CN220236969U - Bone knife positioning device based on binocular vision recognition technology - Google Patents

Abstract

The utility model provides a bone knife positioning device based on a binocular vision recognition technology, which comprises a bone knife, a clamp, a connecting piece connected with the clamp, a positioning bracket connected with the connecting piece and binocular vision positioning equipment, wherein the clamp is detachably arranged on a handle of the bone knife; the binocular vision positioning device is used for identifying the position information of the positioning reflective balls and obtaining the pose information of the bone knife according to the position information of the positioning reflective balls. According to the utility model, the plurality of positioning reflecting balls are detachably arranged on the handle through the positioning support, the connecting piece and the clamp, so that the plurality of positioning reflecting balls can be conveniently identified through the binocular vision positioning equipment when a precise operation is performed, the accurate pose information of the bone knife is obtained, the precise positioning data is provided for operation navigation, and the accuracy and stability of the operation performed by the hand-held bone knife are improved.

Description

Bone knife positioning device based on binocular vision recognition technology

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a bone knife positioning device based on a binocular vision recognition technology.

Background

The ultrasonic bone knife is a medical instrument for bone surgery by utilizing high-intensity focused ultrasound technology, and is used as novel bone surgery equipment, electric energy is converted into mechanical energy through a special conversion device, and required bone tissues are cut through high-frequency ultrasonic oscillation. The knife converts electric energy into mechanical energy by using a high-intensity focused ultrasonic technology through a transducer, and the contacted tissue cell inner water is vaporized and protein hydrogen bonds are broken by high-frequency ultrasonic oscillation, so that bone tissues needing to be cut in operation are thoroughly destroyed.

Clinical operation results show that compared with traditional spine surgical instruments such as a traditional bone knife, a high-speed grinding drill, a rongeur and the like, the ultrasonic bone knife can cut bones efficiently and accurately, simultaneously can reduce the risk of damage of soft tissues such as nerves and blood vessels better, improves the safety of the operation and the recovery speed of patients, and is widely applied to spine operations. However, the current operation mode still is that the doctor holds the ultrasonic bone knife to complete the cutting process, the operation experience requirement and the operation stability requirement of the operator are higher, and the precision and the stability can not be ensured.

Disclosure of Invention

The utility model provides a bone knife positioning device based on a binocular vision recognition technology, which solves the problem that the operation precision and stability of an ultrasonic bone knife in the prior art cannot be ensured.

The technical scheme of the utility model is realized as follows:

the utility model provides a bone knife positioning device based on binocular vision recognition technology, includes bone knife, anchor clamps, the connecting piece of being connected with anchor clamps, the locating support of being connected with the connecting piece and binocular vision positioning equipment, and anchor clamps detachably install on the handle of bone knife; the binocular vision positioning device is used for identifying the position information of the positioning reflective balls and obtaining the pose information of the bone knife according to the position information of the positioning reflective balls.

According to the utility model, the positioning reflecting balls are detachably arranged on the handle of the bone knife through the positioning bracket, the connecting piece and the clamp, so that the positioning reflecting balls are conveniently identified through the binocular vision positioning equipment when a precise operation is performed, the accurate pose information of the bone knife is obtained, accurate positioning data is provided for operation navigation, and the accuracy and stability of the operation performed by the hand-held bone knife are improved.

As the preferable scheme of the utility model, the clamp comprises the upper clamp and the lower clamp which are detachably connected, the inner contour of the upper clamp and the lower clamp after being locked is matched with the outer contour of the handle of the bone knife, so that the clamping surface of the clamp is tightly abutted with the outer surface of the handle of the bone knife, and the clamping is firmer.

As a preferable scheme of the utility model, the top surface of the upper clamp is provided with a plurality of first through holes, the position of each first through hole is provided with a first positioning ring, the bottom of one end of the connecting piece, which is close to the upper clamp, is provided with a plurality of first mounting holes corresponding to the first through holes, the position of each first mounting hole is provided with a first positioning groove matched with the first positioning ring, and the connecting piece is connected with the upper clamp through bolts; through set up first holding ring at the top surface of last anchor clamps to set up the first constant head tank that matches with first holding ring in the bottom of connecting piece, conveniently go up the anchor clamps and align when being connected with the connecting piece, can be fast with first through-hole and first mounting hole alignment, improved the installation effectiveness of connecting piece.

As a preferable scheme of the utility model, the hinged ends of the upper clamp and the lower clamp are hinged through the pin shaft, and the open and close ends of the upper clamp and the lower clamp are detachably connected through the locking piece, so that the clamp is convenient to detach and install.

As a preferable scheme of the utility model, the locking piece comprises a movable joint bolt, a fixed pin, a flat gasket and a butterfly nut, wherein the opening and closing end of the upper clamp is provided with a mounting groove and a pin hole, the bolt head of the movable joint bolt is embedded in the mounting groove of the upper clamp, and the fixed pin penetrates through a through hole on the bolt head and is embedded in the pin hole of the upper clamp; the opening and closing end of the lower clamp is provided with a locking groove corresponding to the mounting groove, and the screw rod of the movable joint bolt is detachably connected with the locking groove through a flat gasket and a butterfly nut; the movable joint bolt can rotate around the fixed pin, when the clamp needs to be disassembled, the screw rod of the movable joint bolt is unscrewed from the locking groove to unlock the locking piece, and then the clamp is directly opened; when the clamp needs to be installed, the clamp is sleeved outside the handle of the bone knife, then the screw rod of the movable joint bolt is screwed into the locking groove, and finally the butterfly nut is screwed; when the locking piece is disassembled, the butterfly nut is not required to be disassembled, and only the butterfly nut is required to be screwed or unscrewed, so that the clamp and the bone knife can be quickly disassembled, and the disassembly efficiency of the clamp is improved.

As a preferable scheme of the utility model, the opening and closing end of the lower clamp is provided with the backup plate, after the upper clamp and the lower clamp are locked, the opening and closing end of the upper clamp is abutted with the inner side surface of the backup plate, and the flat gasket is abutted with the outer side surface of the backup plate; the locking groove is formed in the side edge of the backup plate, a limiting strip is further arranged at the position, corresponding to the port of the locking groove, of the side edge of the backup plate, the purpose of the limiting strip is to prevent the butterfly nut from sliding out of the locking groove along the outer side surface of the backup plate after the butterfly nut is screwed down, and the locking groove can play a role in preventing falling off, so that the clamp is locked more firmly.

As a preferable scheme of the utility model, a plurality of anti-skid grooves are arranged on the outer wall of the handle of the osteotome at equal intervals along the axial direction; the clamp comprises a clamping ring opening, the clamping ring opening is sleeved on the handle, and a plurality of anti-slip teeth matched with the anti-slip grooves are axially arranged on the inner wall of the clamp; through the anti-slip teeth matched with the anti-slip grooves on the outer wall of the handle in the inner wall of the clamp, tight connection between the inner wall of the clamp and the outer wall of the handle can be realized, front-back movement between the inner wall of the clamp and the outer wall of the handle of the bone knife after the clamp is locked is prevented, and the connection stability of the clamp and the handle is improved.

As a preferable scheme of the utility model, the radial upper side and the radial lower side of the handle are respectively provided with planes along the axial direction, the anti-skid grooves are arranged on the radial front side and the radial rear side of the handle, the anti-skid teeth are arranged on the front side wall and the rear side wall of the clamping ring opening, and the upper side wall and the lower side wall of the clamping ring opening are respectively provided with a propping surface; the fixture is axially positioned and connected with the anti-slip groove through the anti-slip teeth, and is radially positioned and connected with the plane through the propping surface, and the positioning and connecting mode can prevent circumferential rotation or axial movement between the fixture and the handle, so that the installation firmness of the fixture and the osteotome is improved.

As a preferable scheme of the utility model, the plane of the handle is provided with scale marks along the axial direction for measuring the mounting position of the clamp relative to the axial direction of the handle; because the position of the clamp mounted on the handle of the bone knife is not fixed every time, and the relative position of the positioning reflecting ball and the tail end of the blade of the bone knife is changed due to the change of the mounting position of the clamp, the utility model can read the mounting position of the clamp through the scale marks when the clamp is mounted on the handle, thereby acquiring the relative position of the positioning reflecting ball and the tail end of the blade, and further acquiring the position information of the positioning reflecting ball through binocular vision positioning equipment, thereby accurately acquiring the pose information of the tail end of the blade.

As a preferable scheme of the utility model, one end of the connecting piece, which is close to the positioning bracket, is provided with a plurality of second mounting holes, and the position of each second mounting hole is provided with a second positioning ring; the positioning bracket is provided with a plurality of second through holes corresponding to the second mounting holes, the position of each second through hole is provided with a second positioning groove corresponding to the second positioning ring, and the connecting piece is connected with the positioning bracket through bolts; through setting up the second holding ring in the position that corresponds the second mounting hole on the connecting piece to set up the second constant head tank that matches with the second holding ring on the locating support, alignment when making things convenient for the connecting piece to be connected with the locating support, can be fast align second mounting hole and second through-hole, improved the installation effectiveness of locating support.

As a preferable solution of the present utility model, at least one of the second positioning rings is a square positioning ring, and by designing at least one of the plurality of second positioning rings as a square (i.e., the top view is an outer square and an inner square), the alignment efficiency of the second mounting hole and the second through hole can be further improved.

Advantageous effects

Compared with the prior art, the utility model has the beneficial effects that:

(1) According to the utility model, the positioning reflecting balls are detachably arranged on the handle through the positioning bracket, the connecting piece and the clamp, so that the positioning reflecting balls are conveniently identified through the binocular vision positioning equipment when a precise operation is performed, the accurate pose information of the bone knife is obtained, accurate positioning data is provided for operation navigation, and the accuracy and stability of the operation performed by the hand-held bone knife are improved;

(2) According to the utility model, the anti-slip teeth matched with the anti-slip grooves on the outer wall of the handle are arranged on the inner wall of the clamp, so that the inner wall of the clamp is tightly connected with the outer wall of the handle, the front-back movement between the inner wall of the clamp and the outer wall of the handle of the osteotome after the clamp is locked is prevented, and the stability of the connection between the clamp and the handle is improved;

(3) When the locking piece is disassembled, the butterfly nut is not required to be disassembled, and only the butterfly nut is required to be screwed or unscrewed, so that the clamp and the bone knife can be quickly disassembled, and the disassembly efficiency of the clamp is improved;

(4) According to the utility model, the upper side and the lower side of the handle in the radial direction are respectively provided with the planes along the axial direction, the upper side wall and the lower side wall of the clamping ring opening are respectively provided with the propping surfaces, and the clamp is radially positioned and connected with the planes through the propping surfaces, so that the clamp and the handle can be effectively prevented from rotating;

(5) According to the utility model, the scale marks are arranged on the handle, when the clamp is mounted on the handle, the mounting position of the clamp can be read through the scale marks, so that the relative position of the positioning reflecting ball and the tail end of the blade is obtained, the position information of the positioning reflecting ball is obtained through the binocular vision positioning equipment, the pose information of the tail end of the blade is accurately obtained, and the positioning accuracy of the osteotome is improved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a bone knife positioning device according to the present utility model;

FIG. 2 is a schematic view of an exploded construction of the clamp of the present utility model;

FIG. 3 is a schematic view of the structure of the clamp of the present utility model after locking;

FIG. 4 is a schematic view showing a state of reading the mounting position of the jig through the scale marks in the present utility model;

FIG. 5 is a schematic diagram of the connection structure of the connection plate and the upper clamp and the positioning bracket in the utility model;

FIG. 6 is a schematic view of the bottom surface of one end of the connector according to the present utility model;

FIG. 7 is a schematic view of the bottom surface of the positioning bracket according to the present utility model;

in the figure: 1. a bone knife; 2. a clamp; 3. a connecting piece; 4. a positioning bracket; 5. binocular vision positioning equipment; 6. a handle; 7. a blade; 8. positioning a reflective ball; 9. a clamp is arranged; 10. a lower clamp; 11. a locking member; 12. a swing bolt; 13. a fixing pin; 14. a flat gasket; 15. a wing nut; 16. a mounting groove; 17. a pin hole; 18. a locking groove; 19. a backup plate; 20. a limit bar; 21. an anti-skid groove; 22. anti-slip teeth; 23. scale marks; 24. a first through hole; 25. a first positioning ring; 26. a first mounting hole; 27. a first positioning groove; 28. a second mounting hole; 29. a second positioning ring; 30. a second through hole; 31. a second positioning groove; 32. a clamping ring opening; 33. a plane; 34. and (5) abutting against the surface.

Detailed Description

The technical solutions of the present utility model will be clearly and completely described in conjunction with the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1, the present embodiment provides a bone knife positioning device based on binocular vision recognition technology, which comprises a bone knife 1, a clamp 2, a connecting piece 3 connected with the clamp 2, a positioning bracket 4 connected with the connecting piece 3, and binocular vision positioning equipment 5, wherein the clamp 2 is detachably mounted on a handle 6 of the bone knife 1; the positioning bracket 4 is provided with a plurality of positioning reflecting balls 8, and the binocular vision positioning equipment 5 is used for identifying the position information of the positioning reflecting balls 8 and obtaining the pose information of the osteotome 1 according to the position information of the positioning reflecting balls 8.

As the preferable scheme of this embodiment, the fixture 2 includes an upper fixture 9 and a lower fixture 10 which are detachably connected, the internal profile of the upper fixture 9 and the lower fixture 10 after being locked is matched with the external profile of the handle 6, so that the clamping surface of the fixture 2 can be tightly abutted with the external surface of the handle 6, and the clamping is firmer.

As the preferable scheme of this embodiment, the articulated end of upper fixture 9 and lower fixture 10 is articulated through the round pin axle, and the open-close end of upper fixture 9 and lower fixture 10 passes through retaining member 11 and can dismantle the connection, makes things convenient for the dismantlement and the installation of anchor clamps 2.

Referring to fig. 2, as a preferred solution of the present embodiment, the locking member 11 includes a movable joint bolt 12, a fixing pin 13, a flat washer 14 and a butterfly nut 15, the open and close end of the upper fixture 9 is provided with a mounting groove 16 and a pin hole 17, the bolt head of the movable joint bolt 12 is embedded in the mounting groove 16 of the upper fixture 9, and the fixing pin 13 is embedded in the pin hole 17 of the upper fixture 9 through a through hole on the bolt head; the opening and closing end of the lower clamp 10 is provided with a locking groove 18 corresponding to the mounting groove 16, and the screw rod of the movable joint bolt 12 is detachably connected with the locking groove 18 through a flat gasket 14 and a butterfly nut 15; the movable joint bolt 12 can rotate around the fixed pin 13, when the clamp 10 needs to be disassembled, the screw rod of the movable joint bolt 12 is unscrewed from the locking groove 18 by unscrewing the butterfly nut 15, so that the locking piece 11 can be unlocked, and then the clamp 2 can be directly opened; when the clamp 2 is required to be installed, the clamp 2 is sleeved outside the handle 6, then the screw of the movable joint bolt 12 is screwed into the locking groove 18, and finally the butterfly nut 15 is screwed; when the locking piece 11 of the embodiment is disassembled, the butterfly nut 15 is not required to be disassembled, and only the butterfly nut is required to be screwed or unscrewed, so that the clamp 2 and the bone knife 1 can be quickly disassembled and assembled, and the disassembly and assembly efficiency of the clamp 2 is improved.

Referring to fig. 3, as a preferable solution of the present embodiment, the opening and closing end of the lower clamp 10 is provided with a backup plate 19, and after the upper clamp 9 and the lower clamp 10 are locked, the opening and closing end of the upper clamp 9 abuts against the inner side surface of the backup plate 19, and the flat gasket 14 abuts against the outer side surface of the backup plate 19; the locking groove 18 is formed in the side edge of the backup plate 19, the side edge of the backup plate 19 is further provided with a limiting strip 20 corresponding to the position of the port of the locking groove 18, and the purpose of the limiting strip 20 is to prevent the flat gasket 14 from sliding out of the locking groove 18 along the outer side surface of the backup plate 19 after the butterfly nut 15 is screwed down, so that the anti-falling effect can be achieved, and the clamp 2 is locked more firmly.

As a preferable scheme of the embodiment, a plurality of anti-skid grooves 21 are arranged on the outer wall of the handle 6 of the osteotome 1 at equal intervals along the axial direction; the clamp 2 comprises a clamping ring opening 32, the clamping ring opening 32 is sleeved on the handle 6, and a plurality of anti-slip teeth 22 matched with the anti-slip grooves 21 are axially arranged on the inner wall of the clamp 2; the tooth pitch, shape and size of the anti-slip tooth 22 are matched with those of the anti-slip groove 21; through set up the anti-skidding tooth 22 that matches with handle 6 outer wall anti-skidding groove 21 at the inner wall of anchor clamps 2, can realize the zonulae occludens of anchor clamps 2 inner wall and handle 6 outer wall, prevent to take place the front and back drunkenness between its inner wall and the handle 6 outer wall after the anchor clamps 2 locking, improved the stability that anchor clamps 2 and handle 6 are connected.

As a preferable solution of this embodiment, the radial upper side and the radial lower side of the handle 6 are respectively provided with a plane 33 along the axial direction, the anti-slip groove 21 is disposed on the radial front side and the radial rear side of the handle 6, the anti-slip teeth 22 are disposed on the front side wall and the rear side wall of the clamping ring opening 32, and the upper side wall and the lower side wall of the clamping ring opening 32 are respectively provided with an abutting surface 34; the clamp 2 is axially positioned and connected with the anti-slip groove 21 through the anti-slip teeth 22, and is radially positioned and connected with the plane 33 through the propping surface 43, so that the positioning and connecting mode can prevent circumferential rotation or axial movement between the clamp 2 and the handle 6, and the installation firmness of the clamp 2 and the osteotome 1 is improved.

Referring to fig. 4, as a preferable scheme of the present embodiment, a plane 33 of the handle 6 is provided with graduation marks 23 along the axial direction for measuring the mounting position of the clamp 2 relative to the axial direction on the handle 6; because the position of the clamp 2 mounted on the handle 6 is not fixed every time, and the relative position of the positioning reflecting ball 8 and the tail end of the blade 7 of the osteotome 1 is changed due to the change of the mounting position of the clamp 2, the utility model can read the mounting position of the clamp 2 through the scale marks 23 when the clamp 2 is mounted on the handle 6 by arranging the scale marks 23 on the handle 6, thereby acquiring the relative position of the positioning reflecting ball 8 and the tail end of the blade 7, and further acquiring the position information of the positioning reflecting ball 8 through the binocular vision positioning equipment 5, thereby accurately acquiring the pose information of the tail end of the blade 7.

Referring to fig. 5 to 7, as a preferred solution of the present embodiment, two first through holes 24 are provided on the top surface of the upper fixture 9, first positioning rings 25 are provided at the positions of the two first through holes 24, two first mounting holes 26 corresponding to the first through holes 24 are provided at the bottom of the connecting piece 3 near one end of the upper fixture 9, first positioning grooves 27 matching with the first positioning rings 25 are provided at the positions of the two first mounting holes 26, and the connecting piece 3 is connected with the upper fixture 9 through bolts; through set up first holding ring 25 at the top surface of last anchor clamps 9 to set up the first constant head tank 27 that matches with first holding ring 25 in the bottom of connecting piece 3, conveniently go up anchor clamps 9 and be connected with connecting piece 3 and aim at, can be fast with first through-hole 24 with first mounting hole 26 alignment, improved the installation effectiveness of connecting piece 3.

As a preferable solution of this embodiment, one end of the connecting piece 3 near the positioning bracket 4 is provided with 3 second mounting holes 28, and each second mounting hole 28 is provided with a second positioning ring 29; the positioning bracket 4 is provided with 3 second through holes 30 corresponding to the second mounting holes 28, the position of each second through hole 30 is provided with a second positioning groove 31 corresponding to the second positioning ring 29, and the connecting piece 3 is connected with the positioning bracket 4 through bolts; through setting up second holding ring 29 in the position that corresponds second mounting hole 28 on connecting piece 3 to set up the second constant head tank 31 that matches with second holding ring 29 on locating support 4, alignment when making things convenient for connecting piece 3 and locating support 4 to be connected can be fast with second mounting hole 28 with second through-hole 30, improved locating support 4's installation effectiveness.

As a preferable solution of this embodiment, at least one second positioning ring 29 is a square positioning ring, and by designing at least one of the plurality of second positioning rings 29 as a square (i.e., the second positioning ring 29 in the middle position is designed as a square in the embodiment in which the top view is the outer square and the inner circle), the alignment efficiency of the second mounting hole 28 and the second through hole 30 can be further improved.

In this embodiment, the number of the positioning reflective balls 8 is at least 3, and the greater the number, the higher the positioning accuracy, and the higher the requirement for the installation position of the positioning reflective balls 8, and in this embodiment, the total number of the positioning reflective balls 8 is 4; the main body structure of the positioning bracket 4 is an annular frame, the middle part of the annular frame is provided with a connecting plate, two ends of the connecting plate are connected with the annular frame, and the connecting plate passes through the origin of the annular frame; the main body of the connecting piece 3 is L-shaped; the second through hole 30 is formed on the connecting plate; the outer lane of annular frame outwards extends and is equipped with 4 installation poles, and 4 installation poles are equidistant along the circumference of annular frame to be set up, and 4 location reflection of light balls 8 are fixed respectively at the end of 4 installation poles.

The bone knife positioning device of the embodiment is installed as follows:

firstly, fixing an upper clamp 9 and a connecting piece 3, aligning a first positioning groove 27 at the bottom of the connecting piece 3 with a first positioning ring 25 on the top surface of the upper clamp 9, and screwing a bolt into a first mounting hole 26 at the bottom of the connecting piece 3 after passing through a first through hole 24 from the bottom of the inner side of the upper clamp 9; then the upper clamp 9 and the lower clamp 10 are buckled outside the handle 6, and after the proper positions are adjusted, the upper clamp 9 and the lower clamp 10 are locked (the butterfly nut 15 is screwed) through the locking piece 11; and fixing the positioning bracket 4 provided with the positioning reflecting ball 8 with the connecting piece 3, aligning the square positioning groove at the bottom of the positioning bracket 4 with the square positioning ring at the top of the connecting piece 3, and screwing the bolt into the second mounting hole 28 at the top of the connecting piece 3 after passing through the second through hole 30 from the top of the positioning bracket 4, thereby completing the installation of the bone knife positioning device.

The positioning principle of the bone knife positioning device of the embodiment is as follows:

firstly, fixing a positioning bracket 4 provided with a plurality of positioning reflecting balls 8 on a handle 6 of a bone knife 1 through a connecting piece 3 and a clamp 2 according to the installation process; reading the scale values from the bottom surface of the handle 6, inputting the read scale values into a host of a positioning system, and calculating by the host according to the scale values to obtain the position information of the 4 positioning reflecting balls 8 relative to the tail ends of the cutting edges 7 (according to the design parameters of the osteotome 1, the clamp 2, the connecting piece 3 and the positioning bracket 4, the relative position relation between the 4 positioning reflecting balls 8 and the clamp 2 can be directly obtained, and then according to the relative position relation between the clamp 2 and the tail ends of the cutting edges 7, the relative position relation between the 4 positioning reflecting balls 8 and the tail ends of the cutting edges 7 can be calculated; finally, the real-time position information of the 4 positioning reflecting balls 8 is obtained through the binocular vision positioning equipment 5, and the real-time pose information of the tail end of the cutting edge 7 is calculated according to the position information of the 4 positioning reflecting balls 8 relative to the tail end of the cutting edge 7 and the real-time position information of the 4 positioning reflecting balls 8, so that the accurate positioning of the bone knife 1 is realized.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the utility model.

Claims (9)

1. The bone knife positioning device based on the binocular vision recognition technology is characterized by comprising a bone knife (1), a clamp (2), a connecting piece (3) connected with the clamp (2), a positioning bracket (4) connected with the connecting piece (3) and binocular vision positioning equipment (5), wherein the clamp (2) is detachably arranged on a handle (6) of the bone knife (1); the positioning support (4) is provided with a plurality of positioning reflecting balls (8), and the binocular vision positioning equipment (5) is used for identifying the position information of the positioning reflecting balls (8) and obtaining the pose information of the bone knife (1) according to the position information of the positioning reflecting balls (8).

2. The bone knife positioning device based on binocular vision recognition technology according to claim 1, wherein the clamp (2) comprises an upper clamp (9) and a lower clamp (10) which are detachably connected, and the inner contour of the upper clamp (9) and the lower clamp (10) after locking is matched with the outer contour of the handle (6); the hinged end of the upper clamp (9) and the hinged end of the lower clamp (10) are hinged through a pin shaft, and the opening and closing ends of the upper clamp (9) and the lower clamp (10) are detachably connected through a locking piece (11).

3. The bone knife positioning device based on the binocular vision recognition technology as claimed in claim 2, wherein a plurality of first through holes (24) are formed in the top surface of the upper clamp (9), first positioning rings (25) are arranged at the positions of the first through holes (24), a plurality of first mounting holes (26) corresponding to the first through holes (24) are formed in the bottoms of one ends of the connecting pieces (3) close to the upper clamp (9), first positioning grooves (27) matched with the first positioning rings (25) are formed in the positions of the first mounting holes (26), and the connecting pieces (3) are connected with the upper clamp (9) through bolts.

4. A bone knife positioning device based on binocular vision recognition technology as claimed in claim 3, characterized in that the locking member (11) comprises a movable joint bolt (12), a fixed pin (13), a flat gasket (14) and a wing nut (15), the opening and closing end of the upper clamp (9) is provided with a mounting groove (16) and a pin hole (17), the bolt head of the movable joint bolt (12) is embedded in the mounting groove (16) of the upper clamp (9), and the fixed pin (13) is embedded in the pin hole (17) of the upper clamp (9) through a through hole on the bolt head; the opening and closing end of the lower clamp (10) is provided with a locking groove (18) corresponding to the mounting groove (16), and the screw rod of the movable joint bolt (12) is detachably connected with the locking groove (18) through a flat gasket (14) and a butterfly nut (15).

5. The bone knife positioning device based on the binocular vision recognition technology as claimed in claim 4, wherein the opening and closing end of the lower clamp (10) is provided with a backup plate (19), the locking groove (18) is formed on the side edge of the backup plate (19), and a limit strip (20) is further arranged on the side edge of the backup plate (19) corresponding to the position of the port of the locking groove (18).

6. The bone knife positioning device based on the binocular vision recognition technology as claimed in claim 1, wherein a plurality of anti-skid grooves (21) are arranged on the outer wall of the handle (6) of the bone knife (1) at equal intervals along the axial direction; the clamp (2) comprises a clamping ring opening (32), the clamping ring opening (32) is sleeved on the handle (6), and a plurality of anti-slip teeth (22) matched with the anti-slip grooves (21) are axially arranged on the inner wall of the clamp (2).

7. The bone knife positioning device based on the binocular vision recognition technology as claimed in claim 6, wherein the upper side and the lower side of the handle (6) are respectively provided with a plane (33) along the axial direction, the anti-slip groove (21) is arranged on the front side and the rear side of the handle (6) along the radial direction, the anti-slip teeth (22) are arranged on the front side wall and the rear side wall of the clamping ring opening (32), and the upper side wall and the lower side wall of the clamping ring opening (32) are respectively provided with a propping surface (34); the clamp (2) is axially positioned and connected with the anti-slip groove (21) through the anti-slip teeth (22), and is radially positioned and connected with the plane (33) through the abutting surface (34).

8. The bone knife positioning device based on binocular vision recognition technology according to claim 7, wherein graduation marks (23) are axially arranged on a plane (33) of the handle (6) and are used for measuring the mounting position of the clamp (2) relative to the axial direction on the handle (6).

9. The bone knife positioning device based on the binocular vision recognition technology as claimed in claim 1, wherein one end of the connecting piece (3) close to the positioning bracket (4) is provided with a plurality of second mounting holes (28), and the position of each second mounting hole (28) is provided with a second positioning ring (29); a plurality of second through holes (30) corresponding to the second mounting holes (28) are formed in the positioning support (4), second positioning grooves (31) corresponding to the second positioning rings (29) are formed in the positions of the second through holes (30), at least one second positioning ring (29) is a square positioning ring, and the connecting piece (3) is connected with the positioning support (4) through bolts.