CN114366302B - Joint replacement surgical instrument, pelvis positioning system and surgical robot system - Google Patents
Joint replacement surgical instrument, pelvis positioning system and surgical robot system Download PDFInfo
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- CN114366302B CN114366302B CN202111593234.8A CN202111593234A CN114366302B CN 114366302 B CN114366302 B CN 114366302B CN 202111593234 A CN202111593234 A CN 202111593234A CN 114366302 B CN114366302 B CN 114366302B
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- 210000004197 pelvis Anatomy 0.000 title claims abstract description 40
- 230000003287 optical effect Effects 0.000 claims description 19
- 210000002421 cell wall Anatomy 0.000 claims description 7
- 239000012636 effector Substances 0.000 claims description 5
- 239000011148 porous material Substances 0.000 claims description 5
- 230000000670 limiting effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 4
- 210000000988 bone and bone Anatomy 0.000 description 4
- 230000001954 sterilising effect Effects 0.000 description 4
- 238000004659 sterilization and disinfection Methods 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 4
- 238000000605 extraction Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 208000035143 Bacterial infection Diseases 0.000 description 2
- 238000011882 arthroplasty Methods 0.000 description 2
- 208000022362 bacterial infectious disease Diseases 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 206010002091 Anaesthesia Diseases 0.000 description 1
- 208000032843 Hemorrhage Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000037005 anaesthesia Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000011541 total hip replacement Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
The invention provides a joint replacement surgical instrument, a pelvis positioning system and a surgical robot system, wherein the joint replacement surgical instrument comprises a handle part, a top end part and a connecting piece, wherein the top end part is used for being connected with a locking piece of a pelvis positioning frame; the connecting piece includes that connecting block and cover establish the spring outside the connecting block, and the both ends of spring overlap respectively and locate the second end of handle portion and the first end of top portion, and handle portion and connecting block rotate along first direction and are connected, and top portion and connecting block rotate along the second direction and are connected, and first direction and second direction are mutually perpendicular, and first direction and second direction all are perpendicular with the axial of handle portion or the axial of top portion. The joint replacement surgical instrument has the advantages that the handle part can rotate universally relative to the top end part, the pelvis positioning frame can be rapidly installed in a narrow space by the joint replacement surgical instrument, in the process of locking the pelvis positioning frame, only the pose of the handle part needs to be changed, operation is flexible, the frequency of inserting and pulling the joint replacement surgical instrument when a bolt is locked is reduced, and installation efficiency is improved.
Description
Technical Field
The invention relates to the technical field of bone joint surgical instruments, in particular to a joint replacement surgical instrument, a pelvis positioning system and a surgical robot system.
Background
With the development of medical robot technology, surgical robot assistants are widely used in the field of clinical medical surgery. For example, in the field of orthopedic surgery, in the process of total hip replacement surgery, a pelvis positioning frame needs to be installed on the pelvis of a patient, and the purpose is to acquire the actual pose of the skeleton of the patient by acquiring the three-dimensional data of the pelvis positioning frame through an optical positioning device of a surgical robot, so that the installation stability of the pelvis positioning frame can directly influence the precision of the surgery.
When a pelvis positioning frame is installed, the front face of a reflective ball of the positioning frame is required to face an optical positioning device, so that the position and posture of the pelvis positioning frame relative to a patient are usually adjustable, bolts in different directions are required to be locked on a position and posture adjusting device of the pelvis positioning frame, a straight barrel spanner is usually used for locking the bolts on the pelvis positioning frame, due to the influences of the position of the patient, the complex structure of the pelvis positioning frame and the visual angle of a doctor, the operable space of the straight barrel spanner is narrow, the posture of the spanner needs to be changed by inserting and pulling the spanner for many times, the bolts can be locked, the operation inconvenience can increase the installation time of the pelvis positioning frame, and the increase of the operation time easily causes the harm of long anesthesia time, excessive blood loss, bacterial infection and the like to the patient.
Disclosure of Invention
The invention provides a joint replacement surgical instrument, a pelvis positioning system and a surgical robot system, which are used for solving the defects that in the prior art, when a straight barrel wrench locks a bolt of a pelvis positioning frame, the operation space is narrow, and the posture of the wrench needs to be changed by inserting and pulling for many times, so that the operation time is long.
The present invention provides a joint replacement surgical instrument comprising:
a handle portion;
a top end portion for connecting with a locking member of the pelvic positioning frame;
the connecting piece is established including connecting block and cover spring outside the connecting block, the both ends of spring are overlapped respectively and are located handle portion's second end with the first end of top portion, handle portion with the connecting block is rotated along first direction and is connected, top portion with the connecting block is rotated along the second direction and is connected, just first direction with the second direction is mutually perpendicular, first direction with the second direction all with the axial of handle portion or the axial of top portion is perpendicular.
According to the present invention, there is provided an arthroplasty instrument, the tip portion comprising:
the top end is rotatably connected with the connecting block along the second direction, an inner hole for the locking piece to be embedded into is formed in the top end, and the inner hole is matched with the locking piece;
the magnetic part is fixedly arranged in the inner hole.
According to the present invention there is provided a joint replacement surgical instrument, the connector further comprising:
the first pin shaft is used for rotationally connecting the handle part and the connecting block;
the second pin shaft is used for rotatably connecting the top end part and the connecting block;
the connecting block is provided with a first through hole and a second through hole perpendicular to the first through hole, the first pin shaft is arranged in the first through hole, and the second pin shaft is arranged in the second through hole.
According to the joint replacement surgical instrument provided by the invention, the second end of the handle part is provided with a first U-shaped groove, the first end of the connecting block is positioned in the first U-shaped groove, the first pin shaft is relatively and fixedly connected with the groove wall of the first U-shaped groove, and the first pin shaft is in clearance fit with the hole wall of the first through hole;
the first end in top portion is provided with second U type groove, the second end of connecting block is located the second U type inslot, just the second round pin axle with the cell wall relatively fixed connection in second U type groove, the second round pin axle with the pore wall clearance fit of second through-hole.
According to the joint replacement surgical instrument provided by the invention, the first pin shaft is detachably connected with the groove wall of the first U-shaped groove through the first fixing component;
and the second pin shaft is detachably connected with the groove wall of the second U-shaped groove through a second fixing component.
According to the joint replacement surgical instrument provided by the invention, the first fixing component comprises a first clamping piece clamped on the first pin shaft and a first nut in threaded connection with the first pin shaft, the first clamping piece and the first nut are respectively positioned on the inner side and the outer side of the groove wall of the first U-shaped groove, and the groove wall of the first U-shaped groove and the first pin shaft can be locked by the first clamping piece and the first nut;
the second fixing component comprises a second clamping piece clamped on the second pin shaft and a second nut in threaded connection with the second pin shaft, the second clamping piece and the second nut are respectively located on the inner side and the outer side of the groove wall of the second U-shaped groove, and the groove wall of the second U-shaped groove and the second pin shaft can be locked by the second clamping piece and the second nut.
According to the joint replacement surgical instrument provided by the invention, the first pin shaft is provided with two first clamping grooves for embedding the first clamping piece, the two first clamping grooves are respectively arranged close to two ends of the first pin shaft, and the first pin shaft is also provided with a first thread matched with the first nut;
the second pin shaft is provided with two second clamping grooves for embedding the second clamping pieces, the two second clamping grooves are respectively close to two ends of the second pin shaft, and the second pin shaft is further provided with second threads matched with the second nut.
According to the joint replacement surgical instrument provided by the invention, the handle part is provided with the first shaft shoulder, the top end part is provided with the second shaft shoulder, and two ends of the spring are respectively abutted against the first shaft shoulder and the second shaft shoulder.
The present invention also provides a pelvic positioning system, comprising:
the pelvis positioning frame comprises a fixing base, a calibration frame and a locking piece, wherein the fixing base is used for being fixed on the pelvis of a patient, the calibration frame is movably connected with the fixing base, and the locking piece is used for locking the calibration frame and the fixing base;
an optical positioning device for determining positional information of the pelvic positioner.
The invention also provides a surgical robot system, which comprises the pelvis positioning system and the surgical robot, wherein the surgical robot is used for receiving the position information of the pelvis positioning frame and controlling the end effector to perform surgical operation on the joint of the patient according to the position information.
According to the present invention, there is provided a surgical robot system, further comprising: and the main control equipment is used for receiving the position information sent by the optical positioning device and sending the position information to the surgical robot.
The technical scheme of the invention at least has the following beneficial effects:
according to the joint replacement surgical instrument, the pelvis positioning system and the surgical robot system, the handle part is rotatably connected with the connecting block along the first direction, the top end part is rotatably connected with the connecting block along the second direction, and the universal connection between the handle part and the top end part is realized, so that the handle part can rotate relative to the top end part at different angles.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of a joint replacement surgical instrument provided in accordance with the present invention;
FIG. 2 is a perspective view of a tip provided by the present invention;
FIG. 3 is a connection relationship diagram of the groove wall of the first U-shaped groove and the first pin shaft provided by the invention;
FIG. 4 is a front view of a first pin provided by the present invention;
FIG. 5 is a schematic view of the present invention in the configuration in which the joint replacement surgical instrument is coupled to the retaining member of the pelvic restraint frame;
fig. 6 is a schematic view of a surgical robotic system provided by the present invention.
Reference numerals:
1: a fixed base; 2: a calibration frame; 3: bone nails;
4: a first bolt; 5: a second bolt; 6: a third bolt;
7: joint replacement surgical instruments; 71: a handle; 72: a straight rod;
73: carrying out top thread; 74: a top end; 75: a magnet;
76: connecting blocks; 77: a spring; 78: a first pin shaft;
79: a second pin shaft; 721: a stepped boss; 722: a first shoulder;
723: a first U-shaped groove; 741: an inner bore; 742: a second connection hole;
743: a second shoulder; 781: a first card slot; 782: a first clip member;
783: a first nut;
100: a pelvic positioning frame; 200: a surgical robot; 300: a master control device;
400: an end effector; 500: an optical positioning device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The joint replacement surgical instrument, the pelvic positioning system, and the surgical robotic system of the present invention will be described below with reference to fig. 1 to 6.
As shown in FIG. 1, the present invention provides an arthroplasty instrument comprising a handle portion, a tip portion, and a connector for connecting the handle portion and the tip portion, the tip portion for connecting with a locking member of a pelvic restraint frame to enable adjustment of the locking member.
Here, the locking member may be a bolt, a screw or other devices capable of performing a fastening function.
Specifically, the connecting member includes a connecting block 76, the handle portion is rotatably connected to the connecting block 76 in a first direction, and the top end portion is rotatably connected to the connecting block 76 in a second direction, wherein the first direction is perpendicular to the second direction, and the first direction and the second direction are both perpendicular to an axial direction of the handle portion or an axial direction of the top end portion, that is, the first direction and the second direction are perpendicular to an axial direction of the joint replacement surgical instrument. In this way, the handle portion and the connecting block 76 can rotate relatively in the first direction, and the connecting block 76 and the top end portion can rotate relatively in the second direction, so that the handle portion and the top end portion can realize relative universal rotation, and after the top end portion is connected with the locking member, the handle portion can bend relative to the top end portion, and therefore adjustment of the locking member at different angles can be realized.
It should be noted that the first direction may be a horizontal direction, so that after the connecting block 76 is connected to the handle portion, the connecting block can rotate in the horizontal direction with respect to the handle portion, that is, the distal end portion can rotate in the horizontal direction with respect to the handle portion; the second direction may be a vertical direction, so that the top end portion is connected to the handle portion through the connecting block 76, and then can rotate vertically relative to the handle portion.
So set up, be connected along first direction rotation through handle portion and connecting block 76, top end and connecting block 76 are connected along the second direction rotation, realize the universal connection of handle portion and top end, make handle portion can be crooked for the top end, thereby can realize the regulation to locking piece under different angles, thus, can utilize this joint replacement surgical instruments to install the pelvis locating rack fast in narrow and small space, and at the in-process of whole locking pelvis locating rack, only need to change the position appearance of handle portion can, make the pelvis locating rack installation operation nimble, thereby the number of times of plug joint replacement surgical instruments when locking the locking piece has been reduced, installation effectiveness has been improved, doctor's physical power has been saved, be favorable to reducing long operation, it is too much to reduce patient's hemorrhage, the risk of bacterial infection.
In this embodiment, the connecting member further includes a spring 77, the spring 77 is sleeved outside the connecting block 76, and two ends of the spring 77 are respectively sleeved at the second end of the handle portion and the first end of the top portion. Like this, at the rotatory in-process of handle portion, through spring 77's limiting displacement for the contained angle value between handle portion and the top portion is less than preset contained angle value, and so, the relative top portion of handle portion takes place the rotation more easily, and then more laborsaving when the adjustment retaining member.
After the locking piece is adjusted, the spring 77 can reset the top end part to be coaxial with the handle part; when the joint replacement surgical instrument is not used, the spring 77 can also play a certain limiting role on the top end part and prevent the top end part from rotating relative to the handle part under the action of self gravity, so that after the joint replacement surgical instrument is used each time, the relative position of the top end part and the handle part does not need to be manually adjusted, and the joint replacement surgical instrument can be directly used in the next use.
It should be noted that the second end of the handle portion may be an end close to the connecting member, the first end of the tip portion may be an end close to the connecting member, and the preset included angle may be 130 ° or 150 °, and the preset included angle is not particularly limited herein.
In an alternative embodiment of the present invention, the top end portion includes a top end 74, the top end 74 is rotatably connected to the connecting block 76 along the second direction, and an inner hole 741 is formed in the top end 74 for allowing the locking member to be inserted therein, and the inner hole 741 is adapted to the locking member, so that the top end 74 can drive the locking member to rotate, thereby adjusting the locking degree of the locking member.
In this embodiment, as shown in FIG. 2, the inner hole 741 may be a hexagonal inner hole to facilitate fitting of the locking member.
In an optional embodiment, the top end portion further comprises a magnetic attraction piece, and the magnetic attraction piece is fixedly arranged in the inner hole so as to be capable of attracting the locking piece. In this way, the magnetic attraction piece can attract the locking piece, so that the top end 74 is aligned with the locking piece, and the connecting strength of the top end 74 and the locking piece is improved, so that the locking piece can be screwed by the top end 74 more easily; when unscrewing the retaining member and unscrewing completely, inhale the adsorption of piece to the retaining member through magnetism, can prevent that the retaining member from falling, avoid causing the potential safety hazard.
Here, the magnetic attraction member may be a magnet 75 to be able to attract the locking member.
In an alternative embodiment of the invention, the connector further comprises a first pin 78 and a second pin 79, the first pin 78 for pivotally connecting the handle portion to the connecting block 76, and the second pin 79 for pivotally connecting the top end portion to the connecting block 76.
Wherein, a first through hole and a second through hole can be arranged on the connecting block 76, the first through hole is vertical to the second through hole, and the first through hole and the second through hole are both vertical to the axis of the joint replacement surgical instrument. The first pin 78 is disposed in the first through hole, and the second pin 79 is disposed in the second through hole, so as to connect the handle portion and the connecting block 76, and connect the top end portion and the connecting block 76.
In some embodiments, the connection block 76 may have a metal rectangular parallelepiped structure, and the axis of the first through hole is perpendicular to a first end surface and a second end surface opposite to the first end surface of the connection block 76, and the axis of the second through hole is perpendicular to a third end surface and a fourth end surface opposite to the third end surface of the connection block 76.
Or, the axis of the first through hole forms a preset angle with the first end surface and the second end surface of the connection block 76, and the axis of the second through hole forms a preset angle with the third end surface and the fourth end surface of the connection block 76, where the preset angle may be greater than 0 degree, and specifically may be 45 degrees.
It should be noted that the first end surface and the second end surface may be an upper end surface and a lower end surface of the connection block 76, respectively, and the third end surface and the fourth end surface may be a front end surface and a rear end surface of the connection block, respectively. Here, "upper", "lower", "front" and "rear" are orientations of the joint replacement surgical instrument in the state shown in fig. 1.
In this embodiment, the second end of the handle portion is provided with a first U-shaped groove 723, the first end of the connecting block is located in the first U-shaped groove 723, the first pin 78 is relatively and fixedly connected with the groove wall of the first U-shaped groove 723, and the first pin 78 is in clearance fit with the groove wall of the first through hole to realize the rotational connection between the handle portion and the connecting block 76.
The first end in top portion is provided with second U type groove, and the second end of connecting block 76 is located second U type inslot to second round pin axle 79 is fixed connection relatively with the cell wall in second U type groove, and second round pin axle 79 and the pore wall clearance fit of second through-hole, in order to realize top portion and connecting block 76's rotation and be connected.
Here, the second end of the handle portion is the end of the handle portion near the tip end portion, and the first end of the connecting block 76 is the end of the connecting block 76 near the handle portion; the first end of top portion is the one end that the top portion is close to the handle portion, and the second end of connecting block 76 is the one end that connecting block 76 is close to the top portion.
In one mode, both ends of the first pin 78 are in interference fit with the walls of the first U-shaped groove 723. And two ends of the second pin shaft 79 are in interference fit with the groove wall of the second U-shaped groove.
Specifically, two opposite groove walls of the first U-shaped groove 723 are respectively provided with a first connection hole, and two ends of the first pin 78 respectively extend into the two first connection holes and are in interference fit with hole walls of the two first connection holes, so as to realize fixed connection between the first pin 78 and the groove wall of the first U-shaped groove 723.
Two opposite groove walls of the second U-shaped groove are provided with second connecting holes, and two ends of the second pin 79 respectively extend into the two second connecting holes 742 and are in interference fit with the hole walls of the two second connecting holes 742, so that the second pin 79 is fixedly connected with the groove walls of the second U-shaped groove.
In another mode, the first pin 78 is detachably connected to a groove wall of the first U-shaped groove 723 through a first fixing member, and the second pin 79 is detachably connected to a groove wall of the second U-shaped groove through a second fixing member. Therefore, the joint replacement surgical instrument is convenient to clean, disinfect and sterilize all parts of the joint replacement surgical instrument after the joint replacement surgical instrument is used.
Specifically, first fixed subassembly includes first fastener 782 and first nut 783, wherein, first fastener 782 card is established on first round pin axle 78, first nut 783 and first round pin axle 78 threaded connection, and first fastener 782 and first nut 783 are located the inside and outside both sides of first U type groove 723 cell wall respectively, so that first fastener 782 and first nut 783 can be with the centre gripping of first U type groove 723 cell wall, thereby make first fastener 782 and first nut 783 can lock first U type groove 723 cell wall and first round pin axle 78 mutually, realize the relative fixed connection of first U type groove cell wall and first round pin axle 78.
And, in order to facilitate dismantling first round pin axle 78 from the connecting block, thereby wash the sterilization to the first through-hole pore wall of first round pin axle 78 and connecting block 76, be provided with two first draw-in grooves 781 that supply first fastener 782 to imbed on first round pin axle 78, two first draw-in grooves 781 are close to the both ends setting of first round pin axle 78 respectively, and first fastener 782 can be U type structure, so that the dismouting. Thus, the first clamping piece 782 is embedded in the first clamping groove 781, so that the first clamping piece 782 and the first pin shaft 78 cannot slide axially relative to each other.
During installation, the first clamping piece 782 is firstly embedded in the first clamping groove 781, then the two ends of the first pin shaft 78 respectively penetrate through the two first connecting holes of the first U-shaped groove 723, and then the first nut 783 is screwed on the first pin shaft 78, so that the first nut 783 and the first clamping piece 782 clamp and lock the groove wall of the first U-shaped groove 723, and the fixed connection between the groove wall of the first U-shaped groove 723 and the first pin shaft 78 is realized.
The second fixing component comprises a second clamping piece and a second nut, wherein the second clamping piece is clamped on the second pin shaft 79, the second nut is in threaded connection with the second pin shaft 79, and the second clamping piece and the second nut are respectively located on the inner side and the outer side of the wall of the second U-shaped groove, so that the second clamping piece and the second nut can clamp the wall of the second U-shaped groove, the wall of the second U-shaped groove can be locked with the second pin shaft 79 through the second clamping piece and the second nut, and the second U-shaped groove wall and the second pin shaft 79 are fixedly connected relatively.
And, in order to be convenient for dismantle second round pin axle 79 from the connecting block get off to wash the sterilization to the second through-hole pore wall of second round pin axle 79 and connecting block 76, be provided with the second draw-in groove that two confession second fastener imbeds on second round pin axle 79, two second draw-in grooves are close to the both ends setting of second round pin axle 79 respectively, and the second fastener can be for U type structure, so that the dismouting. Like this, the second fastener inlays in the second draw-in groove, can make second fastener and second round pin axle 79 can not take place relative endwise slip.
Second round pin axle 79 is last still to be provided with second nut assorted second screw thread, specifically, can set up the second screw thread respectively in the position that second round pin axle 79 is close to both ends to the second nut is fixed on second round pin axle 79.
During installation, the second clamping member may be first embedded in the second slot, then the two ends of the second pin 79 respectively pass through the two second connecting holes of the second U-shaped slot, and then the second nut is screwed onto the second pin 79, so that the second nut and the second clamping member clamp and lock the slot wall of the second U-shaped slot, thereby realizing the fixed connection between the slot wall of the second U-shaped slot and the second pin 79.
In an alternative embodiment of the invention, the handle portion is provided with a first shoulder 722, the tip portion is provided with a second shoulder, and both ends of the spring abut against the first and second shoulders 722, 743, respectively, whereby the axial displacement of the spring 77 is limited by the two shoulders.
In an alternative embodiment, the handle portion comprises a handle 71 and a straight rod 72, a first end of the straight rod 72 is connected with the handle 71, and a second end of the straight rod 72 is rotatably connected with the connecting block 76.
Specifically, a first U-shaped groove 723 is provided at the second end of the straight bar 72, and a second U-shaped groove is provided at the end of the top end 74 near the straight bar 72
Here, each of the first and second pins 78 and 79 may be a cylindrical pin, and the outer diameter of the cylindrical pin may be 2mm and the length may be 10mm.
In some embodiments, the handle portion further comprises a top wire 73, the top wire 73 being used to connect the handle 71 with the straight rod 72.
Specifically, the handle 71 is provided with a blind hole into which the straight rod 72 extends, a lateral positioning hole is formed in the side wall of the handle 71, a threaded hole is formed in the straight rod 72, after the straight rod 72 extends into the blind hole, the lateral positioning hole is coaxially abutted to the threaded hole, the jackscrew 73 can be in threaded fit with the threaded hole, and after the jackscrew 73 penetrates through the lateral positioning hole, the handle 71 and the straight rod 72 can be fixedly connected with the threaded hole in a threaded connection mode.
In an alternative embodiment, the second end of the straight rod 72 is provided with a step boss 721, the first U-shaped groove 723 is provided on a narrow boss of the step boss 721, and one end of the spring 77 is sleeved outside a wide boss of the step boss 721, so that the step boss 721 can be rotatably connected with the connecting block 76, and an installation position of the spring 77 can be reserved.
It should be noted that the narrow boss is a portion of the stepped boss 721 away from the handle 71, i.e., a portion of the stepped boss 721 with a smaller diameter; the wide boss is a portion of the step boss 721 near the handle 71, i.e., a portion of the step boss 721 having a larger diameter. A first U-shaped groove 723 is provided on the narrow boss.
The straight rod 72 may be a metal straight rod, the handle 71 may be a rubber handle or a plastic handle, and the cylindrical pin may also be a metal cylindrical pin.
Optionally, an embodiment of the present invention further provides a pelvic positioning system, and the pelvic positioning system described below and the joint replacement surgical instrument described above may be referenced relative to one another.
The pelvis positioning system provided by the invention, as shown in fig. 5, comprises a pelvis positioning frame 100 and an optical positioning device 500.
Wherein the pelvic locator 100 comprises a fixed base for fixing to the pelvis of the patient, a calibration frame movably connected to the fixed base, and a locking member for locking the calibration frame and the fixed base, wherein the locking member is adjusted by means of the joint replacement surgical instrument as described in any of the above embodiments.
Specifically, the fixing base 1 can be fixed on the pelvis of a patient through the bone nails 3, the calibration frame 2 is connected with the fixing base 1 through the connecting seat, the connecting seat comprises a fixing plate and a connecting plate movably connected with the fixing plate, and the calibration frame 2 is movably connected with the connecting plate, so that the pose of the calibration frame 2 can be conveniently adjusted.
In this embodiment, the locking member may include a first bolt 4, a second bolt 5, and a third bolt 6.
Here, the fixing plate is connected to the fixing base 1 by a first bolt 4, the connecting plate is connected to the fixing plate by a second bolt 5, the calibration frame 2 is connected to the connecting plate by a third bolt 6, and the connecting plate is provided with a first adjusting hole perpendicular to the second adjusting hole, the second bolt 5 passes through the first adjusting hole and is connected to the fixing plate, and the third bolt 6 passes through the second adjusting hole and is connected to the connecting plate, so that the position of the calibration frame 2 can be adjusted conveniently.
Furthermore, the optical positioning device 500 is used to determine the position information of the pelvic positioning frame, for example, to position the calibration frame 2, and adjust the calibration frame 2 to be aligned with the optical positioning device 500, and the optical positioning device 500 can acquire the three-dimensional data of the pelvic positioning frame to obtain the actual pose of the patient's skeleton. The optical pointing device 500 is not particularly limited herein.
The calibration frame 2 may be provided with a reflective ball for reflecting light emitted by the optical positioning device, thereby facilitating alignment of the calibration frame 2 with the optical positioning device.
The invention also provides a pelvis positioning method, based on the pelvis positioning system, comprising the following steps:
fixing the fixed base 1 on the pelvis of a patient;
adjusting the pose of the calibration frame 2 to align the calibration frame 2 with the optical positioning device 500;
sleeving the top end part of the joint replacement surgical instrument 7 outside the bolt;
the handle part of the joint replacement surgical instrument 7 is rotated to lock the bolt.
Therefore, the bolts of the pelvis positioning frame 100 are locked by using the joint replacement surgical instrument, only one-time insertion and extraction of the joint replacement surgical instrument is needed in the locking process, multiple insertion and extraction are not needed, the insertion and extraction times of the joint replacement surgical instrument during bolt locking are reduced, and the installation efficiency is improved.
Specifically, the fixed base 1 is fixed on the pelvis of a patient through bone nails 3;
placing the calibration frame 2 on the fixed base 1, and manually pre-tightening the first bolt 4;
sleeving the top end 74 of the joint replacement surgical instrument 7 outside the first bolt 4, and locking the first bolt 4;
adjusting the pose of the calibration frame 2 to align the calibration frame with the optical positioning device 500, and manually pre-tightening the second bolt 5 and the third bolt 6;
and sequentially sleeving the top end 74 of the joint replacement surgical instrument 7 outside the second bolt 5 and the third bolt 6 to lock the calibration frame 2.
In an alternative embodiment of the present invention, after the fixation of the pelvic positioner 100 is completed, the joint replacement surgical instrument 7 is placed in a high temperature space at 130 degrees celsius for sterilization.
The handle portion may be disassembled into individual pieces prior to the sterilization process, including the steps of:
taking down the jackscrew 73 from the straight rod 72;
the straight rod 72 is separated from the handle, and the dirt on the handle and the straight rod 72 is cleaned.
Here, the first pin 78 and the second pin 79 may be separated from the straight bar 72 and the top end 74, respectively, the spring 77 may be separated from the straight bar 72 and the top end 74, the first pin 78 and the second pin 79 may be separated from the connection block 76, respectively, and then the respective parts may be cleaned and sterilized, respectively.
Optionally, referring to fig. 6, another embodiment of the present invention further provides a surgical robot system, which includes the above-mentioned pelvis positioning system and a surgical robot 200, wherein the surgical robot 200 is configured to receive the position information of the pelvis positioning frame 100 and control the end effector 400 to perform a surgical operation on the joint of the patient according to the position information.
Illustratively, the surgical robotic system further comprises: the main control device 300 (also referred to as a main control trolley), and the main control device 300 is configured to receive the position information sent by the optical positioning apparatus 500 (also referred to as an optical navigator) and send the position information to the surgical robot 200.
In another embodiment, the optical pointing device 500 may also transmit position information to the surgical robot 200.
The surgical robot 200 can control the end effector 400 (e.g., rasp, saw) to perform a surgical operation on a patient's joint by receiving the positional information of the pelvic positioner, thereby improving the operation accuracy.
The above-described embodiments of the apparatus are merely illustrative, and some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (11)
1. A joint replacement surgical instrument, comprising:
a handle portion;
a top end portion for connecting with a locking member of the pelvic positioning frame; the top end part is matched with the locking piece and can drive the locking piece to rotate, and the locking degree of the locking piece is adjusted so as to quickly install the pelvis positioning frame;
the connecting piece comprises a connecting block and a spring sleeved outside the connecting block, two ends of the spring are respectively sleeved at the second end of the handle part and the first end of the top end part, and the included angle value between the handle part and the top end part is smaller than a preset included angle value through the limiting action of the spring; the handle portion with the connecting block is connected along first direction rotation, the top portion with the connecting block is connected along second direction rotation, just first direction with the second direction is mutually perpendicular, first direction with the second direction all with the axial of handle portion or the axial of top portion is perpendicular, so that handle portion can for the top portion is crooked, realizes under the different angles the regulation of retaining member.
2. The joint replacement surgical instrument of claim 1, wherein the tip portion comprises:
the top end is rotatably connected with the connecting block along the second direction, an inner hole for the locking piece to be embedded into is formed in the top end, and the inner hole is matched with the locking piece;
the magnetic part is fixedly arranged in the inner hole.
3. The joint replacement surgical instrument of claim 1, wherein the connector further comprises:
the first pin shaft is used for rotatably connecting the handle part and the connecting block;
the second pin shaft is used for rotatably connecting the top end part and the connecting block;
the connecting block is provided with a first through hole and a second through hole perpendicular to the first through hole, the first pin shaft is arranged in the first through hole, and the second pin shaft is arranged in the second through hole.
4. The joint replacement surgical instrument of claim 3, wherein the second end of the handle portion is provided with a first U-shaped groove, the first end of the connecting block is located in the first U-shaped groove, and the first pin is relatively and fixedly connected with the groove wall of the first U-shaped groove and is in clearance fit with the hole wall of the first through hole;
the first end in top portion is provided with second U type groove, the second end of connecting block is located the second U type inslot, just the second round pin axle with the cell wall in second U type groove is fixed connection relatively, the second round pin axle with the pore wall clearance fit of second through-hole.
5. The joint replacement surgical instrument of claim 4, wherein the first pin is removably coupled to a wall of the first U-shaped channel by a first securing assembly;
and the second pin shaft is detachably connected with the groove wall of the second U-shaped groove through a second fixing component.
6. The joint replacement surgical instrument as claimed in claim 5, wherein the first fixing assembly comprises a first clamping member clamped on the first pin shaft and a first nut in threaded connection with the first pin shaft, the first clamping member and the first nut are respectively located on the inner side and the outer side of the groove wall of the first U-shaped groove, and the groove wall of the first U-shaped groove and the first pin shaft can be locked by the first clamping member and the first nut;
the second fixing component comprises a second clamping piece clamped on the second pin shaft and a second nut in threaded connection with the second pin shaft, the second clamping piece and the second nut are respectively located on the inner side and the outer side of the wall of the second U-shaped groove, and the wall of the second U-shaped groove and the second pin shaft can be locked by the second clamping piece and the second nut.
7. The joint replacement surgical instrument as claimed in claim 6, wherein the first pin is provided with two first slots for the first clamping member to be inserted into, the two first slots are respectively disposed near two ends of the first pin, and the first pin is further provided with a first thread matched with the first nut;
the second pin shaft is provided with two second clamping grooves for embedding the second clamping pieces, the two second clamping grooves are respectively close to two ends of the second pin shaft, and the second pin shaft is further provided with second threads matched with the second nut.
8. The joint replacement surgical instrument of claim 1, wherein a first shoulder is provided on the handle portion and a second shoulder is provided on the tip portion, and wherein the spring abuts the first shoulder and the second shoulder at opposite ends thereof.
9. A pelvic positioning system, comprising:
a pelvic positioning frame, comprising a fixing base, a calibration frame and a locking member, wherein the fixing base is used for fixing on the pelvis of a patient, the calibration frame is movably connected with the fixing base, and the locking member is used for locking the calibration frame and the fixing base, wherein the locking member is adjusted by the joint replacement surgical instrument according to any one of claims 1-8;
an optical positioning device for determining positional information of the pelvic positioner.
10. A surgical robot system comprising the pelvic positioning system according to claim 9 and a surgical robot for receiving positional information of the pelvic positioning frame and controlling the end effector to perform a surgical operation on a joint of a patient based on the positional information.
11. The surgical robotic system as claimed in claim 10, further comprising: and the main control equipment is used for receiving the position information sent by the optical positioning device and sending the position information to the surgical robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111593234.8A CN114366302B (en) | 2021-12-23 | 2021-12-23 | Joint replacement surgical instrument, pelvis positioning system and surgical robot system |
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| CN202111593234.8A CN114366302B (en) | 2021-12-23 | 2021-12-23 | Joint replacement surgical instrument, pelvis positioning system and surgical robot system |
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| CN114366302A CN114366302A (en) | 2022-04-19 |
| CN114366302B true CN114366302B (en) | 2023-04-07 |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2151215B1 (en) * | 2002-08-09 | 2012-09-19 | Kinamed, Inc. | Non-imaging tracking tools for hip replacement surgery |
| US20210275129A1 (en) * | 2016-01-11 | 2021-09-09 | Kambiz Behzadi | In situ system and method for sensing or monitoring |
| CN108420533A (en) * | 2018-03-09 | 2018-08-21 | 山东大学齐鲁医院 | With mobile and rotation positioning joint single hole operating robot integral layout structure |
| ES1215739Y (en) * | 2018-06-15 | 2018-10-17 | Fundacion Instituto De Investig Marques De Valdecilla | Navigation reference team in robotic surgery assisted by stereotactic navigation of the organs and soft parts of a patient's pelvic area |
| CN111658104A (en) * | 2020-07-16 | 2020-09-15 | 北京市富乐科技开发有限公司 | Reduction internal fixing system and auxiliary instrument assembly for pelvic surgery |
| CN112618022A (en) * | 2020-12-28 | 2021-04-09 | 武汉联影智融医疗科技有限公司 | Orthopedics array support frame, orthopedics array device and orthopedics robot |
| CN215228371U (en) * | 2021-03-02 | 2021-12-21 | 武汉联影智融医疗科技有限公司 | Array support frame, operation navigation device and operation robot |
| CN113208745B (en) * | 2021-04-30 | 2022-08-23 | 北京长木谷医疗科技有限公司 | Thighbone locating rack |
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Address after: 100176 2201, 22 / F, building 1, yard 2, Ronghua South Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee after: Beijing Changmugu Medical Technology Co.,Ltd. Patentee after: Zhang Yiling Address before: 100176 2201, 22 / F, building 1, yard 2, Ronghua South Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee before: BEIJING CHANGMUGU MEDICAL TECHNOLOGY Co.,Ltd. Patentee before: Zhang Yiling |