CN115300303A - Fixing device for knee joint surgical robot and surgical robot system - Google Patents

Abstract

The invention discloses a fixing device for a knee joint surgical robot and a surgical robot system, which comprise a foot support mechanism, a sliding mechanism and a supporting mechanism, wherein the sliding mechanism has linear horizontal direction movement freedom, the foot support mechanism is arranged at the sliding end of the sliding mechanism, the supporting mechanism is arranged at the end part of the sliding mechanism, and the foot support mechanism has horizontal direction rotation freedom relative to the sliding end of the sliding mechanism. The device has simple structure, light weight, small volume and convenient operation; the fixing device of the knee joint surgical robot is used together with the surgical robot, so that the labor amount of doctors and assistants is reduced, and the physical strength is saved; the fixing support can be fixed on a guide rail of the operating table, so that the stability of the device is improved; the mounting position of the supporting part is arranged on the side surface of the operating bed, so that the spongy cushion on the operating bed is not required to be taken off, and the labor amount in the operation process is reduced.

Description

Fixing device and surgical robot system for knee joint surgery robot

technical field

The invention relates to the field of special brackets, in particular to a fixing device for a knee joint surgery robot.

Background technique

With the aging of the population, the incidence of knee joint disease is increasing year by year. Total Knee Arthroplasty (TKA for short) is a new technology for the treatment of knee joint diseases. quality of life.

In the context of knee replacement surgery, it is often necessary to keep the patient's limb immobilized for the surgical procedure. Taking knee replacement surgery as an example, it is necessary to keep the patient's leg immobile during the osteotomy operation. Traditional knee replacement surgery relies on an assistant to hold the patient's leg to keep the leg still. The way of fixing the legs by hand increases the labor intensity of the assistants, and the accuracy and standardization are heavily dependent on the doctor's surgical experience, and the stability and repeatability are poor, which seriously restricts the effect of knee replacement surgery, resulting in high incidence of postoperative complications.

In recent years, with the advancement of science and technology, orthopedic surgical robots are an auxiliary robot system that can assist orthopedic surgeons in precise surgical operations. strength etc. With the development of technology, more and more orthopedic surgeries begin to adopt auxiliary robot system to improve the success rate of the operation. A complete surgical robot platform usually consists of a robotic arm system, a main control system, and an NDI positioning, tracking and navigation system.

The existing patent application number is CN202010884487.X for the leg support device. The technical means provided by this patent can be positioned with the operating bed by the friction force generated by its own weight during the clinical application process, and there is no fixation between the operating bed and the overall The device is easy to shake during the free state osteotomy operation, and the sponge pad on the operating table needs to be removed before use, which is too complicated for doctors to operate. If relying on self-weight to generate frictional positioning, the main parts of the device may need to be processed with dense metal materials, which will lead to a relatively large overall weight of the device, and doctors need to carry it during use, which consumes physical strength. In addition, the leg support device needs to be sterilized at high temperature after use, and needs to be packed into a disinfection box. It also needs to be manually transported and placed in a corresponding area for disinfection. The weight of the device is huge and labor-intensive.

In order to solve the above problems, there is a need for a fixation device for a knee joint surgery robot.

Contents of the invention

The present invention aims to solve the problem of frictional positioning between the existing device and the operating bed in the prior art, which is generated by its own weight, and is not fixed with the operating bed. The device as a whole belongs to a free state during the osteotomy operation. The sponge pad on the operating table needs to be removed beforehand. The doctor’s operation is too complicated, and the friction force generated by its own weight is used for positioning. The main parts of the device may need to be processed with dense metal materials, which will lead to a relatively large overall weight of the device. It needs to be transported during the process, which consumes physical strength. In addition, the leg support device needs to be sterilized at high temperature after use, and needs to be put into a disinfection box. It also needs to be manually transported and put into the corresponding area for disinfection. The invention provides a fixing device for a robot for knee joint surgery, which is connected with a guide rail of a hospital bed through a lightweight structure to solve the above problems.

The invention provides a fixing device for a knee joint surgery robot, comprising a foot support mechanism, a sliding mechanism and a supporting mechanism, one end of the sliding mechanism is slidably connected with the supporting mechanism along the length direction of the supporting mechanism, and the other end of the sliding mechanism is connected with the foot The bottom rotating connection of the supporting mechanism;

The supporting mechanism includes at least two supporting locking blocks, and the at least two supporting locking blocks are respectively connected with the supporting mechanism and the slide rail of the hospital bed;

Wherein, the footrest mechanism is used to fix and maintain the position and posture of the patient's feet;

The sliding mechanism is used to adjust and fix the position and direction of the footrest mechanism along the length of the hospital bed;

The support mechanism is used to fix the sliding mechanism adjustable along the length of the bed and transfer the stress of the foot support mechanism, the sliding mechanism and the patient's feet to the bed.

A fixing device for a knee joint surgery robot according to the present invention, as a preferred mode, the footrest mechanism includes an L-shaped footrest body, a bracket bottom bracket, a locking mechanism, brackets with the same number, and hooks with the same number And the same number of rubber bands and locking blocks, the bracket bottom bracket is fixed on the side close to the sliding mechanism, and the bracket bottom bracket is located on both sides of the footrest body with parallel chute structures, and the top of the bracket is equipped with an arc-shaped installation block The rod-shaped structure, the curved side of the arc-shaped mounting block is provided with a number of concave positioning openings, the bracket is movably set in the chute on one side of the bracket bottom bracket, and the bracket is fastened to the sliding side of the bracket bottom bracket by a locking mechanism. In the groove, one end of the rubber band is installed on the arc-shaped mounting block of the bracket, and the free end of the rubber band is connected to the hook. The top of the locking block is movably arranged on the outer surface of the bend of the foot rest body, and there is a vertical foot rest body between the top of the locking block and the foot rest body. The degree of freedom of rotation of the plane where the axis is located, the middle of the locking block is provided with a horizontal position positioning structure, the bottom of the locking block is a block structure, and the block structure is used to connect the sliding mechanism.

A fixing device for a knee joint surgery robot according to the present invention, as a preferred mode, the brackets installed on both sides of the bracket bottom support are respectively the first bracket and the second bracket, and the first bracket is movably arranged on a side near the slide rail. On the other hand, the radian of the arc-shaped positioning block at the top of the first bracket is larger than that of the arc-shaped positioning block at the top of the second bracket, and the shortest distance between the second bracket and the inner side of the hospital bed is smaller than the shortest distance between the first bracket and the inner side of the hospital bed.

A fixing device for a knee joint surgery robot according to the present invention, as a preferred mode, the bracket bottom bracket includes a chute and a bottom bracket body, and the bottom bracket body is closely attached to the outer surface of the patient's calf part with the foot bracket body. Plate-shaped structure, the middle part of the bottom bracket body is provided with a mounting hole connected with the foot bracket body, the bottom bracket body is installed on the foot bracket body through the installation hole, the two ends of the bottom bracket body are respectively arranged on both sides of the foot bracket body, the bottom bracket body The corresponding positions of the two ends of the main body are fixed with chute respectively. The axes of each chute are parallel to each other. The two sides of the chute are provided with mounting holes for installing the locking mechanism on the vertical axis. The mounting holes of the locking mechanism on both sides of the chute share axis.

There is at least one set of chute on the bottom support body, and multiple sets can also be set to realize the adjustment of different positions, or install holes at other positions on both sides of the bottom support body, and realize the same set of chute in different positions according to different situations. Position adjustment.

The locking mechanism includes a locking wrench, a locking wrench return spring and a bracket limit shaft. The middle part of the bracket limit shaft is an axial positioning plate, and the two ends of the axial positioning plate are respectively provided with a positioning column and a limit column. The axial positioning plate, the positioning column and the limiting column are coaxial, the positioning column of the bracket limiting shaft passes through the mounting hole inside the chute, the diameter of the axis positioning plate of the bracket limiting shaft is larger than the diameter of the mounting hole inside the chute, The axis positioning plate contacts the outer circumference of the installation hole inside the chute, the limit column of the bracket limit shaft is set inside the chute, the locking wrench reset spring is nested outside the limit column of the bracket limit shaft, and the lock wrench reset spring The diameter is smaller than the diameter of the axial positioning plate of the bracket limiting shaft, and the two ends respectively contact the outer surface of the axial positioning plate of the bracket limiting shaft and the inner side of the rod of the bracket. Positioning hole, the diameter of the positioning hole of the bracket rod is greater than or equal to the diameter of the limit post of the support limit shaft, and the locking wrench passes through the mounting hole on the outside of the chute and fastens to the top of the limit post of the support limit shaft.

A fixing device for a knee joint surgery robot according to the present invention, as a preferred mode, the sliding mechanism includes a combined slide rail composed of several consecutive slide rail segments and a platform slider arranged on the combined slide rail;

The platform slider includes a sliding body, a platform body, a footrest adjustment block, a locking mechanism for the footrest adjustment block and a slider lock. The top of the block is provided with a counterbore structure that matches the shape of the locking block. The footrest adjustment block is movable and half-buried to the upper surface of the platform body. The inside of the platform body is in contact with the footrest adjustment block at least two points. Outside the body of the platform, the locking mechanism of the footrest adjustment block is a ejector structure, and the locking mechanism of the footrest adjustment block is set inside the platform body. The input end of the block locking mechanism is movably arranged above the platform body through the upper surface of the platform body. The slider lock is arranged on the slider body and acts on the combined slide rail. The slider lock is used to fix the position of the slider body on the combined slide rail.

A fixing device for a knee joint surgery robot according to the present invention, as a preferred mode, the locking mechanism of the foot support adjustment block includes a locking handle, a locking gear and a locking rack, and one end of the locking handle is vertically locked to the handle The end passes through the platform body and is fixedly connected to the center of the locking gear, and the surface of the locking gear is parallel to the reference plane to lock the arm of the handle. The locking gear is horizontally rotatable and fixed in the platform body. The locking gear meshes with the locking rack. The bar has a degree of freedom of horizontal movement on a straight line passing through the centroid of the footrest adjustment block, and one end of the locking rack contacts the footrest adjustment block.

A fixing device for a knee joint surgery robot according to the present invention, as a preferred mode, the foot support adjustment block is a spherical structure and is in two-point contact with the platform body and one point contact with the locking rack, and the locking rack is in contact with the foot. The contact point of the support adjustment block and the side contact point connection line of the platform body and the foot support adjustment block pass through the ball center of the foot support adjustment block.

A fixing device for a knee joint surgery robot according to the present invention, as a preferred mode, the block structure at the bottom of the locking block is an inverted conical structure, and the plane of the footrest adjustment block is provided with an inverted cone that cooperates with the locking block Shaped counterbore, the axis of the inverted conical counterbore is vertical to the plane of the ball of the footrest adjustment block.

A fixing device for a knee joint surgery robot according to the present invention, as a preferred mode, the horizontal position positioning structure of the bottom end of the locking block is a horizontal cylindrical pin, and the plane of the foot support adjustment block is provided with a horizontal matching groove, which is matched with Slots fit parallel pins.

A fixing device for a knee joint surgery robot according to the present invention, as a preferred mode, the supporting mechanism includes several supporting locking blocks, and the supporting locking blocks are fixed on the lower surface of the slide rail;

The support locking block includes a locking block slide rail support, a tapered limit column, a G-shaped locking block, a guide rail locking wrench, a return spring, a supporting base and a pressing block. The supporting base is a U-shaped structure, and the supporting base The seat is installed on the bottom of the slide rail through bolts, and the middle part of the bottom surface of the support base is vertically provided with a return spring, and the bottom end of the return spring is fixed with a tapered limit column. The slide rail support is an inverted T-shaped rigid structure. The G-shaped locking block is a channel steel structure. The opening of the G-shaped locking block faces the inner side of the bed. A pair of inverted side-opening T-shaped grooves with the center line as the axis of symmetry are arranged on the inner side of the upper side of the word locking block. The lower end of the sliding rail support of the locking block is embedded in the T-shaped groove, and the guide rail locking wrench runs through the G-shaped lock. In the middle of the side of the block, the force arm of the guide rail locking wrench runs through the shaft vertically, and the end of the guide rail locking wrench runs through the G-shaped locking block. The hole is an internally threaded hole, and the penetrating end of the guide rail locking wrench is an externally threaded structure.

Preferably, the block structure at the bottom of the locking block (1a) is an inverted conical structure, and the foot rest adjustment block (223) is arranged on a plane in the inverted conical counterbore matched with the locking block (1a), The axis of the inverted tapered counterbore is perpendicular to the spherical plane of the footrest adjustment block (223);

The horizontal position positioning structure of the bottom end of the locking block (1a) is a horizontal cylindrical pin, and the plane of the footrest adjustment block (223) is provided with a horizontal matching groove, and the matching groove is matched with the cylindrical pin.

Preferably, the combined slide rail of the device is formed by combining the first slide rail and the second slide rail, the first slide rail is provided with a first slide rail nut, the second slide rail is provided with a second slide rail bolt, and the first slide rail is provided with a second slide rail bolt. The slide rail and the second slide rail can be quickly connected together by screwing.

Further, the method of using the device includes the following steps:

S1. Bind the patient's foot on the foot support with gauze;

S2. Slide the two G-shaped locking blocks into the guide rail of the bed, adjust the position, and rotate the first guide rail locking wrench and the second guide rail locking wrench clockwise to ensure that the pressing block fits the bed guide rail and is fixed together ;

S3. Insert the slider module into the end slide rail segment, and combine the slide rail segments into a combined slide rail;

S4. Press the tapered limit column on the slide rail support locking block to make it shrink, insert the two slide rail support locking blocks on the slide rail into the T-shaped slots on the G-shaped locking block respectively, and place Open the tapered limit post so that it protrudes and inserts into the round hole of the G-shaped locking block;

S5. Insert the tapered locking block on the footrest into the tapered groove on the sliding module, slide the footrest so that the patient's femur and tibia are at 90°, and then rotate the slider locking wrench clockwise to lock the sliding module onto the rails.

S6. Insert the first bracket and the second bracket into the bracket base, and lock them on the bracket base using the first locking wrench and the second locking wrench respectively;

S7. Use the first rubber band and the second rubber band to connect the first hook and the second hook to the first bracket and the second bracket respectively.

Further, the system composed of the device includes: a robotic arm trolley, a main control trolley, an NDI trolley, a fixation device for a knee joint surgery robot, a tibial calibration frame and a femoral positioning frame.

The robotic arm trolley is used to execute the instructions issued by the main control trolley, and assist the doctor to complete the osteotomy of the knee joint. It is equipped with a mechanical arm and an oscillating saw;

The main control trolley is used to send control commands to the robotic arm trolley according to the control instructions input by the doctor;

The NDI trolley is used to identify the position of the femoral positioning frame and the tibial positioning frame, and send the position information to the main control trolley;

The fixation device for knee joint surgery robot is used to fix the patient's foot and lower leg to ensure the stability of the patient's leg during the osteotomy process of the total knee joint replacement surgery robot;

Tibia calibration frame, used to mark the patient's tibia position;

The femur positioning frame is used to mark the position of the patient's femur.

The beneficial effects of the present invention are as follows:

(1) The device is simple in structure, light in weight, small in size and easy to operate;

(2) The fixation device for the knee joint surgical robot is used together with the surgical robot to reduce the workload of doctors and assistants and save physical strength;

(3) The fixed brace can be fixed on the guide rail of the operating bed, which increases the stability of the device and avoids various problems caused by the device's self-weight and stable design;

(4) The installation position of the supporting part of the device is on the side of the operating bed, so there is no need to remove the sponge pad on the operating bed, which reduces the labor load during the operation.

Description of drawings

1 is a schematic diagram of a fixation device for a knee joint surgery robot;

Fig. 2 is a schematic diagram of a foot support mechanism for a fixation device of a knee joint surgical robot;

Fig. 3 is a schematic diagram of a bracket base for a fixation device of a knee joint surgical robot;

4 is a schematic diagram of a first locking mechanism of a fixing device for a knee joint surgery robot;

5 is a schematic diagram of a second locking mechanism of a fixing device for a knee joint surgery robot;

Fig. 6 is a schematic diagram of a sliding mechanism of a fixing device for a knee joint surgery robot;

Fig. 7 is a schematic diagram of a platform slider for a fixation device of a knee joint surgery robot;

Fig. 8 is a schematic diagram of a locking mechanism of a footrest adjustment block used for a fixation device of a knee joint surgical robot;

Fig. 9 is a schematic diagram of a support mechanism of a fixation device for a knee joint surgical robot;

Fig. 10a is one of the schematic diagrams of the first support locking block of a fixation device for a knee joint surgical robot;

Fig. 10b is the second schematic diagram of the first support locking block of a fixation device for a knee joint surgical robot;

Fig. 11a is one of the schematic diagrams of the second support locking block of a fixation device for a knee joint surgical robot;

Fig. 11b is the second schematic diagram of the second support locking block of a fixation device for a knee joint surgical robot;

Fig. 12 is a schematic diagram of a combined slide rail for a fixation device of a knee joint surgical robot;

Fig. 13 is a flowchart of a method for using a fixation device for a knee joint surgical robot;

Fig. 14 is a schematic diagram of a surgical robot system.

Reference signs:

1. Footrest mechanism; 11. Footrest body; 12. Bracket bottom bracket; 121. First chute; 122. Second chute; 123. Bottom bracket body; 13. First locking mechanism; 131. First Locking wrench; 132, the first locking wrench return spring; 133, the first support limit shaft; 14, the second locking mechanism; 141, the second locking wrench; 142, the second locking wrench return spring; 143 1, the second bracket limit shaft; 15, the first bracket; 16, the first hook; 17, the first rubber band; 18, the second bracket; 19, the second hook; 10, the second rubber band; 1a, the locking block; 2. Sliding mechanism; 21. Combined slide rail; 211. First slide rail; 212. Second slide rail; 213. First slide rail nut; 214. Second slide rail bolt; 22. Platform slider; 221. Slide Body; 222, platform body; 223, footrest adjustment block; 224, footrest adjustment block locking mechanism; 2241, locking handle; 2242, locking gear; 2243, locking rack; 225, sliding body lock; 3 , support mechanism; 31, the first support locking block; 311, the first sliding rail support of the first locking block; 312, the second sliding rail support of the first locking block; 313, the first tapered limit column; 314 , the first G-shaped locking block; 315, the first guide rail locking wrench; 316, the first return spring; 317, the first supporting base; 318, the first pressing block; 32, the second supporting locking block; 321, the first slide rail support of the second locking block; 322, the second slide rail support of the second locking block; 323, the second conical limit post; 324, the second G-shaped locking block; 325, the second Rail locking wrench; 326, second return spring; 327, second support base; 328, second pressing block; 01, mechanical arm trolley; 02, main control trolley; 03, NDI trolley; 04, Fixing device for knee joint surgery robot; 05, tibia calibration frame; 06, femur positioning frame; 07, mechanical arm; 08, pendulum saw.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention.

Example 1

As shown in Figure 1, a kind of fixing device that is used for knee joint surgery robot comprises foot support mechanism 1, sliding mechanism 2 and supporting mechanism 3, and one end of described sliding mechanism (2) is along the side of described supporting mechanism (3) The length direction is slidingly connected with the support mechanism (3), and the other end of the sliding mechanism (2) is rotationally connected with the bottom of the footrest mechanism (1);

The support mechanism (3) includes at least two support locking blocks, and the at least two support locking blocks are respectively connected with the support mechanism (3) and the slide rail of the hospital bed;

Wherein, the foot support mechanism 1 is used to fix and maintain the position and posture of the patient's feet;

The sliding mechanism 2 is used to adjust and fix the position and direction of the footrest mechanism 1 along the length direction of the hospital bed;

The support mechanism 3 is used to adjust and fix the sliding mechanism 2 along the length direction of the hospital bed, and transfer the stress of the foot support mechanism 1, the sliding mechanism 2 and the patient's feet to the hospital bed.

The device is fixed on the operating bed to stabilize the device, and the device is combined with the operating bed to use the patient's own weight as a stabilizing force, avoiding the use of the device with a large self-weight design, which causes use problems caused by the large self-weight design. In order to solve the problem of difficult one-time positioning for modular installation, this device adopts multi-dimensional position adjustment to meet the patient's diseased limb in a suitable position.

The foot support mechanism 1 keeps the patient's foot and lower leg at a 90-degree angle during the knee joint operation.

As shown in Figure 2, the footrest mechanism 1 includes a footrest body 11, a bracket bottom bracket 12, a first locking mechanism 13, a second locking mechanism 14, a first bracket 15, a first hook 16, a first rubber band 17, The second bracket 18, the second hook 19, the second rubber band 10 and the locking block 1a, the footrest body 11 is an L-shaped structure, and the inner side of the footrest body 11 fits the sole of the patient's foot and the rear side of the calf and passes through the L-shaped structure. Fitting the patient's ankle joint, the bracket bottom support 12 is fixed on the foot support body 11 and fits the outer surface of the patient's calf. Both the top and the second bracket 18 are rod-shaped structures with arc-shaped mounting blocks arranged on the top, and several concave positioning openings are arranged on the arc-line side of the arc-shaped mounting block. In the groove, the second bracket 18 is movably arranged in the chute on the other side of the bracket bottom bracket 12, the first bracket 15 is fastened in the side chute of the bracket bottom bracket 12 by the first locking mechanism 13, and the second bracket 18 is fastened in the chute on the other side of the bracket bottom bracket 12 through the second locking mechanism 14, the arc-shaped mounting block of the first bracket 15 is installed on one end of the first rubber band 17, and the free end of the first rubber band 17 is connected to the first hook 16 , the arc-shaped mounting block of the second bracket 18 is installed with one end of the second rubber band 10, the free end of the second rubber band 10 is connected to the second hook 19, and the top of the locking block 1a is movably arranged on the outer surface of the bending part of the footrest body 11, and the locking block The top of 1a has a degree of freedom of rotation between the footrest body 11 and the plane where the axis of the footrest body 11 is located. The middle part of the locking block 1a is provided with a horizontal position positioning structure, and the bottom of the locking block 1a is a block structure. The block structure is used to connect and slide Institution 2.

The inner side of the footrest body fits the sole of the patient's foot and the back of the calf, and fits the patient's ankle joint through the L-shaped structure. The first hook and the second hook. The joint is exposed, and at this time, use the first hook and the second hook to pull the incision flesh at the knee joint to both sides. Both supports are vertically adjustable structures to match the height of the patient's diseased limb.

The radian of the arc positioning block at the top of the first support 15 is greater than the arc of the arc positioning block at the top of the second support 18, and the shortest distance between the second support 18 and the inside of the hospital bed is less than the shortest distance between the first support 15 and the inside of the hospital bed.

The length of the arc-shaped positioning block on the top of the second bracket is short, which can avoid covering the tibial calibration frame and ensure that the NDI trolley can fully recognize the shape of the tibial calibration frame.

As shown in Figure 3, the bracket bottom support 12 includes a first chute 121, a second chute 122 and a bottom support body 123, and the bottom support body 123 is a plate shape that is closely attached to the outer surface of the patient's calf part with the foot support body 11. structure, the middle part of the bottom bracket body 123 is provided with an installation hole connected to the foot bracket body 11, the bottom bracket body 123 is installed on the foot bracket body 11 through the installation hole, and the two ends of the bottom bracket body 123 are respectively arranged on both sides of the foot bracket body 11 direction, the two ends of the bottom bracket body 123 are respectively fixed with the first chute 121 and the second chute 122, the axes of the first chute 121 and the second chute 122 are parallel to each other, and the two sides of the first chute 121 are provided with vertical axes The mounting holes for installing the first locking mechanism 13 are provided, and the two sides of the second chute 122 are provided with mounting holes for installing the second locking device on the vertical axis. The first locking mechanism of the first chute 121 The mounting hole of the mechanism 13 and the mounting hole of the second locking mechanism 14 of the second chute 122 are coaxial;

As shown in Figure 4, the first locking mechanism 13 includes a first locking wrench 131, a first locking wrench return spring 132 and a first bracket limit shaft 133, the middle part of the first bracket limit shaft 133 is an axial positioning plate , the two ends of the axial positioning plate are respectively provided with a positioning column and a limiting column, the axial positioning plate, the positioning column and the limiting column of the first bracket limiting shaft 133 are coaxial, and the positioning column of the first bracket limiting shaft 133 passes through The inner mounting hole of the first chute 121, the diameter of the axis positioning plate of the first bracket limiting shaft 133 is larger than the diameter of the inner mounting hole of the first chute 121, and the axis positioning plate of the first bracket limiting shaft 133 contacts the inner side of the first chute 121 On the periphery of the installation hole, the limit column of the first bracket limit shaft 133 is arranged inside the first chute 121, and the first locking wrench return spring 132 is nested outside the limit column of the first bracket limit shaft 133. A locking wrench return spring 132 has a diameter smaller than the diameter of the axial positioning plate of the first bracket limiting shaft 133 and the two ends respectively contact the outer surface of the axial positioning plate of the first bracket limiting shaft 133 and the rod of the first bracket 15 Inner side of the first bracket 15 bar is provided with a positioning hole for matching the first locking mechanism 13 along the bar, the diameter of the positioning hole of the first bracket 15 bar is greater than or equal to the diameter of the limiting column of the first bracket limiting shaft 133, The first locking wrench 131 passes through the mounting hole on the outside of the first chute 121 and is fastened to the top end of the limiting column of the first bracket limiting shaft 133;

As shown in Figure 5, the second locking mechanism 14 includes a second locking wrench 141, a second locking wrench return spring 142 and a second bracket limit shaft 143, and the middle part of the second bracket limit shaft 143 is an axial positioning plate , the two ends of the axial positioning plate are respectively provided with a positioning column and a limiting column, the axial positioning plate, the positioning column and the limiting column of the second bracket limiting shaft 143 are coaxial, and the positioning column of the second bracket limiting shaft 143 passes through The inner mounting hole of the second chute 122, the diameter of the axis positioning plate of the second bracket limiting shaft 143 is larger than the diameter of the inner mounting hole of the second chute 122, and the axis positioning plate of the second bracket limiting shaft 143 contacts the inner side of the second chute 122 On the periphery of the installation hole, the limit column of the second bracket limit shaft 143 is arranged inside the second chute 122, and the second locking wrench return spring 142 is nested outside the limit column of the second bracket limit shaft 143. The diameter of the two locking wrench return springs 142 is smaller than the diameter of the axial positioning plate of the second bracket limiting shaft 143 and the two ends respectively contact the outer surface of the axial positioning plate of the second bracket limiting shaft 143 and the rod of the second bracket 18 The inner side of the second bracket 18 is provided with a positioning hole for matching the second locking mechanism 14 along the rod. The diameter of the positioning hole of the second bracket 18 is greater than or equal to the diameter of the limiting column of the second bracket limiting shaft 143. The second locking wrench 141 passes through the mounting hole outside the second sliding slot 122 and fastens to the top end of the limiting post of the second bracket limiting shaft 143 .

In this embodiment, the positioning is realized by passing through the positioning hole of the bracket and fastening, and the fastening method can be any stable fastening means such as screw connection or pin connection.

As shown in FIG. 6 , the sliding mechanism 2 includes a combined slide rail 21 composed of several consecutive slide rail segments and a platform slider 22 movably arranged on the combined slide rail 21 ;

As shown in Figure 7, the platform slider 22 includes a sliding body 221, a platform body 222, a foot support adjustment block 223, a foot support adjustment block locking mechanism 224 and a sliding body lock 225, and the sliding body 221 is arranged on the combined slide rail 21, The platform body 222 is horizontally arranged on the top of one side of the sliding body 221, and the top of the foot support adjustment block 223 is provided with a counterbore structure matching the shape of the locking block 1a. The foot support adjustment block 223 is movable and half-buried to the upper surface of the platform body 222. The inside of 222 is in contact with the foot rest adjustment block 223 at least at two points, the top counterbore of the foot rest adjustment block 223 is arranged outside the platform body 222, the foot rest adjustment block locking mechanism 224 is a ejection structure, and the foot rest adjustment block locking mechanism 224 is set Inside the platform body 222 , the ejection end of the footrest adjustment block locking mechanism 224 acts on the outer surface of the footrest adjustment block 223 , and the input end of the footrest adjustment block locking mechanism 224 passes through the upper surface of the platform body 222 and is movable on the platform body 222 Above, the sliding body lock 225 is arranged on the sliding body 221 to act on the combined slide rail 21 , and the sliding body lock 225 is used to fix the position of the sliding body 221 on the combined sliding rail 21 .

The foot support adjustment block is used as a universal adjustment shaft to adjust the direction of the foot support to meet the position requirements during work. At the same time, the slideway can provide horizontal movement in one direction to meet the various height conditions of patients.

As shown in Figure 8, the locking mechanism 224 of the footrest adjustment block includes a locking handle 2241, a locking gear 2242 and a locking rack 2243. One end of the locking handle 2241 is vertically fixed to the end of the locking handle 2241 through the platform body 222. The center of the locking gear 2242 and the locking gear 2242 face the reference plane parallel to the locking handle 2241 force arm, the locking gear 2242 is horizontally rotatable and fixed in the platform body 222, the locking gear 2242 meshes with the locking rack 2243, and the locking gear The bar 2243 has a degree of freedom to move horizontally on a straight line passing through the centroid of the footrest adjustment block 223 , and one end of the locking rack 2243 contacts the footrest adjustment block 223 .

In this embodiment, the foot support adjustment block 223 is a spherical structure and is in two-point contact with the platform body 222 and one point contact with the locking rack 2243, and the contact point between the locking rack 2243 and the foot support adjustment block 223 and the platform body 222 and The side contact points of the footrest adjustment block 223 are connected to the center of the ball of the footrest adjustment block 223 .

The spherical surface of the foot rest adjustment block contacts the slide block and can rotate relative to the slide block, and the foot rest adjustment block is tightened by the foot rest adjustment block locking mechanism to limit its rotation.

The block structure at the bottom of the locking block 1a is an inverted conical structure, and the footrest adjustment block 223 is provided with an inverted conical counterbore that cooperates with the locking block 1a, and the axis of the inverted conical counterbore is perpendicular to the ball of the footrest adjustment block 223. missing plane. The horizontal position positioning structure of the bottom end of the locking block 1a is a horizontal cylindrical pin, and the plane of the foot support adjustment block 223 is provided with a horizontal matching groove, and the matching groove is matched with the cylindrical pin.

The locking block and the foot support are connected together by screws, and a cylindrical pin is provided, and the cylindrical pin and the tapered locking block are in an interference connection; the cylindrical pin can prevent the foot support from rotating relative to the sliding module.

As shown in Figure 9, the supporting mechanism 3 includes a first supporting locking block 31 and a second supporting locking block 32, and the first supporting locking block 31 and the second supporting locking block 32 are respectively fixed on the sliding rails of the sliding mechanism 2. lower surface;

As shown in Fig. 10a and Fig. 10b, the first support locking block 31 includes the first sliding rail support 311 of the first locking block, the second sliding rail support 312 of the first locking block, the first tapered limiting column 313, The first G-shaped locking block 314, the first rail locking wrench 315, the first return spring 316, the first support base 317 and the first pressing block 318, the first support base 317 is a U-shaped structure, the first The support base 317 is installed on the bottom of the slide rail by bolts. The first return spring 316 is arranged vertically in the middle of the bottom surface of the first support base 317. Both sides of the base 317 bottom surface are symmetrically provided with the first locking block first slide rail support 311 and the first locking block second slide rail support 312, the first locking block first slide rail support 311 and the first locking block second slide rail support 311. The two slide rail supports 312 are both inverted T-shaped rigid structures. The G-shaped locking block 1a is a channel steel structure. The opening of the first G-shaped locking block 314 faces the inside of the hospital bed. The taper hole of the first tapered stop post 313, the inner side of the upper edge line of the first G-shaped locking block 314 is provided with a pair of inverted side-opening T-shaped grooves with the midline as the axis of symmetry, and the first locking block first The lower end of the slide rail support 311 and the lower end of the first locking block and the second slide rail support 312 are embedded in the T-shaped groove, the first guide rail locking wrench 315 runs through the middle of the side of the first G-shaped locking block 314, and the first guide rail is locked The force arm of the wrench 315 runs through the shaft vertically, and the first guide rail locking wrench 315 runs through one end of the first G-shaped locking block 314, and is movably connected to the first compression block 318 inside the first guide rail locking wrench 315, and the first guide rail is locked. The contact hole of the wrench 315 on the first guide rail locking wrench 315 is an internally threaded hole, and the penetrating end of the first guide rail locking wrench 315 is an external thread structure;

As shown in Fig. 11a and Fig. 11b, the second support locking block 32 includes a first slide rail support 321 of the second locking block, a second slide rail support 322 of the second locking block, a second tapered limiting column 323, The second G-shaped locking block 324, the second guide rail locking wrench 325, the second return spring 326, the second supporting base 327 and the second pressing block 328, the second supporting base 327 is a U-shaped structure, the second The support base 327 is installed on the bottom of the slide rail by bolts, the second return spring 326 is vertically arranged in the middle of the bottom surface of the second support base 327, and the second tapered limit post 323 is fixedly arranged at the bottom of the second return spring 326, and the second support Both sides of the base 327 bottom surface are symmetrically provided with the second locking block first slide rail support 321 and the second locking block second slide rail support 322, the second locking block first slide rail support 321 and the second locking block first slide rail support 321 The two slide rail supports 322 are both inverted T-shaped rigid structures, and the second G-shaped locking block 324 is a channel steel structure. There is a tapered hole matching the second tapered limit post 323. A pair of inverted side-opening T-shaped grooves with the midline as the axis of symmetry are arranged on the inner side of the upper edge of the second G-shaped locking block 324. The second locking block The lower end of the first slide rail support 321 and the lower end of the second slide rail support 322 of the second locking block are embedded in the T-shaped groove, the second guide rail locking wrench 325 runs through the middle of the side of the second G-shaped locking block 324, and the second guide rail The force arm of the locking wrench 325 runs through the shaft vertically, and the second guide rail locking wrench 325 runs through one end of the G-shaped locking block 1a, and is movably connected to the second pressing block 328 inside the second guide rail locking wrench 325, and the second guide rail is locked. The contact hole of the wrench 325 on the second guide rail locking wrench 325 is an internal thread hole, and the penetrating end of the second guide rail locking wrench 325 is an external thread structure.

The G-shaped locking block can be locked to the guide rail of the hospital bed. The G-shaped locking block is provided with a compression block and a guide rail locking wrench. The tight block is connected to the locking wrench, and the clockwise rotation of the locking wrench can push the pressing block to move forward, and the G-shaped locking block can be locked to the guide rail of the hospital bed.

In this embodiment, the foot support is made of aluminum alloy, and the slide rail in the supporting part is made of carbon fiber. The carbon fiber material is characterized by light weight and good mechanical properties. Therefore, the overall weight of the fixed brace is relatively light, which reduces the burden on doctors during use.

As shown in Figure 12, the combined slide rail 21 is composed of a first slide rail 211 and a second slide rail 212, the first slide rail 211 is provided with a first slide rail nut 213, and the second slide rail 212 is provided with a first slide rail nut 213 The two slide rail bolts 214, the first slide rail 211 and the second slide rail 212 can be quickly connected together through threads.

As shown in Figure 13, the method of using the device includes the following steps:

S1. Bind the patient's foot on the foot support with gauze;

S2. Slide the two G-shaped locking blocks into the guide rail of the bed, adjust the position, and rotate the first guide rail locking wrench and the second guide rail locking wrench clockwise to ensure that the pressing block fits the bed guide rail and is fixed together ;

S3. Insert the slider module into the end slide rail segment, and combine the slide rail segments into a combined slide rail;

S4. Press the tapered limit column on the slide rail support locking block to make it shrink, insert the two slide rail support locking blocks on the slide rail into the T-shaped slots on the G-shaped locking block respectively, and place Open the tapered limit post so that it protrudes and inserts into the round hole of the G-shaped locking block;

S5. Insert the tapered locking block on the footrest into the tapered groove on the sliding module, slide the footrest so that the patient's femur and tibia are at 90°, and then rotate the slider locking wrench clockwise to lock the sliding module onto the slide rail;

S6. Insert the first bracket and the second bracket into the bracket base, and lock them on the bracket base using the first locking wrench and the second locking wrench respectively;

S7. Use the first rubber band and the second rubber band to connect the first hook and the second hook to the first bracket and the second bracket respectively.

As shown in Figure 14, the system composed of this device includes: robotic arm trolley 01, main control trolley 02, NDI trolley 03, fixation device 04 for knee surgery robot, tibial calibration frame 05 and femoral positioning frame 06.

The robotic arm trolley 01 is used to execute the instructions issued by the main control trolley, and assist the doctor to complete the osteotomy of the knee joint. It is equipped with a robotic arm 07 and an oscillating saw 08;

The main control trolley 02 is used to send control commands to the robotic arm trolley according to the control instructions input by the doctor;

NDI trolley 03, used to identify the position of the femoral positioning frame and the tibial positioning frame, and send the position information to the main control trolley;

The fixation device 04 of the knee joint surgery robot is used to fix the patient's foot and lower leg to ensure the stability of the patient's leg during the osteotomy process of the total knee joint replacement surgery robot;

Tibia calibration frame 05, used to mark the patient's tibia position;

The femur positioning frame 06 is used for marking the position of the patient's femur.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (10)

1. A fixation device for a knee joint surgical robot, comprising: the foot support mechanism (1), the sliding mechanism (2) and the supporting mechanism (3);

one end of the sliding mechanism (2) is connected with the supporting mechanism (3) in a sliding mode along the length direction of the supporting mechanism (3), and the other end of the sliding mechanism (2) is connected with the bottom of the foot support mechanism (1) in a rotating mode;

the supporting mechanism (3) comprises at least two supporting locking blocks, and the at least two supporting locking blocks are respectively connected with the supporting mechanism (3) and a slide rail of a sickbed;

wherein the foot rest mechanism (1) is used for fixing and maintaining the position and the posture of the foot of a patient;

the sliding mechanism (2) is used for adjusting and fixing the position and the direction of the foot support mechanism (1) along the length direction of the sickbed;

the supporting mechanism (3) is used for fixing the sliding mechanism (2) in a length direction of the sickbed in an adjustable mode and transmitting stress of the foot support mechanism (1), the sliding mechanism (2) and the feet of the patient to the sickbed.

2. A fixation device for a knee joint surgery robot according to claim 1, characterized in that: the foot support mechanism (1) comprises an L-shaped foot support body, a support base (12), locking blocks (1 a), the same number of locking mechanisms, the same number of supports, the same number of hooks, the same number of rubber bands and the same number of locking blocks;

the bracket bottom support (12) is fixed on one side, close to the sliding mechanism (2), of the foot support body (11), and sliding groove structures which are parallel to each other are arranged on two sides, located on the foot support body (11), of the bracket bottom support (12);

the support is of a rod-shaped structure, the top end of the support is provided with an arc-shaped mounting block, the arc edge of the arc-shaped mounting block is provided with a plurality of concave positioning holes, and the support is fastened in the sliding groove of the support base through the locking mechanism;

the arc-shaped mounting block of the bracket is mounted at one end of the rubber band, and the free end of the rubber band is connected with the hook;

the locking mechanism is characterized in that the top end of the locking block (1 a) is movably arranged on the outer side surface of a bending part of the foot support body (11), the top end of the locking block and the foot support body are perpendicular to each other, the rotation freedom degree of the plane where the axis of the foot support body is located is planar, a horizontal position positioning structure is arranged in the middle of the locking block (1 a), the bottom of the locking block (1 a) is of a block structure, and the block structure is used for being connected with the sliding mechanism (2).

3. A fixation device for a knee joint surgery robot according to claim 2, characterized in that: the bracket bottom support (12) comprises a sliding groove and a bottom support body (123), wherein the sliding groove is respectively arranged at the corresponding position of the two sides of the bracket bottom support, wherein,

the middle part of the bottom support body (123) is provided with a mounting hole connected with the foot support body (11), and the bottom support body (123) is mounted on the foot support body (11) through the mounting hole;

the two end parts of the collet body (123) are respectively arranged in the directions of two sides of the foot collet body (11), the corresponding positions of the two end parts of the collet body (123) are respectively fixedly arranged in the sliding grooves, the axes of the sliding grooves are mutually parallel, the two side surfaces of the sliding grooves are provided with mounting holes which are perpendicular to the axes and are used for mounting the locking mechanisms, and the sliding grooves in the corresponding positions share the axis among the mounting holes of the locking mechanisms.

4. A fixation device for a knee joint surgery robot according to claim 3, characterized in that:

each locking mechanism comprises a locking wrench, a locking wrench return spring and a support limiting shaft;

the middle part of the support limiting shaft is an axial positioning plate, two ends of the axial positioning plate are respectively provided with a positioning column and a limiting column, the axial positioning plate, the positioning column and the limiting column of the support limiting shaft share an axial line, the positioning column of the support limiting shaft penetrates through the mounting hole at the inner side of the chute, the diameter of the axis positioning plate of the support limiting shaft is larger than that of the mounting hole at the inner side of the chute, the axis positioning plate of the support limiting shaft contacts the periphery of the mounting hole at the inner side of the chute, and the limiting column of the support limiting shaft is arranged inside the chute;

the locking spanner reset spring is nested in the outer side of the limiting column of the support limiting shaft, the diameter of the locking spanner reset spring is smaller than that of the axial positioning plate of the support limiting shaft, the diameter and the two ends of the axial positioning plate of the support limiting shaft are respectively in contact with the outer side plate surface of the axial positioning plate of the support limiting shaft and the inner side of the rod part of the support, the rod part of the support is provided with a positioning hole used for being matched with the locking mechanism along the rod, the diameter of the positioning hole in the rod part of the support is larger than or equal to the diameter of the limiting column of the support limiting shaft, and the locking spanner penetrates through the installation hole in the outer side of the sliding groove and is fastened to the top end of the limiting column of the support limiting shaft.

5. A fixation device for a knee joint surgery robot according to claim 2, characterized in that: the sliding mechanism (2) comprises a combined sliding rail (21) consisting of a plurality of sequentially connected sliding rail sections and a platform sliding block (22) movably arranged on the combined sliding rail (21);

the platform sliding block (22) comprises a sliding body (221), a platform body (222), a foot support adjusting block (223), a foot support adjusting block locking mechanism (224) and a sliding body lock (225), the sliding body (221) is arranged on the combined sliding rail (21), the platform body (222) is horizontally arranged at the top end of one side of the sliding body (221), a counter bore structure matched with the locking block (1 a) in shape is arranged at the top of the foot support adjusting block (223), the foot support adjusting block (223) is movably and semi-buried in the upper surface of the platform body (222), the interior of the platform body (222) is in contact with the foot support adjusting block (223) at least at two points, the counter bore at the top of the foot support adjusting block (223) is arranged outside the platform body (222), the foot support adjusting block locking mechanism (224) is of an ejection structure, the foot support adjusting block locking mechanism (224) is arranged inside the platform body (222), the ejection end of the foot support adjusting block locking mechanism (224) acts on the outer surface of the foot support adjusting block (221), the sliding body (221) is arranged above the sliding rail (21) and the sliding body (225) is used for fixing the position of the combined sliding body (21).

6. A fixation device for a knee joint surgery robot according to claim 5, characterized in that: foot holds in palm adjusting block locking mechanism (224) including locking handle (2241), locking gear (2242) and locking rack (2243), locking handle (2241) one end is perpendicular locking handle (2241) tip passes platform body (222) fixed connection locking gear (2242) center just locking gear (2242) table is parallel to the reference surface locking handle (2241) arm of force, locking gear (2242) level can be fixed in platform body (222), locking gear (2242) meshing locking rack (2243), locking rack (2243) has and is crossing the horizontal migration degree of freedom on foot holds in the palm adjusting block (223) centroid straight line, locking rack (2243) one end contact foot holds in the palm adjusting block (223).

7. A fixation device for a knee joint surgery robot according to claim 6, characterized in that:

foot holds in palm adjusting block (223) for the segment of a sphere structure and with platform body (222) two point contact with locking rack (2243) one point contact, locking rack (2243) with the contact point of foot support adjusting block (223) with platform body (222) with the side connection of contact of foot support adjusting block (223) is crossed the segment of a sphere centre of foot support adjusting block (223).

8. A fixation device for a knee joint surgery robot according to claim 1, characterized in that:

the supporting mechanism (3) comprises a plurality of supporting locking blocks, and the supporting locking blocks (31) are fixed on the lower surface of the sliding rail;

the support latch segment includes spacing post of toper, G word latch segment, guide rail lock spanner, reset spring, supporting pedestal, corresponds to set up and supports and the compact heap at supporting pedestal bottom surface both sides latch segment slide rail, the supporting pedestal is the U-shaped structure, the supporting pedestal pass through the bolt install in the slide rail bottom, the vertical setting in supporting pedestal bottom surface middle part reset spring, reset spring bottom mounting sets up spacing post of toper, the latch segment slide rail supports to fall T shape rigid structure, G word latch segment is the channel-section steel structure, G word latch segment opening is to sick bed inboard direction, G word latch segment top is provided with the cooperation the taper hole of spacing post of toper, the last sideline inboard of G word latch segment side is provided with the side of using the central line to open T type recess as a pair of inversion of symmetry axis and opens T type recess, the latch segment slide rail supports in the lower extreme embedding T type recess, guide rail lock spanner runs through G word latch segment side middle part, guide rail lock spanner passes through the axle perpendicularly, guide rail lock runs through the end of G word latch segment one end is in the guide rail lock spanner internal thread structure.

9. A fixation device for a knee joint surgery robot according to claim 5, characterized in that:

the block structure at the bottom of the locking block (1 a) is an inverted conical structure, the plane of the foot support adjusting block (223) is arranged in an inverted conical counter bore matched with the locking block (1 a), and the axis of the inverted conical counter bore is vertical to the plane of a spherical segment of the foot support adjusting block (223);

the horizontal position locating structure at the bottom end of the locking block (1 a) is a horizontal cylindrical pin, a horizontal matching groove is formed in the plane of the foot support adjusting block (223), and the matching groove is matched with the cylindrical pin.

10. A surgical robotic system, comprising: -a robotic arm trolley (01), a master trolley (02), an NDI trolley (03), a tibial calibration stand (05), a femoral positioning stand (06) and a fixation device (04) for a knee surgery robot according to any of claims 1-9;

the mechanical arm trolley (01) is used for executing an instruction sent by the main control trolley and assisting a doctor in finishing knee joint osteotomy work, and a mechanical arm (07) and a swinging saw (08) are arranged on the mechanical arm trolley;

the main control trolley (02) is used for sending a control command to the mechanical arm trolley according to a control command input by a doctor;

the NDI trolley (03) is used for identifying the positions of the femur positioning frame and the tibia positioning frame and sending the position information to the main control trolley;

the fixing device (04) of the knee joint surgical robot is used for fixing the feet and the lower legs of the patient and ensuring the stability of the legs of the patient in the osteotomy process of the total knee joint replacement surgical robot;

a tibial calibration stand (05) for calibrating the position of the tibia of the patient;

a femoral positioning frame (06) for calibrating the position of the femur of the patient.

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