WO2021243990A1 - End calibration device for orthopedic surgical robot - Google Patents

Abstract

Disclosed is an end calibration device for an orthopedic surgical robot. A calibration reflective ball base member (2) comprises a calibration reflective ball base body (201); the calibration reflective ball base body (201) is internally provided with a calibration reflective ball base ball body limit slot (203) at the center of a circle of a calibration reflective ball base upper sunken slot (202); the calibration reflective ball base body (201) is internally provided with a calibration reflective ball base fast-loading half-ball portion (204) in the bottom at the center of a circle of the calibration reflective ball base ball body limit slot (203), with the maximum diameter of the calibration reflective ball base fast-loading half-ball portion (204) being less than the diameter of the calibration reflective ball base ball body limit slot (203); and a calibration reflective ball base fixing block (205) is mounted at the bottom of the calibration reflective ball base body (201). The calibration device only needs to perform calibration once, which can avoid interference caused by matrix fixing during a surgical operation by an operator so as to greatly reduce the time of the whole surgical operation.

Description

Orthopedic surgery robot end calibration device

Cross-references to related applications

This application claims the priority of the Chinese patent application with the application number 202010496844.5 and titled "Orthopedic Surgical Robot End Marking Device" filed with the Chinese Patent Office on June 3, 2020, the entire content of which is incorporated into this application by reference.

Technical field

The present disclosure relates to the technical field of orthopedic medical instruments, and in particular to an orthopedic surgical robot end calibration device.

Background technique

Orthopedic equipment generally refers to professional medical equipment used for orthopedic surgery. According to the classification of the State Food and Drug Administration, it is often divided into: Class I; Class II and Class III. According to the use and performance, it is mainly divided into orthopedic knives, orthopedic scissors, orthopedic forceps, orthopedic hooks, orthopedic needles, orthopedic scrapers, orthopedic cones, orthopedic drills, orthopedic saws, orthopedic chisels, and orthopedic use File/shovel, active equipment for orthopedics, etc.

The installation between the traditional calibrated reflector ball component and the calibrated reflector ball base component is cumbersome and complicated, which wastes the preparation time for the operation and delays the optimal operation timing.

Summary of the invention

In view of the shortcomings of the prior art, the present disclosure provides an orthopedic surgical robot end calibration device, which can be quickly installed between the calibration reflective ball member and the calibration reflective ball base member, and has better stability, which saves operation time.

In order to achieve the above objectives, the present disclosure is achieved through the following technical solutions: an orthopedic surgical robot end calibration device includes a calibration matrix base, a convex cylinder is fixedly installed on the lower side of the intermediate intersection section of the calibration reflector member, and the calibration The middle intersecting section of the matrix base is provided with a countersunk threaded through hole, the countersunk threaded through hole of the calibration matrix base is provided with a fastening screw, and the four ports of the calibration matrix base are connected with four The calibration matrix base is fixed with a support post, the four ports of the calibration matrix base are equipped with a calibration reflector base member through the four calibration matrix base fixed support posts, and the four calibration reflector base members are arranged above There is a calibrated reflective ball component, the bottom of the calibration matrix base is installed with a cross-rotating quick-installation component through a raised cylinder set on the underside of the calibration matrix base, a countersunk threaded through hole and a fastening screw. A drill rod end is slidably installed below the quick assembly member, a drill rod elastic limit block is sleeved on the bottom of the drill rod end, and a spring is arranged inside the drill rod elastic limit block, and the bottom end of the spring is located at The outer part of the elastic limit block of the drill rod is provided with a limit nut in a threaded manner.

In one or more embodiments, the calibrated reflector ball member includes a calibrated reflector upper part limit disc, and the upper side of the calibrated reflector ball upper part limit disc is provided with a calibrated reflector upper part, so The lower side of the limiting circular plate of the upper part of the calibrated reflective ball is provided with a lower quick assembling body of the calibrated reflective ball.

In one or more embodiments, the calibration reflector ball base member includes a calibration reflector ball base body, and the large port of the calibration reflector ball base body is provided with an upper sink groove on the calibration reflector ball base. The inside of the main body of the calibration reflector ball base is located at the center of the sink groove on the base of the calibration reflector ball, and there is a limit groove of the calibration reflector ball base, and the inside of the main body of the calibration reflector ball base is located on the ball The bottom of the center of the limit slot is provided with a quick-fitting hemisphere part of the calibrated reflective ball base, and the diameter of the arc of the quick-fitting body under the calibrated reflective ball is equal to the diameter of the arc of the fast-fitting hemisphere part of the calibrated reflective ball base. The maximum diameter of the quick-fitting hemisphere part of the calibration reflector ball base is smaller than the diameter of the sphere limit groove of the calibration reflector ball base. An installation circular hole is opened inside the fixing block of the reflective ball base.

In one or more embodiments, the cross-rotating quick-installation member includes a cross-rotating quick-installation upper body, a ball spring assembly, and a cross-rotating quick-installation lower body, and a cross is fixedly mounted on the top of the cross-rotating quick-installation body. The main body mounting block of the rotary quick-installation is provided with a threaded hole at the upper top end of the main body installation block of the cross-rotational quick-installation, and the bottom of the main body of the cross-rotational quick-installation is fixedly installed with a rotary circular clamping block, the rotary circular clamping block A plurality of restriction grooves are opened on the circumferential surface of the cross-rotating quick-installation lower main body, a restriction circle is installed on the upper part of the lower main body, a guide rod is installed on the upper side of the center of the restriction circle, and the upper part of the restriction circle is opened There are a plurality of arc restriction grooves and inclined guide chute, and the number of arc restriction grooves and inclined guide chute is equal to the number of restriction grooves and ball spring components. Cross guide rod.

In one or more embodiments, the end of the drill rod includes a lower threaded connecting column at the center of the bottom circle of the end body of the drill rod, and the surface of the end body of the drill rod is provided with a plurality of semicircular grooves, and the drill rod The surface of the terminal body is provided with a plurality of through holes on one side of the semicircular groove.

In one or more embodiments, the drill rod elastic limit block includes a drill rod elastic limit block body, and the upper part of the drill rod elastic limit block body is equipped with a plurality of limit cylinders. A lower limit wall is installed at the bottom of the main body of the limit block, a guide circular hole is opened in the center of the main body of the drill rod elastic limit block, the inner diameter of the lower limit wall is larger than the diameter of the guide circular hole, and the lower limit wall The outer diameter of is greater than the diameter of the main body of the drill rod elastic limit block.

In one or more embodiments, the calibration matrix base fixed support column includes a calibration matrix base fixed support column main body, and the upper part of the calibration matrix base fixed support column main body is installed with a fixed support column link, so The bottom of the fixed support column body of the calibration matrix base is fixedly installed with a fixed support column auxiliary matching rod, the bottom of the fixed support column auxiliary matching rod is provided with a fixed support column threaded rod, and the diameter of the fixed support column auxiliary matching rod is larger than The calibration matrix base fixes the diameter of the support column body, the diameter of the fixed support column body of the calibration matrix base is smaller than the diameter of the fixed support column link, and the diameter of the fixed support column link is smaller than the diameter of the fixed support column auxiliary matching rod , The diameter of the threaded rod of the fixed support column is smaller than the diameter of the auxiliary matching rod of the fixed support column.

In one or more embodiments, the four ports of the calibration matrix base are provided with threaded installation holes, and the four ports of the calibration matrix base pass through the opened threaded ports and the fixed supports matched with them. The threaded rod of the upright column is installed with a calibration matrix base to fix and support the upright column.

In one or more embodiments, the mounting circular hole opened in the fixed block of the calibrated reflector ball base is a step circular hole, the diameter of the upper step circular hole and the connecting rod of the fixed support column are interference fit, and the lower There is an interference fit between the diameter of the stepped round hole and the auxiliary matching rod of the fixed support column.

In one or more embodiments, the rotating circular block is arranged inside the restriction circular block, the sphere of the ball spring assembly is arranged in the arc restriction groove on the restriction circular block, and the ball spring assembly The spring body is arranged inside the restricting groove.

In one or more embodiments, the diameter of the arc of the lower quick-mounting body of the calibrated reflector is equal to the diameter of the arc of the quick-installed hemisphere of the calibrated reflector base.

In one or more embodiments, the calibrated reflector ball member and the calibrated reflector ball base member are bonded together by a medical adhesive, and the calibrated reflector ball member includes a limit circle for the upper part of the calibrated reflector ball. The upper side of the calibrated reflective ball upper part limiting circular plate is provided with a calibrated reflective ball upper part, and the lower side of the calibrated reflective ball upper part limiting circular plate is provided with a calibrated reflective ball lower quick assembly body. The calibrated reflector ball base component includes a calibrated reflector ball base body, a large port of the calibrated reflector ball base body is provided with a countersink on the calibrated reflector ball base, and the interior of the calibrated reflector ball base body is located in the calibration reflector The center of the countersunk groove on the ball base is provided with a calibrated reflective ball base sphere limiting groove, and the inner part of the calibrated reflective ball base body is located at the center of the sphere limiting groove of the calibrated reflective ball base, and a calibration reflective ball is provided at the bottom The quick-installed hemisphere part of the base, the diameter of the arc of the quick-installed body under the calibrated reflector ball is equal to the arc diameter of the quick-installed hemisphere part of the calibrated reflector ball base, the largest of the fast-installed hemisphere part of the calibrated reflector The diameter is smaller than the diameter of the sphere limiting groove of the calibrated reflective ball base, the bottom of the calibrated reflective ball base body is equipped with a calibrated reflective sphere base fixing block, and the inside of the calibrated reflective ball base fixing block is provided with a mounting circle hole.

In one or more embodiments, the calibrated reflective ball member and the calibrated reflective ball base member are bonded together by a medical adhesive glue.

In one or more embodiments, the mounting circular hole opened in the fixed block of the calibrated reflector ball base is a step circular hole, the diameter of the upper step circular hole and the connecting rod of the fixed support column are interference fit, and the lower There is an interference fit between the diameter of the stepped circular hole and the auxiliary matching rod of the fixed support column; the diameter of the circular arc of the lower quick-fitting body of the calibrated reflective ball is equal to the diameter of the circular arc of the quick-fitting hemisphere part of the calibrated reflective ball base.

In one or more embodiments, when used, the existing calibration technology uses a calibration matrix fixed on the sleeve for real-time tracking during calibration, and the position of the entire end is obtained through analysis. The calibration matrix cannot It is blocked, otherwise the position of the end of the operation will be lost, and because the calibration matrix is fixed, extra care needs to be taken during the entire operation. It should be noted that the operator cannot interfere with the calibration matrix during the operation, which will affect the actual operation time. The best opportunity for surgery was delayed; the cross-rotating quick assembly component at the bottom of the calibration matrix base was improved, and the cross-rotating quick assembly was added to the bottom of the main body with a cross guide rod. The number of cross guide rods is the same as that on the end of the drill rod. The number of through-holes and semi-circular grooves is equal. Press the cross guide rod down gently from the groove, and the outer wall of the cross guide rod will contact the upper part of the restriction cylinder. After pressing down, the main body of the drill rod elastic limit block will face The spring exerts pressure, and the bottom of the spring is restricted by the lower threaded connecting column installed on the end of the drill rod. This will allow the restricting cylinder to drive the drill rod elastic limit block body to move downward under elastic pressure. When the cross guide rod is at the bottom, Rotate, let the cross guide rod enter the semicircular groove, and the cross guide rod will not contact the restriction cylinder, and the restriction cylinder will return under the action of the spring, thus ensuring the restriction and locking of the cross guide rod, thus realizing Quick installation.

Beneficial effect

The present disclosure provides an orthopedic surgical robot end calibration device. Compared with the prior art, it has the following beneficial effects:

1. Orthopedic surgery robot end calibration device, through the calibration of the reflective ball component, including the calibration reflective ball upper part limit disc, the upper side of the calibration reflective ball upper part limit disc is provided with a calibration reflector upper part, and the calibration reflector upper part The lower side of the limit circular plate is provided with a lower fast assembly body for the calibration reflector, the calibration matrix base fixed support column includes a calibration matrix base fixed support column body, and the upper part of the calibration matrix base fixed support column body is equipped with a fixed support column connection The bottom of the fixed support column body is fixedly installed with a fixed support column auxiliary matching rod. The bottom of the fixed support column auxiliary matching rod is provided with a fixed support column threaded rod. The diameter of the fixed support column auxiliary matching rod is larger than the calibration matrix base. The diameter of the main body of the fixed support column is fixed and the diameter of the main body of the fixed support column of the calibration matrix base is smaller than the diameter of the fixed support column connecting rod. The diameter of the fixed support column connecting rod is smaller than the diameter of the auxiliary matching rod of the fixed support column. The diameter is smaller than the diameter of the auxiliary mating rod of the fixed support column, so that the calibration reflector ball member and the calibration reflector ball base member can be quickly installed and have better stability.

2. Orthopedic surgical robot end calibration device, through the calibration of the reflector ball base component including the calibration reflector ball base body, the large port of the calibration reflector ball base body is provided with a sink groove on the calibration reflector ball base, and the calibration reflector ball base The inside of the main body is located at the center of the countersunk groove on the calibrated reflector ball base, and there is a calibrated reflector ball base sphere limit groove. The interior of the calibrated reflector sphere base body is located at the bottom of the center of the sphere limit groove of the calibrated reflector ball base. There is a quick-fitting hemisphere part of the calibrated reflective ball base. The maximum diameter of the quick-fitting hemisphere part of the calibrated reflective ball base is smaller than the diameter of the sphere limit groove of the calibrated reflective ball base. The base fixing block, the inside of the calibration reflector ball base fixing block is provided with a mounting hole, so that the current calibration device only needs to be calibrated once, so as to avoid the interference caused by the matrix fixing during the operation of the operator. The entire operation time can be fully saved.

3. Orthopedic surgical robot end calibration device, through the cross-rotating quick-installation components, including the cross-rotating quick-installing main body, the ball spring assembly and the cross-rotating quick-installing lower main body, the cross-rotating quick-installing the top of the main body is fixedly installed with the cross rotating quick-installing Main body mounting block, the top of the cross-rotating quick-fitting body is provided with a threaded hole on the top of the main body mounting block, the bottom of the cross-rotating quick-fitting body is fixedly installed with a rotating circular block, and the circumference of the rotating circular block is provided with multiple restricting grooves , The upper part of the cross-rotating quick-release lower main body is equipped with a limiting circle block, and a guide rod is installed on the upper side of the center of the limiting circle block. The number of restricting grooves and inclined guide chute is equal to the number of restricting grooves and ball spring components. The bottom of the main body of the cross-rotating quick-installation is equipped with a cross guide rod to ensure that the upper side can pass even if there are obstructions. Rotate to expose it to calibrate it.

4. Orthopedic surgical robot end calibration device, through the calibration of the reflective ball member on the lower side of the middle intersection section is fixedly installed with a convex cylinder, the middle intersection section of the calibration matrix base is provided with a countersunk threaded through hole, the calibration matrix base There are fastening screws in the countersunk threaded through holes. The four ports of the calibration matrix base are connected with four calibration matrix base fixing support columns, and the four ports of the calibration matrix base are fixedly supported by the four calibration matrix bases. The column is equipped with a calibrated reflector sphere base member, the four calibrated reflector sphere base members are provided with a calibrated reflector sphere member, and the bottom of the calibration matrix base passes through a raised cylinder and a countersunk head set on the lower side of the calibration matrix base. The threaded through hole and the fastening screw are equipped with a cross-rotating quick-installation component. The bottom of the cross-rotating quick-installation component is slidably installed with the end of the drill pipe. The bottom of the end of the drill pipe is sleeved with a drill pipe elastic limit block and a drill pipe elastic limit block. A spring is arranged inside the spring, and the bottom end of the spring is located on the outside of the elastic limit block of the drill rod, and a limit nut is arranged in a threaded manner, which makes the overall structure simple and convenient for later maintenance and use.

5. Orthopedic surgical robot end calibration device, by calibrating the installation circular hole opened in the fixed block of the reflective ball base as a step circular hole, the upper step circular hole diameter and the fixed support column connecting rod have an interference fit, the lower step circular There is an interference fit between the diameter of the hole and the auxiliary mating rod of the fixed support column, which makes the installation of the calibration reflector base component to the calibration matrix base faster, more stable, and more accurate.

Description of the drawings

FIG. 1 is a schematic diagram of the structure of the end calibration device of an orthopedic surgical robot provided by the present disclosure;

Figure 2 is an exploded view of the structure of the end calibration device of the orthopedic surgical robot provided by the present disclosure;

Fig. 3 is a front view of the structure of the calibrated reflector provided by the present disclosure;

4 is a schematic diagram of the structure of the base member of the calibration reflector provided by the present disclosure;

FIG. 5 is a schematic diagram of the structure of the cross-rotating quick-assembly member provided by the present disclosure;

Fig. 6 is a schematic diagram of the structure of the end of the drill rod provided by the present disclosure;

Fig. 7 is a schematic structural diagram of a drill rod elastic limit block provided by the present disclosure;

FIG. 8 is a schematic diagram of the fixed support column structure of the calibration matrix base provided by the present disclosure.

In the figure: 1. Calibrating the reflective ball component; 101, calibrating the upper part of the reflective ball; 102, calibrating the upper part of the reflective ball limit disc; 103, calibrating the lower quick-mounting body of the reflecting ball; 2, calibrating the base member of the reflective ball; 201 , Calibrate the main body of the reflective ball base; 202, calibrate the sink groove on the reflective ball base; 203, calibrate the sphere limit groove of the reflective ball base; 204, calibrate the fast mounting hemisphere part of the reflective ball base; 205, calibrate the reflective ball base Fixed block; 3. Calibration matrix base; 4. Cross rotating quick assembly component; 401, Cross rotating quick assembly on the main body; 402, Cross rotating quick assembly on the main body mounting block; 403, Threaded hole; 404, Rotating round block; 405. Restriction groove; 406. Ball spring assembly; 407. Guide rod; 408. Arc restriction groove; 409. Inclined guide chute; 410. Restriction round block; 411. 5. Drill pipe end; 501, drill pipe end body; 502, through hole; 503, semi-circular groove; 504, lower thread connecting column; 6. drill pipe elastic limit block; 601, drill pipe elastic limit block body 602. Restriction cylinder; 603. Lower restriction wall; 604. Guide hole; 7. Spring; 8. Restriction nut; 9. Calibration matrix base fixed support column; 901. Fixed support column connecting rod; 902. Calibration matrix base The base fixes and supports the main body of the column; 903. Auxiliary matching rod for the fixed support column; 904. The threaded rod for the fixed support column; 10. Fastening screws.

detailed description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present disclosure.

Please refer to Figs. 1-2, the present disclosure provides a technical solution: the orthopedic surgical robot end calibration device according to the present disclosure includes a calibration matrix base 3 and a calibration reflector member 1, and the lower side of the middle intersection section of the calibration reflector member 1 A raised cylinder is fixedly installed, the middle intersecting section of the calibration matrix base 3 is provided with a countersunk threaded through hole, the countersunk threaded through hole of the calibration matrix base 3 is provided with a fastening screw 10, and the calibration matrix base 3 has Four ports, the four ports are respectively connected to the four calibration matrix base fixed support columns 9, the four ports of the calibration matrix base 3, the support columns 9 are fixed through the four calibration matrix bases, and the calibration reflector ball base is installed The seat member 2, the four calibrated reflector sphere base members 2 are provided with a calibrated reflector sphere member 1, and the calibrated reflector sphere member 1 and the calibrated reflector sphere base member 2 are bonded together by medical adhesive. The calibration matrix Below the base 3, a cross-rotating quick-installing member 4 is installed through the raised cylinder set on the lower side of the calibration matrix base 3, countersunk threaded through holes and fastening screws 10, and the cross-rotating quick-installing member 4 slides underneath. A drill pipe end 5 is installed. The bottom of the drill pipe end 5 is sleeved with a drill pipe elastic limit block 6. The drill pipe elastic limit block 6 is provided with a spring 7, and the bottom end of the spring 7 is located at the drill pipe elastic limit block The outer part of 6 is provided with a restricting nut 8 in a threaded manner.

Please refer to FIG. 3, optionally, the calibrated reflector ball member 1 includes a calibrated reflector upper part limiting circular plate 102, and the upper side of the calibrated reflector upper part limiting circular plate 102 is provided with a calibrated reflector upper part 101, and the calibrated reflector The lower side of the upper limit disc 102 of the ball is provided with a calibrated reflective ball lower quick assembly body 103.

Please refer to Figure 3-4. Optionally, the calibration reflector base member 2 includes a calibration reflector base main body 201, and the large port of the calibration reflector base main body 201 is provided with an upper sink 202 on the calibration reflector base. The inside of the calibration reflector ball base body 201 is located at the center of the sink groove 202 on the calibration reflector ball base, and there is a calibration reflector ball base sphere limit groove 203. The interior of the calibration reflector ball base body 201 is located on the calibration reflector ball base. The calibrated reflective ball base quick-fitting hemisphere part 204 is opened at the bottom of the center of the spherical limit groove 203. The maximum diameter of the calibrated reflective ball base quick-fitting hemispherical part 204 is smaller than the diameter of the calibrated reflective ball base sphere limiting slot 203. The bottom of the calibration reflector base body 201 is equipped with a calibration reflector base fixing block 205. The inside of the calibration reflector base fixing block 205 is provided with an installation circular hole to calibrate the arc diameter and calibration of the quick assembly body 103 under the reflector. The diameters of the arcs of the quick-fitting hemispherical portion 204 of the reflective ball base are equal in size.

1 and 8, optionally, the calibration matrix base fixed support column 9 includes a calibration matrix base fixed support column main body 902, and the upper part of the calibration matrix base fixed support column main body 902 is provided with a fixed support column connecting rod 901 The bottom of the calibration matrix base fixed support column main body 902 is fixedly installed with a fixed support column auxiliary matching rod 903, and the bottom of the fixed support column auxiliary matching rod 903 is provided with a fixed support column threaded rod 904, and the diameter of the fixed support column auxiliary matching rod 903 Greater than the diameter of the fixed support column body 902 of the calibration matrix base, the diameter of the fixed support column body 902 of the calibration matrix base is smaller than the diameter of the fixed support column link 901, and the diameter of the fixed support column link 901 is smaller than the fixed support column auxiliary mating rod 903 The diameter of the threaded rod 904 of the fixed support column is smaller than the diameter of the auxiliary matching rod 903 of the fixed support column. The four ports of the calibration matrix base 3 are provided with threaded installation holes, and the four ports of the calibration matrix base 3 are opened through The threaded port and the threaded rod 904 of the fixed support column matched with it are installed with the calibration matrix base fixed support column 9, and the installation circular hole opened in the calibration reflector base fixing block 205 is a step circular hole, and the diameter of the upper step circular hole There can be an interference fit with the connecting rod 901 of the fixed support column, and the diameter of the lower step circular hole can be an interference fit with the auxiliary mating rod 903 of the fixed support column. The hole is a stepped circular hole, the diameter of the upper step circular hole and the fixed support column connecting rod 901 can be an interference fit, and the lower step circular hole diameter and the fixed support column auxiliary mating rod 903 can be an interference fit.

The above arrangement can facilitate the installation of the calibration reflector ball base member 2 and the calibration matrix base 3, and also facilitate the rapid installation of the calibration reflector ball member 1 to the calibration reflector base member 2.

Please refer to Figs. 1-2, the present disclosure provides another technical solution: the end calibration device of an orthopedic surgical robot according to the present disclosure includes a calibration matrix base 3 and a calibration reflector member 1, and the middle intersecting section of the calibration reflector member 1 A raised cylinder is fixedly installed on the side, a countersunk threaded through hole is opened in the middle intersecting section of the calibration matrix base 3, a fastening screw 10 is arranged in the countersunk threaded through hole of the calibration matrix base 3, and the calibration matrix base 3 Four calibration matrix base fixed support columns 9 are connected to the four ports of the calibration matrix base 3. The four ports of the calibration matrix base 3 are installed with the calibration reflector base member 2 through the four calibration matrix base fixed support columns 9 The calibrated reflector sphere member 1 is arranged above the calibrated reflector sphere base member 2. The calibrated reflector sphere member 1 and the calibrated reflector sphere base member 2 are bonded by medical adhesive, and the calibration matrix base 3 passes below The raised cylinder on the lower side of the calibration matrix base 3, the countersunk threaded through hole and the fastening screw 10 are installed with a cross-rotating quick-assembly member 4, and a drill rod end 5 is slidably installed under the cross-rotating quick-assembly member 4, A drill rod elastic limit block 6 is sleeved on the bottom of the drill rod end 5, and a spring 7 is arranged inside the drill rod elastic limit block 6. Optionally, the bottom end of the spring 7 is located outside the drill rod elastic limit block 6. A limit nut 8 is provided in a threaded manner.

Please refer to FIG. 3, the calibrated reflector ball member 1 may include a calibrated reflector upper part limiting circular plate 102, and the upper side of the calibrated reflector upper part limiting circular plate 102 is provided with a calibrated reflector upper part 101, and the calibrated reflector upper part The lower side of the limiting circular plate 102 is provided with a calibrated reflective ball lower quick assembly body 103.

Please refer to Figure 3-4. Optionally, the calibration reflector base member 2 includes a calibration reflector base main body 201, and the large port of the calibration reflector base main body 201 is provided with an upper sink 202 on the calibration reflector base. The inside of the calibration reflector ball base body 201 is located at the center of the sink groove 202 on the calibration reflector ball base, and there is a calibration reflector ball base sphere limit groove 203. The interior of the calibration reflector ball base body 201 is located on the calibration reflector ball base. The bottom of the center of the sphere limit groove 203 is provided with a calibrated reflective ball base quick-mounting hemisphere 204, and the arc diameter of the quick-mounting body 103 under the reflective ball is calibrated and the arc diameter of the quick-mounting hemisphere 204 of the calibrated reflective ball base is calibrated. Equal, the maximum diameter of the fast mounting hemisphere portion 204 of the calibration reflector ball base is smaller than the diameter of the sphere limit groove 203 of the calibration reflector ball base, and the calibration reflector ball base fixing block 205 is installed at the bottom of the calibration reflector ball base body 201, The fixed block 205 of the calibrated reflector base is provided with an installation circular hole, and the diameter of the arc of the lower quick assembly body 103 of the calibrated reflector is equal to the diameter of the arc of the quick assembly hemisphere 204 of the calibrated reflector base.

5, optionally, the cross-rotating quick-installation member 4 includes a cross-rotating quick-installation upper main body 401, a ball spring assembly 406, and a cross-rotating quick-installation lower main body 411, wherein the top of the cross-rotating quick-installation main body 401 is fixedly installed There is a cross-rotating quick-mount main body mounting block 402, the upper top of the cross-rotating quick-mount main body mounting block 402 is provided with a threaded hole 403, the bottom of the cross-rotating quick-mount main body 401 is fixedly installed with a rotating circular block 404, a rotating circular clamp A plurality of restricting grooves 405 are provided on the circumferential surface of the block 404. A restricting round block 410 is installed on the upper part of the lower main body 411 of the cross-rotating quick assembly. A guide rod 407 is installed on the upper side of the center of the restricting round block 410 to restrict the The upper part is provided with a plurality of arc restriction grooves 408 and inclined guide chute 409, and the number of arc restriction grooves 408 and inclined guide chute 409 is equal to the number of restriction grooves 405 and ball spring assembly 406, and the cross rotation is quick to install A cross guide rod 412 is installed at the bottom of the lower main body 411, the rotating circular block 404 is arranged inside the restricting round block 410, the sphere of the ball spring assembly 406 is arranged in the arc restricting groove 408 on the restricting round block 410, and the ball spring assembly The spring body of 406 is arranged inside the restricting groove 405.

Please refer to Fig. 6, optionally, the drill rod end 5 includes a lower threaded connecting column 504 installed at the center of the bottom circle of the drill rod end body 501, the surface of the drill rod end body 501 is provided with a plurality of semicircular grooves 503, and the drill rod end body The surface of the 501 is located on one side of the semi-circular groove 503 with a plurality of through circular holes 502.

Please refer to Fig. 7, optionally, the drill rod elastic limit block 6 includes a drill rod elastic limit block main body 601. The upper part of the drill rod elastic limit block body 601 is provided with a plurality of restriction cylinders 602, and the drill rod elastic limit block A lower restriction wall 603 is installed at the bottom of the main body 601. A guide circular hole 604 is opened in the center of the drill rod elastic limit block main body 601. The inner diameter of the lower restriction wall 603 is larger than the diameter of the guide circular hole 604. The diameter is larger than the diameter of the main body 601 of the elastic limit block of the drill rod.

This ensures that even if there is an obstruction on the upper side, it can be exposed by rotating it, so that it can be calibrated and tracked.

Optionally, in this embodiment, the calibration only needs to be calibrated once, and then the cross calibration matrix can be removed, and the next position can be tracked through the algorithm. The advantage of this is that it can avoid the operator during the operation due to the matrix fixation. The interference; and the entire operation time can be fully saved.

When used, the existing calibration technology uses a calibration matrix fixed on the sleeve for real-time tracking during calibration. The position of the entire end is obtained through analysis. The calibration matrix cannot be blocked, otherwise the position of the surgical end will be lost. And because the calibration matrix is fixed, extra care is required during the entire operation. It should be noted that the operator cannot interfere with the calibration matrix during the operation, which will affect the actual operation time and delay the best operation timing. The cross-rotating quick-installation member 4 at the bottom of the calibration matrix base 3 is improved. The cross-rotating quick-installation lower body 411 is equipped with a cross guide rod 412 at the bottom of the main body 411. The number of round holes 502 and semi-circular grooves 503 are equal. Press the cross guide rod 412 slightly downward from the groove, and the outer wall of the cross guide rod 412 will contact the upper part of the restriction cylinder 602. After pressing down, the drill rod will be elastic. The limit block body 601 exerts pressure on the spring 7, and the bottom of the spring 7 is restricted by the lower threaded connecting column 504 installed on the end 5 of the drill rod. This will allow the limit cylinder 602 to drive the drill rod elastic limit block body 601 to remain elastic When the pressure moves downwards, when the cross guide rod 412 reaches the bottom, it rotates to allow the cross guide rod 412 to enter the semicircular groove 503. After the cross guide rod 412 and the restriction cylinder 602 are not in contact, the restriction cylinder 602 is under the action of the spring 7. Return to the position, thus ensuring the restriction and locking of the cross guide rod 412, thus realizing quick installation;

Since the traditional position is fixed after installation, the operator has determined and fixed the calibration reflector member 1 on the calibration matrix base 3. Due to the different usage conditions of external equipment and space, the required calibration matrix base 3 The angle of placement needs to be fine-tuned to ensure real-time tracking and calibration. A guide rod 407 is installed on the upper part of the main body 411 of the cross-rotating quick-installation. The guide rod 407 is installed through the cross-rotating quick-installation of the main body 401. Inside, the bottom of the main body 401 of the cross-rotating quick-installation is equipped with a rotating circular block 404, the rotating circular block 404 is provided with a limiting groove 405, and the surface of the limiting circular block 410 is provided with an arc limiting groove 408 and an inclined guide chute 409, And the inclined guide chute 409 is arranged tangentially to the arc restricting groove 408 on one side of the arc restricting groove 408, so that we rotate the upper cross rotation in one direction. After installing the main body 401, the ball spring assembly 406 is in the circle Under the action of the arc restriction groove 408, it moves from the inclined guide chute 409 to another inclined guide chute 409, and the spring body of the ball spring assembly 406 will reset the ball on the ball spring assembly 406, but it cannot rotate in the opposite direction. In this way, the calibration matrix base 3 can drive the upper side to perform fine adjustment of the angle, ensuring that the upper side can be exposed by rotating it even if there are obstructions to calibrate it.

Industrial applicability

The end calibration device of the orthopedic surgical robot provided by the present disclosure can realize rapid installation between the calibration reflector ball member and the calibration reflector base member, and has better stability; it can perform calibration only once for the parts to be calibrated. It can avoid the interference caused by the matrix fixation during the operation of the operator, and the entire operation time can be fully saved; it can ensure that the upper side can be exposed by rotating it even if there are obstructions, so as to calibrate it ; It can make the overall structure simple, convenient for later maintenance and use; and can make the installation of the calibration reflector base component to the calibration matrix base faster, more stable, and more accurate.

Claims (15)

An orthopedic surgical robot end calibration device, including a calibration matrix base (3), a convex cylinder is fixedly installed on the lower side of the middle intersecting section of the calibration reflective ball member (1), and the middle of the calibration matrix base (3) The intersecting section is provided with a countersunk threaded through hole, and the countersunk threaded through hole of the calibration matrix base (3) is provided with a fastening screw (10), which is characterized in that: the calibration matrix base (3) Four calibration matrix base fixed support columns (9) are connected to the four ports, and the four ports of the calibration matrix base (3) are equipped with calibration reflectors through the four calibration matrix base fixed support columns (9) A base member (2), the four calibration reflector ball base members (2) are provided with a calibration reflector ball member (1) above the calibration matrix base (3) through the calibration matrix base (3) ) The raised cylinder set on the lower side, the countersunk threaded through hole and the fastening screw (10) are installed with a cross-rotating quick-installing member (4), and a drill is slidably installed below the cross-rotating quick-installing member (4) The rod end (5), the bottom of the drill rod end (5) is sleeved with a drill rod elastic limit block (6), the drill rod elastic limit block (6) is provided with a spring (7) inside, so The bottom end of the spring (7) is located on the outside of the elastic limit block (6) of the drill rod, and a limit nut (8) is provided in a threaded manner. The orthopedic surgical robot end calibration device according to claim 1, characterized in that: the calibration reflector ball member (1) comprises a calibration reflector upper part limit disc (102), and the calibration reflector upper part limiter The upper side of the circular plate (102) is provided with a calibrated reflective ball upper part (101), and the lower side of the calibrated reflective sphere upper part limiting circular plate (102) is provided with a calibrated reflective ball lower quick assembly body (103). The orthopedic surgical robot end calibration device according to claim 1 or 2, characterized in that: the calibration reflector ball base member (2) comprises a calibration reflector ball base body (201), and the calibration reflector ball base body The large port of (201) is provided with a counterbore (202) on the base of the calibration reflector, and the inside of the main body (201) of the base of the calibration reflector is located at the center of the countersunk (202) on the base of the calibration reflector. There is a calibrated reflective ball base sphere limiting groove (203), the inside of the calibrated reflective ball base main body (201) is located at the center of the center of the sphere limiting groove (203) of the calibrated reflective ball base, a calibration reflective ball base is opened at the bottom Fast-fitting hemisphere part (204), the diameter of the arc of the fast-fitting body (103) under the calibrated reflector ball is equal to the diameter of the arc of the fast-fitting hemisphere part (204) of the calibrated reflective ball base, the calibration reflector The maximum diameter of the quick mounting hemispherical part (204) of the base is smaller than the diameter of the sphere limiting groove (203) of the calibration reflector ball base, and the bottom of the calibration reflector ball base body (201) is fixed with a calibration reflector ball base. A block (205), the inside of the fixed block (205) of the calibration reflector ball base is provided with an installation circular hole. The orthopedic surgical robot end calibration device according to any one of claims 1-3, characterized in that: the cross-rotating quick-fitting member (4) comprises a cross-rotating quick-fitting upper body (401), a ball spring assembly (406) ) And a cross-rotating quick-installation lower body (411), the top of the cross-rotating quick-installation body (401) is fixedly installed with a cross-rotating quick-installation upper body mounting block (402), and the cross-rotating quick-installation upper body mounting block (402) is provided with a threaded hole (403) at the top end, the bottom of the cross-rotating quick-fitting upper body (401) is fixedly installed with a rotating circular block (404), and the circumferential surface of the rotating circular block (404) A plurality of restriction grooves (405) are opened on the upper part, and a restriction round block (410) is installed on the upper part of the lower main body (411) of the cross-rotating quick-fitting, and a guide rod is mounted on the upper side of the center of the restriction round block (410) (407), the upper part of the restriction round block (410) is provided with a plurality of arc restriction grooves (408) and inclined guide chute (409), and the arc restriction groove (408) and the inclined guide chute (409) The number of is equal to the number of restriction grooves (405) and ball spring assemblies (406), and a cross guide rod (412) is installed at the bottom of the lower main body (411) of the cross-rotating quick-installation. The orthopedic surgical robot end calibration device according to any one of claims 1-4, characterized in that: the end of the drill rod (5) including the center of the bottom circle of the end body (501) of the drill rod is installed with a lower threaded connecting column (504), the surface of the drill rod end body (501) is provided with a plurality of semicircular grooves (503), and the surface of the drill rod end body (501) is located on one side of the semicircular groove (503) with a plurality of passages. Round hole (502). The orthopedic surgical robot end calibration device according to any one of claims 1-5, wherein the drill rod elastic limit block (6) comprises a drill rod elastic limit block main body (601), and the drill A plurality of restriction cylinders (602) are installed on the upper part of the main body (601) of the elastic limit block of the drill rod, and a lower limit wall (603) is installed at the bottom of the main body (601) of the elastic limit block of the drill rod. A guide circular hole (604) is opened in the center of the position block body (601), the inner diameter of the lower restriction wall (603) is larger than the diameter of the guide circular hole (604), and the outer diameter of the lower restriction wall (603) It is larger than the diameter of the main body (601) of the drill rod elastic limit block. The orthopedic surgical robot end calibration device according to any one of claims 1-6, characterized in that: the calibration matrix base fixed support column (9) comprises a calibration matrix base fixed support column main body (902), so The fixed support column connecting rod (901) is installed on the upper part of the fixed support column main body (902) of the calibration matrix base, and the fixed support column auxiliary matching rod ( 903), the bottom of the fixed support column auxiliary matching rod (903) is provided with a fixed support column threaded rod (904), and the fixed support column auxiliary matching rod (903) has a larger diameter than the calibration matrix base fixed support column main body ( 902), the diameter of the fixed support column main body (902) of the calibration matrix base is smaller than the diameter of the fixed support column link (901), and the diameter of the fixed support column link (901) is smaller than the fixed support column auxiliary fit The diameter of the rod (903), the diameter of the threaded rod (904) of the fixed support column is smaller than the diameter of the auxiliary matching rod (903) of the fixed support column. The orthopedic surgical robot end calibration device according to claim 7, characterized in that: the four ports of the calibration matrix base (3) are provided with threaded installation holes, and the four ports of the calibration matrix base (3) A calibration matrix base fixed support column (9) is installed on the two ports through the opened threaded port and the fixed support column threaded rod (904) matched with it. The orthopedic surgical robot end calibration device according to any one of claims 3-8, characterized in that: the installation circular hole opened inside the fixed block (205) of the calibration reflector ball base is a step circular hole, and the upper step The diameter of the round hole and the connecting rod (901) of the fixed support column are interference fit, and the diameter of the lower step round hole and the auxiliary matching rod of the fixed support column are interference fit. The orthopedic surgical robot end calibration device according to any one of claims 2-9, characterized in that: the rotating circular block (404) is arranged inside the restricting circular block (410), and the spherical spring assembly ( The ball of 406) is arranged in the circular arc restricting groove (408) on the restricting round block (410), and the spring body of the ball spring assembly (406) is arranged in the restricting groove (405). The orthopedic surgical robot end calibration device according to any one of claims 3-10, characterized in that: the diameter of the arc of the fast-installation body under the calibration reflector ball and the distance between the fast-installation hemisphere part of the calibration reflector ball base The arc diameters are equal in size. The orthopedic surgical robot end calibration device according to any one of claims 7-11, characterized in that: the calibration reflector ball member (1) and the calibration reflector ball base member (2) pass through a medical adhesive glue The calibrated reflective ball member (1) includes a calibrated reflective ball upper part limiting circular plate (102), and the upper side of the calibrated reflective ball upper limiting circular plate (102) is provided with a calibrated reflective ball The upper part (101), the lower side of the calibrated reflector ball upper limit disc (102) is provided with a calibrated reflector lower quick assembly body (103), and the calibrated reflector ball base member (2) includes a calibrated reflector The main body of the ball base (201), the large port of the main body of the calibrated reflector ball base (201) is provided with a countersink (202) on the base of the calibrated reflector ball, and the inside of the main body (201) of the calibrated reflector ball A sphere limit groove (203) of the calibrated reflective ball base is opened at the center of the sink groove (202) on the base of the calibrated reflective ball. A calibrated reflective ball base quick-fitting hemisphere part (204) is opened at the bottom of the center of the limit groove (203), and the arc diameter of the calibrated reflective ball base quick-fitting body (103) is the same as the calibrated reflective ball base quick-fitting hemisphere The diameters of the arcs of the parts (204) are equal, and the maximum diameter of the quick-fit hemisphere part (204) of the calibration reflector ball base is smaller than the diameter of the sphere limit groove (203) of the calibration reflector ball base. A calibration reflector ball base fixing block (205) is installed at the bottom of the base body (201), and an installation circular hole is opened inside the calibration reflector ball base fixing block (205). The orthopedic surgical robot end calibration device according to any one of claims 1-11, characterized in that: the calibration reflector ball member (1) and the calibration reflector ball base member (2) are connected by medical bonding Glued together The orthopedic surgical robot end calibration device according to claim 12 or 13, characterized in that: the installation circular hole opened inside the fixed block (205) of the calibration reflector ball base is a step circular hole, and the diameter of the upper step circular hole is equal to There is an interference fit between the connecting rods (901) of the fixed support column, and the diameter of the lower step round hole and the auxiliary mating rod (903) of the fixed support column is an interference fit; The diameter of the circular arc is equal to the diameter of the circular arc of the quick-fitting hemisphere part (204) of the calibrated reflective ball base. The application of the end calibration device for orthopedic surgical robots according to any one of claims 1-14, characterized in that: the cross-rotating quick-fitting member (4) at the bottom of the calibration matrix base (3) is improved to make the cross-rotating quick A cross guide rod (412) is installed at the bottom of the main body (411). The number of cross guide rods (412) is the same as the through holes (502) and semicircular grooves (503) on the end (5) of the drill rod. If the number is equal, press the cross guide rod (412) gently downward from the groove, and the outer wall of the cross guide rod (412) will contact the upper part of the limiting cylinder (602). After pressing down, the drill rod elastic limit block The main body (601) exerts pressure on the spring (7), and the bottom of the spring (7) is restricted by the lower threaded connecting column (504) installed on the end (5) of the drill rod, so that the restricting cylinder (602) will drive the drill rod The main body (601) of the elastic limit block keeps elastic pressure and moves downwards. When the cross guide rod (412) is at the bottom, rotate to let the cross guide rod (412) enter the semicircular groove (503) and then the cross guide rod (412) There is no contact with the restricting cylinder (602), and the restricting cylinder (602) returns under the action of the spring (7), thus ensuring the restriction and locking of the cross guide rod (412), thereby realizing quick installation.

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