 2, first locking knob cap 3 and check lock lever 7. In this embodiment, the first locking piece 1 and the second locking piece 2 are substantially semi-circular ring shaped, one end is hinged together through a hinge portion 6, and the other end is detachably connected together through a first locking knob cap 3 in cooperation with a locking rod 7. The inner walls of the first locking piece 1 and the second locking piece 2 are provided with grooves. The first locking knob cap 3 has an internal thread and the locking bar 7 has an external thread, which are screw-coupled. One end of the locking rod 7 is connected to the end protrusion of the first locking plate 1 through a rotating shaft, and the other end is screwed into the first locking knob cap 3 through a threaded connection. The first locking knob cap 3 can be clamped on the end part protrusion of the second locking plate 2, and locking and loosening between the first locking plate 1 and the second locking plate 2 can be realized by rotating the first locking knob cap 3.
The first connecting piece further comprises a first butt joint part 4, the first butt joint part 4 is in a disc shape, and an anti-rotation positioning structure 5 is arranged on the surface of the first butt joint part 4. In this embodiment, the anti-rotation positioning structure 5 is a boss disposed on a part of the abutting surface, and the boundary of the boss is a broken line shape. Correspondingly, the connecting end of the mechanical arm is also provided with a disk-shaped butt joint part with the same size, and a boss which can be in butt joint with the anti-rotation positioning structure 5 in a matched mode is arranged on the butt joint surface, so that accurate butt joint of the two is achieved.
When the anti-rotation positioning structure is used, the first butt joint part 4 is in butt joint with the butt joint part of the mechanical arm connecting end, the anti-rotation positioning structure 5 is aligned and positioned, and relative rotation between the two butt joint parts can be prevented. The first locking piece 1 and the second locking piece 2 surround the periphery of the butt joint part of the first butt joint part 4 and the mechanical arm connecting end, the edges of the two butt joint parts are embedded into the grooves in the inner wall, and the first locking knob cap 3 is screwed up to lock the first locking piece 1 and the second locking piece 2.
In the present embodiment, the second locking tab 2 is fixedly connected to the outside of the first docking portion 4, and the first locking tab 1 can be opened and closed, thereby facilitating the completion of the locking operation.
The second connector comprises a second docking portion 21, a second docking jack 22 and a second locking knob 23. The second docking portion 21 is connected to the first connector, the second docking jack 22 is disposed in the second docking portion 21, and the shape of the docking jack 22 may be circular, polygonal, oval, etc., and may be selected according to the shape of the interface of the connected tool. In this embodiment, the cross-sectional shape of the second mating jack 22 is triangular.
The second locking knob 23 is disposed on the second docking portion 21, in this embodiment, the front end of the second locking knob 23 is a locking screw, and the locking screw is in threaded fit with a locking threaded hole on the second docking portion 21, when a connected tool is inserted into the second docking hole 22, by rotating the second locking knob 23, the front end of the locking screw abuts against a connector of the tool, so as to lock the tool.
The tracer comprises a mounting bracket 9 and optical indicator points 10, in this embodiment 4 optical indicator points 10, in the form of 4 reflective beads. 4 and the optical indication point 10 are arranged in the same plane but not on the same straight line.
In this embodiment, the 4 optical indication points 10 satisfy that the distance between two points is not less than 30mm, and the difference between the distances is not less than 5 mm. The optical indicator dot 10 has a diameter of 10 mm.
In this embodiment, the connecting device further comprises a third connecting member, which comprises a third abutting portion 31, a third abutting insertion hole 32 and a third locking knob 33. The mounting bracket 9 is connected to the third connecting member. Specifically, the mounting end of the mounting bracket 9 is inserted into the third docking insertion hole 32 and locked by rotating the third locking knob 33. The third connector is connected to the connector body by a connecting rod 34 so that the tracer connected to the third connector is remote from the first and second connectors, facilitating the navigation camera to track the position of the tracer.
As shown in fig. 3, the connecting device of the present embodiment is connected to the front end of the robot arm 8 through a first connecting member. In actual use, the first connecting piece is connected to the front end of the mechanical arm and locked. The second connecting piece is used for connecting a surgical tool, faces the outer side of the front end of the mechanical arm, is similar to a hand at the front end of the mechanical arm, and is convenient for surgical operation. The third connecting piece is arranged on the upper parts of the first connecting piece and the second connecting piece and is higher than the first connecting piece and the second connecting piece. The third docking socket 32 of the third connection is facing the side of the robot arm so that the mounting bracket 9 and the optical pointing point 10 of the tracer face the navigation camera.
The second embodiment:
as shown in fig. 4, the connecting device according to the second embodiment of the present invention includes a first connecting element and a second connecting element, wherein the structures of the first connecting element and the second connecting element are the same as those of the first embodiment, and are not described again in this embodiment.
In this embodiment no third connection is provided and the tracer mounting bracket 9 is provided at the distal end of the connecting rod 34. In this embodiment, the mounting bracket 9 and the connecting rod 34 are integrally formed, which simplifies the structure of the connecting device.
The connecting device can be conveniently butted to the front end of the mechanical arm and can be locked. Through setting up the location structure that prevents changeing, can be so that connect accurate, remain stable in the use. Different connecting interfaces can be selected for different tools, and the application scene of the mechanical arm is expanded. By providing a tracer, the position of the surgical tool can be tracked in real time using the navigation camera.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A connection device with a tracer, comprising:
the first connecting piece comprises a first butt-joint part and a first locking part, the first butt-joint part is connected with the front end pin head of the mechanical arm in a matched mode, and the first locking part is used for locking the first butt-joint part and the front end pin head which are connected in the matched mode together;
one end of the second connecting piece is connected to the first connecting piece, and the other end of the second connecting piece is used for connecting a tool;
a tracer disposed on the connection device, the tracer including a plurality of optical indicator points.
2. The connection means with the tracer of claim 1, wherein the tracer includes a mounting bracket on which the plurality of optical indicator points are disposed;
the multiple optical indication points are located on the same plane, but not on the same straight line.
3. The connection device with tracer according to claim 1, wherein the plurality of optical indication points satisfy a distance between two points not less than 30mm and a difference in distance not less than 5 mm.
4. The connection means with tracer according to claim 1, characterized in that it comprises 4 optical indicator points.
5. The attachment means with a tracer according to claim 1, wherein the optical indicator points are luminescent or reflective spheres with a diameter of 5mm to 20 mm.
6. The coupling device with the tracer of claim 1, wherein the first mating portion has an anti-rotation locating feature and the front pin head of the mechanical arm has a mating anti-rotation locating feature.
7. The connection device with tracer of claim 1, wherein the first locking portion comprises a first locking tab and a second locking tab that are removably hinged together, wrapped around the first mating portion, for locking the first mating portion with the front pin head.
8. The attachment device with a tracer according to claim 7, wherein the first docking portion is disc-shaped;
at least one part of the first locking piece and the second locking piece is of a circular ring structure, a clamping groove is formed in the inner surface of the circular ring structure, and the outer edge of the first butt joint portion is embedded into the clamping groove.
9. The connection device with tracer of claim 1, wherein the second connector includes a second docking portion and a second locking portion;
the second locking portion is disposed on the second docking portion for locking a component within the second docking portion.
10. The connection device with tracer of claim 9, wherein the second docking portion is provided with a docking receptacle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123369414.6U CN216962624U (en) | 2021-12-29 | 2021-12-29 | Connection device with tracer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123369414.6U CN216962624U (en) | 2021-12-29 | 2021-12-29 | Connection device with tracer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216962624U true CN216962624U (en) | 2022-07-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123369414.6U Active CN216962624U (en) | 2021-12-29 | 2021-12-29 | Connection device with tracer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216962624U (en) |
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2021
- 2021-12-29 CN CN202123369414.6U patent/CN216962624U/en active Active
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