CN218045376U - Marker device of location saw bit - Google Patents
Marker device of location saw bit Download PDFInfo
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- CN218045376U CN218045376U CN202221690514.0U CN202221690514U CN218045376U CN 218045376 U CN218045376 U CN 218045376U CN 202221690514 U CN202221690514 U CN 202221690514U CN 218045376 U CN218045376 U CN 218045376U
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- saw blade
- positioning
- clamping
- bracket
- marker device
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- 239000003550 marker Substances 0.000 title claims abstract description 58
- 239000011324 bead Substances 0.000 claims abstract description 23
- 239000011521 glass Substances 0.000 claims abstract description 11
- 230000000712 assembly Effects 0.000 claims description 15
- 238000000429 assembly Methods 0.000 claims description 15
- 238000009434 installation Methods 0.000 abstract 1
- 210000000988 bone and bone Anatomy 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 238000001356 surgical procedure Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000000523 sample Substances 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 208000006820 Arthralgia Diseases 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 208000024765 knee pain Diseases 0.000 description 1
- 238000013150 knee replacement Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000002303 tibia Anatomy 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
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- Surgical Instruments (AREA)
Abstract
The utility model provides a Marker device for positioning a saw blade, which relates to the technical field of medical instruments and comprises a Marker component, wherein a clamping block is arranged at the lower side of the Marker component, and a clamping channel for clamping the saw blade is arranged on the clamping block; through holes are oppositely formed in the side walls of the clamping blocks on the two sides of the clamping channel, and glass bead screws are respectively connected in the through holes. The utility model provides a Marker device of location saw bit can be with the saw bit centre gripping in the centre gripping passageway through the grip block to the pearl head through glass pearl screw pushes up the tight saw bit in the both sides of centre gripping passageway, make grip block and the firm connection of saw bit, and then the Marker device that makes the location saw bit can follow the saw bit and remove, operation navigation passes through the position of the reflective ball of installation on the Marker device of infrared positioning appearance discernment location saw bit like this, the central point and the angle of accurate definite saw bit, improve the position accuracy of boning.
Description
Technical Field
The utility model belongs to the technical field of medical instrument's technique and specifically relates to a Marker device of location saw bit is related to.
Background
The knee joint is the largest of the human body, the most complex of the anatomical structure and the high requirement for the movement function. Knee replacement is to cut the diseased areas of the tibia and femur and replace them with artificial prostheses to relieve knee pain and restore knee motor function.
In the process of knee joint replacement surgery, the bone surface needs to be cut, and when the surgery robot is used for surgery in the prior art, the cutting accuracy of the surgery robot needs to be improved.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a Marker device of location saw bit to alleviate surgical robot when carrying out the bone face cutting, the accuracy remains the technical problem who improves.
The utility model provides a Marker device for positioning a saw blade, which comprises a Marker component, wherein a clamping block is arranged at the lower side of the Marker component, and a clamping channel for clamping the saw blade is arranged on the clamping block;
through holes are oppositely formed in the side walls of the clamping blocks on the two sides of the clamping channel, glass bead screws are respectively connected in the through holes, and bead heads of the glass bead screws on the two sides are oppositely arranged;
at least one mounting hole is formed in the clamping block and located on the upper side of the clamping channel, and magnets are arranged in the mounting holes respectively.
In an optional implementation mode, the Marker assembly further comprises a bracket and three reflecting ball assemblies distributed on the upper side of the bracket, and the clamping block is connected with the bracket into a whole.
In an optional embodiment, the bracket is of a triangular bracket structure, the upper end of the clamping block is positioned in the bracket, and the periphery of the clamping block is connected with the bracket into a whole through a plurality of connecting ribs;
the light reflecting ball assemblies are distributed on the upper sides of the three corners of the bracket.
In an optional embodiment, one side of a clamping channel formed in the clamping block in the length direction faces one of the reflective ball assemblies, and the other side of the clamping channel in the length direction crosses a connecting line space between the other two reflective ball assemblies.
In an alternative embodiment, each of the light reflecting ball assemblies respectively comprises a light reflecting ball and a light reflecting ball stand column, and the light reflecting ball is arranged on the light reflecting ball stand column;
and threaded holes are respectively formed in three corners of the bracket, and the lower ends of the reflective ball stand columns are respectively screwed in the threaded holes.
In an alternative embodiment, the upper end of the clamping channel is no higher than the lower end face of the bracket.
In an optional implementation mode, the front end of the saw blade is a cutting part, the rear part of the saw blade is provided with a connecting bayonet used for connecting a head of the swing saw, one side or two side walls of one end, close to the cutting part, of the saw blade are provided with positioning counter bores, one end of the cutting part of the saw blade extends into the clamping channel, bead heads of the glass bead screws on one side or two sides of the cutting part of the saw blade fall into the positioning counter bores on the corresponding side, and the magnet is used for performing magnetic attraction connection on the saw blade from the upper side of the clamping channel.
In an alternative embodiment, at least three identification positioning counter bores which are not in the same straight line are arranged outside the side wall on one side or two sides of the clamping block.
The Marker device for positioning the saw blade provided by the utility model can clamp the saw blade in the clamping channel through the clamping block, and tightly push the saw blade on two sides of the clamping channel through the bead head of the glass bead screw, so that the clamping block is firmly connected with the saw blade; and then the Marker device of the location saw bit can follow the saw bit and remove, and operation navigation discerns the position of the reflection of light ball of installing on the Marker device of location saw bit through infrared positioning appearance like this, and the central point and the angle of accurate definite saw bit improve the position accuracy of osteotomy.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a Marker device for positioning a saw blade according to an embodiment of the present invention;
FIG. 2 is a schematic view of another angular configuration of the Marker apparatus shown in FIG. 1 for positioning a saw blade;
FIG. 3 is a schematic view of a Marker apparatus for positioning a saw blade shown in FIG. 1 at yet another angle;
FIG. 4 isbase:Sub>A schematic view of the Marker apparatus of FIG. 3 in section A-A;
FIG. 5 is a schematic view of yet another angle of the Marker apparatus for positioning the saw blade shown in FIG. 1;
FIG. 6 is a schematic view of the Marker apparatus of FIG. 5 in section B-B for positioning the saw blade;
FIG. 7 is an exploded view of the Marker apparatus shown in FIG. 1 for positioning the saw blade;
FIG. 8 is a schematic view of a Marker assembly of the Marker apparatus for positioning a saw blade shown in FIG. 1;
FIG. 9 is a schematic view of another angular configuration of the Marker assembly shown in FIG. 8;
fig. 10 is a schematic view showing the structure of a blade of the Marker device for positioning the blade shown in fig. 1.
Icon: 1-Marker component; 11-a bracket; 12-a reflective ball assembly; 121-reflective spheres; 122-reflective sphere posts; 13-connecting ribs; 14-a threaded hole; 2, clamping blocks; 20-a clamping channel; 21-a through hole; 22-mounting holes; 23-identifying a positioning counter bore; 3-a saw blade; 31-a cutting portion; 32-connecting bayonet; 33-positioning the counter bore; 4-bead screw; 40-bead head.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Examples
Referring to fig. 1-10, the utility model provides a Marker device for positioning a saw blade, which comprises a Marker component 1, a clamping block 2 is arranged at the lower side of the Marker component 1, and a clamping channel 20 for clamping the saw blade 3 is arranged on the clamping block 2;
through holes 21 are oppositely formed in the side walls of the clamping blocks 2 on the two sides of the clamping channel 20, glass bead screws 4 are respectively connected in the through holes 21, and bead heads 40 of the glass bead screws 4 on the two sides are oppositely arranged;
at least one mounting hole 22 is formed in the clamping block 2 and located on the upper side of the clamping channel 20, and magnets are arranged in the mounting holes 22 respectively.
In some embodiments, the lower side of the Marker assembly 1 is provided with a clamping block 2, and the saw blade 3 is fixed in a clamping channel 20 of the clamping block 2, and then the saw blade 3 is fixed in the clamping channel 20 by the propping of a bead head 40 of a bead screw 4; the material of the saw blade 3 can be magnetically attracted by a magnet; be provided with mounting hole 22 on grip block 2, according to actual demand, can set up a plurality of mounting holes 22 with centre gripping passageway 20 intercommunication on grip block 2, set up magnet in mounting hole 22, magnet magnetism is inhaled saw bit 3 like this, makes saw bit 3 more firm at centre gripping passageway 20 internal fixation.
Therefore, in the process of quickly moving the saw blade 3, the Marker device for positioning the saw blade can synchronously move along with the saw blade 3, and the Marker device for positioning the saw blade is not easy to fall off from the saw blade 3; when the surgical robot drives the saw blade 3 to move, the Marker device for positioning the saw blade can move the saw blade 3 of the surgical robot, so that the surgical navigation system can identify and position the position of the reflective ball 121 arranged on the Marker device for positioning the saw blade through the infrared positioning instrument, the central point and the angle of the saw blade 3 can be accurately determined, and the position accuracy of bone cutting is improved.
In an optional embodiment, the Marker assembly 1 further comprises a bracket 11 and three reflective ball assemblies 12 distributed on the upper side of the bracket 11, and the clamping block 2 is connected with the bracket 11 into a whole.
In an alternative embodiment, the bracket 11 is of a triangular bracket structure, the upper end of the clamping block 2 is positioned in the bracket 11, and the peripheral side of the clamping block is connected with the bracket 11 into a whole through a plurality of connecting ribs 13;
the respective reflective ball assemblies 12 are distributed on three corner upper sides of the bracket 11.
In some embodiments, three reflector ball assemblies 12 are arranged on the upper side of a bracket 11 of the Marker assembly 1, the clamping block 2 is connected with the bracket 11, and one reflector ball assembly 12 is arranged on each of the upper sides of three corners of a flower-spreading girl of the bracket 11 in a three-deformation support structure; the reflecting ball assembly 12 is detachably connected with the bracket 11.
In an alternative embodiment, the holding channel 20 formed in the holding block 2 has one longitudinal side facing one of the reflective ball assemblies 12 and the other longitudinal side intersecting the line-connecting space between the other two reflective ball assemblies 12.
In an alternative embodiment, each of the light reflecting ball assemblies 12 respectively includes a light reflecting ball 121 and a light reflecting ball stand 122, and the light reflecting ball 121 is disposed on the light reflecting ball stand 122;
threaded holes 14 are respectively formed in three corners of the bracket 11, and the lower ends of the reflective ball uprights 122 are respectively screwed in the threaded holes 14.
In some embodiments, the reflective ball assembly 12 includes a reflective ball 121 and a reflective ball stud 122, the reflective ball 121 is disposed on the reflective ball stud 122, a screw thread is disposed on the reflective ball stud 122, and the reflective ball stud 122 can be screwed into the screw hole 14 on the bracket 11, so as to achieve the detachable connection of the reflective ball assembly 12 and the bracket 11.
Generally, the reflective ball 121 may be screwed with the reflective ball stand 122, that is, the reflective ball 121 and the reflective ball stand 122 of the reflective ball assembly 12 also adopt a detachable connection manner.
In an alternative embodiment, the upper end of the clamping channel 20 is not higher than the lower end surface of the bracket 11.
In order to ensure that the saw blade 3 can be firmly inserted into the clamping channel 20, the upper end of the clamping channel 20 is not higher than the lower end surface of the bracket 11, so that the saw blade 3 can be tightly attached to the top of the clamping channel 20, and the bracket 11 and the saw blade 3 do not interfere with each other.
In an alternative embodiment, the front end of the saw blade 3 is a cutting portion 31, the rear portion of the saw blade 3 is provided with a connecting bayonet 32 for connecting with a head of a swing saw, one side or two side walls of one end of the saw blade 3 close to the cutting portion 31 are provided with positioning counter bores 33, one end of the cutting portion 31 of the saw blade 3 extends into the clamping channel 20, the bead heads 40 of the bead screws 4 at one side or two sides fall into the positioning counter bores 33 at the corresponding side, and the magnet magnetically attracts and connects the saw blade 3 from the upper side of the clamping channel 20.
The coupling bayonet 32 of the saw blade 3 is used for coupling with a pendulum saw (bone saw) which is coupled to the end of a robot arm, thus enabling the saw blade 3 to be coupled to a surgical robot.
In an alternative embodiment, at least three identification positioning counter bores 23 which are not in the same straight line are arranged outside the side wall on one side or two sides of the clamping block 2.
The three identification positioning counter bores 23 are positioned on the same plane but not on the same straight line; the registering device generally adopts an optical probe which is provided with a needle part and a handle part, and four optical balls are distributed on the handle part; the needle portion of the optical probe is sequentially abutted against the three identification positioning counter bores 23, the optical probe is identified by the visual tracking mechanism of the surgical robot, and the spatial position (pose information) is confirmed thereby, and the pose information (i.e., the position of the plane) of the side surface provided on the side of the holding block 2 is confirmed.
The surgical robot system of the surgical robot comprises a vision tracking mechanism (binocular vision tracking module) for acquiring the freedom degree pose information of the optical marker in the real three-dimensional space; the Marker device for positioning the saw blade is tracked through the visual tracking mechanism, the plane position and the angle of the side face of one side of the Marker device clamping block 2 for tracking the positioning saw blade are further identified and tracked through the registering device, and then the position and the angle of the saw blade 3 on the Marker device for positioning the saw blade are obtained, so that the initial position and the initial angle of the saw blade 3 before operation are calculated, and the accuracy of the cutting position of the saw blade 3 is finally ensured. After the initial position of the saw blade 3 is determined, the Marker device for positioning the saw blade is detached from the saw blade 3, so that the surgical robot can control the saw blade 3 by the mechanical arm and the swing saw to perform osteotomy operation.
The utility model provides a Marker device of location saw bit can be through the grip block 2 with saw bit 3 centre gripping in centre gripping passageway 20 to through the pearl head 40 of glass bead screw 4 tight saw bit 3 in the both sides top of centre gripping passageway 20, make grip block 2 and saw bit 3 firm connection, in order to further make saw bit 3 fix in centre gripping passageway 20, set up magnet on grip block 2, magnet attracts and links saw bit 3; and then the Marker device of the location saw bit can follow the saw bit 3 and remove, and operation navigation discerns the position of the reflection of light ball 121 of installing on the Marker device of location saw bit through infrared positioning appearance like this, and the central point and the angle of accurate definite saw bit 3 improve the position accuracy of cutting the bone.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (8)
1. The Marker device for positioning the saw blade is characterized by comprising a Marker assembly (1), wherein a clamping block (2) is arranged on the lower side of the Marker assembly (1), and a clamping channel (20) for clamping the saw blade (3) is arranged on the clamping block (2);
through holes (21) are formed in the side walls of the clamping blocks (2) on the two sides of the clamping channel (20) in a relative mode, glass bead screws (4) are connected in the through holes (21) respectively, and bead heads (40) of the glass bead screws (4) on the two sides are arranged in a relative mode;
at least one mounting hole (22) is formed in the clamping block (2) and located on the upper side of the clamping channel (20), and magnets (5) are arranged in the mounting holes (22) respectively.
2. The Marker device for positioning the saw blade as claimed in claim 1, wherein the Marker assembly (1) further comprises a bracket (11) and three reflecting ball assemblies (12) distributed on the upper side of the bracket (11), and the clamping block (2) is connected with the bracket (11) into a whole.
3. Marker device for positioning a saw blade according to claim 2, wherein the bracket (11) is of a triangular bracket structure, the upper end of the clamping block (2) is positioned in the bracket (11), and the periphery of the clamping block is connected with the bracket (11) into a whole through a plurality of connecting ribs (13);
the light reflecting ball assemblies (12) are distributed on the upper sides of three corners of the bracket (11).
4. Marker device for positioning a saw blade according to claim 2, characterized in that the clamping block (2) is provided with a clamping channel (20) with one longitudinal side facing one of the reflective ball assemblies (12) and the other longitudinal side intersecting the connecting line space between the other two reflective ball assemblies (12).
5. Marker device for positioning a saw blade according to claim 2, characterized in that each light reflecting ball assembly (12) comprises a light reflecting ball (121) and a light reflecting ball post (122), respectively, the light reflecting ball (121) being arranged on the light reflecting ball post (122);
threaded holes (14) are respectively formed in three corners of the bracket (11), and the lower ends of the reflective ball upright columns (122) are respectively screwed in the threaded holes (14).
6. Marker device for positioning a saw blade according to claim 2, characterized in that the upper end of the clamping channel (20) is not higher than the lower end surface of the bracket (11).
7. The Marker device for positioning the saw blade is characterized in that the front end of the saw blade (3) is a cutting part (31), the rear part of the saw blade is provided with a connecting bayonet (32) for connecting a saw oscillating head, one side or two side walls of one end, close to the cutting part (31), of the saw blade (3) are provided with positioning counter bores (33), one end of the cutting part (31) of the saw blade (3) extends into the clamping channel (20), bead heads (40) of the bead screws (4) on one side or two sides fall into the positioning counter bores (33) on the corresponding side, and the magnet (5) is in magnetic attraction connection with the saw blade (3) from the upper side of the clamping channel (20).
8. Marker device for positioning a saw blade according to claim 1, characterized in that at least three identification positioning counter bores (23) which are not in the same line are arranged outside the side wall of one or both sides of the clamping block (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221690514.0U CN218045376U (en) | 2022-06-30 | 2022-06-30 | Marker device of location saw bit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221690514.0U CN218045376U (en) | 2022-06-30 | 2022-06-30 | Marker device of location saw bit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218045376U true CN218045376U (en) | 2022-12-16 |
Family
ID=84435233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221690514.0U Active CN218045376U (en) | 2022-06-30 | 2022-06-30 | Marker device of location saw bit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218045376U (en) |
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2022
- 2022-06-30 CN CN202221690514.0U patent/CN218045376U/en active Active
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