CN118319663A - Positioning and adjusting device for knee joint operation robot and operation robot system - Google Patents

Abstract

The application provides a positioning and adjusting device for a knee joint surgical robot and a surgical robot system, wherein the positioning and adjusting device comprises: a rotary sphere is arranged at the bottom end of the foot fixing frame; a guide rail mounted on the operation table; the left fixing block and the right fixing block are arranged on the guide rail; the left fixed block is provided with a semicircular first accommodating space, and the right fixed block is provided with a semicircular second accommodating space for accommodating the rotary sphere; the left fixed block and the right fixed block are connected through a sleeve piece, and when the sleeve piece is positioned at a first position, the left fixed block and the right fixed block enter an opening and closing state; and when the sleeve piece is in the second position, the sleeve piece enters a fastening state. According to the application, the rotary sphere can be put in and taken out only by switching the sleeve piece between the first position and the second position, so that long-time screwing is not needed, the time of installation and disassembly is greatly reduced, and the normal operation is ensured.

Description

Positioning and adjusting device for knee joint operation robot and operation robot system

Technical Field

The application relates to the technical field of surgical robot systems, in particular to a positioning and adjusting device for a knee joint surgical robot and a surgical robot system.

Background

The leg-related operation requires fixation of the lower leg and the foot, and the fixed posture needs to be adjustable, so that the leg-related operation is generally fixed by a foot rest, and a rotary sphere is arranged under the foot rest to realize free adjustment.

However, if the rotary sphere is to be mounted on the slide rail, the whole positioning and adjusting device needs to be screwed for a long time, which brings great inconvenience to the whole operation process.

Disclosure of Invention

The application solves the problem that the existing rotary sphere needs to be screwed for a long time when being installed.

To solve the above problems, an aspect of the present application provides a positioning adjustment device for a knee joint surgery robot, comprising:

The foot fixing frame is used for fixing feet of a patient to be operated, and a rotary sphere is arranged at the bottom end of the foot fixing frame;

the guide rail is arranged on the operating table and used for restraining the motion trail;

the left fixing block and the right fixing block are arranged on the guide rail; the left fixed block is provided with a semicircular first accommodating space, the right fixed block is provided with a semicircular second accommodating space, and the first accommodating space and the second accommodating space are mutually matched to accommodate the rotary sphere;

The left fixed block and the right fixed block are connected through a sleeve piece, and when the sleeve piece is positioned at a first position, the left fixed block and the right fixed block enter an opening and closing state; when the sleeve piece is positioned at the second position, the left fixing block and the right fixing block enter a fastening state.

Further, the method further comprises the following steps: the sliding block is clamped on the guide rail so as to slide along the guide rail; the left fixed block and the right fixed block are fixed on the sliding block.

Further, the outer side surface of the left fixing block extends downwards to clamp one side of the guide rail; the outer side surface of the right fixed block extends downwards to clamp the other side of the guide rail.

Further, the sleeve comprises a rotating handle, a limiting sleeve and a connecting shaft; one end of the connecting shaft is connected with the left fixed block after passing through the right fixed block; the rotating handle is arranged at the other end of the connecting shaft, and the limiting sleeve is sleeved on the connecting shaft and is abutted with the rotating handle.

Further, a shaft through hole is formed in the right fixed block, and the connecting shaft is inserted into the shaft through hole; the shaft through hole is provided with a first shaft hole and a second shaft hole in sequence at the insertion end, the first shaft hole is used for accommodating a limiting sleeve in any posture, and the second shaft hole is used for accommodating a limiting sleeve in a preset posture.

Further, small connecting columns and large connecting columns with different diameters are arranged on the rotating handle, and the small connecting columns are connected with the connecting shaft in a screwing mode and abutted against the limiting sleeve; and springs are sleeved on the small connecting columns, and two ends of each spring respectively lean against the limiting sleeve and the large connecting column.

Further, a through hole is formed in the left fixed block, and an opening hole is formed in the side face of the through hole; the through hole is internally provided with a connecting block, and the connecting shaft penetrates through the opening hole and then is fixed with the connecting block.

Further, a compression block is arranged below the connecting block; and an opening is formed in the position, corresponding to the through hole, of the sliding block, and the compression block penetrates into the opening and is in clearance fit with the sliding rail in the opening.

Further, a rotating shaft is vertically arranged on the right fixed block, and an axial threaded hole is formed in the rotating shaft; a sleeve and a nut are vertically arranged on the left fixed block, and the sleeve is sleeved outside the rotating shaft; the nut is matched with the threaded hole so as to limit the sleeve.

Another aspect of the present application provides a surgical robotic system comprising: the fixing device comprises a mechanical arm trolley, a main control trolley, an NDI trolley, a tibia calibration rack, a femur positioning rack and a fixing device for the knee joint operation robot, wherein the fixing device is used for the knee joint operation robot;

The mechanical arm trolley is used for executing the instruction sent by the main control trolley and assisting a doctor in completing knee joint osteotomy, and a mechanical arm and a swing saw are arranged on the mechanical arm trolley;

the main control trolley is used for sending a control command to the mechanical arm trolley according to the control command input by the doctor;

The NDI trolley is used for identifying the positions of the femur locating rack and the tibia locating rack and sending the position information to the main control trolley;

the fixing device of the knee joint operation robot is used for fixing the feet and the lower legs of a patient and ensuring the leg stability of the patient in the bone cutting process of the total knee joint replacement operation robot;

the tibia calibration frame is used for calibrating the tibia position of a patient;

The femur locating rack is used for calibrating the femur position of a patient.

According to the application, the sleeve piece is arranged, when the sleeve piece is positioned at the first position, the left fixed block and the right fixed block are opened, and the rotary sphere is put in; and switching the sleeve piece to a second position, fastening the left fixing block and the right fixing block at the moment, and fixing the rotary sphere.

According to the application, the rotary sphere can be put in and taken out only by switching the sleeve piece between the first position and the second position, so that long-time screwing is not needed, the time of installation and disassembly is greatly reduced, and the normal operation is ensured.

Drawings

FIG. 1 is a perspective view of a positioning adjustment device of the present application;

FIG. 2 is a partial perspective view of the positioning adjustment device of the present application;

FIG. 3 is a perspective view showing a fastened state of the positioning adjusting device of the present application;

FIG. 4 is a cross-sectional view showing a fastened state of the positioning adjustment device of the present application;

FIG. 5 is a perspective view showing an opened and closed state of the positioning adjusting device of the present application;

FIG. 6 is a cross-sectional view of the positioning adjustment device of the present application in an open and closed state;

FIG. 7 is an exploded view of a first view of the positioning adjustment device of the present application;

FIG. 8 is an exploded view of a second view of the positioning adjustment device of the present application;

FIG. 9 is a perspective view of another embodiment of the positioning adjustment device of the present application;

FIG. 10 is a side perspective view of another embodiment of the positioning adjustment device of the present application;

FIG. 11 is an enlarged side view of another embodiment of the positioning adjustment device of the present application;

FIG. 12 is a bottom perspective view of another embodiment of the positioning adjustment device of the present application;

FIG. 13 is an enlarged view of the bottom surface of another embodiment of the positioning adjustment device of the present application.

Reference numerals illustrate: 1-a left fixed block; 13-a first accommodation space; 12-through holes; 11-opening holes; 14-an outer cylinder; 15-screw cap; 2-right fixed block; 23-a second accommodation space; 22-pressing handle; 21-a shaft through hole; 211-a first shaft hole; 212-a second axial hole; 24-rotating shaft; 3-a sleeve; 32-rotating a handle; 321-small connecting posts; 322-large connecting column; 31-limiting sleeve; 311-sleeve; 312-sleeve handle; 33-connecting shaft; 34-connecting blocks; 35-compacting blocks; 4-a guide rail; 41-left fins; 42-right fins; 5-a foot fixing frame; 51-a rotary sphere; 6-sliding blocks; 61-opening.

Detailed Description

In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.

The leg-related operation requires fixation of the lower leg and the foot, and the fixed posture needs to be adjustable, so that the leg-related operation is generally fixed by a foot rest, and a rotary sphere is arranged under the foot rest to realize free adjustment.

The positioning adjustment device is generally fixed in a threaded connection manner, at this time, the rotary sphere is installed on the sliding rail, then an opening enough for placing the rotary sphere is required to be opened, and the rotary sphere is required to be closed after being placed in, so that the required displacement is large, the screw thread screwing is required to perform a plurality of circumferential rotations, the whole positioning adjustment device is required to be screwed for a long time, a doctor is required to perform repeated long-time screwing in each operation, and great inconvenience is brought to the whole operation process.

In the present application, the direction perpendicular to the axis and directed to the axis is "inside", and the direction perpendicular to the axis and directed away from the axis is "outside".

An embodiment of the present application provides a positioning adjustment device for a knee joint surgery robot, the device having a structure as shown in fig. 1 to 13, the positioning adjustment device comprising:

A foot fixing frame 5 for fixing the feet of the patient to be operated, wherein a rotary sphere 51 is arranged at the bottom end of the foot fixing frame 5;

a guide rail 4 mounted on the operation table for restricting a movement trace;

A left fixed block 1 and a right fixed block 2, which are arranged on the guide rail 4; the left fixed block 1 is provided with a semicircular first accommodating space 13, the right fixed block 2 is provided with a semicircular second accommodating space 23, and the first accommodating space 13 and the second accommodating space 23 are mutually matched to accommodate the rotary sphere 51;

The left fixed block 1 and the right fixed block 2 are connected through a sleeve piece 3, and when the sleeve piece 3 is positioned at a first position, the left fixed block 1 and the right fixed block 2 enter an opening and closing state; when the sleeve 3 is at the second position, the left fixing block 1 and the right fixing block 2 are in a fastening state.

In the present application, when the sleeve member 3 is at the first position, the left fixing block 1 and the right fixing block 2 enter an open-close state, and at this time, the left fixing block 1 and the right fixing block 2 can be opened, so that the rotary sphere 51 can be placed between the first accommodating space 13 and the second accommodating space 23; when the sleeve 3 is at the second position, the left fixing block 1 and the right fixing block 2 enter a fastening state, and at this time, the left fixing block 1 and the right fixing block 2 are limited to be fastened with each other, so that the rotary sphere 51 is limited, and the rotary sphere 51 is prevented from falling out from between the first accommodating space 13 and the second accommodating space 23.

Wherein, as shown in connection with fig. 7, the upper edge of the first receiving space 13 is semicircular, and the entire first receiving space 13 is about a quarter sphere structure (slightly larger than a quarter sphere) for receiving the rotary sphere 51; the upper edge of the second receiving space 23 is semicircular, and the entire second receiving space 23 is of approximately a quarter sphere structure (slightly more than a quarter sphere) and is symmetrical with the first receiving space 13, so that the first receiving space 13 and the second receiving space 23 form a complete hemisphere (slightly more than a half sphere) after being combined, receive the rotary sphere 51, and restrict the rotary sphere 51.

In the application, by arranging the sleeve piece 3, when the sleeve piece 3 is at the first position, the left fixed block 1 and the right fixed block 2 are opened, and the rotary sphere 51 is put in; the sleeve 3 is switched to the second position, and the left fixing block 1 and the right fixing block 2 are fastened at this time, so that the rotary ball 51 is fixed.

In the application, the rotary sphere 51 can be put in and taken out only by switching the sleeve member 3 between the first position and the second position, so that long-time screwing is not needed, the time for mounting and dismounting is greatly reduced, and the normal operation is ensured.

In the present application, when the sleeve 3 is in the second position, the left fixing block 1 and the right fixing block 2 enter a fastening state, and in this state, the first accommodating space 13 and the second accommodating space 23 are in clearance fit with the rotary sphere 51, so that when the rotary sphere 51 is limited to be disengaged, the rotary sphere 51 can freely rotate at the limiting position, and the orientation of the foot fixing frame 5 can be adjusted.

In one embodiment, as shown in connection with fig. 2, the positioning adjustment device further comprises: a slider 6, wherein the slider 6 is clamped on the guide rail 4 so as to slide along the guide rail 4; the left fixing block 1 and the right fixing block 2 are fixed on the sliding block 6.

In the application, the sliding block 6 is arranged on the guide rail 4, is matched with the guide rail 4, and slides along the guide rail 4 to adjust the fixing position of the foot/knee joint.

In one embodiment, the outer side of the left fixing block 1 extends downward to catch one side of the guide rail 4; the outer side of the right fixing block 2 extends downward to catch the other side of the guide rail 4.

In the present application, this embodiment is another embodiment similar to the above, except that the slider 6 is not provided, but the lower ends of the left and right fixing blocks 1 and 2 are extended downward to catch both sides of the guide rail 4, forming a limit to slide along the guide rail 4.

Thus, when the socket 3 is in the first position, the left and right fixed blocks 1 and 2 are opened, and not only the rotary sphere 51 but also the left and right fixed blocks 1 and 2 can be simultaneously engaged with the guide rail 4 or taken out from the guide rail 4.

In this embodiment, the cross section of the guide rail 4 is preferably in an inverted trapezoid shape, and the downward extending portions of the left fixing block 1 and the right fixing block 2 are inclined, so as to facilitate the clamping into the guide rail 4 or the taking out from the guide rail 4.

In this embodiment, the left and right fixed blocks 1 and 2 are preferably rotatably connected, and a portion remote from one end of rotation extends downward to catch both sides of the guide rail 4. In this way, no catching portions are provided at the rotational connection, thereby ensuring that the catching portions can be completely opened when the left and right fixing blocks 1 and 2 are opened, facilitating the removal from the guide rail 4.

In this embodiment, by providing the catching portion, not only the rotary sphere 51 in the left and right fixed blocks 1 and 2 but also the guide rail 4 can be fixed/caught after the rotary handle 32 is screwed, thereby achieving simultaneous catching of both by one fixing.

In one embodiment, the sleeve 3 comprises a rotating handle 32, a stop collar 31 and a connecting shaft 33; one end of the connecting shaft 33 is connected with the left fixed block 1 after passing through the right fixed block 2; the rotating handle 32 is mounted at the other end of the connecting shaft 33, and the limiting sleeve 31 is sleeved on the connecting shaft 33 and is abutted against the rotating handle 32.

In the present application, in the fastened state, the left and right fixing blocks 1 and 2 have a gap, and the first and second accommodation spaces 13 and 23 have a gap therebetween, so that the rotary sphere 51 can freely rotate.

In the application, one end of a connecting shaft 33 is connected with a left fixed block 1, and the other end is connected with a rotating handle 32 by screwing; a limiting sleeve 31 is sleeved on the connecting shaft 33, one end of the limiting sleeve 31 abuts against the right fixed block 2, and the other end abuts against the rotating handle 32; thus, in the fastened state, the rotating handle 32 abuts against the stop collar 31, and the stop collar 31 abuts against the right fixed block 2; simultaneously, the rotating handle 32 is connected with the connecting shaft 33, the connecting shaft 33 is connected with the left fixed block 1, at the moment, the rotating handle 32 is screwed, the connecting distance between two ends of the connecting shaft 33 can be reduced, the distance between the screwing handle and the right fixed block 2 cannot be continuously reduced due to the limiting sleeve 31, the connecting shaft 33 and the left fixed block 1 connected with the connecting shaft 33 can be pulled to move rightwards to abut against the right fixed block 2, the gap between the connecting shaft 33 and the right fixed block 2 is gradually reduced until the gap disappears, and at the moment, the gap between the first accommodating space 13 and the second accommodating space 23 is synchronously reduced until the gap disappears, and the rotating sphere 51 is locked and cannot rotate any more.

In the present application, the second position of the fastening/fitting 3/the second position of the stopper 31 is set, so that the locking of the rotary sphere 51 is performed only by rotating the rotary handle 32 by a small angle.

In the application, by switching the fastening state and the opening and closing state, the long distance movement related to the engagement of the direct rotary sphere 51 is realized, and the small distance movement is realized by the rotary handle 32, on one hand, the free rotation and locking of the rotary sphere 51 can be switched by the rotary handle 32, and on the other hand, the rotation action of the whole rotary handle 32 only needs the rotation with a small radian, thereby avoiding the inconvenience caused by long-time screwing.

In the application, the closing of the gap only needs that the radian of the rotation handle 32 does not exceed 120 degrees, thereby greatly reducing the rotation action of the rotation handle 32, avoiding the rotation time process of the rotation handle 32 and the rotation interference with the rest of the use space of the positioning adjusting device.

In one embodiment, as shown in fig. 3 to 6, the right fixed block 2 is provided with a shaft through hole 21, and the connecting shaft 33 is inserted into the shaft through hole 21; the shaft through hole 21 is provided with a first shaft hole 211 and a second shaft hole 212 in sequence at the insertion end, the first shaft hole 211 is used for accommodating the limiting sleeve 31 in any posture, and the second shaft hole 212 is used for accommodating the limiting sleeve 31 in a preset posture.

In the application, the limit sleeve 31 comprises a sleeve 311 and a sleeve handle 312, wherein the sleeve 311 is arranged at the front end of the limit sleeve 31 and is in a waist-round shape for being partially inserted into the shaft through hole 21, and the sleeve handle 312 is arranged at the rear end of the limit sleeve 31 and is abutted against the rotating handle 32 for being held or clamped by a doctor to rotate around the connecting shaft 33.

In the present application, the first shaft hole 211 is used for accommodating the stop collar 31 in any posture, that is, after the stop collar 31 is sleeved on the connecting shaft 33, no matter how the stop collar 31 rotates, the stop collar 31 is accommodated in the first shaft hole 211; the sleeve 311 of the stop collar 31 is in a oval shape, and the first shaft hole 211 is a hole larger than the long axis of the oval shape, so as to accommodate the stop collar 31 in any posture.

In the present application, the second shaft hole 212 is used for accommodating the stop collar 31 with a preset posture, that is, after the stop collar 31 is sleeved on the connecting shaft 33, the stop collar 31 can be accommodated in the second shaft hole 212 only when rotated to the set position; the sleeve 311 of the stop collar 31 is in a oval shape, and the second shaft hole 212 may be a oval hole with a slightly larger size or a size adapted to accommodate the stop collar 31 with a specific posture.

As shown, the shaft through hole 21 is a circular hole, and is matched with the connecting shaft 33; the first shaft hole 211 and the second shaft hole 212 are formed by radially expanding the shaft through hole 21, wherein the first shaft hole 211 is circular, and the diameter of the circular shape is not smaller than the long axis of the sleeve 311 (if the long axis represents the longest line segment of the center point of the waist circle), and the second shaft hole 212 is waist-circular, and the size of the waist-circle is not smaller than the size of the sleeve 311. At this time, a step is formed at the junction of the first shaft hole 211 and the second shaft hole 212, and a step is also formed at the junction of the second shaft hole 212 and the shaft through hole 21; when the sleeve 311 is clamped in the second shaft hole 212, the sleeve is abutted against the corresponding step, and is in an opening and closing state at the moment, the movable range of the connecting shaft 33 is large, and the opening and closing of the left fixed block 1 and the right fixed block 2 can be completed within the range; when the sleeve 311 is clamped in the first shaft hole 211, it abuts against another step, and is in a fastening state at this time, the movable range of the connecting shaft 33 is small, and by rotating the rotating handle 32 in this range, the movable range of the connecting shaft 33 can be further narrowed until there is no movable range, and at this time, the rotating sphere 51 is locked.

In the application, by arranging the first shaft hole 211 and the second shaft hole 212, the limit sleeve 31 positioned in the first shaft hole 211 is pushed into the second shaft hole 212 after rotating to a specific position, so that the state is switched to an open-close state; at this time, the stop collar 31 can be pulled out of the second shaft hole 212 by pulling back and rotated slightly, so that the stop collar can be prevented from entering the second shaft hole 212, and the fastening state can be switched.

In the application, the first shaft hole 211 and the second shaft hole 212 are arranged, so that the switching between the open and close states and the fastening state can be completed only by rotating the limiting sleeve 31, and the operation is simple.

In one embodiment, as shown in fig. 6, the rotating handle 32 is provided with a small connecting post 321 and a large connecting post 322 with different diameters, and the small connecting post 321 is screwed with the connecting shaft 33 and abuts against the limiting sleeve 31; the small connecting post 321 is sleeved with a spring, and two ends of the spring respectively lean against the limit sleeve 31 and the large connecting post 322.

Referring to fig. 5, the right fixed block 2 and the sliding block 6 are fixed to each other, and the left fixed block 1 and the right fixed block 2 are rotatably connected, so that the left fixed block 1 can be rotated to the left side to open the first accommodation space 13 and the second accommodation space 23, thereby facilitating the placement of the rotary sphere 51 or the locking of the rotary sphere 51.

In the present application, the rotating handle 32 is rotatably connected to the connecting shaft 33, that is, the end on the connecting shaft 33 is provided with external threads, the portion of the rotating handle 32 is provided with internal threads, and the connection between the rotating handle 32 and the connecting shaft 33 is realized by the cooperation of the external threads and the internal threads. Because of the rotational connection, the rotation handle 32 is rotated so that the rotation handle 32 gradually approaches the other end of the connecting shaft 33, and in the case where the rotation handle 32 abuts against the fitting 3 and the fitting 3 abuts against the right fixed block 2, the rotation handle 32 and the right fixed block 2 may be regarded as inconvenient for mutual position determination, at this time, the rotation handle 32 gradually approaches the other end of the connecting shaft 33, that is, the other end of the rotation handle 32 (the end connected with the left fixed block 1) approaches rightward, that is, the left fixed block 1 rotates rightward until abutting against the right fixed block 2, so that locking of the rotary sphere 51 is achieved.

In the application, a small connecting post 321 and a large connecting post 322 are arranged at the connecting part of the rotating handle 32 and the connecting shaft 33, wherein the small connecting post 321 is provided with the internal thread so as to be connected with the connecting shaft 33 and abutted against the sleeve piece 3; the small connecting post 321 is connected with the rest of the rotating handle 32 through the large connecting post 322, and the small connecting post 321 is smaller in size than the large connecting post 322, thereby forming a step at the connecting position; a spring is arranged between the step and the sleeve 3, which spring is fitted over the small connecting post 321 and is in a compressed state, so that the sleeve 3 can be pressed in the direction of the right fixing block 2.

In the application, the limit sleeve 31 positioned in the first shaft hole 211 can be directly pushed into the second shaft hole 212 after rotating to a specific position by the extrusion of the compressed spring, so that the switching to the open-close state is facilitated; in addition, by pressing, a certain restriction force can be applied to the left fixed block 1 without an external force, so that the left fixed block is abutted against the right fixed block 2 in a natural state (the force in the abutted state is small, and the rotation of the rotary sphere 51 and the opening and closing of the left fixed block 1 by the external force are not affected).

In one embodiment, as shown in fig. 7, the left fixing block 1 is provided with a through hole 12, and an opening hole 11 is provided on a side surface of the through hole 12; a connection block 34 is provided in the through hole 12, and the connection shaft 33 is fixed to the connection block 34 after passing through the opening hole 11.

As can be seen from the accompanying drawings, the left fixed block 1 is provided with a through hole 12, the through hole 12 is a through hole penetrating through the upper surface and the lower surface of the left fixed block 1, and the through hole is in a flat circular shape; the side of the through hole 12 facing the right fixed block 2 is provided with an opening hole 11, and the opening hole 11 is also oblate or oval; the connecting shaft 33 is provided with a connecting block 34, the connecting block 34 is of a cylindrical structure and is arranged in the through hole 12, and the connecting shaft 33 is inserted into the through hole 12 through the opening hole 11 and is fixedly connected with the side face of the connecting block 34.

Wherein, the fixed connection mode can be thread fixation; by providing the opening hole 11 and the through hole 12 in an oblate or loin shape, it is possible to facilitate a possible displacement change of the connection block 34 and the connection shaft 33 when the left and right fixing blocks 1 and 2 are opened.

In one embodiment, as shown in fig. 7 and 8, the right fixed block 2 is vertically provided with a rotation shaft 24, and an axial threaded hole is formed in the rotation shaft 24; an outer cylinder 14 and a screw cap 15 are vertically arranged on the left fixed block 1, and the outer cylinder 14 is sleeved outside the rotating shaft 24; the nut 15 is adapted to the threaded hole to limit the outer cylinder 14.

Wherein, the connection structure of left fixed block 1 and right fixed block 2 is swivelling joint: the left fixed block 1 is provided with an outer cylinder 14 and a screw cap 15, the right fixed block 2 is provided with a rotary shaft 24, the rotary shaft 24 is cylindrical and provided with an axial threaded hole, the outer cylinder 14 is sleeved outside the rotary shaft 24, the screw cap 15 is connected with the threaded hole in an adaptive manner, and the top cover of the screw cap 15 covers the upper edge of the outer cylinder 14, so that the outer cylinder 14 is limited.

In the present application, as shown in fig. 8, a pressing handle 22 and a through hole with partial internal threads matched with the pressing handle 22 are further provided on the right fixed block, a through hole is also provided on the slider at a position corresponding to the through hole, an external thread is provided on a long rod part of the pressing handle 22, and the external thread penetrates through the through hole on the right fixed block and the through hole on the slider and finally abuts against the right fin 42 of the guide rail clamped on the slider, and the right fixed block and the slider are locked on the guide rail by rotating the pressing handle.

The following is another embodiment provided on the basis of the above embodiment, which differs from the above positioning adjustment device in that:

In one embodiment, as shown in fig. 13, a compression block 35 is disposed below the connection block 34; an opening 61 is provided on the slider 6 at a position corresponding to the through hole 12, and the pressing block 35 penetrates into the opening 61 and is in clearance fit with a sliding rail in the opening 61.

As shown in fig. 9-13, an additional compression block 35 is disposed below the connection block 34, and the compression block 35 is of an elastic structure so as to achieve compression; the slide block 6 is provided with an opening 61 at a position corresponding to the connecting block 34/the pressing block 35, the pressing block 35 is positioned in the opening 61, and when the rotary sphere 51 has a clearance with the first accommodating space 13 and the second accommodating space 23, the pressing block 35 is also in clearance fit with the slide rail, and when the rotary sphere 51 is locked, the pressing block 35 is locked with the slide rail.

In the present application, the opening 61 is an opening 61 facing outward, so that the holding-down block 35 accommodated therein is randomly separated from the opening 61 area when the left fixed block 1 is opened; the compression block 35 is elastically arranged, so that the fault tolerance is improved, the situation that the sliding rail cannot be locked by the compression block 35 under the condition that the rotary sphere 51 is locked is avoided, and the rotary sphere 51 can be continuously compressed based on elasticity under the condition that the sliding rail is locked.

As shown in fig. 12, the left fin 41 and the right fin 42 of the guide rail 4 are engaged positions extending to both sides, and the slider 6 slides by being engaged with the left fin 41 and the right fin 42. In the present embodiment, the width of the left fin 41 is smaller than that of the right fin 42, so that in the case where the opening 61 is provided on the slider 6, the left-right balanced setting of the positioning adjusting device is achieved by adjusting the width of the fin.

As shown in fig. 11, the through hole 12 is a groove with a completely opened side surface, and the fixing block slides out or is assembled from the left fixing block 1 in the opened and closed state through the opening 61 of the groove.

It should be noted that, in this embodiment, the synchronous locking of the rotary sphere and the guide rail can be achieved through the connecting shaft 33 without arranging a pressing handle and related structures; and in the fastening state, the rotary ball is synchronously released from the rotary ball, and in the opening and closing state, the rotary ball can be separated from the guide rail.

The embodiment of the application also provides a surgical robot system, which comprises: the fixing device comprises a mechanical arm trolley, a main control trolley, an NDI trolley, a tibia calibration rack, a femur positioning rack and a fixing device for the knee joint operation robot, wherein the fixing device is used for the knee joint operation robot;

The mechanical arm trolley is used for executing the instruction sent by the main control trolley and assisting a doctor in completing knee joint osteotomy, and a mechanical arm and a swing saw are arranged on the mechanical arm trolley;

the main control trolley is used for sending a control command to the mechanical arm trolley according to the control command input by the doctor;

The NDI trolley is used for identifying the positions of the femur locating rack and the tibia locating rack and sending the position information to the main control trolley;

the fixing device of the knee joint operation robot is used for fixing the feet and the lower legs of a patient and ensuring the leg stability of the patient in the bone cutting process of the total knee joint replacement operation robot;

the tibia calibration frame is used for calibrating the tibia position of a patient;

The femur locating rack is used for calibrating the femur position of a patient.

In the description of the present application, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "top", "bottom", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", or a third "may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "disposed," "connected," "communicating," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium.

In the description of the present application, a description of the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some embodiments, well-known structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.

Claims (10)

1. Positioning adjustment device for a knee joint surgical robot, characterized in that it comprises:

The foot fixing frame is used for fixing feet of a patient to be operated, and a rotary sphere is arranged at the bottom end of the foot fixing frame;

the guide rail is arranged on the operating table and used for restraining the motion trail;

the left fixing block and the right fixing block are arranged on the guide rail; the left fixed block is provided with a semicircular first accommodating space, the right fixed block is provided with a semicircular second accommodating space, and the first accommodating space and the second accommodating space are mutually matched to accommodate the rotary sphere;

The left fixed block and the right fixed block are connected through a sleeve piece, and when the sleeve piece is positioned at a first position, the left fixed block and the right fixed block enter an opening and closing state; when the sleeve piece is positioned at the second position, the left fixing block and the right fixing block enter a fastening state.

2. The positioning adjustment device of claim 1, further comprising: the sliding block is clamped on the guide rail so as to slide along the guide rail; the left fixed block and the right fixed block are fixed on the sliding block.

3. The positioning adjustment device of claim 1 wherein an outer side of the left fixed block extends downward to capture one side of the rail; the outer side surface of the right fixed block extends downwards to clamp the other side of the guide rail.

4. The positioning adjustment device of claim 1 or 2, wherein the sleeve comprises a rotating handle, a stop collar, and a connecting shaft; one end of the connecting shaft is connected with the left fixed block after passing through the right fixed block; the rotating handle is arranged at the other end of the connecting shaft, and the limiting sleeve is sleeved on the connecting shaft and is abutted with the rotating handle.

5. The positioning adjustment device according to claim 4, wherein a shaft through hole is provided in the right fixed block, and the connecting shaft is inserted into the shaft through hole; the shaft through hole is provided with a first shaft hole and a second shaft hole in sequence at the insertion end, the first shaft hole is used for accommodating a limiting sleeve in any posture, and the second shaft hole is used for accommodating a limiting sleeve in a preset posture.

6. The positioning and adjusting device according to claim 4, wherein small connecting columns and large connecting columns with different diameters are arranged on the rotating handle, and the small connecting columns are connected with the connecting shaft in a screwing mode and are abutted against the limiting sleeve; and springs are sleeved on the small connecting columns, and two ends of each spring respectively lean against the limiting sleeve and the large connecting column.

7. The positioning adjustment device according to claim 4, wherein a through hole is provided in the left fixed block, and an opening hole is provided in a side surface of the through hole; the through hole is internally provided with a connecting block, and the connecting shaft penetrates through the opening hole and then is fixed with the connecting block.

8. The positioning adjustment device of claim 7, wherein a compression block is disposed below the connection block; and an opening is formed in the position, corresponding to the through hole, of the sliding block, and the compression block penetrates into the opening and is in clearance fit with the sliding rail in the opening.

9. The positioning and adjusting device according to claim 1, wherein the right fixed block is vertically provided with a rotating shaft, and an axial threaded hole is formed in the rotating shaft; a sleeve and a nut are vertically arranged on the left fixed block, and the sleeve is sleeved outside the rotating shaft; the nut is matched with the threaded hole so as to limit the sleeve.

10. A surgical robotic system, comprising: a robotic arm trolley, a master control trolley, an NDI trolley, a tibia calibration rack, a femur positioning rack, a fixing device for a knee joint surgical robot according to any one of claims 1-9;

The mechanical arm trolley is used for executing the instruction sent by the main control trolley and assisting a doctor in completing knee joint osteotomy, and a mechanical arm and a swing saw are arranged on the mechanical arm trolley;

the main control trolley is used for sending a control command to the mechanical arm trolley according to the control command input by the doctor;

The NDI trolley is used for identifying the positions of the femur locating rack and the tibia locating rack and sending the position information to the main control trolley;

the fixing device of the knee joint operation robot is used for fixing the feet and the lower legs of a patient and ensuring the leg stability of the patient in the bone cutting process of the total knee joint replacement operation robot;

the tibia calibration frame is used for calibrating the tibia position of a patient;

The femur locating rack is used for calibrating the femur position of a patient.