CN219147909U

CN219147909U - Structure of tracer

Info

Publication number: CN219147909U
Application number: CN202222838909.7U
Authority: CN
Inventors: 沈丽萍; 钱华芳; 申明宇; 颜廷威
Original assignee: Hangzhou Santan Medical Technology Co Ltd
Current assignee: Hangzhou Santan Medical Technology Co Ltd
Priority date: 2022-10-26
Filing date: 2022-10-26
Publication date: 2023-06-09
Anticipated expiration: 2032-10-26

Abstract

The utility model discloses a structure of a tracer, which aims to solve the problem that the tracer cannot be quickly adjusted in the prior art.

Description

Structure of tracer

Technical Field

The utility model belongs to medical equipment, in particular to a structure of a tracer.

Background

When bone surgery is performed by using a surgical robot, it is important to determine the positions of a patient's lesion, surgical instruments, cameras, etc. in order to perform surgery on the patient's lesion accurately and safely.

In the prior art, a surgical robot is disclosed, which comprises a mechanical arm, an optical tracer device and a navigation camera, wherein surgical instruments are arranged on the mechanical arm of the surgical robot, and the navigation camera can acquire the position of the optical tracer device in a space coordinate system according to the optical tracer device so as to calculate the position of a focus of a patient or the surgical robot or the position of the camera, and then the surgical path of the mechanical arm is planned according to the position. The optical tracer device comprises a frame, the frame is fixedly arranged on the operation end of the mechanical arm, and a tracer is fixedly arranged on the frame.

However, the prior art is not perfect enough, and the existing tracer lacks an angle adjusting structure, so that the angle of the tracer cannot be quickly adjusted.

Disclosure of Invention

In order to overcome the defects and the existing problems in the prior art, the utility model provides a structure of a tracer.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a structure of tracer, includes tracer, first support and the terminal apparatus of surgical robot, and the tracer can dismantle the setting on first support, and first support includes the sleeve, and the terminal apparatus of surgical robot includes the shaft hole, and the sleeve rotationally sets up in the shaft hole.

Preferably, the sleeve is provided with a limiting device, and the limiting device is used for limiting the sleeve in the axial direction of the shaft hole.

Preferably, the sleeve comprises a locking groove, and the limiting device is inserted into the locking groove.

Preferably, the limiting device comprises an elastic part, and the elastic part is arranged in the locking groove.

Preferably, the limiting device comprises a screw or a threaded pin, the surgical robot end instrument comprises a threaded hole, and the limiting device is in threaded connection with the threaded hole.

Preferably, the limiting device and the surgical robot end instrument are arranged together in a clamping manner.

Preferably, the limiting device comprises a clamping block, the surgical robot tail end instrument comprises a clamping groove, and the clamping block is clamped in the clamping groove.

Preferably, the first bracket is spliced on the tracer, and the tracer further comprises a connecting piece, wherein the tracer and the first bracket are detachably arranged together by the connecting piece.

Preferably, the first bracket comprises a plug, the tracer comprises a slot, and the plug is inserted into the slot.

Preferably, the first bracket comprises a first hole, the tracer comprises a second hole, and the connecting piece is arranged in the second hole in a penetrating way and is in threaded connection with the first hole.

Preferably, the surgical robot end instrument comprises a hoop which is tightly held on the sleeve and used for preventing the sleeve from rotating in the shaft hole.

Preferably, the number of the anchor clamps is at least two, the overall structure of the anchor clamps is an annular plate, and more than two anchor clamps encircle the outer side of the shaft hole.

Preferably, the surgical robot end instrument comprises a positioning rod, wherein the positioning rod is arranged on the operation end of the mechanical arm, and an included angle between the sleeve and the positioning rod is 0-90 degrees.

Compared with the prior art, the utility model has the following outstanding and beneficial technical effects:

in the utility model, the sleeve is rotatably arranged in the shaft hole, and the tracer on the sleeve can rotate relative to the tail end instrument of the surgical robot, so that the angle adjustment of the tracer is realized, and the user can drive the sleeve by bare hands, therefore, the structure of the tracer has the advantages of quick angle adjustment of the tracer, simple and convenient operation and simple structure.

In the utility model, when the surgical robot performs surgery, if the tail end instrument of the surgical robot is arranged on a focus of a patient, the angle position of the tracer is adjusted to adapt to the placement position of the navigation camera, meanwhile, the operation space of the surgery is ensured to the greatest extent, and further, the interference with other surgical instruments and the repeated drilling of the mounting hole on the focus are avoided.

In the utility model, the instrument needs to be sterilized, but the tracer is a precise optical device and cannot be sterilized at high temperature, so the tracer can be detachably arranged on the first bracket, the tracer and the first bracket can be detached, the tracer can be sterilized independently, and the first bracket and the surgical robot tail end instrument can be sterilized at high temperature, so the structure of the tracer has the advantage of convenience for sterilization, and the position of the tracer can be flexibly adjusted by a user, thereby bringing convenience to the operation of the user and improving the surgical precision.

Drawings

FIG. 1 is a schematic diagram of an explosive structure of the present utility model;

FIG. 2 is a schematic view of the structure of the first bracket of the present utility model;

FIG. 3 is a schematic view of the structure of the screw of the present utility model;

FIG. 4 is a schematic diagram of the structure of the tracer of the utility model;

in the figure: 1-tracer, 2-first support, 3-surgical robot end instrument, 5-connector, 11-tracer rack, 12-tracer ball, 21-sleeve, 23-plug, 31-shaft hole, 32-staple bolt, 33-threaded hole, 34-locating lever, 35-draw-in groove, 41-screw, 42-fixture block, 111-slot, 112-second hole, 211-lock groove, 231-first hole, 411-elastic part.

Detailed Description

The present utility model is further described below with reference to the drawings and specific embodiments for the purpose of facilitating understanding by those skilled in the art.

As shown in fig. 1 to 4, a tracer structure includes a tracer 1, a first holder 2, and a surgical robot end instrument 3, the tracer 1 being detachably provided on the first holder 2, the first holder 2 including a sleeve 21, the surgical robot end instrument 3 including a shaft hole 31, the sleeve 21 being rotatably provided in the shaft hole 31.

In practical use, the structure of the tracer is applied to a surgical robot, which comprises a mechanical arm and a navigation camera. The surgical robot tail end instrument 3 can be fixedly arranged on the operating end of the mechanical arm, the navigator can track the tracer 1, the position of the operating end of the mechanical arm and the position of a focus of a patient are calculated, and then the surgical path of the mechanical arm is planned in sequence. When the surgical robot performs a spinal trauma surgery, the conventional fixed tracer 1 may affect the normal operation of the surgery due to the differences among the physical constitution, focus and surgical style of the patient. In order to avoid the tracer 1 from influencing the normal operation, the position of the tracer 1 can be adjusted to avoid the tracer 1 from interfering with the normal operation, and the tracer 1 is also beneficial to accurately positioning the focus of a patient and the tail end of a mechanical arm. For example, if the surgical robot end instrument 3 is mounted on a lesion of a patient, the angular position of the tracer 1 is adjusted so as to adapt to the placement position of the navigation camera, and meanwhile, the operation space of the surgery is ensured to the maximum extent, thereby avoiding interference with other surgical instruments and avoiding repeated drilling of mounting holes on the lesion.

In the utility model, the sleeve 21 is rotatably arranged in the shaft hole 31, and the tracer 1 on the sleeve 21 can rotate relative to the surgical robot tail end instrument 3, so that the angle adjustment of the tracer 1 is realized, and a user can drive the sleeve 21 by hands, therefore, the structure of the tracer has the advantages of quick angle adjustment of the tracer 1, simple and convenient operation and simple structure.

In the present utility model, since the instruments need to be sterilized, but since the tracer 1 is a precise optical device, high-temperature sterilization cannot be adopted, the tracer 1 is detachably provided on the first bracket 2, so that the tracer 1 and the first bracket 2 can be detached, the tracer 1 can be sterilized separately, and the first bracket 2 and the surgical robot terminal instrument 3 can be sterilized at high temperature, so that the structure of the tracer has the advantage of being convenient for sterilization.

The structure of the tracer further comprises a limiting device, wherein the limiting device is used for limiting the sleeve 21 on the shaft hole 31. In the present embodiment, the stopper means serves to limit the sleeve 21 in the axial direction and the circumferential direction of the shaft hole 31, thereby preventing the sleeve 21 from shaking in the axial direction and the circumferential direction of the shaft hole 31.

The sleeve 21 comprises a locking groove 211, the limiting device 4 is inserted into the locking groove 211, and the sleeve 21 and the limiting device 4 are connected together in an inserting mode so as to facilitate the disassembly and assembly between the limiting device 4 and the locking groove 211.

The locking groove 211 is formed on the outer side of the sleeve 21, the whole structure of the locking groove 211 is annular, and the locking groove 211 surrounds the outer side of the locking groove 211, so that the limiting device 4 prevents the sleeve 21 from moving in the axial direction of the shaft hole 31.

In one embodiment, the stop device 4 and the surgical robotic end instrument 3 are threadably coupled together. The limiting device comprises a screw 41 or a threaded pin, in this embodiment, the limiting device comprises the screw 41, the surgical robot terminal instrument 3 further comprises a threaded hole 33, the threaded hole 33 is formed in the side wall of the anchor ear 32, and the screw 41 is in threaded connection with the threaded hole 33. In actual use, if a user screws the screw 41 into the threaded hole 33, the screw 41 can be inserted into the locking groove 211 or separated from the locking groove 211, so that the screw 41 can be further conveniently assembled and disassembled in the locking groove 211.

The screw 41 includes an elastic portion 411, the elastic portion 411 is elastically deformable, and the elastic portion 411 is disposed in the locking groove 211. Because of assembly errors of the screw 41 and the locking groove 211, the matching tolerance of the screw 41 at each position in the locking groove 211 cannot be guaranteed to be consistent, and the problem that the sleeve 21 is difficult to rotate due to the fact that the matching tolerance of the screw 41 and the locking groove 211 is too small may be caused. For this reason, by providing the elastic portion 411 on the screw 41, the elastic portion 411 can elastically deform by itself, thereby playing a certain role in keeping away the sleeve 21, so that the sleeve 21 smoothly rotates in the shaft hole 31. The elastic portion 411 may be made of an elastic material, and the elastic portion 411 is disposed at one end of the screw 41.

The screw hole 33 is formed in the surgical robot distal instrument 3, the screw hole 33 is located outside the shaft hole 31, and the axial direction of the screw hole 33 is oriented toward the shaft hole 31.

In another embodiment, the stop device and the surgical robotic end instrument 3 are provided together by means of a snap fit. The limiting device comprises clamping blocks 42, the surgical robot end instrument 3 comprises clamping grooves 35, the number of the clamping grooves 35 can be two, the two clamping grooves 35 are formed in the side wall of the hoop 32, the two clamping grooves 35 are symmetrically formed in the hoop 32, the clamping blocks 42 are fixedly arranged on the side wall of the sleeve 21, and the clamping blocks can be clamped in any clamping groove, so that the sleeve 21 can be positively or reversely arranged on the surgical robot end instrument 3. If the clamping block 42 is clamped in the clamping groove 35, the clamping block 42 can limit the sleeve 21 in the axial direction of the shaft hole 31; when the latch 42 is disengaged from the latch groove 35, the sleeve 21 can be removed from the shaft hole 31.

The surgical robot end instrument 3 comprises a positioning rod 34, wherein the positioning rod 34 is arranged on the operation end of the mechanical arm, the positioning rod 34 is a straight rod, and an included angle between the sleeve 21 and the positioning rod 34 is 0-90 degrees. Because the structure of the tracer cannot be shielded in the operation process, and in order to facilitate different operations, the terminal instrument can be placed at a proper position, so that inconvenience of an operator is avoided, and the included angle between the sleeve 21 and the positioning surface 35 can be set to be 0-90 degrees.

The first bracket 2 is spliced on the tracer 1 and further comprises a connecting piece 5, and the tracer 1 and the first bracket 2 are detachably arranged together by the connecting piece 5. In this embodiment, tracer 1 and first support 2 peg graft together, and connecting piece 5 is the screw, and tracer 1 still can dismantle the setting through connecting piece 5 on first support 2, has consequently improved the fastness of connection, and the user is through dismouting connecting piece 5 moreover, and the casing is installed tracer 1 on first support 2 or is split from first support 2, consequently the dismouting of first support 2 and tracer 1 of still being convenient for.

The first bracket 2 comprises a plug 23, the tracer 1 comprises a slot 111, and the plug 23 is inserted in the slot 111. The cross section of the plug 23 is polygonal, the cross section of the slot 111 is also polygonal, and the plug 23 is fitted in the slot 111, so that the plug 23 is prevented from shaking circumferentially in the slot 111.

The first bracket 2 comprises a first hole 231, the tracer 1 comprises a second hole 112, and the connecting piece 5 is arranged in the second hole 112 in a penetrating way and is in threaded connection with the first hole 231, so that the tracer 1 and the first bracket 2 can be detachably arranged together by the connecting piece 5. The first hole 231 is formed on the plug 23, and the second hole 112 is located at the bottom of the slot 111.

The surgical robot end instrument 3 comprises a hoop 32, the hoop 32 is tightly held on the sleeve 21, and the hoop 32 is used for preventing the sleeve 21 from rotating in the shaft hole 31. In practical use, the hoop 32 applies a hugging force on the sleeve 21, the sleeve 21 cannot rotate relative to the shaft hole 31 under the action of no external force, and when a user drives the sleeve 21, the sleeve 21 can rotate relative to the shaft hole 31, so that the sleeve 21 is positioned at an adjusted angle position.

The anchor ear 32 is held tightly on the sleeve 21 by means of self elasticity, no additional design of a connecting structure is needed, and the anchor ear 32 has the advantage of simple structure.

The number of the anchor clamps 32 is at least two, the overall structure of the anchor clamps 32 is an annular plate, and more than two anchor clamps 32 encircle the outer side of the shaft hole 31, so that the anchor clamps 32 can hold the sleeve 21 in an omnibearing manner. A clearance is reserved between the two hoops 32, so that the problem that the hoops 32 interfere with each other when elastically deformed is avoided.

The tracer 1 comprises a tracer frame 11 and a tracer ball 12, and the tracer ball 12 is fixedly arranged on the tracer frame 11.

The above embodiments are only preferred embodiments of the present utility model, and are not intended to limit the scope of the present utility model in this way, therefore: all equivalent changes in structure, shape and principle of the utility model should be covered in the scope of protection of the utility model.

Claims

1. The utility model provides a structure of tracer, its characterized in that includes tracer (1), first support (2) and surgical robot end instrument (3), and tracer (1) can dismantle the setting on first support (2), is used for setting up the arm on surgical robot end instrument (3), and first support (2) include sleeve (21), and surgical robot end instrument (3) include shaft hole (31), and sleeve (21) rotationally set up in shaft hole (31).

2. A tracer construction according to claim 1, further comprising a limiting device for limiting the sleeve (21) to the shaft bore (31).

3. A tracer construction according to claim 2, characterized in that the sleeve (21) comprises a locking groove (211), the limiting means being inserted in the locking groove (211).

4. A tracer construction according to claim 3, characterized in that the limiting means comprise an elastic portion (411), the elastic portion (411) being arranged in the locking groove (211).

5. A construction of a tracer according to any of claims 2 to 4, wherein the limiting means comprises a screw (41) or a threaded pin, and the surgical robotic end instrument (3) comprises a threaded bore (33), the screw (41) or threaded pin being threadedly connected within the threaded bore (33).

6. A tracer construction according to claim 2, characterized in that the stop means and the surgical robot end instrument (3) are arranged together by means of a snap-fit.

7. The tracer structure according to claim 6, wherein the limiting device comprises a clamping block (42), the surgical robot end instrument comprises a clamping groove (35), and the clamping block (42) is clamped in the clamping groove (35).

8. A tracer structure according to claim 1, characterized in that it further comprises a connecting member (5), the connecting member (5) detachably arranging the tracer (1) and the first bracket (2) together, the first bracket (2) comprises a plug (23), the tracer (1) comprises a slot (111), and the plug (23) is inserted into the slot (111).

9. A tracer construction according to claim 1, characterized in that the surgical robot end instrument (3) comprises a hoop (32), the hoop (32) being clasped on the sleeve (21), the hoop (32) being arranged to hinder rotation of the sleeve (21) in the shaft hole (31).

10. A tracer structure according to claim 9, characterized in that the surgical robot end instrument (3) comprises a positioning rod (34), the positioning rod (34) being arranged on the operating end of the mechanical arm, the angle between the sleeve (21) and the positioning rod (34) being between 0 ° -90 °.