WO2023108659A1

WO2023108659A1 - Positioner connecting device and surgical system

Info

Publication number: WO2023108659A1
Application number: PCT/CN2021/139338
Authority: WO
Inventors: 朱圣晓; 黄伟; 吕丹辉; 梁锡杰; 孙东辉
Original assignee: 鑫君特(苏州)医疗科技有限公司
Priority date: 2021-12-17
Filing date: 2021-12-17
Publication date: 2023-06-22

Abstract

A positioner connecting device, comprising a body (100) and a positioner connector (200), wherein the body (100) is provided with a connecting structure installed in a coordinated manner; one side of the body (100) is a body mounting surface fixedly installed in a coordinated manner; the positioner connector (200) is installed on the other side of the body (100); and the positioner connector (200) is provided with a connecting structure for installing a positioner in a coordinated manner. A surgical system comprises a surgical robot, a positioner and a positioner connecting device, wherein the positioner is installed on the positioner connecting device, and the positioner connecting device is installed on the surgical robot. By using the positioner connecting device of the surgical system, the positioner can perform coordination and positioning along with a working position of a mechanical arm of the surgical robot, achieving a simple structure, convenient operation and stable working; an operator cannot be interfered with, and the positioning function of the positioner cannot be affected by other operations, either; and the positioner can move to a desired position, along with the mechanical arm, and flexibly coordinate to operate during an operation, and the requirements for the accuracy and stability of the operation are met.

Description

Positioner connection device and surgical system

technical field

The present application relates to the field of medical instruments, in particular to an operating system and a locator connection device used on the operating instruments of the operating system.

Background technique

The existing robotic system for orthopedic spine surgery is basically composed of a main controller, a robotic arm (including surgical instruments), an imaging device, and a positioning device. Among them, the most commonly used positioning equipment is an independent infrared tracking locator. This setting method requires a separate tracking and positioning bracket to be placed in the operating room, which is easy to interfere with on-site devices and personnel. Another commonly used positioning device is shown in Figure 1. The positioning device 900 is set on the main control device. This setting method is easily disturbed by the chief surgeon who operates the main control device. The infrared light is easily affected by the vibration of the chief surgeon when operating the main control device. In addition, the main control and the mechanical arm are generally separated. This setting method limits the distance and angle between the main control and the positioning equipment on the main control and the mechanical arm, which is not conducive to the flexible operation of the operation and easily affects the accuracy of the operation. .

Therefore, it is necessary to provide a locator connection device that is simple, convenient, stable, not easily disturbed, can be flexibly coordinated during surgery, and meets the requirements of surgical accuracy and stability.

technical problem

The purpose of the present application is to provide a stable, less susceptible to interference, and high degree of fit positioner connecting device used on a surgical robot of a surgical system, and to provide a surgical system using the positioner connecting device.

technical solution

For realizing the purpose of this application, the following technical solutions are provided:

The application provides a locator connection device, which includes a body and a locator connector. The body is provided with a connection structure that can be installed in cooperation. One side of the body is a body installation surface that can be fixed and installed. The locator The connecting head is installed on the other side of the body, and the connecting head of the locator is provided with a connecting structure that can cooperate with the locator.

The locator connection device of the present application can be applied to a surgical robot, connected to the surgical robot arm through the body, and then the locator is installed on the locator connection device through the locator connector, that is, the locator is installed on the surgical arm The locator can coordinate with the working position of the mechanical arm for positioning, the structure is simple, the operation is convenient, and the work is stable, and the locator is installed on the mechanical arm, which will not interfere with the operator, and its own positioning function will not be affected by other operations. At the same time, it can follow the movement of the robotic arm to the required position, flexibly cooperate with the operation during the operation, and meet the requirements of surgical accuracy and stability. The locator may be a positioning device such as an infrared tracking locator or a binocular camera.

Usually, the connection structure on the body or the connection structure on the connector of the locator can be a screw hole, which is installed and fixed with screws.

In some embodiments, the side where the locator connector is connected to the locator is the locator installation surface, and the locator installation surface forms a positioning angle with the body. In some specific embodiments, the positioning angle The value range is 15°~165°, and the preferred value is 45° or 135°.

In some embodiments, the locator connector is a plate-shaped structure, and the surface on one side of the plate-shaped structure is the locator installation surface, which forms the positioning angle with the body. In some specific embodiments, the The value range of the positioning included angle is 15°~165°. In some specific embodiments, the positioning angle is 45° or 135°. In some embodiments, the plate-shaped structure of the locator connector is provided with a locator installation hole and an opening through the thickness direction of the plate-shaped structure for matching installation.

In some embodiments, the body includes a connected substrate and a wedge block, the body installation surface is located on one side of the substrate, and the wedge block extends outward along the substrate in a direction away from the body installation surface, The locator connector is mounted on the wedge. In some embodiments, the base plate and the wedge block are integrally formed.

In some embodiments, the wedge-shaped block includes a mounting platform and a beveled reinforcing rib, and the beveled reinforcing rib is arranged on the lower side of the mounting platform and is connected to the base plate and the mounting platform at the same time.

In some embodiments, the outside of the mounting platform of the wedge block is provided with a mounting end surface or a connecting bump, and the connector of the locator is fixed on the mounting end face or is connected and installed with the connecting bump.

In some embodiments, the installation platform and the beveled reinforcing rib are integrally formed.

In some embodiments, the oblique reinforcing rib is a triangular plate-shaped reinforcing rib, and two of the triangular plate-shaped reinforcing ribs are provided on the lower side of the installation platform.

In some embodiments, the installation end surface on the installation platform forms an installation angle with the plane where the substrate is located. In a specific implementation manner, the installation angle ranges from 15° to 165°. In some specific implementation manners, the installation angle is 45° or 135°.

In some embodiments, the connection end of the locator connector and the body is provided with a locator connection hole, the connection structure on the locator connector includes the locator connection hole, and the locator connection The head is fixedly installed on the body through the fixing piece and the connecting hole of the locator. In some embodiments, the fixing member may be a screw, and the connecting hole of the locator is a screw hole.

In some embodiments, the connection structure on the connector of the locator further includes a limiting protrusion provided at the connecting end of the connector of the locator, and the limiting protrusion is positioned in cooperation with the wedge block.

In some embodiments, the connection end of the locator connector connected to the wedge block of the body is provided with a locator connection block, the connection structure on the locator connector includes the locator connection block, the The locator connection block cooperates with the connection projection provided on the wedge block to be hinged, and the locator connection head and the body can rotate relative to each other. In some specific embodiments, hinge holes are provided on the connecting block of the locator and the connecting bump, and the hinge is realized through the cooperation of hinge shafts.

In some embodiments, the connecting device of the positioner further includes a connecting body of a mechanical arm, the connecting body of the mechanical arm is provided with a connecting structure that can be fitted on the mechanical arm, and the mounting surface of the body is connected to the connecting body of the mechanical arm and are installed together through a connecting structure. In some specific embodiments, the base plate of the body is installed and fixed with the mechanical connecting body, specifically through the cooperation of screw holes and screws, or other fixing methods. The direction of the connector extends outward. The positioner connecting device can be installed on the mechanical arm by means of the connecting body of the mechanical arm, and then the positioner fixed on the connecting head of the positioner can be installed on the mechanical arm.

In some embodiments, the body and the connecting body of the robotic arm are integrally formed; in other specific embodiments, the substrate and the connecting body of the robotic arm are integrally formed, or the substrate and the connecting body of the robotic arm are integrally formed. The connecting body of the mechanical arm is the same connecting body structure, one side of the connecting body structure is installed on the mechanical arm, and the other side extends outward from the wedge block, and the locator connecting head is installed on the wedge block.

In some embodiments, the mechanical arm connecting body is further provided with a bone drill connecting body, and the bone drill connecting body includes a first bone drill connecting head and a second bone drill connecting head.

In some embodiments, the first bone drill connector and the second bone drill connector have an L-shaped engaging structure.

In some embodiments, the first bone drill connecting head and the second bone drill connecting head are respectively provided with a bone drill installation hole and a fine-tuning structure for installing a bone drill. In some specific embodiments, the bone drill installation hole is a screw hole, and the fine-tuning structure is an adjustment knob.

In some specific embodiments, one of the first bone drill connector and the second bone drill connector is integrally formed with the mechanical arm connector.

The present application also provides a surgical system, which includes a surgical robot, a positioner, and the above-mentioned positioner connection device, the positioner is installed and connected to the positioner connection head of the positioner connection device, and the positioner The connecting device is fitted on the surgical robot through its body.

In some specific embodiments, the surgical system is a surgical system for orthopedic spine surgery, the surgical robot includes a mechanical arm used in the orthopedic spine surgery, the positioner connecting device is installed on the mechanical arm, The locator is installed on the locator connection device, and the locator and the mounting surface of the mechanical arm may form a certain angle. In some specific embodiments, the angle may be adjusted according to actual conditions.

Beneficial effect

Compared with the prior art, the present application has the following advantages:

The locator connection device of the present application can be applied to the surgical robot of the surgical system, connected to the surgical robot arm through the mechanical arm connecting body, and then the locator is installed on the locator connection device through the locator connector, thus Mount the positioner on the robotic arm of the surgical robot. Usually, when used in bone drill surgery, the tracking and positioning device can be directly installed on the mechanical arm of the surgical robot. On the one hand, it can save the equipment for separately setting the tracking and positioning device, and on the other hand, it is not affected by the interference of the chief surgeon. The tracking and positioning device is generally a positioning device such as an infrared tracking locator or a binocular camera used in bone drill surgery.

The locator connecting device of the present application enables the locator to coordinate positioning following the working position of the mechanical arm. It will be affected by other operations, and at the same time, it can follow the robot arm to move to the required position, flexibly cooperate with the operation during the operation, and meet the requirements of surgical accuracy and stability.

Description of drawings

Fig. 1 is a schematic diagram of a scheme in which commonly used positioning devices are set on the main control at present.

Fig. 2 is a perspective view of an embodiment of the locator connection device of the present application.

FIG. 3 is a schematic structural view of the body of Embodiment 1 of the locator connection device of the present application.

Fig. 4 is a right side view of Embodiment 1 of the locator connecting device of the present application.

Fig. 5 is a left side view of Embodiment 1 of the locator connecting device of the present application.

Fig. 6 is a view along direction A in Fig. 5 .

Fig. 7 is a top view of an embodiment of the locator connecting device of the present application.

FIG. 8 is a schematic structural view of the body of Embodiment 2 of the locator connection device of the present application.

FIG. 9 is a perspective view of a third embodiment of the locator connection device of the present application.

Fig. 10 is a three side view of an embodiment of the locator connection device of the present application.

Embodiments of the present invention

Please refer to Figures 2 to 7, which are schematic diagrams of Embodiment 1 of the positioner connection device of the present application. The positioner connection device includes a body 100, a positioner connection head 200, and a mechanical arm connection body 300. The manipulator connecting body 300 is installed together, the locator connector 200 is installed on the other side of the body 100, and the locator connector 200 is provided with a connection structure that can cooperate with the locator. The connection body 300 is provided with a connection structure that can be matched and installed on the robot arm. Specifically, in this embodiment, the connection structure of the robot arm connection body 300 is a connection screw hole 301 of the robot arm.

The locator connection device of the present application can be applied to surgical instruments, connected to the surgical robot arm through the robot arm connecting body 300, and then the locator is installed on the locator connection device through the locator connector 200, that is, the positioning The locator is installed on the operating arm so that the locator can coordinate with the working position of the manipulator for positioning. The structure is simple, the operation is convenient, and the work is stable. The locator is installed on the manipulator without disturbing the operator. Its own positioning function is also It will not be affected by other operations, and at the same time, it can follow the robot arm to move to the required position, flexibly cooperate with the operation during the operation, and meet the requirements of surgical accuracy and stability. The locator may be a positioning device such as an infrared tracking locator or a binocular camera.

Specifically, in Embodiment 1, please refer to FIG. 2 and FIG. 3 , the body 100 includes a connected base plate 110 and a wedge block 120 , and the body 100 is connected to the robot arm connecting body 300 through the base plate 110 ;

In this embodiment, the base plate 110 and the wedge block 120 are integrally formed, the wedge block 120 extends outward along the base plate 110 in the direction away from the mechanical arm connecting body 300 , and the locator connects The head 200 is mounted on the wedge 120 . More specifically, the wedge block 120 includes a mounting platform 130 and a beveled reinforcing rib 140, the base plate 110 and the mounting platform 130 are integrally formed in an L-shaped structure, and the beveled reinforcing rib 140 is arranged on the mounting surface. On the lower side of the platform 130 , in a specific embodiment, the beveled reinforcing rib 140 is integrally formed with the installation platform 130 or integrally formed with the base plate 110 . In the first embodiment, the beveled reinforcing rib 140 is integrally formed with the base plate 110 and the installation platform 130 and is in contact with the base plate 110 and the installation platform 130 at the same time. In a specific embodiment, the beveled reinforcing rib 140 is a triangular plate-shaped reinforcing rib, and two of the triangular plate-shaped reinforcing ribs are provided on the lower side of the installation platform 130 . More specifically, the oblique reinforcing rib 140 is in the shape of a right triangle, and the two right angle sides respectively connect with the base plate 110 and the installation platform 130 to form a triangular reinforced support structure.

In some other embodiments, the body may have a simpler structure, for example, the body includes a base plate and a mounting protrusion (not shown) extending directly from the upper end of the base plate, and the mounting protrusion is provided with a The structure of the positioner connector, such as hinge structure, mounting screw holes, etc. As another example, in some embodiments, the body includes a base plate, and the upper end or upper part of the base plate is directly provided with a structure suitable for installing the connector of the locator, such as mounting screw holes, etc., or is connected to the connector of the locator through an intermediate connector. connect. Therefore, the embodiments in this specification are only specific implementation examples of the technical solution of the present application, and the protection scope of the application is not limited thereto. Any equivalent transformation based on the technical solution of the application falls within the protection scope of the application.

In some other embodiments, the body 100 and the manipulator connecting body 300 are integrally formed. In a specific embodiment, the entire body 100 and the manipulator connecting body 300 may be integrally formed, or the The substrate 110 and the robot arm connecting body 300 are integrally formed, and other structures of the body 100 can also be flexibly changed in specific implementation manners. In some other embodiments, the base plate 110 of the body 100 and the connecting body 300 of the mechanical arm are of the same connecting body structure (not shown in the figure), which means that the wedge block 120 is directly connected from the base plate 110 and the connecting body of the mechanical arm. 300, the structure of the connecting body structure of the same body extending outward can be installed and fixed or integrally formed. The connecting body structure is not only used as the connecting body of the mechanical arm, but one side is installed on the mechanical arm, and it is also installed as a positioner. The base plate, the other side of which extends outwards from the wedge block 120 , and the locator connector 200 is installed on the wedge block 120 . Therefore, the embodiments in this specification are only specific implementation examples of the technical solution of the present application, and the protection scope of the application is not limited thereto. Any equivalent transformation based on the technical solution of the application falls within the protection scope of the application.

In the first embodiment, the outside of the wedge block 120 is provided with a connecting protrusion 131, specifically, the connecting protrusion 131 is provided outside the mounting table 130 of the wedge block 120, and the connecting head 200 of the locator is connected to the The connecting bump 131 is connected and installed.

Specifically, the connection end of the locator connector 200 and the body 100 is provided with a locator connection block 203, and the connection structure on the locator connector 200 in this application includes the locator connection block 203 . The locator connection block 203 is hinged with the connection protrusion 131 provided on the wedge block 120 , and the locator connection head 200 and the body 100 are relatively rotatable. There may be various hinged embodiments for realizing the hinge joint between the positioner connecting block 203 and the connecting protrusion 131 . In some specific embodiments, the locator connecting block 203 is provided with a hinge hole (not shown in the figure), and the connecting protrusion 131 is also provided with a hinge hole 132, and the locator connecting block is realized through the cooperation of the hinge shaft. 203 is hinged to the connecting projection 131 , so that the positioner connecting head 200 is hinged to the body 100 and the two can rotate relative to each other.

Specifically, in the first embodiment, the locator connection block 203 is arranged in the middle of the connecting end of the locator connection head 200 and the body 100, and is provided with a through hinge hole, and the wedge block 120 The mounting platform 130 is provided with two spaced apart connecting protrusions 131, the locator connecting block 203 is arranged between the two connecting protrusions 131, and the two connecting protrusions 131 are provided with hinged joints. Hole 132 , the hinge shaft passes through the hinge hole on the positioner connecting block 203 and the hinge hole 132 of the connecting protrusion 131 to realize hinge.

In other embodiments, other hinge methods can also be used, for example, a protruding shaft is provided on the connecting protrusion 131, and the shaft cooperates with the hinge hole on the locator connecting block 203 to realize a relatively rotatable hinge. or the protruding shaft is arranged on both sides of the locator connecting block 203, and the hinge holes 132 of the two spaced connecting projections 131 are hinged relative to each other; The locator connecting block 203 is matched and hinged. Therefore, the embodiments in this specification are only specific implementation examples of the technical solution of the present application, and the protection scope of the application is not limited thereto. Any equivalent transformation based on the technical solution of the application falls within the protection scope of the application.

Specifically, please refer to FIG. 5, the side of the locator connector 200 connected to the locator is the locator mounting surface 201, and the locator mounting surface 201 forms a positioning angle a with the body 100, that is The locator connector 200 is mounted on the body 100 and forms an included angle with the body 100 , so that the locator fixedly installed on the locator connector 200 forms an included angle with the body 100 . The value range of the positioning included angle a is 15°-165°. Preferably, the positioning angle a is 45° or 135°.

In Embodiment 1, the locator connector 200 is a plate-shaped structure, and the surface on one side of the plate-shaped structure is the locator installation surface 201, and the locator installation surface 201 and the body 100 form the The positioning angle a, the value range of the positioning angle a is 15°~165°. In Embodiment 1, the locator connection block 203 is hinged to the connection projection 131 and can rotate relatively, so the locator connection head 200 can rotate around the hinge axis, so that the locator connection head 200 and the installation The positioner on it can adjust the angle as required, preferably, the positioning angle a can be adjusted to 45° or 135°.

In the first embodiment, the plate-like structure of the locator connector 200 is provided with a locator installation hole 202 and an opening 204 that is matched and installed through the thickness direction of the plate-shaped structure. The positioner mounting hole 202 may be a screw hole. The locator used for surgery can be installed on the locator connector 200 by fitting the locator installation hole 202 with screws.

Further, in the first embodiment, the mechanical arm connecting body 300 is further provided with a bone drill connecting body 400 , and the bone drill connecting body 400 includes a first bone drill connecting head 410 and a second bone drill connecting head 420 . The first bone drill connector 410 and the second bone drill connector 420 have an L-shaped engagement structure. In other embodiments, the bone drill connecting body can also be an integrated structure, or the first bone drill connecting head and the second bone drill connecting head are engaged in other forms, such as T-shaped, E-shaped, [-shaped, etc. The engaging structure, or the parallel connection between the first bone drill connecting head and the second bone drill connecting head is realized through connecting pieces such as screws. Therefore, the embodiments in this specification are only specific implementation examples of the technical solution of the present application, and the protection scope of the application is not limited thereto. Any equivalent transformation based on the technical solution of the application falls within the protection scope of the application.

Specifically, the first bone drill connector 410 and the second bone drill connector 420 are respectively provided with a bone drill installation hole 401 for installing a bone drill and a fine-tuning structure. In an embodiment, the bone drill installation hole 401 is a screw hole, and the fine-tuning structure is an adjusting knob 402 . The installation and fixation of the surgical bone drill can be realized through the cooperation of the bone drill installation hole 401 with connecting parts such as screws, and fine adjustment and precise positioning can be performed through the adjustment knob 402 .

In some specific embodiments, one of the first bone drill connecting head 410 and the second bone drill connecting head 420 is integrally formed with the mechanical arm connecting body 300 . Specifically, in Embodiment 1, the second bone drill connector 420 is integrally formed with the mechanical arm connector 300, and the first bone drill connector 410 includes an integrally formed first bone drill connector. The matrix 411 and the first bone drill connector L-shaped platform 412, the first bone drill connector base body 411 and the second bone drill connector 420 are arranged in parallel, and the first bone drill connector L-shaped platform 412 can be placed on Above the second bone drill connector 420, the first bone drill connector 410 and the second bone drill connector 420 are connected and fixed by screws.

Please refer to FIG. 8 , which is a schematic diagram of the body of Embodiment 2 of the present application. The body 1000 includes a connected base plate 110 and a wedge block 120 , and the body 1000 is connected to the robot arm connecting body 300 through the base plate 110 ; The base plate 110 and the wedge block 120 are integrally formed, the wedge block 120 extends outward along the base plate 110 in a direction away from the mechanical arm connecting body 300 , and the locator connector 200 is installed on the on the wedge block 120. More specifically, the wedge block 120 includes a mounting platform 130 and a beveled reinforcing rib 140, the base plate 110 and the mounting platform 130 are integrally formed in an L-shaped structure, and the beveled reinforcing rib 140 is arranged on the mounting surface. On the lower side of the platform 130 , the beveled reinforcing rib 140 is integrally formed with the installation platform 130 or integrally formed with the base plate 110 .

The difference from the first embodiment is that, the outside of the mounting platform 130 of the wedge block 120 is provided with a mounting end surface 133 , and the positioner connector 200 is fixed on the mounting end surface 133 .

In a specific embodiment, the installation end surface 133 is provided with an end surface installation hole 134, and the connection end of the locator connector 200 connected with the body 1000 is provided with a locator connection hole (not shown in the figure) ), specifically, the connection end of the locator connector 200 connected to the body 1000 has an end surface that matches the installation end surface 133 . The connection structure on the locator connection head 200 includes the locator connection hole, and the locator connection head 200 is fixedly mounted on the body 1000 by cooperating with the locator connection hole and the end surface installation hole 134 through a fixing piece. In some implementations, the fixing member may be a screw, and the positioner connection hole and the end surface installation hole 134 are screw holes.

In the second embodiment, the installation end surface 133 on the installation platform 130 forms an installation angle y with the plane where the substrate 110 is located, that is, the locator connector 200 is installed on the body 1000 and connected to the body 1000 An included angle is formed, and the included angle is a supplementary angle of the installation included angle y, so that the locator fixedly installed on the locator connector 200 forms an included angle with the body 1000 . Specifically, the installation angle y ranges from 15° to 165°. Preferably, the installation angle y is 45° or 135°.

In some embodiments, the connection structure on the locator connector 200 further includes a stopper protrusion (not shown in the figure) provided at the connection end of the locator connector 200 , and the stopper protrusion cooperates with the wedge block 120 For positioning, specifically, two limiting protrusions whose spacing matches the width of the installation end surface 133 on the installation platform 130 can be provided, so as to limit or fasten on the installation platform 130 .

In fact, the above description is only a preferred embodiment of the present application, and the scope of protection of the present application is not limited thereto. Figure 9 and Figure 10 are schematic diagrams of Embodiment 3 of the present application, which are different from the above-mentioned Embodiment 1 and Embodiment 2 The difference is that in the third embodiment, the positioner can be installed and fixed on the surgical robot arm only through the body 1000 and the positioner connector 2000 . Embodiment 3 of the technical solution of the present application provides a fixed locator connection device including a body 1000 and a locator connector 2000. The body is provided with a connection structure that can be installed, usually a screw hole, and one side of the body can be fixed and installed. The mounting surface 1001 of the main body is used to cooperate with the installation on the mechanical arm. The locator connector 2000 is installed on the other side of the body 1000. The locator connector is provided with a connection structure that can be used to install the locator .

The side of the locator connector 2000 connected to the locator is the locator installation surface 2010 , and the locator installation surface 2010 forms a positioning angle O with the body installation surface 1001 . The value range of the positioning angle O is 15°~165°.

The body 1000 includes a connected base plate 1100 and a wedge block 1200, the mounting surface 1001 of the body is located on one side of the base plate 1100, the wedge block 1200 includes a mounting platform 1300 and a bevel rib 1400, and the bevel reinforcement The rib 1400 is disposed on the lower side of the installation platform 1300 and is connected to the base plate 1300 and the installation platform 1400 at the same time. The wedge block 1200 extends outward along the base plate 1100 in a direction away from the body installation surface 1001 , and the locator connector 2000 is installed on the mounting platform 1300 of the wedge block.

The connecting end of the locator connecting head 2000 connected with the wedge block of the body is provided with a locator connecting block 2030, which is hinged with the connecting protrusion 1310 provided on the wedge block, and the locator connecting head 2000 is connected with the wedge block. The body 1000 can rotate relatively.

In some embodiments, the positioner connecting device as described above can be applied in a surgical system (not shown in the figure), such as a surgical system for orthopedic spine surgery, the surgical system includes a surgical robot, a positioner, and the described A locator connection device, the surgical robot includes a mechanical arm used in the orthopedic spine surgery, the locator is installed and connected to the connection structure on the locator connection head of the locator connection device, and the locator is connected to The device is mounted on the mechanical arm of the surgical robot through the body mounting surface of its body, so that the positioner is mounted on the mechanical arm, and the positioner and the mounting surface of the mechanical arm can form a certain angle , in some specific embodiments, for example, when using the locator connection device of Embodiment 1 of the present application, the angle can also be adjusted according to the actual situation, that is, the locator can adjust the installation angle relative to the mechanical arm, which is convenient and flexible Cooperate with the surgical procedure.

The above descriptions are only preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Any equivalent transformation based on the technical solution of the present application falls within the protection scope of the present application.

Claims

A locator connection device, characterized in that it includes a body and a locator connector, the body is provided with a connection structure that can be fitted and installed, one side of the body is a body mounting surface that can be fitted and fixed, and the positioning The connector of the locator is installed on the other side of the body, and the connector of the locator is provided with a connection structure that can cooperate with the installation of the locator.
The locator connection device according to claim 1, wherein the side of the locator connector connected to the locator is a locator installation surface, and the locator installation surface forms a positioning angle with the body.
The locator connecting device according to claim 2, wherein the value range of the positioning included angle is 15°~165°.
The locator connection device according to claim 1 or 2, wherein the body includes a connected base plate and a wedge block, the mounting surface of the body is located on one side of the base plate, and the wedge block is along the base plate Extending outward in a direction away from the installation surface of the body, the locator connector is installed on the wedge block.
The locator connection device according to claim 4, wherein the wedge-shaped block comprises a mounting platform and a beveled reinforcing rib, and the beveled reinforcing rib is arranged on the lower side of the mounting platform and is simultaneously connected with the base plate and the The mounting table is connected.
The locator connecting device according to claim 4, characterized in that, the connecting end of the locator connecting head connected to the wedge block of the body is provided with a locator connecting block, which is connected to the connection set on the wedge block. The bumps are hinged together, and the connector of the locator and the body can rotate relative to each other.
The positioner connecting device according to claim 1, characterized in that it further comprises a connecting body of a mechanical arm, the connecting body of the mechanical arm is provided with a connecting structure that can be fitted on the mechanical arm, and the mounting surface of the body is in contact with the connecting body. The connecting body of the mechanical arm is connected and installed together through the connecting structure.
The locator connection device according to claim 7, wherein a bone drill connection body is also provided on the mechanical arm connection body, and the bone drill connection body includes a first bone drill connection head and a second bone drill connection body. head, the first bone drill connecting head and the second bone drill connecting head have an L-shaped engagement structure.
The positioner connecting device according to claim 8, wherein the first bone drill connector and the second bone drill connector are respectively provided with a bone drill mounting hole and a fine-tuning structure for installing a bone drill.
A surgical system, characterized in that it comprises a surgical robot, a positioner, and the positioner connection device according to any one of claims 1 to 9, the positioner is connected to the positioner of the positioner connection device The head is installed and connected, and the locator connecting device is mounted on the surgical robot through its body.