CN112998802A

CN112998802A - Swing saw guide device and surgical robot system

Info

Publication number: CN112998802A
Application number: CN202110187482.6A
Authority: CN
Inventors: 林必贵
Original assignee: Hangzhou Suwen Jiuzhou Medical Technology Co ltd
Current assignee: Hangzhou Suwen Jiuzhou Medical Technology Co ltd
Priority date: 2021-02-18
Filing date: 2021-02-18
Publication date: 2021-06-22
Anticipated expiration: 2041-02-18
Also published as: CN112998802B

Abstract

There is provided an oscillating saw guide device comprising: a blade guider formed with a guide slot for the saw blade to pass through for guiding the saw blade, a guider fixing piece for installing the blade guider; and a rotation angle adjusting mechanism for relatively rotating the saw blade guide and the guide fixing member within a predetermined angle range. The method can also comprise the following steps: the fixing frame is used for fixing the swing saw; and the return sleeve and the return guide rod are respectively fixed on the fixed frame and the saw blade guider so as to enable the two to move or keep static along the linear telescopic direction. Also provided is a surgical robot system for cutting a bone by a surgical robot using an oscillating saw, guiding a saw blade using an oscillating saw guide, fixedly attaching a guide fixture or a holder to an end of a robot arm actuator of the surgical robot as needed, and fixing the guide fixture or the saw blade guide at a stationary position with respect to a bone surface determined by the robot. Accordingly, the surgical robot may cut the saw blade alone or with the assistance of a user.

Description

Swing saw guide device and surgical robot system

Technical Field

The invention relates to a follow-up type oscillating saw guide device and a surgical robot system.

Background

The oscillating saw guide instrument is used for assisting the oscillating saw blade to determine the bone cutting position in the total knee joint surface replacement bone cutting operation, and can limit the free swing of the oscillating saw blade so as to ensure the accurate bone cutting position.

Most of the existing oscillating saw guides are manually fixed on the surface of a bone to be cut by a doctor, and then an oscillating saw can only horizontally swing in a guide groove on the oscillating saw guide to cut the bone. However, in the process, the horizontal moving range of the oscillating saw is manually controlled, so that the horizontal cutting range cannot be mechanically limited, and the saw blade can collide with the inner wall of the guide groove in the horizontal direction in the oscillating process to cause impact and vibration.

In addition, the existing oscillating saw guide device cannot provide a wide view field for a user in the cutting process, and the user cannot visually observe the cutting condition and the oscillating saw cutting action, so that the user must judge the cutting condition through experience under the condition of no direct observation, thereby improving the risk of mistaken cutting and increasing the difficulty of accurate cutting.

In addition, when the surgical robot uses the oscillating saw to cut the bone, at present, no instrument capable of guiding the oscillating saw exists, so that when the surgical robot holds the oscillating saw to cut the bone, vibration generated by a saw blade cannot be avoided, and the surgical precision is influenced.

At present, a guider capable of preventing a saw blade and a guide groove from vibrating in the process of total knee joint surface replacement osteotomy cutting, a guider capable of visually observing the cutting process and a guider capable of being used for a surgical robot are lacked.

Disclosure of Invention

In view of the above problems, it is an object of the present invention to provide a slave oscillating saw guide and a corresponding surgical robot system, which can solve the above problems individually or simultaneously.

According to an aspect of the present invention, there is provided a follow up type oscillating saw guide device including: a blade guide formed with a guide slot through which a saw blade passes for guiding the saw blade, wherein it further comprises: a guide fixing member for mounting the saw blade guide; and a rotation angle adjusting mechanism for relatively rotating the saw blade guide and the guide fixing member within a predetermined angle range.

Preferably, the method further comprises the following steps: the fixing frame is used for fixing the swing saw; a first straight guide fixed to the fixing frame; and a second rectilinear guide portion for fixing to the blade guide, the first rectilinear guide portion being engageable with the second rectilinear guide portion so as to be relatively movable in a rectilinear direction or to be held stationary with respect to each other.

Preferably, the first straight guide part and the second straight guide part are a pair of return sleeves and return guide rods which can be sleeved with each other.

According to another aspect of the present invention there is provided a surgical robotic system for cutting bone using an oscillating saw by a surgical robot comprising a robotic arm effector end, wherein guidance is performed using an oscillating saw guide apparatus of one of the above, wherein the guide fixture is fixedly attached to the robotic arm effector end and is fixed at a rest position of the guide fixture relative to a bone surface as determined by the robot.

Alternatively, preferably, the fixture is fixedly attached to the end of the robotic arm effector and the guide fixture is fixed at a stationary position relative to the bone surface as determined by the robot.

According to yet another aspect of the present invention, there is provided an oscillating saw guide comprising: a saw blade guider which is formed with a guide slot for the saw blade to pass through and is used for guiding the saw blade, and a fixed frame for fixing the swing saw; a first straight guide fixed to the fixing frame; and a second rectilinear guide portion for fixing to the blade guide, wherein the first rectilinear guide portion is engageable with the second rectilinear guide portion so as to be relatively movable in a rectilinear direction or to be kept stationary with respect to each other.

According to a further aspect of the present invention, there is provided a surgical robotic system for cutting bone with an oscillating saw by a surgical robot comprising a robotic arm effector end, wherein guiding is performed using the oscillating saw guide device of the previous aspect, wherein the mount is fixedly attached to the robotic arm effector end and the blade guide is fixed at a static position of the blade guide relative to a bone surface as determined by the robot.

According to the oscillating saw guide device and the robot system, the saw blade can be cut by the surgical robot alone or under the assistance of a user in the process of total knee joint surface replacement osteotomy cutting, so that the vibration of the saw blade and the guide groove is effectively avoided, and even the cutting process can be visually observed.

Drawings

Fig. 1 schematically shows an overall structural perspective view of an oscillating saw guide device according to the present invention.

Fig. 2 schematically shows an overall structural perspective view of the oscillating saw guide device according to the present invention.

Fig. 3 schematically shows a perspective view of the pendulum saw in a telescopic state.

Fig. 4 schematically shows a perspective view of the pendulum saw in a rotational state.

Fig. 5 schematically illustrates a perspective view of the pendulum saw body.

Fig. 6 schematically shows a perspective view of a saw blade.

Fig. 7 schematically shows a perspective view of the holder.

Fig. 8 schematically shows a perspective view of the saw blade guide from an obliquely upper perspective.

Fig. 9 schematically shows a perspective view of the blade guide in a diagonally rear appearance.

Fig. 10 schematically shows a perspective view of the return guide.

Fig. 11 schematically shows an oblique upper external perspective view of the guide fixture.

Fig. 12 schematically shows an oblique rear external perspective view of the guide fixture.

Fig. 13 schematically shows a perspective view of the angle adjustment nail.

Fig. 14 schematically shows a perspective view of a staple.

Fig. 15 schematically illustrates a perspective view of an oscillating saw guide with a split guide.

Fig. 16 schematically shows an oblique upper external perspective view of the split blade guide.

Fig. 17 schematically shows an oblique rear external view of the split blade guide.

Fig. 18 schematically illustrates a perspective view of an unfixed oscillating saw guide.

FIG. 19 schematically illustrates a perspective view of another mounting arrangement for the oscillating saw blade.

Detailed Description

Exemplary embodiments of the present invention are described in detail below with reference to the accompanying drawings. The exemplary embodiments described below and illustrated in the figures are intended to teach the principles of the present invention and enable one skilled in the art to implement and use the invention in several different environments and for several different applications. The scope of the invention is, therefore, indicated by the appended claims, and the exemplary embodiments are not intended to, and should not be considered as, limiting the scope of the invention.

In the drawings of the embodiments, the same or functionally similar components are denoted by the same reference numerals, and the illustration is omitted as appropriate. The terms "upper" and "lower" as used herein are intended to correspond, for ease of understanding, to the relative orientation of the upper and lower sides of the page as viewed in the drawings, and are not intended to be limiting.

< parts >

To facilitate understanding of the present invention, the following components will be briefly described.

Fixing frame 1: when manual osteotomy is performed, the fixed frame 1 is used for fixing the swing saw, the return sleeve 2 on the fixed frame 1 is used for aligning the return guide rod 3, and the advancing and stretching direction of the saw blade 8 of the swing saw is regulated, so that the saw blade 8 is prevented from horizontally colliding with the inner wall of the guide groove 86 due to free horizontal swing; when the surgical robot is used for osteotomy, the fixing frame 1 is connected with the pendulum saw and the robot end effector (not shown) as a whole, the robot end effector drives the fixing frame 1 to drive the pendulum saw to perform osteotomy, and meanwhile, the return sleeve 2 and the return guide rod 3 of the fixing frame 1 are aligned to ensure that the saw blade 8 of the pendulum saw is in correct position when the robot performs osteotomy.

The return sleeve 2: is connected with the fixed frame 1 and is matched with the return guide rod 3 at the same time, thereby ensuring that the saw blade 8 can not freely swing in the horizontal direction when relatively moving along the extension direction.

A return guide rod 3: by its head 34 engaging the blade guide 4 and by its shank 33 engaging the return sleeve 2, it is ensured that the saw blade 8 does not freely swing horizontally during its relative movement in the extension direction.

Blade guide 4: the width of the guide groove 86 is determined by the thickness of the saw blade 8 and the spontaneous oscillation amplitude during cutting, and the saw blade 8 does not oscillate in the vertical direction during cutting, so that the cutting process is ensured to be coincident with the osteotomy plane; the saw blade 8 does not swing freely in the horizontal direction during cutting, thereby ensuring that the saw blade 8 does not collide with the inner wall of the guide groove 86 to cause impact and vibration. The

fastening screw holes

51, 52 on both sides of the guide 4 are engaged with the return

guide fixing grooves

31, 32, respectively, to fix the head 34 of the return guide bar 3 by the fastening screws 5 (see fig. 10). The lower angle adjustment boss 101 of the saw blade guide 4 is formed in an irregular semi-cylindrical shape, and can be fitted with the angle adjustment nail 10, thereby satisfying the horizontal rotation function and restricting the angles of both sides of the saw blade guide 4 with respect to the guide fixing member 6. The blade guide 4 may be closed (see fig. 8, 9) or open (see fig. 16, 17), with the difference being whether the guide slot 86 is open or not (see fig. 8, 9, 16, 17). The open blade guide 4 may provide a better surgical field of view and a more intuitive viewing experience for the user.

Set screw 5: for ensuring that the return link 3 is fixed relative to the blade guide 4. As an example of the fastener, a lock pin may be used, for example, without being limited thereto.

The guide fixing member 6: for limiting the rotation of the blade guide 4, the guide fixing member 6 can ensure that the blade guide 4 can only rotate in the horizontal direction by the cooperation of the angle adjusting boss 101 on the blade guide 4 and the angle adjusting recessed table 102. The rotation angle of the blade guide 4 in the horizontal direction can be restricted by the angle adjustment nail 10 passing through the angle adjustment hole 103. The fixture nail 7 can be fixed on the bone surface through the

fixing holes

71, 72 of the guide fixing member 6, thereby ensuring the relative fixation of the guide fixing member 6 and the bone to be cut (not shown), and the surface where the guide fixing member 6 meets the bone to be cut can be in an arc shape or other curved surface shapes to better fit the bone surface.

Fixing nails 7: for fixing one end to the guide fixing member 6 and the other end to the bone surface, ensuring that the fixing surface of the guide fixing member 6 is fixed relative to the bone surface. As shown in fig. 2, 12 and 14, the user can fix the guide fixture 6 to the bone surface by holding the head 73 of the fixture nail 7 with his/her shank 74 through the hole portions 77 (two shown in this example) penetrating the guide fixture 6 and then driving it into the bone to be cut. As an example of the fastener, a wire or the like may be used without being limited to the staple.

Angle adjustment nail 10: as shown in fig. 13, includes a head 104 and a screw 105. The user can hold the head 104 with his/her screw 105 through the angle adjustment holes 103 (two are shown in this example) in the through guide mount 6, thereby limiting the angular relationship of the blade guide 4 with respect to the guide mount 6 and thus the horizontal rotation angle of the saw blade 8 during osteotomy.

The following type oscillating saw guide (also called an instrument) according to the present invention can be operated under at least the following six conditions, and the respective embodiments are described below.

< example 1>

Fig. 8 to 9, 11 to 14 show constituent parts of a follow up type oscillating saw guide device according to embodiment 1 of the present invention. Which cooperate with each other to form the present device.

The apparatus may be used freely by a user manually, in which case the apparatus parts used include: a blade guide 4 (see fig. 8 and 9), a guide fixing piece 6 (see fig. 11 and 12), an angle adjusting nail 10 (see fig. 13), and a fixing nail 7 (see fig. 14).

The user first fixes the guide fixing member 6 to the correct position on the surface of the bone by the fixing nail 7, and then cuts the bone by passing the saw blade 8 through the guide groove 86 of the saw blade guide 4 while holding the swing saw. The angle of rotation of the blade guide 4 in the horizontal direction can be restricted by the angle adjustment nail 10. The blade guide 4 can be either closed or open.

More specifically, as shown in fig. 9, the angle adjustment projection 101 of the blade guide 4 is formed as a step of upper and lower stages by cutting out a cylindrical body, for example. The upper side of the boss 101 is connected to the main body of the blade guide 4 by a matching structure, and is provided to be relatively rotatable or fixed as required. In relation to the cut-out plane 111 of the upper base step, the lower step is formed with a cam profile 115 comprising a cam surface 110 in the middle and stop

surfaces

112, 113 connected to the outer circumferential surface of the cylinder at both ends thereof.

As shown in fig. 11, when the screw rods 105 of the angle adjustment nail 10 are inserted into the bottomed cylindrical recess of the angle adjustment recess 102 through the angle adjustment hole 103 from the outside of the guide fixing member 6, the end portions of the two screw rods 105 can sweep the cam surface 110 in response to the relative rotation between the blade guide 4 and the guide fixing member 6, respectively, and abut against the stop surface 112 or the stop surface 113 at the rotation limit position. Thereby defining a predetermined angle of rotation between the blade guide 4 and the guide mount 6.

Of course, the end of the screw 105 may be configured to abut against the cam surface 110 of the lower layer during the relative rotation to increase the resistance during the relative rotation, so that the manual operator can easily control the relative rotation progress between the blade guide 4 and the guide fixture 6 while being able to limit the rotation angle.

In this manner, the angle can be adjusted by the mating relationship of the lower cam profile 115 and the angle adjustment nail 10. For example, the angle of the angle adjustment nail 10 can be marked, and the screwing-in and screwing-out distance of the angle adjustment nail 10 can be used to calibrate and control the rotation range of the boss 101. When the limited range is reached, the lower layer of the boss 101 comes into contact with the angle-adjusting nail 10 to hinder the rotation.

Here, an example of the rotational angle adjusting mechanism is shown by the angle adjusting boss 101, the angle adjusting recess 102, and the angle adjusting nail 10, and two angle adjusting nails 10 are shown, but the present invention is not limited to this, and may be realized by another means such as a gear, as long as the cutting operation can be performed by causing the saw blade 8 to follow the above-described relative rotation in a follow-up manner.

According to the instrument of the embodiment 1, the horizontal rotation can be performed around the long axis direction (hereinafter referred to as the vertical direction) of the bone during osteotomy, the rotation angle can be accurately limited by the angle adjusting nail 10 with the scale, and the rotation angles at two sides of the horizontal direction can be respectively set, so that the over-cutting condition caused by the rotation angle exceeding the range can be avoided, and the safety protection in the operation is improved.

< example 2>

Fig. 1 to 2 and the like show a follow up type oscillating saw guide device according to embodiment 2 of the present invention.

This apparatus can be by the spacing use of user's manual, and the apparatus part that uses this moment includes: the device comprises a saw blade guider 4, a guider fixing piece 6, an angle adjusting nail 10, a fixing nail 7, a set screw 5, a return guide rod 3, a return sleeve 2 and a fixing frame 1.

The user first fixes the guide fixing element 6 in the correct position on the bone surface by means of the fixing nail 7, and at this time the oscillating saw is mounted on the fixing frame 1 with the return sleeve 2. When the osteotomy is performed, the return sleeve 2 is aligned with the return guide rod 3, the saw blade is aligned with the guide groove 86 on the saw blade guide 4, the saw blade 8 on the swing saw can move in a telescopic way along the direction of the guide groove but can not freely and horizontally rotate relative to the saw blade guide 4, and the saw blade does not swing in the vertical direction during cutting, so that the cutting process is ensured to be coincident with the osteotomy plane; the saw blade does not freely swing in the horizontal direction during cutting, so that the saw blade is ensured not to collide the inner wall of the guide groove to cause impact and vibration. Meanwhile, the saw blade guider 4 can rotate relative to the guider fixing piece 6, and the rotation angle is determined by the angle adjusting nail 10, so that the osteotomy operation with the specified angle is completed. The blade guide 4 may be either closed or open, which provides a better surgical field.

According to the instrument of the embodiment 2, the return sleeve 2 and the return guide rod 3 limit the saw blade 8 to only do telescopic motion relative to the saw blade guider 4, the saw blade can spontaneously swing in the horizontal direction but cannot exceed the spontaneous swing range, the free swing range of the saw blade in the horizontal direction is limited, the saw blade is prevented from impacting the inner wall of the guide groove when freely swinging in the horizontal direction, and therefore operation precision and effect are improved.

< example 3>

A follow-up type oscillating saw guide device and a corresponding surgical robot system according to embodiment 3 of the present invention will be described with reference to FIGS. 8 to 9 and 11 to 14.

This apparatus can be freely used by the manual cooperation of surgical robot, and the apparatus part that uses this moment includes: a saw blade guider 4, a guider fixing piece 6 and an angle adjusting nail 10.

In the surgical robot system, when the surgical robot is matched with manual free use, a user fixedly connects the guide fixing piece 6 with the tail end of the robot actuator, the robot finds an accurate osteotomy position to ensure that the guide fixing piece 6 is static relative to the bone surface, and the user nails the fixing nail 7 into the bone surface to fix the guide fixing piece 6 on the bone surface. The user now holds the oscillating saw and passes the saw blade through the guide slot 86 in the blade guide 4 to perform the osteotomy. The angle of rotation of the blade guide 4 in the horizontal direction can be restricted by the angle adjustment nail 10. The blade guide 4 can be either closed or open. In this operating condition, the oscillating saw blade 8 is not restrained from horizontal movement by the return guide bar 3 and the return bushing 2. I.e. the robot helps to find the planned position of the guide fixture 6 relative to the bone, and after this has been done, the guide fixture 6 is fixed manually, and no fixture is needed because there is no return mechanism. Meanwhile, the pendulum saw can freely stretch and rotate due to the fact that the return mechanism is not arranged.

The instrument may also be equipped with an open blade guide 4 to ensure that the user can visually observe the cutting condition of the saw blade 8 during operation.

< example 4>

The present instrument according to example 4 may be used by a surgical robot in conjunction with manual restraint, where the instrument components used include: the device comprises a saw blade guider 4, a guider fixing piece 6, an angle adjusting nail 10, a set screw 5, a return guide rod 3, a return sleeve 2 and a fixing frame 1.

When the surgical robot is matched with manual limiting for use, a user fixedly connects the guider fixing piece 6 with the tail end of the robot actuator. The robot finds the exact osteotomy position, ensures that the guide fixing element 6 is stationary relative to the bone surface, and the user nails the fixation pins 7 into the bone surface to fix the guide fixing element 6 to the bone surface. The user now mounts the oscillating saw on the holder 1 with the return sleeve 2. When the osteotomy is performed, the return sleeve 2 is aligned with the return guide rod 3, the saw blade 8 is aligned with the guide groove 86 on the saw blade guider 4, the saw blade 8 on the swing saw can move in a telescopic way along the direction of the guide groove but cannot freely and horizontally rotate relative to the saw blade guider 4, and the saw blade does not swing in the vertical direction during cutting, so that the cutting process is ensured to be coincident with the osteotomy plane; the saw blade does not freely swing in the horizontal direction during cutting, so that the saw blade is ensured not to collide the inner wall of the guide groove to cause impact and vibration. Meanwhile, the saw blade guider 4 can rotate relative to the guider fixing piece 6, and the rotation angle is determined by the angle adjusting nail 10, so that the osteotomy operation with the specified angle is completed. The blade guide 4 may be either closed or open, which provides a better surgical field.

Because the return sleeve 2 and the return guide rod 3 play a guiding role, the oscillating saw blade 8 can still be attached to the surface of the open type saw blade guider 4 when the guider is used.

As above, according to the operation methods of the robot systems of

embodiments

3 and 4, the instrument can be used in a detachable manner, the saw blade guide 4, the guide fixing member 6, and the set screw angle adjusting nail 10 can be separately installed on the surface of the bone to be cut, and the swing saw can be used without fixation; the swing saw can also be used by being matched with the return guide rod 3, the return sleeve 2 and the fixing frame 1. Can be freely selected according to specific conditions, and provides great convenience.

< example 5>

Fig. 1 to 2 and the like also show a follow up type oscillating saw guide device according to embodiment 5 of the present invention.

The instrument can be used by a surgical robot independently, and the instrument parts used at the time comprise: the device comprises a saw blade guider 4, a guider fixing piece 6, an angle adjusting nail 10, a set screw 5, a return guide rod 3, a return sleeve 2 and a fixing frame 1.

The user fixes mount 1 at the arm executor end to it is fixed with pendulum saw main part 9, and return sleeve 2 on the mount 1 cooperatees with return guide arm 3, and return guide arm 3 cooperatees with saw bit director 4 and director mounting 6, and when the end of robot executor moved, whole apparatus removed along with the end of robot executor together.

After the robot determines the osteotomy plane, the user secures the guide fixture 6 stationary relative to the bone surface, and the user staples fixation pins 7 into the bone surface to secure the guide fixture 6 to the bone surface. At the moment, the surgical robot can horizontally rotate or stretch the saw blade 8 of the swing saw to cut independently or with the assistance of a user, at the moment, the saw blade 8 on the swing saw can telescopically move along the direction of the guide groove but cannot freely horizontally rotate relative to the saw blade guider 4, and the saw blade does not swing in the vertical direction during cutting, so that the cutting process is ensured to be coincident with the osteotomy plane; the saw blade does not freely swing in the horizontal direction during cutting, so that the saw blade is ensured not to collide the inner wall of the guide groove to cause impact and vibration. Meanwhile, the saw blade guider 4 can rotate relative to the guider fixing piece 6, and the rotation angle is determined by the angle adjusting nail 10, so that the osteotomy operation with the specified angle is completed. The blade guide 4 may be either closed or open, which provides a better surgical field.

The instrument can be used for a swing saw cutting scene related to a surgical robot, the surgical robot can use the instrument to confirm a bone cutting plane and fix the bone cutting plane, the instrument can guide a swing saw blade 8 held by the surgical robot, and the stability and the no vibration of the swing saw blade in the cutting process are ensured, so that the cutting precision is improved, and the cutting quality is improved.

< example 6>

Fig. 18 shows a schematic view of a method of using a non-fixed oscillating saw guide according to embodiment 6 of the invention.

The instrument can be used by a surgical robot alone under the condition of cooperation of the guide-free fixing piece 6, and the instrument parts used at the time comprise: the device comprises a saw blade guider 4, a set screw 5, a return guide rod 3, a return sleeve 2 and a fixing frame 1.

The user fixes mount 1 at the arm executor end to it is fixed with pendulum saw main part 9, and return sleeve 2 on the mount 1 cooperatees with return guide arm 3, and return guide arm 3 cooperatees with saw bit director 4, and when the end of robot executor removed, whole apparatus removed along with the end of robot executor together.

When the robot determines the osteotomy plane, the user assists the robot in cutting the bone with the oscillating saw blade 8. At the moment, the saw blade guider 4 contacts the surface of the bone, the return sleeve 2 and the return guide rod 3 are matched and translated, and the saw blade 8 is ensured to stretch along the fixing direction of the return mechanism during cutting. The guide groove 86 of the saw blade guide 4 can limit the up-and-down vibration of the saw blade in the cutting process (closed up-and-down bidirectional limit, open unidirectional limit), so that the cutting surface is smoother and more accurate.

< modification example >

The above-mentioned apparatus may be comprised of: 1) the fixing frame 1, 2) a return sleeve 2, 3) a return guide rod 3, 4) a saw blade guider 4, 5) a set screw 5, 6) a guider fixing piece 6; 7) the fixing nails 7 and 8) the angle adjusting nail 10 (angle limiting nail) are composed of eight main parts. The components are connected in a matching way or move relatively.

In fig. 5 is shown the pendulum saw body 9 and its mounting portion 81 for mounting the saw blade 8 shown in fig. 6. Although the upper arrangement of the saw blade 8, i.e., the mounting on the upper side of the mounting portion 81, is shown in the above embodiments. However, it is also possible to use a mounting, for example as shown in fig. 19, in which the saw blade 8 is lowered, in which case the position of the return link 3 and the return sleeve 2 on the holder 1 can be adjusted accordingly.

The holder 1 shown in fig. 7 can be provided integrally with or attached to a return sleeve 2. Fig. 7 shows a collar for fixed connection to the oscillating saw body 9, but the collar is not limited to this and may be appropriately selected as needed.

Fig. 15 and 16 show the open type blade guide 4 in which the opening 41 is opened in a width corresponding to the width of the saw blade 8 so that the upper side of the guide groove 86 is completely opened, and the saw blade 8 can be directly put into the guide groove 86 from above the opening 41 along both inner wall surfaces of the guide 4. However, it is also possible to project at least one inner wall surface of the upper side of the guide 4 toward the other inner wall surface side, i.e., to leave the upper side of the guide groove 86 not completely open.

The above embodiments show the return sleeve 2 fixed to the fixed frame 1; and a return guide rod 3 fixed to the blade guide 4, but the return sleeve 2 may be fixed to the blade guide 4 in reverse. That is, both of them correspond to the first and second rectilinear guide portions, and may be any mechanism as long as they can guide the rectilinear relative movement, and other suitable mechanisms such as rack gears, screw nuts, and the like may be employed without being limited to the telescopic sleeves and guide rods described above.

In the present invention, terms such as "fixedly connected" may be integrally connected or detachably connected, directly or indirectly connected, and may be determined according to specific situations.

It is obvious to those skilled in the art that the present invention described above can be applied not only to a knee joint surgical robot as an example but also to other equivalent robots and the like, and therefore the latter should be regarded as equivalent or equivalent and fall within the scope of the present invention.

While the invention has been described with reference to various specific embodiments, it should be understood that changes can be made within the spirit and scope of the inventive concepts described. Accordingly, it is intended that the invention not be limited to the described embodiments, but that it will have the full scope defined by the language of the following claims. All combinations of at least two of the features disclosed in the description, the drawings and/or the claims fall within the scope of the invention.

Claims

1. An oscillating saw guide comprising: a blade guide (4) formed with a guide groove (86) through which a saw blade (8) passes for guiding the saw blade,

it is characterized by also comprising:

a guide fixing member (6) for mounting the saw blade guide (4); and

a rotation angle adjustment mechanism (101, 102, 103, 10) for allowing relative rotation of the blade guide (4) and the guide fixture (6) within a predetermined angular range.

2. The oscillating saw guide device of claim 1,

the rotation angle adjusting mechanism includes:

an angle adjusting boss (101) arranged on the saw blade guider (4);

an angle adjustment concave (102) provided in the guide fixing member (6); and

an angle adjusting nail (10),

a cam profile surface (115) is formed on the angle adjusting boss (101),

in a state where the angle adjustment boss (101) is inserted into the angle adjustment boss (102), the adjustment nail (10) passed through an angle adjustment hole (103) provided in the guide fixing member (6) abuts on the cam profile surface (115) at a limit position of the predetermined angular range, thereby preventing further relative rotation.

3. The oscillating saw guide device of claim 1, further comprising:

a fixing part (7) for fixing the guide fixing part (6).

4. The oscillating saw guide device of claim 1,

the cross section of the guide groove (86) is in a closed type or an open type.

5. The oscillating saw guide device of any one of claims 1 to 4, further comprising:

a fixing frame (1) for fixing the swing saw;

a first straight guide part (2) fixed to the fixing frame (1); and

a second straight guide (3) for fixing to the blade guide (4),

the first rectilinear guide (2) and the second rectilinear guide (3) are fitted to each other so as to be movable relative to each other in a rectilinear direction or to remain stationary.

6. The oscillating saw guide device of claim 5,

further comprising: a fastener (5) for fixing the second rectilinear guide (3) to the blade guide (4).

7. The oscillating saw guide device of claim 5,

the first straight guide part (2) and the second straight guide part (3) are a pair of return sleeves and return guide rods which can be sleeved with each other.

8. A surgical robotic system for cutting bone with a surgical robot using an oscillating saw, the surgical robot including a robotic arm effector end,

guiding using the oscillating saw guide device according to any one of claims 1-4, 5-7, wherein the guide fixture (6) is further adapted to be fixedly attached to the end of the robotic arm actuator and can be fixed in a rest position of the guide fixture (6) relative to the bone surface as determined by the robot; or

Guiding using an oscillating saw guide device according to any of claims 5-7, wherein the holder (1) is further adapted for fixed connection to the end of the manipulator arm and the guide fixture (6) can be fixed in a stationary position of the guide fixture (6) relative to the bone surface determined by the robot.

9. An oscillating saw guide comprising:

a saw blade guide (4) formed with a guide groove (86) through which the saw blade (8) passes for guiding the saw blade (8),

a fixing frame (1) for fixing the swing saw;

a first straight guide part (2) fixed to the fixing frame (1); and

a second straight guide (3) for fixing to the blade guide (4), wherein the first straight guide (2) and the second straight guide (3) cooperate with one another in such a way that they can be moved relative to one another in a straight direction or remain stationary,

preferably, the method further comprises the following steps: a fastener (5) for fixing the second rectilinear guide (3) to the blade guide (4),

preferably, the first straight guide part (2) and the second straight guide part (3) are a pair of return sleeve and return guide rod which can be sleeved with each other.

10. A surgical robotic system for cutting bone with a surgical robot using an oscillating saw, the surgical robot including a robotic arm effector end,

using the oscillating saw guide of claim 9 for guiding,

wherein the holder (1) is further adapted for fixed connection to the end of the robot arm actuator and the blade guide (4) is fixable in a rest position of the blade guide (4) relative to a bone surface determined by the robot.