CN219042784U - Supporting and positioning device - Google Patents

Abstract

The utility model relates to a supporting and positioning device which solves the technical problem of how to improve the positioning accuracy and the assembly and disassembly speed of a connecting mechanism of other instruments such as a calibration device, an electric surgical drill, an electric surgical forceps and the like at the tail end of a mechanical arm of an existing surgical robot.

Description

Supporting and positioning device

Technical Field

The utility model relates to the technical field of surgical robots, in particular to a supporting and positioning device.

Background

With the development of medical technology, surgical robots are becoming more and more widely used.

In general, a surgical robot is provided with a surgical tool at its distal end, such as forceps, an electric drill, a k-wire, etc., which generally satisfy both requirements of mounting accuracy and mounting and dismounting speed when connected to the surgical robot.

For example, in the bone surgery robot, in the surgery process of the reduction of the leg bone fracture, a magnetic navigation system can be utilized to reconstruct a CT or MRI two-dimensional image of the leg bone in a three-dimensional mode, a three-dimensional model of the leg bone is established, a probe and a six-degree-of-freedom reference tool are utilized to position the leg bone, association of the leg bone and the three-dimensional model is completed, when the leg bone moves, the three-dimensional model of the leg bone also moves relatively, and the reduction condition of the leg bone can be reflected by observing the reduction condition of the three-dimensional model of the leg bone, so that the reduction of the leg bone fracture is completed. The magnetic navigation system can greatly reduce the risk of complex bone surgery, the bone surgery utilizes the navigation system to make a surgery plan before surgery and navigate in surgery, can track surgical instruments in the surgery process, and update and display the positions of the surgical instruments on images before or during surgery of a patient in real time, so that a doctor can know the relationship between the positions of the surgical instruments and the anatomy structure of the patient at any time, and navigation assistance is obtained, so that the surgery process is more accurate. Reference is made to patent number 201310700436.7 for a magnetic navigation system. Reference is made to patent application 201711112547.0 for an orthopaedic positioning robot base for a magnetic navigation system.

Referring to the Chinese patent with publication number CN213722376U, when a calibration device, an electric surgical drill, a surgical forceps and other instruments are installed at the tail end of a mechanical arm of a surgical robot based on the magnetic navigation technology, the following requirements are required to be met: (1) The assembly precision is high enough to ensure that the drill bit can accurately drill on a preset position when the drill bit is put down; (2) Can be quickly assembled and disassembled in the operation so as to shorten the operation time as much as possible. However, the existing connecting mechanism is not ideal in positioning accuracy and assembling and disassembling speed.

Disclosure of Invention

The utility model provides a supporting and positioning device with high positioning precision and high assembly and disassembly speed, which aims to solve the technical problems of improving the positioning precision and assembly and disassembly speed of a connecting mechanism of other instruments such as a calibration device, an electric surgical drill, a surgical clamp and the like at the tail end of a mechanical arm of the traditional surgical robot.

The utility model provides a supporting and positioning device which comprises a base, a connecting piece, a first knurled manual screwing screw, a supporting rod and a third knurled manual screwing screw, wherein the connecting piece is connected with the base;

the base comprises a flange and a flange connecting column, the flange is provided with four connecting holes, the center of the front end face of the flange is provided with a rectangular groove, the rear end face of the flange is provided with a boss, and the center of the flange is provided with a screw hole; the rear end face of the flange connecting column is provided with a rectangular boss, the center of the rear end of the flange connecting column is provided with an axial threaded hole, the front end of the flange connecting column is axially provided with upper cutting grooves and lower cutting grooves which are symmetrically arranged, the rectangular boss is embedded into the rectangular groove of the flange, and the rectangular boss penetrates through the screw hole of the flange to be connected with the axial threaded hole through a screw;

the rear end of the connecting piece is sleeve-shaped, and the front end is shaft-shaped; the rear end of the connecting piece is provided with a step hole, a radial threaded hole and a cylindrical piece, and the front end of the connecting piece is provided with two threaded holes; the tail end of the cylindrical part extends into the step hole; the rear end of the connecting piece is sleeved on the flange connecting post, the flange connecting post is inserted into the step hole at the rear end of the connecting piece, the tail end of the cylindrical piece is embedded into the lower cutting groove at the front end of the flange connecting post, the first knurled hand screw is connected with the radial threaded hole, and the end part of the first knurled hand screw is propped against the bottom surface of the upper cutting groove of the flange connecting post;

the rear end of the supporting rod is provided with a shaft hole, the front end of the connecting piece is inserted into the shaft hole at the rear end of the supporting rod, and the connecting piece is connected with two threaded holes of the connecting piece by passing through the rear end of the supporting rod through two screws;

the front end of the supporting rod is provided with a positioning round hole and an opening, the opening is communicated with the positioning round hole, a side surface threaded hole is formed in the side surface of the front end of the supporting rod, and a third knurled hand screw is connected with the side surface threaded hole of the supporting rod.

Preferably, the support positioning device further comprises a second knurled hand-screwed screw, the rear part of the support rod is provided with a strip-shaped wiring groove, the side surface of the front end of the support rod is provided with a tracking unit mounting hole, the tracking unit mounting hole is communicated with the strip-shaped wiring groove, the front end of the support rod is provided with an upper threaded hole, the upper threaded hole is communicated with the tracking unit mounting hole, and the second knurled hand-screwed screw is connected with the upper threaded hole of the support rod.

Preferably, the support positioning device further comprises a space positioner clamp, and the space positioner clamp is connected with the front end of the support rod;

the space positioner clamp comprises a circular ring part with an opening, a connecting rod, a positioning shaft, a locking column, a first supporting part, a second supporting part and a third supporting part, wherein the connecting rod is connected with the circular ring part with the opening;

the locating shaft of the space locator clamp is inserted into the locating round hole of the supporting rod, the locking column is located at the opening of the front end of the supporting rod, and the tail end of the third knurled hand-screwed screw is propped against the locking column.

The utility model has the advantages that the installation and the disassembly processes are very convenient, the knurling hand screw is unscrewed when the installation and the disassembly are carried out, then the space locator clamp is taken down from the support rod, the support rod is taken down from the connecting column of the base, otherwise, the locating shaft of the space locator clamp is only required to extend into the installation hole of the support rod when the installation is carried out, the connecting piece is only required to be sleeved on the base, the knurling hand screw is screwed again, the disassembly and the installation processes can be completed in very short time, and the connection structure precision is high.

Further features of the utility model will be apparent from the description of the embodiments that follows.

Drawings

FIG. 1 is a schematic view of a structure of a supporting and positioning device;

FIG. 2 is a schematic structural view of a base;

FIG. 3 is a schematic view of the structure of the flange in the base;

FIG. 4 is a schematic view of the structure of a flange connection post in the base;

FIG. 5 is a schematic view of the connection member to the flange and the connection of the support bar to the connection member;

FIG. 6 is a perspective view of a connector;

FIG. 7 is a perspective view of a connector;

FIG. 8 is a schematic view of the space locator clamp of FIG. 1 mounted at the front end of the support rod;

FIG. 9 is an exploded view of the structure shown in FIG. 8;

FIG. 10 is a partial schematic view of the front end of the support rod;

FIG. 11 is a schematic view of a partial structure of the front end of the support bar;

FIG. 12 is a schematic view of the structure of a spatial locator clamp;

FIG. 13 is a schematic view of a partial construction of the spatial locator clamp of FIG. 12;

FIG. 14 is a schematic view of a calibration device positioned on a spatial locator clamp;

fig. 15 is a schematic structural view of the calibration device.

The symbols in the drawings illustrate:

10. the flange comprises a base, a flange, a connecting hole, a rectangular groove, a boss, a screw hole, a flange connecting column, a rectangular boss, an axial screw hole and a grooving, wherein the flange is 11, the connecting hole is 11-1, the rectangular groove is 11-2, the boss is 11-3, the screw hole is 11-4, the flange connecting column is 12-1, the rectangular boss is 12-2, the axial screw hole is 12-3; 20. the device comprises a connecting piece, 20-1, a stepped hole, 20-2, a radial threaded hole, 20-3, a threaded hole, 20-4, a cylindrical piece, 30, a first knurled hand screw, 40, a support rod, 41, a tracking unit mounting hole, 42, a strip wiring groove, 43, a positioning round hole, 44, an opening, 45, an upper threaded hole, 46, a side threaded hole, 50, a second knurled hand screw, 60, a third knurled hand screw, 70, a space locator clamp, 71, a circular ring part with an opening, 72, a connecting rod, 73, a locating shaft, 74, a locking post, 75, a first supporting part, 76, a second supporting part, 77, a third supporting part, 80, a screw, 90, a screw, 100, and 110.

Detailed Description

The utility model will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1, the supporting and positioning device comprises a base 10, a connecting piece 20, a first knurled hand screw 30, a support rod 40, a second knurled hand screw 50, a third knurled hand screw 60 and a space positioner clamp 70, wherein the connecting piece 20 is connected with the base 10, the first knurled hand screw 30 is connected with the connecting piece 20, the rear end of the support rod 40 is connected with the connecting piece 20, the second knurled hand screw 50 is connected with the front end of the support rod 40, the third knurled hand screw 60 is connected with the front end of the support rod 40, and the space positioner clamp 70 is mounted at the front end of the support rod 40. As can be seen from the figure, the front end of the support bar 40 is tilted, and the front end of the support bar 40 is not aligned with the rear portion of the support bar 40.

As shown in fig. 2-4, the base 10 comprises a flange 11 and a flange connecting column 12, the flange 11 is provided with four connecting holes 11-1, the center of the front end surface of the flange 11 is provided with a rectangular groove 11-2, as shown in fig. 5, the rear end surface of the flange 11 is provided with a boss 11-3, and the center of the flange 11 is provided with a screw hole 11-4; the four connecting holes 11-1 are used for fixedly connecting with the tail end of the mechanical arm through screws, the screws 80 penetrate through the connecting holes 11-1 and are connected with threaded holes of the tail end of the mechanical arm to fix the flange 11 at the tail end of the mechanical arm, and the boss 11-3 is embedded into a corresponding groove on the tail end of the mechanical arm to limit radial movement. The rear end face of the flange connection column 12 is provided with a rectangular boss 12-1, the center position of the rear end of the flange connection column 12 is provided with an axial threaded hole 12-2, the front end of the flange connection column 12 is axially provided with two symmetrically arranged cutting grooves 12-3 (the two cutting grooves 12-3 are respectively an upper cutting groove and a lower cutting groove), the rectangular boss 12-1 is used for being matched with the rectangular groove 11-2 of the flange 11, as shown in fig. 5, the rectangular boss 12-1 is embedded into the rectangular groove 11-2, and a screw 90 penetrates through a screw hole 11-4 of the flange 11 and then is connected with the axial threaded hole 12-2, so that the flange connection column 12 is fixedly mounted on the flange 11. The rectangular boss 12-1 is adapted to cooperate with the rectangular groove 11-2 of the flange 11 to ensure that the angle of the support bar 40 is constant when it is mounted in the base via the connector 20.

As shown in fig. 6 and 7, the rear end of the connecting piece 20 is sleeve-shaped, the front end of the connecting piece 20 is shaft-shaped, the rear end of the connecting piece 20 is provided with a step hole 20-1 and a radial threaded hole 20-2, and the front end of the connecting piece 20 is provided with two threaded holes 20-3; as shown in FIG. 5, a cylindrical member 20-4 is fixedly coupled to the opposite side of the radial screw hole 20-2, and the end of the cylindrical member 20-4 extends into the stepped hole 20-1. With reference to fig. 5, the rear end of the connector 20 is sleeved on the flange connection post 12, that is, the flange connection post 12 is inserted into the stepped hole 20-1 at the rear end of the connector 20, the end of the cylindrical member 20-4 is embedded into the slot 12-3 at the front end of the flange connection post 12 (i.e., embedded into the undercut slot), the first knurled hand screw 30 is engaged with the radial threaded hole 20-2, and the first knurled hand screw 30 is rotated by hand so that the end of the first knurled hand screw 30 presses against the bottom surface of the slot 12-3 (i.e., presses against the bottom surface of the undercut slot), thereby fixedly mounting the connector 20 on the flange connection post 12. It can be seen that the connecting piece 2 has high connection accuracy when being arranged on the base 10, and is fast and convenient to detach. The two cutting grooves 12-3 are used as matching surfaces of the connecting piece, and are propped up in two directions, so that the connecting precision is high. The other end of the base is provided with a boss matched with the tail end of the mechanical arm, so that the axial movement of the space positioner is limited, and the repeated installation precision is high.

As shown in fig. 5, the rear end of the support bar 40 is provided with a shaft hole, the front end of the connection member 20 is inserted into the shaft hole of the rear end of the support bar 40, and two screws 100 are passed through the rear end of the support bar 40 to be connected with two screw holes 20-3 of the connection member 20, thereby realizing the fixed mounting of the support bar 40 on the connection member 20.

As shown in fig. 1, 8, 9, 10 and 11, a bar-shaped wiring groove 42 is formed in the rear portion of the support bar 40, a tracking unit mounting hole 41 is formed in the side face of the front end of the support bar 40, and the tracking unit mounting hole 41 is communicated with the bar-shaped wiring groove 42; the front end of the support rod 40 is provided with a positioning round hole 43 and an opening 44, the opening 44 is communicated with the positioning round hole 43, the front end of the support rod 40 is provided with an upper threaded hole 45, the upper threaded hole 45 is communicated with the tracking unit mounting hole 41, and the side surface of the front end of the support rod 40 is provided with a side surface threaded hole 46. The second knurled hand screw 50 is in connecting engagement with the upper threaded bore 45 and the third knurled hand screw 60 is in connecting engagement with the side threaded bore 46.

As shown in fig. 12 and 13, the space positioner clamp 70 includes a ring portion 71 having an opening, a connecting rod 72, a positioning shaft 73, a locking post 74, a first lifting member 75, a second lifting member 76, and a third lifting member 77, the connecting rod 72 is connected to the ring portion 71 having an opening, the connecting rod 72 and the ring portion 71 having an opening are of a unitary structure, the positioning shaft 73 is fixedly connected to the rear end of the connecting rod 72, the locking post 74 is fixedly connected to the rear end of the connecting rod 72, the first lifting member 75, the second lifting member 76 are connected to the opening of the ring portion 71 having an opening, the third lifting member 77 is connected to the ring portion 71 having an opening, and the position distribution of the first lifting member 75, the second lifting member 76, and the third lifting member 77 is in a triangular distribution state. The circular ring portion 71 with the opening is provided with the opening so as to have certain elasticity, and the tool can be conveniently placed in the circular ring portion.

As shown in fig. 8 and 9, the positioning shaft 73 of the space locator clamp 70 is inserted into the positioning circular hole 43 of the support rod 40, the locking post 74 is positioned at the opening 44 at the front end of the support rod 40, and the third knurled hand screw 60 is screwed to press the end of the third knurled hand screw 60 against the locking post 74, thereby fixing the space locator clamp 70 and completing the installation of the space locator clamp 70. The spatial locator clamp 70 is quickly and conveniently mounted to the support rod 40 and quickly and conveniently removed.

The tracking unit may be placed in the tracking unit mounting hole 41, and then the second knurled hand screw 50 is screwed by hand, and the end of the second knurled hand screw 50 presses the tracking unit to fix the tracking unit, and the signal cable of the tracking unit is placed in the strip-shaped wiring groove 42 for wiring. The general structure of the tracking unit comprises an electromagnetic coil, a signal cable and a plug, and the reference is made to the patent with the publication number CN 213722376U; the tracking unit is used for spatial position tracking during magnetic navigation.

The tracking unit is fast and convenient to install and convenient to detach.

As shown in fig. 14 and 15, the alignment device 110 is placed in the circular ring portion 71 having the opening of the space locator clamp 70, the top periphery of the alignment device 110 has a convex circular edge, and the first, second and third holding members 75, 76 and 77 hold the circular edge of the alignment device 110, thereby achieving the mounting and positioning of the alignment device 110. Due to the elasticity of the open ring portion 71 of the spatial locator clamp 70, a certain clamping force can be applied to the alignment device 110. The open annular ring portion 71 can also accommodate larger sized alignment devices 110. Referring to the patent of CN213722376U, a plurality of steel balls are installed in a hole on the top surface of the calibration device 110, the calibration device 110 is located above the patient, the X-ray machine photographs the calibration device 110 and the patient and transmits the photographed images to an electromagnetic navigation system, the electromagnetic navigation system identifies the plurality of steel balls on the calibration device 110 in the images, and the corresponding registration is completed by further calculating through a correlation algorithm.

It should be noted that the positioning device 110 is not limited to the positioning device 70, and other tools or tools having circular edges may be mounted on the positioning device.

The space positioner clamp 70 may be replaced with another clamp as long as the clamp is provided with the positioning shaft 73 and the locking post 74.

The utility model and its embodiments have been described above by way of illustration and not limitation, and the utility model is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one skilled in the art is informed by this disclosure, other configurations of parts, driving devices and connection modes are adopted without creatively designing similar structures and embodiments without departing from the spirit of the present utility model, and the present utility model shall not be limited by the scope of the present utility model.

Claims (3)

1. The supporting and positioning device is characterized by comprising a base, a connecting piece, a first knurled manual screwing screw, a supporting rod and a third knurled manual screwing screw, wherein the connecting piece is connected with the base, the rear end of the supporting rod is connected with the connecting piece, and the front end of the supporting rod is tilted;

the base comprises a flange and a flange connecting column, the flange is provided with four connecting holes, the center of the front end face of the flange is provided with a rectangular groove, the rear end face of the flange is provided with a boss, and the center of the flange is provided with a screw hole; the rear end face of the flange connecting column is provided with a rectangular boss, the center position of the rear end of the flange connecting column is provided with an axial threaded hole, the front end of the flange connecting column is axially provided with upper cutting grooves and lower cutting grooves which are symmetrically arranged, the rectangular boss is embedded into the rectangular groove of the flange, and the rectangular boss penetrates through the screw hole of the flange to be connected with the axial threaded hole through a screw;

the rear end of the connecting piece is sleeve-shaped, and the front end of the connecting piece is shaft-shaped; the rear end of the connecting piece is provided with a step hole, a radial threaded hole and a cylindrical piece, and the front end of the connecting piece is provided with two threaded holes; the tail end of the cylindrical piece extends into the step hole; the rear end of the connecting piece is sleeved on a flange connecting column, the flange connecting column is inserted into a step hole at the rear end of the connecting piece, the tail end of the cylindrical piece is embedded into a lower cutting groove at the front end of the flange connecting column, a first knurled hand screw is connected with a radial threaded hole, and the end part of the first knurled hand screw is propped against the bottom surface of an upper cutting groove of the flange connecting column;

the rear end of the supporting rod is provided with a shaft hole, the front end of the connecting piece is inserted into the shaft hole at the rear end of the supporting rod, and the connecting piece is connected with two threaded holes of the connecting piece by two screws penetrating through the rear end of the supporting rod;

the front end of the supporting rod is provided with a positioning round hole and an opening, the opening is communicated with the positioning round hole, a side face threaded hole is formed in the side face of the front end of the supporting rod, and a third knurled hand screw is connected with the side face threaded hole of the supporting rod.

2. The support positioning device according to claim 1, further comprising a second knurled hand screw, wherein the rear portion of the support bar is provided with a bar-shaped wiring groove, the side surface of the front end of the support bar is provided with a tracking unit mounting hole, the tracking unit mounting hole is communicated with the bar-shaped wiring groove, the front end of the support bar is provided with an upper threaded hole, the upper threaded hole is communicated with the tracking unit mounting hole, and the second knurled hand screw is connected with the upper threaded hole of the support bar.

3. The support positioning device of claim 1 or 2, further comprising a spatial locator clamp connected to the front end of the support bar;

the space positioner clamp comprises a circular ring part with an opening, a connecting rod, a positioning shaft, a locking column, a first supporting part, a second supporting part and a third supporting part, wherein the connecting rod is connected with the circular ring part with the opening, the positioning shaft is fixedly connected with the rear end of the connecting rod, the locking column is fixedly connected with the rear end of the connecting rod, the first supporting part and the second supporting part are connected with the opening of the circular ring part with the opening, the third supporting part is connected with the circular ring part with the opening, and the position distribution of the first supporting part, the second supporting part and the third supporting part is in a triangular distribution state;

the locating shaft of the space locator clamp is inserted into the locating round hole of the supporting rod, the locking column is located at the opening of the front end of the supporting rod, and the tail end of the third knurled hand-screwed screw is propped against the locking column.

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