CN210903332U - Guide device and grinding device - Google Patents

Abstract

The utility model discloses a guider and grinding device, guider includes: a guide cylinder; the shaft piece penetrates through the guide cylinder, the shaft piece is provided with a central shaft extending along the axial direction of the guide cylinder, the shaft piece can rotate around the central shaft and move relative to the guide cylinder in the axial direction, one tail end of the shaft piece is used for connecting a surgical tool, and the other tail end of the shaft piece is used for connecting power input; the sliding piece is connected with the guide cylinder in an axial sliding manner; the clamp is rotatably connected with the sliding piece and can clamp the shaft piece to rotate coaxially with the shaft piece; and a tracer connected to the slider, wherein the tracer moves in synchronization with the slider in the axial direction, and the tracer is capable of rotating around the outer periphery of the slider. According to the utility model discloses guider, the tracer can rotate around the periphery of slider to can adjust the orientation of tracer, guarantee that guider still can continuously obtain the positional information of slider effectively when taking place the position transform.

Description

Guide device and grinding device

Technical Field

The utility model relates to the field of medical equipment, concretely relates to guider and grinding device.

Background

The surgical robot technology is a medical surgery assistance technology, and can improve the precision and stability of a surgery and shorten the surgery time, thereby being gradually widely applied to medical surgeries.

Robotic surgery requires the use of a guide device having a grinding or other tool mounted on one end of a shaft member to perform a grinding or other function.

When the existing guiding device is applied to a robot operation, the orientation of the tracer cannot be independently adjusted, and the pose of a tool is changed under the condition that the pose of a patient is changed, so that the camera cannot obtain the position of the tracer frequently, and the use of the guiding device is limited.

SUMMERY OF THE UTILITY MODEL

The utility model provides a guider and grinding device avoids the unable discernment's in tracer position problem that guider position transform arouses.

On the one hand, the embodiment of the utility model provides a guiding device, it includes: a guide cylinder; the shaft piece penetrates through the guide cylinder, the shaft piece is provided with a central shaft extending along the axial direction of the guide cylinder, the shaft piece can rotate around the central shaft and move relative to the guide cylinder in the axial direction, one tail end of the shaft piece is used for connecting a surgical tool, and the other tail end of the shaft piece is used for connecting power input; the sliding piece is connected with the guide cylinder in an axial sliding manner; the clamp is rotatably connected with the sliding piece and can clamp the shaft piece to rotate coaxially with the shaft piece; and a tracer connected to the slider, wherein the tracer moves in synchronization with the slider in the axial direction, and the tracer is capable of rotating around the outer periphery of the slider.

According to the utility model discloses an aspect, anchor clamps rotate with the slider through first spacing connection structure and are connected, and first spacing connection structure makes anchor clamps be located the fixed position of slider on the axial upper limit.

According to an aspect of the embodiment of the present invention, the first limit connecting structure includes a first sliding groove and a first protruding structure, the first sliding groove is circumferentially disposed on one of the sliding member and the clamp, and the first protruding structure is disposed on the other of the sliding member and the clamp and extends into the first sliding groove to slide in the first sliding groove; the first sliding groove is provided with two opposite inner wall surfaces in the axial direction, and the first bulge structure is abutted against the two inner wall surfaces of the first sliding groove.

According to the utility model discloses an aspect, the slider passes through the spacing connection structure of second and guide cylinder sliding connection, and the spacing connection structure of second makes the slider have two relative extreme positions with the mutual position of guide cylinder in the axial.

According to the utility model discloses an aspect, the spacing connection structure of second includes second spout and the protruding structure of second, and the second spout setting is on one of them of guide cylinder, slider and along axial extension, and the protruding structure of second sets up on another in guide cylinder, slider and stretches into the second spout in order to slide in the second spout.

According to the utility model discloses an aspect, the tracer passes through coupling assembling to be connected in the periphery of slider, and wherein the tracer is fixed with coupling assembling, and coupling assembling can rotate around the slider.

According to the utility model discloses an aspect, the slider is the tube-shape to with the coaxial setting of guide cylinder, coupling assembling is including encircleing the cyclic annular connecting piece that sets up in the slider periphery, and the spike ware is fixed with cyclic annular connecting piece, and cyclic annular connecting piece can drive the spike ware and rotate around the periphery of slider.

According to an aspect of the embodiments of the present invention, the coupling assembly further includes a damping block, the damping block is connected to the annular connecting member and/or the tracer, and the damping block is in frictional contact with the slider to provide damping when the annular connecting member and the tracer move relative to the slider.

According to the utility model discloses an aspect, the outer peripheral face of slider is equipped with the recess that corresponds with cyclic annular connecting piece position, and the part of damping piece stretches into the recess and with the inner wall frictional contact of recess.

According to the utility model discloses an aspect, the spike ware is including being used for the spliced pole that is connected with cyclic annular connecting piece, and the spliced pole is inside to have and to hold the chamber, and cyclic annular connecting piece is equipped with the first through-hole that will hold chamber and slider intercommunication, and the chamber is located to hold to the damping piece to the part is passed first through-hole and is offset with the slider.

In another aspect, embodiments of the present invention provide a grinding apparatus comprising a guide according to any one of the previous embodiments and a grinding tool connected to one end of the shaft of the guide.

According to the utility model discloses guider, tracer and slider synchronous motion in the axial to the accurate position of slider in the axial that shows, and then conveniently learn the slider at the ascending movement distance of axial. When the guide device is used in a robot operation, the feed depth of the sliding member in the axial direction can be accurately known.

The tracer can rotate around the periphery of the slider so that the orientation of the tracer can be adjusted. After the sliding part rotates in the circumferential direction of the sliding part, the tracer is still in a state that the camera which can be easily matched can acquire position information by adjusting the orientation of the tracer, and the position information of the sliding part can still be continuously and effectively acquired when the position of the guide device is changed. When the guiding device is used in a robot operation, after a patient changes the pose, the problem that the camera matched with the tracer obtains the position of the tracer can be avoided by adjusting the orientation of the tracer, so that the feeding depth of the sliding piece in the axial direction can be continuously known.

Drawings

Other features, objects and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments thereof, when read in conjunction with the accompanying drawings, in which like or similar reference characters identify the same or similar features.

Fig. 1 shows a perspective view of a guiding device according to an embodiment of the invention;

fig. 2 shows a schematic cross-sectional view of a guiding device according to an embodiment of the invention;

FIG. 3 shows an enlarged partial schematic view of area A of FIG. 2;

FIG. 4 shows a partially exploded view of region A of FIG. 2;

fig. 5 shows another schematic cross-sectional view of a guiding device according to an embodiment of the invention;

fig. 6 shows a front view of a guide device with a concealed slider according to an embodiment of the present invention.

In the figure:

100-a guide;

110-a guide cylinder; 111-a connecting portion; x-axial direction;

120-a shaft member;

130-a slide; 134-grooves;

140-a tracer; 141-connecting column; 142-a containment chamber;

150-a clamp;

160-a first limit connection structure; 161-a first runner; 162-a first raised structure;

170-a second limit connection structure; 171-a second chute; 171 a-abutment; 172-a second raised structure;

180-a first bearing; h2 — second via;

190-a connecting assembly; 191-an annular connector; h1 — first via; 192-a damping mass;

d1-pad;

t1-elastic member;

200-grinding tool.

Detailed Description

The features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

An embodiment of the utility model provides a guider, this guider for example be the guider in the robot surgery subassembly, guider can make up with other parts in the robot surgery subassembly to provide the direction function. In some embodiments, the guide means in combination with other components can form a device having a respective purpose. For example, the guide assembly includes a shaft member, one end of the shaft member can be connected to a surgical tool, and the shaft member drives the surgical tool to rotate around a shaft, so that the cutting, grinding or drilling operation can be performed on the object to be cut.

Fig. 1 and 2 respectively show a perspective view and a cross-sectional view of a guide device according to an embodiment of the present invention, fig. 3 shows a partially enlarged view of a region a in fig. 2, and fig. 4 shows a partially exploded view of the region a in fig. 2.

The guide device 100 of the embodiment of the present invention includes a guide cylinder 110, a shaft 120, a slider 130, a jig 150, and a tracer 140.

In some embodiments, the outer wall of the guide cylinder 110 may be provided with a connection portion 111, and the guide cylinder 110 may be connected with other devices through the connection portion 111. For example, in some embodiments, the guide cylinder 110 is secured to a robotic arm of the surgical robotic assembly by a connection 111.

The slider 130 is slidably coupled to the guide cylinder 110 in the axial direction X of the guide cylinder 110. The tracer 140 is connected to the slider 130, wherein the tracer 140 moves synchronously with the slider 130 in the axial direction X, and the tracer 140 can rotate around the outer circumference of the slider 140. The tracer 140 in this embodiment is, for example, an optical tracer, which can be recognized by an optical navigation camera and record the real-time position, and the precise position of the tracer 140 can be displayed in the display by programming, so as to obtain the precise position of the slider 130.

According to the guiding device 100 of the embodiment of the present invention, the tracer 140 can move synchronously with the sliding member 130 in the axial direction X, so as to accurately represent the position of the sliding member 130 in the axial direction X, and further conveniently know the moving distance of the sliding member 130 in the axial direction X. When the guide device 100 is used in a robotic surgery, the feed depth of the slider 130 in the axial direction X can be accurately known.

The shaft member 120 is inserted into the guide cylinder 110, and the shaft member 120 has a central axis extending in the axial direction X. Wherein the shaft member 120 is capable of rotating about a central axis and moving in an axial direction X relative to the guide cylinder 110. The shaft 120 has opposite ends in the axial direction X, and one end of the shaft 120 is used for connecting a surgical tool and the other end is used for connecting a power input. The surgical tool may be, for example, a grinder, and the power input coupled to the other end may be a rotational power input, for example, coupling the other end to a hand or electric drill.

The clamp 150 is rotatably connected to the slider 130, and the clamp 150 can be clamped to the shaft 120 to rotate coaxially with the shaft 120. When the clamp 150 is clamped and fastened with the shaft 120, the slider 130, the clamp 150, the shaft 120 and the surgical tool connected with the shaft are synchronously moved in the axial direction X, so that the movement information of the surgical tool in the axial direction X can be obtained by recognizing the movement information of the tracer 140 connected with the slider 130 in the axial direction X, and thus the cutting or grinding depth can be obtained.

According to the guiding device 100 of the present invention, the tracer 140 can rotate around the periphery of the sliding member 140. After the sliding member 130 rotates in the circumferential direction, the orientation of the tracer 140 is adjusted so that the tracer 140 is still in a state where the camera which is easy to match knows the position information, thereby ensuring that the guiding device 100 can still continuously and effectively obtain the position information of the sliding member 130 when the position is changed. When the guide device 100 is used in a robotic surgery, after the patient changes the posture, the problem that the camera matched with the tracer 140 obtains the position of the tracer 140 can be avoided by adjusting the orientation of the tracer 140, so that the feed depth of the sliding member 130 in the axial direction X can be continuously known.

In some embodiments, the guide cylinder 110 has a first end and a second end opposite to each other in the axial direction X, wherein the first end is near the end of the shaft 120 for connecting with a surgical tool, and the second end is near the end of the shaft 120 for connecting with a power input. The sliding member 130 has a third end and a fourth end opposite to each other in the axial direction X, wherein the third end is near the end of the shaft member 120 for connecting a surgical tool, and the fourth end is near the end of the shaft member 120 for connecting a power input.

In some embodiments, the third end of the slider 130 may be disposed between the first end and the second end of the guiding cylinder 110, and the fourth end of the slider 130 may protrude outward from the second end of the guiding cylinder 110 to the guiding cylinder 110. In some embodiments, clamp 150 may be connected to the fourth end of slider 130.

In some embodiments, the tracer 140 is connected to the outer periphery of the slider 130 by a connection assembly 190. Wherein the tracer 140 is fixed with the connecting assembly 190, the connecting assembly 190 can rotate around the sliding member 130, thereby being capable of adjusting the orientation of the tracer 140 in the circumferential direction of the sliding member 130. After the sliding member 130 rotates in the circumferential direction, the connecting assembly 190 can be adjusted to drive the tracer 140 to change the orientation, so that the tracer 140 is still easily identified, and the position information of the tracer is conveniently obtained.

As shown in fig. 1 to 4, in the present embodiment, the slider 130 has a cylindrical shape and is disposed coaxially with the guide cylinder 110. The coupling assembly 190 includes an annular coupling member 191 disposed around the outer periphery of the slider 130. The tracer 140 is fixed with the annular connecting piece 191, and the annular connecting piece 191 can drive the tracer 140 to rotate around the periphery of the sliding piece 130, thereby adjusting the orientation of the tracer 140 in the circumferential direction of the sliding piece 130.

As shown in fig. 3 and 4, in some embodiments, linkage assembly 190 may also include a damping mass 192. The dampener block 192 is coupled to the annular link 191 and/or the tracer 140, and the dampener block 192 is in frictional contact with the slider 130 to provide dampening as the annular link 191 and the tracer 140 move relative to the slider 130. In some embodiments, the frictional contact between the damping mass 192 and the slider 130 is configured to maintain its circumferential position when the annular connector 191 and the tracer 140 are not subjected to a circumferential external force, ensuring that the tracer 140 can be stabilized in a desired orientation.

In this embodiment, the outer circumferential surface of the slider 130 is provided with a groove 134 corresponding to the position of the annular link 191, and a portion of the damping block 192 extends into the groove 134 and is in frictional contact with the inner wall of the groove 134 to provide the damping described above.

In some embodiments, the tracer 140 can include a connecting post 141 for connection with the annular connector 191, the connecting post 141 having a receiving cavity 142 therein. The annular link 191 may be provided with a first through hole H1 communicating the accommodation chamber 142 with the slider 130. The damping block 192 is disposed in the accommodating chamber 142 and partially passes through the first through hole H1 to abut against the slider 130.

Specifically, in the present embodiment, the accommodating chamber 142 has an opening facing the slider 130, and the first through hole H1 of the annular link 191 may communicate the opening of the accommodating chamber 142 with the groove 134 of the slider 130. The accommodating cavity 142 has a bottom wall opposite to its opening, and one end of the damping block 192 abuts against the bottom wall of the accommodating cavity 142 and the other end abuts against the wall surface of the groove 134.

In some embodiments, a gasket D1 may be disposed between the damping block 192 and the bottom wall of the accommodating cavity 142, i.e., the damping block 192 abuts against the bottom wall of the accommodating cavity 142 through the gasket D1.

In some embodiments, the end of the damping mass 192 that abuts the wall of the groove 134 may be shaped to match the wall of the groove to increase the contact area.

Fig. 5 shows another schematic cross-sectional view of a guiding device according to an embodiment of the invention, wherein line BB in fig. 2 illustrates the cut-out position of fig. 5. Fig. 6 shows a front view of a guide device with a concealed slider according to an embodiment of the present invention.

In some embodiments, as shown in fig. 5, the clamp 150 is rotatably coupled to the slider 130 via a first limit connection 160, and the first limit connection 160 allows the clamp 150 to be constrained in the axial direction X to a fixed position on the slider 130. The clamp 150 and the slider 130 can rotate without being separated, thereby improving the compactness and structural integrity of the guide device 100. The guide 100 does not require the jig 150 and the slider 130 to be assembled with each other in use, saving assembly time of the guide 100. When the guide device 100 is used in a surgical robotic assembly, the surgical preparation time can be reduced.

In some embodiments, the first stopper connecting structure 160 includes a first sliding groove 161 and a first protrusion structure 162. The first slide groove 161 is provided extending in the circumferential direction of one of the slider 130 and the jig 150 and is recessed in the radial direction. The first projection structure 162 is provided on the other of the slider 130, the jig 150 and extends into the first slide groove 161 to slide within the first slide groove 161. Since the first sliding groove 161 extends in the circumferential direction of the slider 130 or the clamp 150, the clamp 150 and the slider 130 can rotate relative to each other when the first protrusion 162 slides along it.

In some embodiments, the first sliding slot 161 has two opposite inner wall surfaces in the axial direction X, wherein the first protrusion 162 abuts against the two inner wall surfaces of the first sliding slot 161, so that the position of the first protrusion 162 in the axial direction X is limited between the two inner wall surfaces, and the fixture 150 is located at a fixed axial position of the slider 130 in the axial direction X.

In some embodiments, the first sliding slot 161 is extended and disposed on the outer circumferential surface of the sliding member 130 and is recessed radially toward the inside of the sliding member 130, the first sliding slot 161 is, for example, an outer circumferential surface disposed on the second end of the sliding member 130, and the first protrusion 162 may be disposed on the clamp 150.

In some embodiments, the first protrusion structure 162 includes more than one first pin, each of which is connected with the clamp 150 and extends into the first runner 161.

It is understood that the arrangement of the first sliding groove 161 and the first protrusion 162 on the sliding member 130 and the clamp 150 may not be limited to the above examples. In other embodiments, the first sliding slot 161 may be disposed on the fixture 150, and the first protrusion 162 is disposed on the sliding member 130.

In some embodiments, the outer circumferential surface of the slider 130 and the inner circumferential surface of the clamp 150 are connected by a first bearing 180 to reduce frictional wear between the slider 130 and the clamp 150. More than one second through hole H2 may be formed on the circumferential surface of the first bearing 180, and the first pin may extend into the first sliding slot 161 through the corresponding second through hole H2.

As shown in fig. 5 and 6, in some embodiments, the slider 130 is slidably connected to the guiding cylinder 110 via a second limit connection structure 170, and the second limit connection structure 170 enables the slider 130 to have two opposite limit positions with respect to the mutual position of the guiding cylinder 110 in the axial direction X.

In some embodiments, the slider 130 is slidably connected to the guiding cylinder 110 by a second limit connection 170, and the second limit connection 170 enables the slider 130 to have two limit positions opposite to each other in the axial direction X with respect to the guiding cylinder 110. That is, the slider 130 can slide in the axial direction X with respect to the guide cylinder 110, and the relative position of the two is always between the two limit positions, so that the slider 130 is prevented from being separated from the guide cylinder 110, and the compactness and structural integrity of the guide device 100 are further improved. The guide 100 eliminates the need to assemble the slide 130 and guide cylinder 110 to each other during use, further saving assembly time of the guide 100.

In some embodiments, the second stopper coupling structure 170 includes a second sliding groove 171 and a second protrusion structure 172. The second sliding groove 171 is provided in one of the guide cylinder 110 and the slider 130 and extends in the axial direction X. The second protrusion structure 172 is disposed on the other one of the guide cylinder 110 and the slider 130 and extends into the second slide groove 171 to slide in the second slide groove 171.

In some embodiments, the opposite ends of the second sliding chute 171 in the axial direction X are respectively provided with an abutting portion 171a, and the second protrusion structure 172 abuts against the abutting portion 171a so that the mutual position of the sliding member 130 and the guiding cylinder 110 is in the limit position. The second protrusion structure 172 can slide between the two opposite abutting portions 171a of the second sliding groove 171, so that the guide cylinder 110 and the sliding member 130 can slide on each other without being disengaged.

In some embodiments, the second sliding groove 171 is disposed on the outer circumferential surface of the guide cylinder 110. The sliding member 130 is cylindrical and is sleeved on the outer circumference of the guide cylinder 110. The second protrusion structure 172 includes more than one second pin, and each second pin is connected to the sliding member 130 and extends into the second sliding groove 171.

It is to be understood that the arrangement of the second sliding grooves 171 and the second protrusion structures 172 on the guide cylinder 110 and the slider 130 may not be limited to the above example. In other embodiments, the second sliding groove 171 can also be disposed on the sliding member 130, and the second protrusion 172 is disposed on the guiding cylinder 110.

As shown in fig. 2 and 5, in some embodiments, the guiding device 100 further includes an elastic member T1, and the elastic member T1 is connected to the sliding member 130 and the guiding cylinder 110 respectively. Wherein the elastic member T1 is configured to provide damping when the slider 130 slides relative to the guide cylinder 110, so as to avoid the impact on the guide cylinder 110 caused by too small friction force between the slider 130, the shaft 120 and the guide cylinder 110.

In some embodiments, the elastic member T1 may be a spring, one end of which may be connected to the guide cylinder 110 and the other end of which may be connected to the slider 130. As mentioned above, the second limit connection structure 170 enables the sliding member 130 to have two opposite limit positions with respect to the mutual position of the guiding cylinder 110 in the axial direction X, wherein the spring may be configured to have an elastic force for bouncing the sliding member 130 to one of the limit positions with respect to the mutual position of the guiding cylinder 110, so that the initial position of the sliding member 130 when not receiving an external force is always uniform in the guiding device 100 according to the embodiment of the present invention.

It is understood that the elastic member T1 is not essential, and in other embodiments, the elastic member T1 may not be provided, and even though the elastic member T1 is provided, it is not limited to the use of a spring, and other elastic members such as a spring plate may be provided.

The guide device 100 of the present embodiment may be utilized in a robotic surgical assembly, as will be exemplified below with respect to the use of the guide device 100 of one embodiment.

First, the guide cylinder 110 is fixed to the robot arm of the surgical robot assembly through the connection member 111. In some embodiments, since the guiding cylinder 110 and the sliding member 130 are slidably connected to each other without being separated, the sliding member 130 and the clamp 150 are rotatably connected to each other without being separated, so that the sliding member 130 and the clamp 150 are also mounted along with the connection of the guiding cylinder 110 and the mechanical arm.

Thereafter, the shaft member 120 is set through the guide cylinder 110, and the clamp 140 is set in clamping with the shaft member 120. At this time, the shaft 120, the clamp 140, and the slider 130 can move synchronously in the axial direction X, and at the same time, the shaft 120, the clamp 140 can rotate relative to the slider 130. The shaft member 120 may be coupled to a surgical tool at one end and to a power input, such as a rotary device, at the other end.

Then, the rotating device is started, so that the shaft 120 drives the surgical tool to rotate around the shaft, and the grinding or drilling of the object to be ground is realized. At the same time, the sliding member 130 can be controlled to move along the axial direction X, so as to control the surgical tool on the shaft member 120 to move along the axial direction X.

In the above embodiment, the tracer 140 is connected to the outer circumference of the sliding member 130 by the connection assembly 190, so that the orientation of the tracer 140 in the circumferential direction of the sliding member 130 can be adjusted. In other embodiments, the tracer 140 can be connected to the sliding member 130 by other means, and the tracer 140 can move synchronously with the sliding member 130 in the axial direction X and can rotate around the outer circumference of the sliding member 140.

The embodiment of the utility model provides a still provide a grinding device, its guider and grinding apparatus that includes any above-mentioned embodiment. Taking the example of a grinding apparatus including the guide apparatus of one of the above-described embodiments, as shown in fig. 1 and 2, a grinding tool 200 is attached to one end of the shaft member 120 of the guide apparatus. In this embodiment, the grinding tool 200 is, for example, a burr, which is attached to one end of the shaft member 120, and the other end of the shaft member 120 may be attached to a rotational output device, such as a hand drill or an electric drill. The rotational output device drives the shaft 120 to rotate around the shaft and thus the grinding tool 200, so as to grind or drill the object to be ground, and simultaneously the shaft 120 can move along the central axis X, for example, to feed the object to be ground.

According to the embodiment of the present invention, the tracer 140 included in the guiding device 100 is located at the fixed position of the sliding member 130 in the axial direction X, so as to move synchronously with the sliding member 130 in the axial direction X, so as to accurately indicate the position of the sliding member 130 in the axial direction X, and further conveniently know the moving distance of the sliding member 130 in the axial direction X. When the guide device 100 is used in a robotic surgery, the feed depth of the slider 130 in the axial direction X can be accurately known.

The tracer 140 can rotate around the outer circumference of the slider 140 so that the orientation of the tracer 140 can be adjusted. After the sliding member 130 rotates in the circumferential direction, the orientation of the tracer 140 is adjusted so that the tracer 140 is still in a state where the camera which is easy to match knows the position information, thereby ensuring that the guiding device 100 can still continuously and effectively obtain the position information of the sliding member 130 when the position is changed. When the guide device 100 is used in a robotic surgery, after the patient changes the posture, the problem that the camera matched with the tracer 140 obtains the position of the tracer 140 can be avoided by adjusting the orientation of the tracer 140, so that the feed depth of the sliding member 130 in the axial direction X can be continuously known.

In accordance with the embodiments of the present invention as set forth above, these embodiments do not set forth all of the details nor limit the invention to the specific embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical application, to thereby enable others skilled in the art to best utilize the invention and its various embodiments with various modifications as are suited to the particular use contemplated. The present invention is limited only by the claims and their full scope and equivalents.

Claims (11)

1. A guide device, comprising:

a guide cylinder;

the shaft piece is arranged in the guide cylinder in a penetrating mode, the shaft piece is provided with a central shaft extending along the axial direction of the guide cylinder, the shaft piece can rotate around the central shaft and can move relative to the guide cylinder in the axial direction, one tail end of the shaft piece is used for being connected with a surgical tool, and the other tail end of the shaft piece is used for being connected with power input;

the sliding piece is connected with the guide cylinder in a sliding mode along the axial direction;

a clamp rotatably connected to the slider, the clamp capable of clamping a shaft for coaxial rotation therewith; and

a tracer connected to the slide, wherein the tracer moves synchronously with the slide in the axial direction and the tracer is rotatable about an outer periphery of the slide.

2. The guide device of claim 1, wherein the clamp is rotatably coupled to the slide via a first limit connection that allows the clamp to be retained in a fixed position on the slide in the axial direction.

3. The guide device of claim 2, wherein the first limit connection structure comprises a first runner disposed circumferentially on one of the slide and the clamp, and a first projection structure disposed on the other of the slide and the clamp and extending into the first runner to slide therein;

the first sliding groove is provided with two opposite inner wall surfaces in the axial direction, and the first bulge structure is abutted against the two inner wall surfaces of the first sliding groove.

4. Guide device according to claim 1, wherein the slider is slidably connected to the guide cylinder by means of a second limit connection which provides that the slider has two limit positions opposite to each other in the axial direction with respect to the mutual position of the guide cylinder.

5. The guide device according to claim 4, wherein the second limit connection structure includes a second slide groove provided on one of the guide cylinder and the slide member and extending in the axial direction, and a second projection structure provided on the other of the guide cylinder and the slide member and projecting into the second slide groove to slide therein.

6. The guide device of claim 1, wherein the tracer is connected to the periphery of the slider by a connection assembly, wherein the tracer is fixed with the connection assembly, the connection assembly being rotatable about the slider.

7. The guide device of claim 6, wherein the sliding member is cylindrical and is disposed coaxially with the guide cylinder, the connecting assembly includes an annular connecting member disposed around an outer periphery of the sliding member, and the tracer is fixed to the annular connecting member, and the annular connecting member is capable of driving the tracer to rotate around the outer periphery of the sliding member.

8. The guide device of claim 7, wherein the connection assembly further comprises a dampening block connected to the annular connector and/or the tracer and in frictional contact with the slider to provide dampening as the annular connector and the tracer move relative to the slider.

9. The guide device of claim 8, wherein the outer peripheral surface of the slider is provided with a groove corresponding to the position of the annular link, and a portion of the damping block extends into the groove and is in frictional contact with an inner wall of the groove.

10. The guiding device as defined in claim 8, wherein the tracer includes a connecting post for connection with the annular connector, the connecting post having a receiving cavity therein,

the annular connecting piece is provided with a first through hole which is used for communicating the accommodating cavity with the sliding piece, and the damping block is arranged in the accommodating cavity and partially penetrates through the first through hole to abut against the sliding piece.

11. A grinding apparatus, comprising:

the guide device of any one of claims 1 to 10; and

a grinder connected to one end of the shaft of the guide.

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