CN116370015B

CN116370015B - Hip replacement surgery actuator and surgical system

Info

Publication number: CN116370015B
Application number: CN202210770077.1A
Authority: CN
Inventors: 张钊; 李卫; 张晓峰; 郭金榜
Original assignee: Beijing And Huaruibo Medical Technology Co ltd
Current assignee: Beijing And Huaruibo Medical Technology Co ltd
Priority date: 2022-07-01
Filing date: 2022-07-01
Publication date: 2024-04-30
Anticipated expiration: 2042-07-01
Also published as: CN116370015A

Abstract

The present disclosure discloses a hip replacement surgical actuator for preparing a prosthesis-mounted space on a bone and implanting a prosthesis, comprising a first actuator for connecting a cutting tool to machine an acetabulum and/or a intramedullary canal, the first actuator having a first interface and a second interface; a second actuator for connecting to a second interface of the first actuator when performing a prosthetic implantation operation, the second actuator for connecting to the prosthesis and receiving an impact of installing the prosthesis; wherein the hip replacement surgery actuator is for mounting to the robotic arm through the first interface. When acetabulum preparation and medullary cavity preparation are carried out in hip joint operation, a first actuator is connected to a mechanical arm; the second actuator is connected to the first actuator when the prosthesis is to be installed. With the above arrangement, the operation of replacing the actuator can be reduced.

Description

Hip replacement surgery actuator and surgical system

Technical Field

The present disclosure relates to the field of medical devices, and in particular to hip replacement surgical actuators and surgical systems.

Background

Joint replacement surgery mainly includes knee replacement surgery and hip replacement surgery. In total knee arthroplasty, the distal femur and tibia that make up the knee joint need to be machined to a shape and size suitable for prosthetic implantation. The machining of the femur and tibia is mainly performed by cutting multiple planes with a saw. The shape of the bone after being machined substantially determines the accuracy of the implantation of the knee prosthesis, and thus the machining accuracy of each plane determines the accuracy of the implantation of the prosthesis. In total hip replacement surgery, the proximal ends of the acetabulum and femur that make up the hip joint are machined to a shape and size suitable for prosthetic implantation. Hip arthroplasty involves the grinding of the acetabular fossa and osteotomy and reaming of the proximal femoral head. The accuracy of hip replacement relates to the accuracy of prosthetic implantation on the acetabular side and the accuracy of prosthetic implantation on the femoral side. The accuracy of the implantation of the acetabular-side prosthesis depends on the machining accuracy of the acetabular fossa and the accuracy of the control of the implantation angle and depth of the acetabular prosthesis during implantation. The accuracy of implantation of the prosthesis on the femoral side depends on the accuracy of reaming on the femoral side.

When the acetabular fossa is machined, the acetabular fossa needs to be ground by a grinding tool. The grinding tool generally comprises a hemispherical file head, a connecting rod with a certain length, a holding sleeve sleeved outside the connecting rod and a pistol-shaped power tool. One end of the connecting rod is connected with the file head, and the other end is connected with the power output end of the pistol-shaped tool. In use, a surgeon holds the handle of the pistol-shaped power tool in one hand and the grip sleeve in the other hand, inserts the rasp head into the acetabulum and applies force in the axial direction of the extension rod to grind bone tissue on the acetabular surface. During the grinding process, the surgeon controls the angle of the extension rod with the pelvis and the depth of grinding through experience to control the machining accuracy.

After the acetabular fossa is machined, a cup holder is required to implant the prosthetic cup into the acetabulum. The cup holding device comprises a straight connecting rod or a connecting rod with an elbow and a hammer. One end of the connecting rod is connected with the prosthesis cup, the other end of the connecting rod is used for receiving the striking of a hammer, and the middle of the connecting rod is used for being held by a surgeon. In use, the surgeon grasps the middle of the extension rod to grasp the angle of the extension rod relative to the pelvis and hammers the other end with a hammer to press the prosthetic cup into the acetabular fossa. During implantation, the cup holder as a whole is displaced axially with each hammer as the prosthetic cup enters the acetabular cup.

In recent years, techniques for assisting surgery using a robotic system have become mature, such as knee joint surgery robots sold by MAKO surgery (MAKO surgic). Generally, a robotic system includes a robotic arm, a navigational positioning system, and a control system. The mechanical arm corresponds to the arm of the surgeon, and can hold the surgical tool and position the surgical tool with high accuracy. The navigational positioning system corresponds to the surgeon's eye and can measure the position of the surgical tool and patient tissue in real time. The control system corresponds to the surgeon's brain, storing the surgical plan internally. The control system calculates the route and/or the position to be reached of the mechanical arm according to the information acquired by the navigation positioning system in operation, and can actively control the mechanical arm to move, or the mechanical arm is manually pushed to move along the route, the surface or the body defined by the virtual boundary after the virtual boundary of the mechanical arm is set by a force feedback mode. In a robotic system of the equine surgical company, an electric pendulum saw is suspended from the end of the arm. The surgical positioning of the pendulum saw adjacent the knee joint by a robotic arm and the actuation and pushing of the motorized pendulum saw by the surgeon operates to cut bone, thereby preparing the installation site for the implant of the prosthesis. Robotically-assisted knee replacement surgery has a number of advantages over traditional knee replacement surgery. For example, experience dependence on the surgeon is reduced; reduces iatrogenic injury caused by the use of the traditional mechanical positioning structure.

However, the robotic system described above may not be suitable for the type of surgery, such as hip replacement surgery, because as previously described multiple procedures are required in the hip surgery (e.g., reaming the acetabulum, tapping the acetabular cup, reaming the femoral side), and correspondingly, different configurations of surgical tools are required. Systems designed to accommodate multiple tools require multiple end effectors and removal and installation of different types of effectors onto a robotic arm during a surgical procedure can increase surgical time. In addition, the process of striking the acetabular cup to the acetabular cup can generate high impact forces that can damage the delicate robotic arm.

There is therefore a need for an actuator suitable for use in a robotic system for hip surgery.

The equine surgical company also provided a surgical robot for hip replacement, whose constitution was disclosed in chinese patent No. CN 102612350B. In performing acetabular reaming using the surgical robot, it is necessary to mount a reaming tool to a gripping structure at the distal end of the mechanical arm and then connect a power unit to the reaming tool. The holding structure is also used for connecting the cup holder for the operation of installing the prosthesis, so that after the acetabulum grinding operation is completed, the power device is required to be detached, the grinding tool is detached, and finally the cup holder is installed on the holding structure. The operation of the process is complicated.

Disclosure of Invention

The present disclosure provides an actuator and a surgical system for hip replacement surgery, which can more conveniently and smoothly perform each surgical stage of hip replacement surgery.

The present disclosure provides a hip replacement surgical actuator for preparing a prosthesis-mounted space on a bone and implanting a prosthesis, comprising a first actuator for connecting a cutting tool to machine an acetabulum and/or a intramedullary canal, the first actuator having a first interface and a second interface; a second actuator for connecting to a second interface of the first actuator when performing a prosthetic implantation operation, the second actuator for connecting to the prosthesis and receiving an impact of installing the prosthesis; wherein the hip replacement surgery actuator is for mounting to the robotic arm through the first interface.

In a first possible embodiment, the structure of the attachment prosthesis is parallel to the structure of the attachment cutting tool when the second actuator is attached to said first actuator.

In combination with the foregoing possible implementation manner, in a second possible implementation manner, the first interface and the second interface are distributed at two ends of the first actuator.

In combination with the above possible implementation, in a third possible implementation, the first actuator is provided with a handle configured to be parallel or coaxial with the cutting tool when the cutting tool is connected to the first actuator.

In combination with the above possible implementation manner, in a fourth possible implementation manner, when the cutting tool is connected to the first actuator, the handle and the cutting tool are distributed on both sides of the first actuator.

In combination with the foregoing possible implementation manner, in a fifth possible implementation manner, the first actuator includes a power device and a tool assembly, and the tool assembly is detachably connected with the power device.

In combination with the foregoing possible implementation manner, in a sixth possible implementation manner, the first interface is provided in the power device.

With reference to the foregoing possible implementation manner, in a seventh possible implementation manner, the power device includes a built-in power assembly, where the power assembly includes a power source and an output shaft, and the output shaft is connected with the power source; the tool assembly comprises a connecting part and a surgical tool, the surgical tool is rotatably arranged on the connecting part, and the tool assembly is detachably arranged on the power device through the connecting part; wherein the surgical tool is engaged with the output shaft to receive rotational movement of the output shaft output when the tool assembly is coupled to the power device via the coupling.

In combination with the above possible implementation, in an eighth possible implementation, the insertion or socket action of the surgical tool in the axial direction with respect to the output shaft forms the engagement.

In combination with the above possible implementation, in a ninth possible implementation, the surgical tool and the output shaft are configured as a spline connection.

In combination with the foregoing possible implementation manner, in a tenth possible implementation manner, a radial positioning structure is further disposed between the surgical tool and the power device.

In combination with the foregoing possible implementation manner, in an eleventh possible implementation manner, the radial positioning structure is disposed between the surgical tool and the output shaft.

In combination with the foregoing possible implementation manner, in a twelfth possible implementation manner, the radial positioning structure is a shaft hole matching between the output shaft and the surgical tool.

In combination with the foregoing possible implementation manner, in a thirteenth possible implementation manner, the connection portion and the power device are connected by a screwing structure to form axial and circumferential limits on the connection portion.

In combination with the foregoing possible implementation manner, in a fourteenth possible implementation manner, the screwing structure includes a screwing groove and a positioning pin that are disposed on a circumferential surface, and the screwing groove is used for guiding the positioning pin and includes a limiting portion that limits the circumferential direction and the axial direction of the positioning pin.

In combination with the foregoing possible implementation manner, in a fifteenth possible implementation manner, the spin groove is disposed on the power device, and the positioning pin is disposed on the connection portion.

In combination with the foregoing possible implementation manner, in a sixteenth possible implementation manner, the rotary groove includes a screw section and a positioning section that are connected, and the positioning pin enters the positioning section along the screw section to enable the connection portion and the power device to have a circumferential positioning relationship and an axial positioning relationship.

In combination with the foregoing possible implementation manner, in a seventeenth possible implementation manner, a positioning module is disposed between the connection portion and the power device, and the positioning module forms a predetermined acting force between the connection portion and the power device.

In combination with the foregoing possible implementation manner, in an eighteenth possible implementation manner, the positioning module includes an elastic member, and the elastic member is pressed by the power device and the tool assembly to generate a predetermined acting force, and a direction of the predetermined acting force is an axial direction of the output shaft.

In combination with the foregoing possible implementation manner, in a nineteenth possible implementation manner, a resilient member is disposed between the surgical tool and the connecting portion in the tool assembly, and the resilient member presses the surgical tool so as to axially compress the surgical tool and the output shaft.

In combination with the above possible implementation, in a twentieth possible implementation, the surgical tool is an acetabular rasp bar or a intramedullary reamer.

In combination with the foregoing possible implementation manner, in a twenty-first possible implementation manner, the device further includes a tracer component, where the tracer component is disposed on a surface of the power device.

In combination with the above possible implementation manner, in a twenty-second possible implementation manner, the first actuator forms an extension of the end section when connected to the end section of the mechanical arm.

In combination with the foregoing possible implementation manner, in a twenty-third possible implementation manner, the second actuator is a prosthesis installation actuator, including a sliding rod, a supporting component and a tracer, where a first end of the sliding rod is used for connecting the prosthesis, and a second end of the sliding rod is used for receiving an impact force when the prosthesis is installed; the support assembly comprises a coupling part, wherein the coupling part accommodates part of a rod section of the slide rod, and the slide rod is axially movable relative to the support assembly; the support assembly is used for connecting the prosthesis installation actuator to a mechanical arm of the robot system; the tracer is disposed on the slide bar to indicate the orientation of the slide bar.

In combination with the foregoing possible implementation manner, in a twenty-fourth possible implementation manner, an axial buffering mechanism is further included, and the axial buffering mechanism forms an axial buffering between the sliding rod and the supporting component when the sliding rod is subjected to an axial impact.

In combination with the foregoing possible implementation manner, in a twenty-fifth possible implementation manner, an axial limiting structure is disposed between the sliding rod and the supporting component, and the buffer mechanism is disposed between the supporting component and the axial limiting structure.

In combination with the above possible implementation, in a twenty-sixth possible implementation, the axial damping mechanism is precompressed/stretched.

In combination with the foregoing possible implementation manner, in a twenty-seventh possible implementation manner, the coupling portion is a channel penetrating through the support assembly, and the axial buffering mechanism includes 2 buffering members, and the 2 buffering members are located at two ends of the channel respectively.

In combination with the foregoing possible implementation manner, in a twenty-eighth possible implementation manner, each of the 2 cushioning members is in a compressed state.

In combination with the foregoing possible implementation manner, in a twenty-ninth possible implementation manner, the axial limiting structure includes a retaining ring disposed on the sliding rod, and the buffer member is disposed between the retaining ring and the supporting component.

In combination with the foregoing possible implementation manner, in a thirty-first possible implementation manner, the axial limiting structure further includes an insulating member on one side of the supporting component, and the buffer member is located between the insulating member and the retainer ring.

In combination with the above possible implementation manner, in a thirty-first possible implementation manner, the sliding rod further includes a grip portion for an operator to grasp.

In combination with the above possible implementation, in a thirty-second possible implementation, the gripping portion is located between the support assembly and the prosthesis.

In combination with the foregoing possible implementation manner, in a thirty-third possible implementation manner, the grip portion and the sliding rod are rigidly connected in an axial direction.

In combination with the foregoing possible implementation manner, in a thirty-fourth possible implementation manner, a quick-release mechanism is disposed between the support assembly and the mechanical arm, and the prosthesis installation actuator is connected to the mechanical arm through the quick-release mechanism.

In combination with the foregoing possible implementation manner, in a thirty-fifth possible implementation manner, the quick-release mechanism includes a first limiting mechanism and a second limiting mechanism, where the second limiting mechanism is a mechanism for manually releasing the limiting.

In combination with the foregoing possible implementation manner, in a thirty-sixth possible implementation manner, the device further includes an adjusting assembly, configured to adjust a circumferential position of the prosthesis relative to the sliding rod, where the adjusting assembly includes an adapter shaft and an adjusting member, and one end of the adapter shaft is configured to be connected to the prosthesis; the adjusting piece is used for connecting the switching shaft to the slide bar, and the circumferential position between the adjusting piece and the slide bar is adjustable and fixed with the circumferential position between the switching shaft.

In combination with the foregoing possible implementation manner, in a thirty-seventh possible implementation manner, the adjusting member is movable between a first position and a second position of the adapting shaft, the circumferential position of the adjusting member between the first position and the slide bar is fixed, and the circumferential position of the adjusting member relative to the slide bar is adjustable at the second position.

In combination with the foregoing possible implementation manner, in a thirty-eighth possible implementation manner, the adjusting member forms a spline fit with the sliding rod at the first position, and/or the adjusting member and the adapting shaft are matched by a clamping block clamping groove, and the clamping groove extends along the axial direction of the adapting shaft.

In combination with the foregoing possible implementation manner, in a thirty-ninth possible implementation manner, the device further includes a retaining member configured to retain the adjusting member in the first position when the adjusting member is not subjected to an external force.

A second aspect of the present disclosure proposes a surgical system comprising an actuator, a robotic arm, a navigation system, and a control system. The actuator is the hip replacement surgery actuator described in the first aspect; the mechanical arm is connected with a first interface of the actuator; the navigation system is used for measuring the position of the actuator; the control system is used for driving the mechanical arm to move the actuator to the target position according to the operation plan.

The present disclosure provides a hip replacement surgical actuator including a first actuator for coupling a cutting tool to machine an acetabulum and/or a intramedullary canal, and a second actuator coupled to the first actuator when performing a prosthetic implantation operation and for coupling a prosthesis and receiving an impact of installing the prosthesis. When the acetabulum preparation and the medullary cavity preparation are carried out in the hip joint operation, the first actuator is connected to the mechanical arm, and the second actuator is connected to the first actuator when the prosthesis is required to be installed. Through the arrangement, the operation of replacing the actuator can be reduced conveniently, and the hip joint replacement operation can be completed conveniently.

Drawings

FIG. 1 is a schematic view of a surgical system according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of a hip replacement surgical actuator according to an embodiment of the present disclosure;

FIG. 3 is a schematic illustration of a first actuator use in accordance with an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a power plant configuration of an embodiment of the present disclosure;

FIG. 5 is a cross-sectional view of the internal structure of a power plant according to an embodiment of the present disclosure;

FIG. 6 is a schematic illustration of the configuration of the output shaft of the power plant of FIG. 3 in accordance with an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of an output shaft configuration of an embodiment of the present disclosure;

FIG. 8 is a schematic view of a coupling structure according to an embodiment of the present disclosure;

FIG. 9 is a schematic illustration of a joint and output shaft configuration of an embodiment of the present disclosure;

FIG. 10 is a cross-sectional view of a joint and output shaft structural representation of an embodiment of the present disclosure;

FIG. 11 is a schematic diagram of a first tool assembly according to an embodiment of the present disclosure;

FIG. 12 is a cross-sectional view of a first tool assembly according to an embodiment of the present disclosure;

FIG. 13 is a schematic view of a connection structure according to an embodiment of the present disclosure;

FIG. 14 is a schematic illustration of a snap-in structure and spline connection of an embodiment of the present disclosure;

FIG. 15 is a schematic cross-sectional view of a power plant and a first tool assembly according to an embodiment of the present disclosure;

fig. 16 is a schematic view of a connection between a first tool assembly and a power unit according to an embodiment of the disclosure.

Fig. 17 is a schematic view of another connection structure between the output shaft and the adapter shaft according to the embodiment of the disclosure.

Fig. 18 is a schematic view of another connection structure between the output shaft and the adapter shaft according to an embodiment of the disclosure.

FIG. 19 is a schematic view of a first actuator coupled to a second tool assembly according to an embodiment of the present disclosure;

FIG. 20 is a schematic diagram of the overall structure of a second actuator according to an embodiment of the present disclosure;

FIG. 21 is a cross-sectional view of the overall structure of a second actuator according to an embodiment of the present disclosure;

FIG. 22 is a schematic view of a connection between a support assembly and a slide bar in accordance with an embodiment of the present disclosure;

FIG. 23 is a schematic illustration of components at a coupling portion of an embodiment of the present disclosure;

FIG. 24 is a schematic view of a second actuator installed by a first actuator in an embodiment of the present disclosure;

FIG. 25 is a schematic view of a support assembly and a second interface structure in accordance with an embodiment of the present disclosure;

FIG. 26 is a second schematic illustration of a support assembly and a second interface structure according to an embodiment of the present disclosure;

FIG. 27 is a third schematic illustration of a support assembly and a second interface structure according to an embodiment of the present disclosure;

FIG. 28 is a schematic view of a slide bar with an adjustment member mounted thereto in accordance with an embodiment of the present disclosure;

FIG. 29 is a schematic view of an adjustment member in accordance with an embodiment of the present disclosure;

FIG. 30 is a second schematic view of an adjustment member according to an embodiment of the present disclosure;

FIG. 31 is a third schematic view of an adjustment member according to an embodiment of the present disclosure;

FIG. 32 is a schematic view of a nut structure according to an embodiment of the present disclosure;

FIG. 33 is a schematic diagram of a nut structure according to an embodiment of the present disclosure;

Reference numerals: 1-slide bar, 2-tracer, 3-grip, 4-main body, 5-coupling, 6-insulating sleeve, 7-sliding sleeve, 8-first buffer, 9-retainer, 10-insulator, 11-second buffer, 12-plug, 13-second interface, 14-mounting hole, 15-plug, 16-first spring, 17-spacer, 18-plug pull, 19-identification plug, 20-identification seat, 21-adapter shaft, 22-nut, 23-adapter sleeve, 24-spline, 25-retainer, 26-nut, 27-adjuster, 28-first position, 29-second position, 30-first interface, 40-handle, 50-insulator, 60-grip sleeve, 70-ring slot, 80-axial buffer mechanism, 90-axial limit structure;

100-shell, 101-baffle edge, 121-limit groove, 131-bottom plate, 132-limit button, 1321-first section, 1322-second section, 133-bolt hole, 140-quick-dismantling mechanism, 141-first limit mechanism, 142-second limit mechanism, 150-tracing component, 151-tracing element;

200-motor, 210-main shaft section, 211-connecting hole, 212-fixture block, 213-flange, 214-limit section, 215-limit step, 221-outer wall, 222-clamping groove, 223-spline groove, 261-stress plate and 262-connecting section;

300-speed reducer;

400-an output shaft, 401-an input section, 402-a middle section, 403-an output section, 4031-a coupling spline and 404-a positioning hole;

500-coupling, 501-first part, 502-second part;

600-joint, 601-hole, 602-spin groove, 6020-limit part, 6021-precession section, 6022-positioning section, 603-hole 610-spin structure;

700-connecting rod main shaft, 701-spline joint, 702-joint hole; 703-positioning shaft, 710-spline connection, 720-radial positioning structure;

800-connecting rod lock head, 801-locating pin;

900-positioning modules, 901-clamping holders, 902-elastic pieces and 903-sliding sleeves;

1000a, 1000 b-surgical tool, 1001-reamer spindle, 1002-reamer edge, 1003-prosthesis, 1004-cutting tool;

2000-power unit, 2100-power assembly, 2200-power source, 3000-tool assembly, 4000-support assembly, 5000-adjustment assembly, 6000-first actuator, 7000-second actuator, 8000-connection, 9000-navigation system, 9100-mechanical arm, 9200-control system, 9300 hip replacement surgery actuator.

Detailed Description

Features and exemplary embodiments of various aspects of the present disclosure will be described in detail below, and in order to make the objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be described in further detail below with reference to the accompanying drawings and the detailed embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative of the present disclosure and not limiting. It will be apparent to one skilled in the art that the present disclosure 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 present disclosure by showing examples of the present disclosure.

It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 like elements in a process, method, article, or apparatus that comprises an element.

It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The embodiments will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1, the robotic system provided by the present disclosure includes a robotic arm 9100, a navigation system 9000, a hip replacement surgery executor 9300, and a control system 9200. The mechanical arm 9100 corresponds to an arm of a surgeon, and can hold and position a surgical tool with high accuracy. The navigation system 9000 corresponds to the surgeon's eye and can measure the position of surgical tools and patient tissue in real time. Control system 9200 corresponds to the surgeon's brain, storing the surgical plan internally. The control system 9200 may actively control the movement of the robotic arm 9100, or manually push the robotic arm 9100 to move along a path, plane, or within a defined volume defined by the virtual boundary of the robotic arm 9100 after setting the virtual boundary of the robotic arm 9100 via a force feedback mode, according to information obtained through the navigation system 9000 during surgery to calculate the path and/or the position to be reached by the robotic arm.

Hip replacement surgical actuator 9300 is used to prepare the space for the installation of the prosthesis on the bone and implant the prosthesis. The hip replacement surgical actuator includes a first actuator and a second actuator. The first actuator is for connecting a cutting tool for machining an acetabulum and/or a intramedullary canal. The first actuator has a first interface and a second interface. The second actuator is configured to be coupled to a second interface of the first actuator when performing a prosthetic implant operation. The second actuator is used for connecting the prosthesis and receiving the impact of installing the prosthesis. Wherein the hip replacement surgery actuator is configured to be mounted to the robotic arm 9100 via a first interface. When acetabulum preparation and medullary cavity preparation are performed in hip joint surgery, a first actuator is connected to the mechanical arm 9100; the second actuator is connected to the first actuator when the prosthesis is to be installed. With the above arrangement, the operation of replacing the actuator can be reduced.

Specifically, in hip replacement surgery, after exposing the affected hip joint, preparation of the acetabular fossa is generally advanced, and in this process, the affected acetabular fossa needs to be ground with a rotating acetabular file to prepare a shape suitable for installation of a prosthesis. Fig. 1 is a schematic view of a first actuator for preparing an acetabular socket. The first actuator 6000 is coupled to the robotic arm 9100 via the first interface 30, and the first actuator 6000 is removably coupled to an acetabular filer tool assembly (i.e., surgical tool 1000 a) having a distal end for coupling to a rasp head (i.e., cutting tool 1004). In this state, the acetabular filer tool assembly may be driven by the first actuator 6000 to grind the acetabulum. After the acetabulum is prepared, a prosthesis needs to be placed in the acetabulum. Fig. 2 shows the second actuator 7000 connected to the second interface 13 of the first actuator 6000 (with the acetabular filer tool assembly on the first actuator 6000 for grinding the acetabulum removed). The second actuator 7000 is indirectly connected to the arm 9100 via the first actuator 6000, and the prosthesis can be mounted under the grip of the arm 9100. Further, as shown in fig. 18, to perform reaming of the proximal femur, the second actuator 7000 is removed from the second interface 13 and a intramedullary reamer assembly (i.e., the surgical tool 1000 b) for reaming is mounted on the first actuator 6000.

First actuator 6000 is described below, wherein tool assembly 3000 is a rod for connecting an acetabular rasp head, as shown in fig. 1-19.

The first actuator 6000 is a joint arthroplasty actuator for preparing a molded acetabular fossa or intramedullary canal on a hip joint. First actuator 6000 includes power plant 2000 and tool assembly 3000. The power plant 2000 includes a housing 100 and an internal power assembly 2100. The first actuator 6000 is connected to the end of the arm 9100 of the robot, and the power assembly 2100 includes a power source 2200 and an output shaft 400, the output shaft 400 being connected to the power source 2200. The tool assembly 3000 includes a connecting portion 8000 and a surgical tool 1000a, the surgical tool 1000a being rotatably disposed at the connecting portion 8000. The tool assembly 3000 is detachably mounted to the power unit 2000 via the connection 8000. When tool assembly 3000 is coupled to power device 2000 via coupling 8000, surgical tool 1000a is engaged with output shaft 400 to receive rotational movement output by output shaft 400. The power assembly 2100 is disposed inside the housing 100 and outputs power through the output shaft 400. The output shaft 400 engages an end of the tool assembly 3000 to drive the rasp bar without the use of a long guide barrel to guide the bar, resulting in a more compact actuator structure. Thus, the interference influence of an external power source on the operation space and the safety influence are reduced; the operation of assembling an external power source in the operation is reduced, so that the operation flow is smoother.

Specifically, as shown in fig. 2, 4-6, the first actuator 6000 includes a power device 2000 and a tool assembly 3000. Power plant 2000 includes a housing 100 and a power assembly 2100. The housing 100 is a hollow interior member and has a substantially quadrangular prism shape. The housing 100 is provided at both ends thereof with a first interface 30 and a second interface 13, respectively. The first interface 30 serves as a connection terminal for connecting the first actuator 6000 to the mechanical arm 9100. The second interface 13 serves as a prosthesis mounting actuator interface for detachably connecting a prosthesis mounting actuator (i.e., the second actuator 7000). The shell 100 is also provided with a handle 40, the interior of the handle 40 is hollow, and the handle 40 is detachably connected with the shell 100. The power device 2000 is configured for coupling to the tool assembly 3000 as a quick-fit interface disposed on the opposite side of the housing 100 from the position of the handle 40. When the tool assembly 3000 is mounted to the quick-fit interface, the handle 40 is substantially aligned with the axis of the acetabular milling stem assembly, which are disposed on either side of the power device 2000. Various surfaces of the housing 100 are used to connect the tracer assemblies 150 to indicate the position of the actuators.

As shown in fig. 5, power assembly 2100 includes motor 200, reducer 300, output shaft 400, and coupling 500. The motor 200 and the decelerator 300 constitute a power source 2200, and the power source 2200 is integrated inside the handle 40 and fixedly connected with the housing 100. The shaft of the speed reducer 300 is connected to the output shaft 400 through a coupling 500. The power source 2200 and the output shaft 400 are both coaxially disposed, with the axis perpendicular to the housing 100.

As shown in fig. 7, the output shaft 400 includes an input section 401, a middle section 402, and an output section 403, which are disposed in this order. The input section 401 is provided with a keyway 4011 for receiving rotational movement from the power source 2200. The middle section 402 is mounted in bearings in the power plant 2000. The output section 403 is provided with a coupling spline 4031, the coupling spline 4031 comprising a plurality of circumferentially spaced apart protrusions for outputting torque. The length of the coupling spline 4031 is less than the length of the output section 403, i.e., the end section of the output section 403 is an optical axis.

As shown in fig. 8, the coupling 500 is a quincuncial coupling. The coupling 500 comprises a first part 501 and a second part 502, the first part 501 and the second part 502 are provided with locking screws for fixing shafts, and an insulating sleeve is arranged between the first part 501 and the second part 502. The shaft at the output of the reducer 300 is connected to the first portion 501 by a coupling key and a locking screw, and the output shaft 400 is also connected to the second portion 502 by a key connection and a locking screw. The coupling 500 and the shaft at the output end of the reducer 300 and the keyed connection of the output shaft 400 increase the reliability of the transmission on the basis of the locking screw on the one hand and the keyed connection on the other hand increases the maximum torque that can be transmitted.

Referring to fig. 5 and 6, inside the first actuator 6000, an insulating cover 50 is provided at the outer periphery of the coupling 500. The insulating cover 50 can isolate the housing 100 from the speed reducer 300, so as to prevent the electric leakage of the motor 200 from being conducted to the housing 100 through the speed reducer 300. The insulation cover 50 has a function of isolating wires/leads, preventing the wires/leads inside the housing 100 from rubbing or winding with the rotating coupling 500.

Referring to fig. 5 to 7 and 9 to 10, the housing 100 is further provided with a joint 600, and the joint 600 is fixed to the housing 100.

The joint 600 is used to connect the tool assembly 3000 and mount the output shaft 400. The main body of the connector 600 is columnar, a hole 601 is formed in the main body, four rotary grooves 602 are formed in the periphery of the main body, and the rotary grooves 602 are used for guiding the pin shaft piece and comprise limiting parts 6020 for limiting the circumferential direction and the axial direction of the pin shaft piece. One end of the joint 600 is provided with two wings in the radial direction. The bore 601 is configured to receive a bearing and receive the middle section 402 of the output shaft 400. The spiral groove 602 includes a precession section 6021 and a positioning section 6022, the precession section 6021 extending helically in a first axial direction, the positioning section 6022 extending in a second axial direction at an end of the precession section 6021 extending, wherein the first axial direction and the second axial direction are opposite. The sidewall of the positioning segment 6022 forms a stop portion 6020. The locating section 6022 is used to form a second axial stop and a circumferential stop for the contents of the trough. The wings are used to secure the connector 600 to the housing 100. When the output shaft 400 is mounted to the joint 600, the coupling splines 4031 extend out of the bore 601 and are located outside of the housing 100.

As shown in fig. 11-13, tool assembly 3000 includes a connecting portion 8000 and a surgical tool 1000a. The surgical tool 1000a is rotatably provided at one end thereof to the connection portion 8000. The surgical tool 1000a is an acetabular milling file component, and the other end is connected with an acetabular milling file. The acetabular milling rasp bar assembly includes a connecting bar spindle 700, an acetabular rasp connecting member, and a handle sleeve 60. One end of the connecting rod main shaft 700 is rotatably connected with the connecting part 8000, and the other end is provided with a file connecting part. The handle sleeve 60 is sleeved outside the main shaft 700 of the extension rod. The end of the extension rod main shaft 700 connected to the connection portion 8000 is provided with a spline joint 701 and a joint hole 702. The spline joint 701 can be fitted with the coupling spline 4031 to achieve transmission of rotational motion. But the two are not a tight fit and can be separated in the axial direction. The diameter of the engagement hole 702 is the same as the diameter of the optical axis portion on the output section 403.

The connection 8000 includes a extension bar lock 800 and an extension bar connection module. The extension rod lock head 800 is hollow and cup-shaped, and a round hole is arranged at the bottom. Four positioning pins 801 distributed along the circumferential direction are arranged on the inner circumferential surface of the extension rod lock head 800 near the opening. The extension rod connection module is disposed inside the extension rod lock 800 for rotatably connecting the acetabular milling rasp bar assembly to the extension rod lock 800.

The extension rod connection module includes a catch 901, a positioning module 900, and a pair of sliding sleeves 903, all coaxially retained within the extension rod lock 800. The clip 901 is ring-shaped and is provided at the outermost side (the opening side of the link lock 800). The positioning module 900 includes an elastic member 902 for providing a predetermined force between the connection portion 8000 and the power device 2000, and in this embodiment, the elastic member 902 is a thrust spring. The two sliding sleeves 903 are annular and are axially positioned between the clamping support 901 and the bottom of the extension rod lock head 800. The outer circumference of the sliding sleeve 903 is matched with the inner circumference of the extension rod lock head 800, and the inner hole is equal in diameter with the extension rod main shaft 700. The thrust spring is disposed between two sliding sleeves 903.

The main shaft 700 of the extension rod is sleeved in the clamping support 901, the thrust spring and the sliding sleeve 903. The outer circumferential surface of the extension bar main shaft 700 is further provided with two ring grooves 70 having a predetermined interval, and the ring grooves 70 are used for installing a retainer ring. In the assembled relationship, the clamping support 901, the thrust spring, the sliding sleeve 903 and the extension rod lock head 800 are all located between the two baffle rings, so that the extension rod lock head 800 and the extension rod main shaft 700 form a whole. The thrust spring is compressible, so that the extension rod lock head 800 has a certain activity along the axial direction of the extension rod main shaft.

As shown in fig. 14, the connection and the power device 2000 will be connected by a snap-fit structure 610 to form axial and circumferential limits for the connection, wherein the snap-fit structure 610 is comprised of a dowel 801 and a snap-fit groove 602, i.e. the tool assembly 3000 is connected to the housing 100 by a snap-fit of the dowel 801 and the snap-fit groove 602.

Fig. 15 and 16 are schematic views of the acetabular rasp bar assembly mounted to a power device 2000. In assembled relationship, the locating pin 801 is inserted into the locating section 6022 of the spin slot 602. The two axially extending side walls of the locating section 6022 form a circumferential limit to the locating pin 801 and the end walls form an axial limit to the locating pin 801. Therefore, the extension bar lock 800 does not drop in the axial direction or rotate in the circumferential direction without external force. The radial positioning is formed between the connection 8000 and both the extension rod main shaft 700 and the housing 100, which is equivalent to the radial positioning formed between the extension rod main shaft 700 and the output shaft 400 (which is positioned on the housing 100). Referring specifically to fig. 14 and 16, the optical axis portion of the output shaft 400 and the engagement hole 702 of the main shaft 700 of the extension rod form a radial positioning structure 710, and the radial positioning structure 710 is an equal-diameter shaft hole mating structure, i.e. direct radial positioning is formed between the output shaft 400 and the engagement hole 702. Limited by the length and mating accuracy of the mating segments that form the radial positioning between the connection 8000 and the extension rod main shaft 700, there may be some radial play of the extension rod main shaft 700. And radial positioning between the optical axis portion of the output shaft 400 and the engagement hole 702 of the link main shaft 700 can improve radial positioning accuracy.

The spline joint 701 of the extension rod main shaft 700 aligns with and engages the coupling spline 4031 of the output shaft 400 to receive rotational movement. The axial force of the thrust spring against the lever lock 800 causes the locating pin 801 to be axially compressed against the end wall of the locating section 6022. Because the thrust spring is compressed, the connection between the connection portion 8000 and the power device 2000 has internal stress, and the internal stress enables stable axial positioning between the tool assembly 3000 and the power, and the design difficulty or the installation difficulty for ensuring the axial positioning precision cannot be increased, so that the connection is more stable, and the looseness is not easy to occur due to vibration and the like. And, the extension rod main shaft 700 is urged by the thrust spring against the output shaft 400 in the axial direction to form axial positioning.

Compared with screw thread screwing connection, the matching of the positioning pin 801 and the screw groove 602 is more labor-saving, and the rapid disassembly and assembly during operation are facilitated; the direct physical restraint of the locating section 6022 to the locating pin 801 is also more reliable relative to friction locking. In some alternative embodiments, the positioning pin 801 may be disposed on the outer circumferential surface of the extension bar lock 800, and the spin groove 602 is disposed on the inner circumferential surface of the joint 600. In other alternative embodiments, the locating pin 801 may be disposed on the inner/outer circumferential surface of the joint 600, and the rotation groove 602 may be disposed on the outer/inner circumferential surface of the extension rod lock head 800, so that the locating pin 801 is also guaranteed to be screwed when being matched with the rotation groove 602, and further axial and circumferential positioning of the joint 600 and the extension rod lock head 800 is achieved.

The joint between the output shaft 400 and the extension rod main shaft 700 is a spline connection 710, and the spline connection 710 is realized only by axially aligning the extension rod main shaft 700 with the output shaft 400 in the joint process, so that the operation is convenient. In some alternative embodiments, torque-transmittable connection between the output shaft 400 and the main shaft 700 of the extension rod can be formed by mutual engagement of end surfaces.

In some alternative embodiments, as shown in fig. 17, other radial positioning structures may be substituted for the radial positioning between the optical axis portion of the output shaft 400 and the engagement hole 702 of the extension rod main shaft 700. For example, a positioning shaft 703 is provided at the end of the main shaft 700 of the extension rod, and a positioning hole 404 is provided on the output shaft 400, and the shaft holes of the two are matched to form radial positioning. Alternatively, as shown in fig. 18, a shaft hole fitting structure is provided between the joint 600 and the extension rod main shaft 700, for example, a hole 603 having a diameter larger than that of the spline portion of the output shaft 400 is provided at the end of the joint 600, and the ends of the corresponding extension rod main shafts 700 are provided to have the same diameter, so that a shaft hole fitting is formed therebetween.

In some alternative embodiments, springs may also be provided at other locations as elastic members 902 in positioning module 900 to create internal stresses between tool assembly 3000 and power plant 2000. For example, a compression spring is fixed to the power unit 2000. When the tool assembly 3000 is mounted to the power device 2000, the extension rod lock head 800 compresses the compression spring, and the reaction force of the compression spring compresses the positioning pin 801 of the extension rod lock head 800 in the rotary groove 602, so that the pre-pressure is kept between the extension rod lock head 800 and the power device 2000, and a relatively stable connection is formed. In the final use condition, the extension rod main shaft 700 is axially compressed with the output shaft by the reaction force of the patient tissue. The compression spring may be a common coil spring, a disc spring, a corrugated spring, etc., and of course, the elastic member 902 is not limited to a spring form, and may be a resilient piece.

The use of the hip arthroplasty will be described in detail.

In use, the first actuator 6000 is coupled to the robotic arm 9100 via the first interface 30, and the tool assembly 3000 is not installed on the first actuator 6000. First, the robot arm 9100 enters a preparation position according to a predetermined surgical plan. The surgeon mounts the acetabular rasp bar assembly carrying the acetabular rasp (i.e., the cutting tool 1004) to the first actuator 6000 via the adapter 600. Specifically, the doctor holds the extension rod lock head 800 to axially sleeve the engagement hole of the extension rod main shaft 700 on the output section 403 of the output shaft 400, and makes the coupling spline 4031 aligned with the spline joint 701 for engagement. After the circumferential engagement of the output shaft 400 and the extension rod main shaft 700 is completed, the extension rod main shaft 700 is abutted against the output shaft 400, and a doctor pulls and rotates the extension rod lock head 800 in a direction approaching to the actuator, so that the positioning pin 801 of the extension rod lock head 800 finally enters the positioning section 6022 along the screwing section 6021 in the rotary groove 602.

Thus, the coupling spline 4031 engages the spline joint 701 to achieve circumferential engagement of the output shaft 400 and the extension rod main shaft 700, and the mating of the output section 403 and the engagement hole 702 improves the coaxiality of the connection, and also increases the radial positioning length of the docking rod main shaft 700 along with the extension rod lock head 800, improving the coaxiality of the output shaft 400 and the extension rod main shaft 700 when transmitting rotation. When the locating pin 801 is positioned within the locating section 6022, the locating pin 801 is constrained from rotating circumferentially relative to the fitting 600 by the two axially extending side walls of the locating section 6022. The thrust spring causes the extension bar lock head 800 to have a tendency to move relative to the joint 600 toward the extension bar main shaft 700, which tends to prevent the locating pin 801 from axially exiting the locating section 6022 to the precession section 6021. The thrust spring axially abuts the extension rod main shaft 700 against the output shaft 400, i.e., the thrust spring urges the extension rod main shaft 700 into axial engagement with the output shaft 400. In the above operation, the radially positioned portion of the extension rod spindle 700 is the top end, and the axial travel of the acetabular milling rasp bar assembly is small, and the required operation space is correspondingly small.

To this end, the acetabular rasp bar assembly is fully coupled to the housing 100 and the first actuator 6000 is moved to a predetermined target position under the control of the robotic arm 9100 and a surgeon under the direction of a predetermined surgical plan. The motor 200 is started, and the rotation of the motor 200 is transmitted to the output shaft 400 through the decelerator 300 and the coupling 500 in order. Since the output shaft 400 is connected with the extension rod main shaft 700 through the coupling spline 4031 and the spline joint 701, the extension rod main shaft 700 is driven by the output shaft 400 to rotate, and in the rotating process, the extension rod lock head 800 is fixedly connected with the joint 600, so that the extension rod lock head 800 cannot rotate. The rotating extension rod spindle 700 rotates the acetabular file (cutting tool 1004) for grinding and shaping of the acetabular fossa.

After grinding and forming of the acetabular fossa is completed according to a predetermined operation plan, the mechanical arm 9100 enters a pose in which the acetabular grinding file rod assembly can be detached, a doctor overcomes the limitation that the thrust spring elastic force lifts the extension rod lock head 800, the positioning pin 801 is separated from the positioning section 6022, the extension rod lock head 800 is rotated, the positioning pin 801 is separated from the rotary groove 602 after passing through the precession section 6021, and the extension rod lock head 800 is separated from the joint 600. Removal is accomplished by moving the acetabular milling rasp bar assembly away from the adapter 600 in the axial direction of the extension bar spindle 700.

In summary, the motor 200, the reducer 300, the coupling, and the output shaft 400 are integrated inside the housing 100, and the power cord of the motor 200 may be introduced through the interface between the housing 100 and the mechanical arm 9100. The first actuator 6000 is compact in structure, an external power source is not required to be arranged, and interference influence of the external power source and a power line thereof on a surgical space and potential safety hazards caused by exposure of the power line are avoided. The operation steps of the operation are reduced without assembling an external power source in the operation. The tool assembly 3000 is comprised of a connection 8000 and acetabular rasp bar assembly as a preloaded modular component that facilitates the detachable connection of the surgical tool 1000a to the output shaft 400.

In an alternative embodiment, as shown in fig. 19, the surgical tool 1000b is a intramedullary reamer and the tool assembly 3000 includes a coupling 8000 and a intramedullary reamer. The reamer comprises a reamer rod 1001 and a reamer connected with the reamer rod 1001 and used for reaming marrow, wherein a spline joint 701 is arranged at the end part of the reamer rod 1001 and used for being connected with a coupling spline 4031; the reamer is provided with a reamer blade 1002 for reaming the femoral medullary cavity in a rotational motion. The connecting portion 8000 has the same structure as the connecting portion 8000 for connecting the acetabular milling file rod assembly, and the connecting rod connecting module connects the reamer rod 1001 with the connecting rod lock 800. And, the tool assembly 3000 connected with the intramedullary reamer is connected with the joint 600 and the output shaft 400 in the same way as the above, after the extension rod lock 800 is connected with the joint 600, the intramedullary reamer is connected to the output shaft 400 through the spline joint 701 and the coupling spline 4031, and the output shaft 400 drives the intramedullary reamer to rotate under the drive of the motor 200 and performs the reaming task of the proximal femur.

In an alternative embodiment, the first actuator 6000 is provided with three sets of tracer assemblies 150. Three sets of tracer assemblies 150 are provided on three sides of the housing 100, each set containing four co-planar tracer elements 151. As shown in fig. 2 to 4, three planes are provided on the housing 100, and three sets of trace elements 151 are provided on the three planes, respectively. The tracer element 151 may be a passive reflective ball or a reflective sheet, or may be an active electromagnetic generator or sensor.

It will be appreciated that in hip arthroplasty, the tracer device 150 transmits positional information of the first actuator 6000 to the locator, which is typically a fixed location in the operative space as a means of receiving positional information in the navigation system 9000, such that the first actuator 6000 can be identified by the locator in a variety of positions by the arrangement of the three sets of tracer elements 151. The locator may be an optical navigator for identifying reflected light or a receiver for identifying electromagnetic signals, corresponding to the trace element 151.

The second actuator 7000 is described in detail below, as shown in fig. 20 to 33.

The second actuator 7000 is a prosthesis mounting actuator for mounting the prosthesis 1003 in a hip replacement surgery. The prosthesis installation actuator comprises a slide bar 1, a support assembly 4000 and a tracer 2. The first end of the slide bar 1 is adapted to be connected to the prosthesis 1003 and the second end of the slide bar 1 is adapted to receive the impact force when the prosthesis is installed. The support assembly 4000 comprises a coupling part 5, the coupling part 5 accommodating a 1-part rod section of the slide rod, the slide rod 1 being axially movable relative to the support assembly 4000. The support assembly 4000 is used to connect the second actuator 7000 to the robotic arm 9100 of the robotic system. The tracer is provided to the slide bar 1 to indicate the orientation of the slide bar 1. In the second actuator 7000, the sliding rod 1 is axially movable relative to the support assembly 4000, so that the axial clearance between the sliding rod 1 and the support assembly 4000 can be larger than the stroke of the sliding rod 1 when being hit, and the sliding rod 1 is prevented from colliding with the support assembly 4000 to damage the mechanical arm 9100 connected with the actuator. The slide bar 1 and the support assembly 4000 are configured as a whole. The actuator can be used without assembling or disassembling the slide rod 1 and the support assembly 4000, and the whole actuator can be connected to the mechanical arm 9100 or separated from the mechanical arm 9100 only through the support assembly.

Specifically, as in the embodiment shown in fig. 3, 20 to 27, the second actuator 7000 comprises a slide bar 1, a support assembly 4000, a tracer 2, an axial buffer mechanism 80 and an axial limit structure 90. The second actuator 7000 is connected to the first actuator 6000 via the support assembly 4000, and the slide bar 1 of the second actuator 7000 is parallel to the structure of the first actuator 6000 for connecting the cutting tool 1004 when the two are connected. The first actuator 6000 is configured to be coupled to the cutting tool 1004 such that the axis of the output shaft 400 and the joint 600 are parallel to the slide bar 1. Both acetabular fossa/femoral medullary cavity formation and prosthesis implantation involve angular precision of the tool axis, and the axis angular precision is correlated, it is more advantageous to arrange the structure for attaching the cutting tool 1004 in parallel with the structure for attaching the prosthesis 1003.

As shown in fig. 20 to 21, the slide bar 1 is a metal rod member with a smooth surface, and one end of the slide bar 1 is used for receiving hammering of a doctor, and the other end is used for connecting the prosthesis 1003. The middle part of the slide bar 1 is provided with a holding part 3, and the holding part 3 is sleeved on the slide bar 1 in a sleeve shape and is fixed with the slide bar 1, so that a doctor can hold the slide bar 1 through the holding part 3. The grip 3 is an insulating plastic sleeve. The sliding rod 1 is used as a metal rod piece to ensure high strength when transmitting impact force, but instruments used for operation are not expected to be heavy, so that the diameter of the sliding rod 1 is generally small, and the sliding rod is inconvenient for a doctor to hold. The plastic holding part 3 not only increases the diameter of the holding part of the slide bar 1, provides favorable holding conditions for doctors, but also does not increase the weight of the surgical tool. Of course, in some embodiments, the grip 3 may also be an insulated rubber sleeve or a non-insulated metal sleeve. In other embodiments, the sleeve-shaped holding part 3 may be omitted, and the holding part 3 may be provided as a part of the slide bar 1 itself, and the part may be enlarged relative to the diameter of the slide bar 1 itself to facilitate holding.

The tracer 2 comprises a tracer portion and a connecting portion. The tracer portion is provided with a plurality of positioning marks for providing position information. The positioning mark may be a reflective ball or a reflective sheet capable of reflecting infrared light, or may be an infrared light source or an electromagnetic generator capable of actively sending out a signal to realize positioning. The connecting portion is used to fix the tracer 2 to the slide bar 1.

The support assembly 4000 comprises a main body 4, a coupling portion 5, an insulating sleeve 6 and a sliding sleeve 7. The main body 4 has a substantially hexahedral shape, and one end (right end as viewed in fig. 21) is used to connect the robot arm 9100. The coupling portion 5 is a hole penetrating the main body 4. The insulating sleeve 6 and the sliding sleeve 7 are both cylindrical. The insulating sleeve 6 is sleeved in the coupling part 5 and is axially fixed with the coupling part 5. The insulating sleeve 6 is used to avoid the formation of a conductive path between the patient and the mechanical arm 9100 equipment through contact of the support assembly 4000 and the slide bar 1. The sliding sleeve 7 is sleeved in the insulating sleeve 6 and is axially fixed with the insulating sleeve 6. The sliding sleeve 7 is made of metal. The sliding rod 1 and the sliding sleeve 7 form shaft hole matching, and a gap allowing the sliding rod 1 to freely slide relative to the sliding sleeve 7 exists between the sliding rod 1 and the sliding sleeve 7. The sliding sleeve 7 arranged between the insulating sleeve 6 and the sliding rod 1 can reduce abrasion of the insulating sleeve 6 and increase smoothness of sliding of the sliding rod 1.

The axial stop 90 comprises a collar 9, a first end of the grip portion 3 remote from the prosthesis 1003. The retainer ring 9 and the first end of the holding part 3 are both fixed on the slide bar 1, and two steps with diameters larger than the slide bar 1 are formed on the slide bar 1. When the slide bar 1 moves along the sliding sleeve 7, interference occurs between the two steps and the supporting component to form axial limit on the slide bar 1. In this embodiment, an insulating member 10 is further disposed between the retainer ring 9 and the support assembly 4000, and between the grip portion 3 and the support assembly 4000, so that axial interference is actually formed between the retainer ring 9 and the grip portion 3 and the insulating member 10. The insulator 10 is a sleeve open at both ends. The diameter of the inner space of the insulating member 10 is larger than the diameter of the slide bar 1, the diameter of the opening at one end of the insulating member 10 is larger than the diameter of the slide bar 1, the diameter of the opening at the other end is the same as the diameter of the slide bar 1, and the end is provided with a blocking edge 101 to form an opening the same as the diameter of the slide bar 1. When the slide bar 1 is assembled with the support assembly 4000, the retainer ring 9 and the first end of the holding part 3 are respectively located at two sides of the support assembly 4000. Two insulating members 10 are respectively sleeved on the sliding rod 1 and are respectively positioned at two sides of the supporting component 4000, and one side of the insulating member 10 with a blocking edge 101 is connected with the main body 4. Thus, the retainer ring 9 and the first end of the grip portion 3 form two limit points on the slide rod, and the retainer ring 9 and the first end of the grip portion 3 limit the maximum sliding travel of the slide rod 1 relative to the support assembly 4000 when the slide rod 1 slides relative to the support assembly 4000.

In an alternative embodiment, the first end of the grip portion 3 in the axial limiting structure 90 may be replaced by a separately provided retainer ring 9, and in an alternative embodiment, the first end of the retainer ring 9 or the grip portion 3 may be a step or shoulder provided on the slide rod 1.

With specific reference to fig. 21 and 22, an axial damping mechanism 80 is also provided in the present disclosure to axially damp the slide bar 1 and the support assembly 4000 in at least one position. The axial buffering mechanism 80 in this embodiment includes two buffering members, specifically a first buffering member 8 and a second buffering member 11, where the first buffering member 8 and the second buffering member 11 are distributed on two sides of the supporting assembly. The two cushioning members are springs. The first cushioning member 8 is disposed between the retainer ring 9 and the insulator 10, and the second cushioning member 11 is disposed between the first end of the grip portion 3 and the stopper edge 101 of the insulator 10. The first buffer member 8 and the second buffer member 11 are both sleeved on the slide bar 1 and are arranged in the insulating member 10 in a pre-compressed state. The first buffer member 8 and the second buffer member 11 buffer the sliding rod 1 when sliding relative to the support assembly 4000, and the impact portion of the sliding rod 1 to the support assembly 4000 is absorbed by the buffer members when sliding. Thus, when the sliding rod 1 slides along the axis to mount the prosthesis 1003, the sliding rod 1 does not generate rigid impact on the mechanical arm 9100, and locking or deviation of the pose of the mechanical arm 9100 is reduced.

Driven by the robotic arm 9100, the second actuator 7000 reaches a target alignment position for installing an acetabular prosthesis, and the prosthesis 1003 is aligned with the prepared acetabular fossa of the patient's affected part. During the movement and positioning process of the mechanical arm 9100, the first buffer member 8 and the second buffer member 11 are both in a compressed state, and the sliding rod 1 maintains a certain axial positioning relationship with the main body 4 under the action of the first buffer member 8 and the second buffer member 11, that is, the sliding rod 1 is kept in a middle position of a sliding stroke, and the sliding rod 1 cannot freely move along the coupling portion 5.

After confirming that the pose of the prosthesis 1003 and the operation path are correct, the mechanical arm 9100 is set to a linear spring arm mode, that is, the mechanical arm 9100 is set to have a small damping of its distal arm/rod in the axial direction along the slide bar 1 and a large damping in other directions by controlling the output torque of the motor at the joint of the mechanical arm 9100. The second actuator 7000 connected to the mechanical arm 9100 in this mode can be moved in the axial direction of the slide bar 1 by an external force, but is difficult to be moved in the radial direction or rotated about the radial direction. The doctor holds the grip 3 and applies an impact force to the first end on the slide bar 1. The impact force may be applied by a hammer strike or a slide hammer strike. The impact force causes the slide bar 1 to drive the prosthesis 1003 into the acetabulum. At the moment of impact, the presence of the support assembly 4000 due to inertia does not move instantaneously. During the movement of the slide bar 1, the retainer ring 9 compresses the first cushioning member 8, and the first cushioning member 8 acts on the support assembly, so that the support assembly 4000 moves with the slide bar 1 in the axial direction in a lagging manner. The first cushioning member 8 prevents the circlip 9 from making rigid contact with the main body 4. After the slide bar 1 completes one impact to the prosthesis 1003, the relative relationship between the slide bar 1 and the supporting component is automatically reset to a state of not receiving hammering under the action of the first buffer 8. In some cases, it may also be desirable to apply a force to the second actuator 7000 in a direction opposite to the hammering force when the prosthesis is implanted to eject the prosthesis 1003 or the prosthesis trial from the acetabulum. In this case, the second buffer 11 may prevent rigid contact between the slide bar 1 and the support assembly 4000. The above-mentioned buffer mechanism can make the arm 9100 move along with the slide bar 1 automatically in the process of impacting the slide bar 1, and does not need to hold the actuator manually. The operator can hold the slide bar 1 and feel the striking vibration as in the conventional operation.

The axial movement travel of the slide bar 1 is limited by the first end of the limit structure grip 3 and the retainer ring 9. The arrangement of the first buffer 8 and the second buffer 11 prevents the limit structure of the slide bar 1 from being in rigid contact with the main body 4 all the time. When the sliding rod 1 does not receive the impact force, the sliding rod 1 is kept in the middle position relative to the coupling part 5, and the sliding rod 1 does not move freely relative to the supporting component, but a certain force is needed to overcome the first buffer piece 8 or the second buffer piece 11 to move the sliding rod 1, so that the sliding rod 1 is prevented from freely moving when the mechanical arm 9100 moves.

In an alternative embodiment, support assembly 4000 is provided with quick release mechanism 140 for connecting second actuator 7000 to robotic arm 9100 or first actuator 6000. As shown in fig. 25 to 27, the quick release mechanism 140 includes a first limiting mechanism 141 and a second limiting mechanism 142, the first limiting mechanism 141 is an insert block 12, the second limiting mechanism 142 is an insert pin assembly, the insert block 12 is used for being connected with the mechanical arm 9100 or the first actuator 6000 in an inserting manner, and an inserting limiting direction of the insert pin assembly is perpendicular to an inserting direction of the insert block 12. The insert block 12 is fixedly connected with the main body 4 or integrally formed, one end of the insert block 12 along the inserting direction is provided with two limiting grooves 121, and the limiting grooves 121 are used for limiting the freedom degree in the inserting direction.

The main body 4 is provided with a mounting hole 14 for accommodating the latch assembly, and the mounting hole 14 communicates with the coupling portion 5. The bolt assembly comprises a bolt 15, a first elastic piece 16, a cushion block 17 and a bolt pulling bolt 18, wherein the cushion block 17, the first elastic piece 16 and the bolt 15 are sequentially arranged in the mounting hole 14. The first elastic piece 16 is a spring, the cushion block 17 is abutted with the slide bar 1, the bolt 15 vertically passes through the insert block 12 in the mounting hole 14 along the thickness direction of the insert block 12, and the first elastic piece 16 is arranged between the bolt 15 and the cushion block 17 in a compressed state. The middle section of the mounting hole 14 is communicated with the outside of the main body 4 to form a movable area capable of manually poking the bolt 15, and the bolt pulling bolt 18 radially penetrates through the bolt 15 and is fixed with the bolt 15, and the bolt 15 is limited in the movable area through the bolt pulling bolt 18. The latch pull 18 is abutted against one end of the movable area under the pushing of the first elastic member 16, and the latch head penetrates out of the surface of the plug 12 and is an inclined plane.

To mount the second actuator 7000 to the first actuator 6000 by the quick release mechanism 140, a second interface 13 in the form of a slot is provided on the first actuator 6000. Specifically, the second interface 13 includes a bottom plate 131, a latch hole 133, and a limit button 132, where the bottom plate 131 is rectangular. The bolt hole 133 is provided along the thickness direction of the bottom plate 131; the number of the limit buckles 132 is four and the limit buckles 132 are respectively arranged at four corners of the bottom plate 131, and the limit buckles 132 and the bottom plate 131 form the second interface 13. The retaining buckle 132 specifically includes a first segment 1321 and a second segment 1322 that are connected, where the first segment 1321 is connected to the bottom plate 131 and is perpendicular to the bottom plate 131, and the second segment 1322 is parallel to the bottom plate 131 and extends toward the inside of the bottom plate 131. The stopper 132 and the bottom plate 131 form a space for accommodating the insert 12. When the plug 12 is inserted into the second interface 13, the limiting groove 121 is clamped with the limiting buckle 132, and the plug 12 cannot be separated from the clamping groove along the inserting direction under the limitation of the limiting buckle 132.

By providing the quick release mechanism 140, the second actuator 7000 can be easily removed. As shown in fig. 25 to 27, when the plug 12 is connected to the second connector 13 from top to bottom, the plane of the bottom plate 131 is first attached to the plane of the plug, the inclined surface of the plug head contacts the bottom plate 131, and the plug 15 is retracted toward the main body 4. The body 4 is moved downwards relative to the second interface, the limiting groove 121 is engaged with the limiting buckle 132, the bolt head enters the bolt hole 133, and the plug block 12 is completely engaged with the second interface 13. In the space rectangular coordinate system, the insert 12 and the second interface 13 fit together in thickness and width to define 5 degrees of freedom of the insert 12 except for the z-axis (may also be the x-axis or the y-axis), the engagement of the limit groove 121 and the limit buckle 132 define the degree of freedom of the second actuator 7000 sliding along the first direction in the z-axis, and the cooperation of the latch 15 and the latch hole 133 realizes the degree of freedom of the second actuator 7000 sliding along the second direction in the z-axis, in fig. 25 to 27, the first direction is the direction of the coupling portion 5 axially downward, and the second direction is the direction of the coupling portion 5 upward. To this end, the second actuator 7000 is fixedly connected to the first actuator 6000 by the arrangement of the plug 12, the second interface 13 and the plug pin assembly. When the plug is detached, the plug pulling bolt 18 is pulled (pulled leftwards in fig. 25) to enable the plug head to be separated from the plug hole 133, and then the plug block 12 is pulled out of the second interface 13 (pulled upwards relative to the second interface 13 in fig. 25). The setting of the quick detach mechanism 140 of the second actuator 7000 allows a doctor to quickly complete the installation and the detachment of the second actuator 7000 during the operation, thereby saving the operation time.

As shown in fig. 28, in an alternative embodiment, the second actuator 7000 further comprises an adjustment assembly 5000, the adjustment assembly 5000 connecting the prosthesis 1003 to the slide bar 1 and being capable of adjusting the circumferential position of the prosthesis 1003 relative to said slide bar. The adjustment assembly 5000 includes an adapter shaft 21 and an adjustment member 27. The adapter shaft 21 has one end connected to the slide bar 1 and the other end connected to the hip joint prosthesis 1003. The adjusting piece 27 is sleeved at the joint of the adapter shaft 21 and the slide bar 1, the adjusting piece 27 can move between a first position 28 and a second position 29 of the adapter shaft 21 under the action of external force, the circumferential position between the adjusting piece 27 and the slide bar 1 at the first position 28 is fixed, and the circumferential position of the adjusting piece 27 relative to the slide bar 1 at the second position 29 is adjustable.

As shown in fig. 29, the adapter shaft 21 includes a slide bar joint, which is used to connect with the slide bar 1, a main shaft section 210, and an acetabular prosthetic joint, which is used to connect with the prosthesis 1003, provided at both ends of the main shaft section 210.

The top end of the sliding rod joint is provided with a connecting hole 211, the connecting hole 211 is a smooth hole, the periphery of the connecting hole 211 is provided with two clamping blocks 212 symmetrical with respect to the axis of the switching shaft 21, and the two clamping blocks 212 extend in a straight shape along the radial direction. The fixture block 212 below is provided with the flange 213 the same with the biggest radius of fixture block 212, and the flange 213 below is provided with spacing section 214, and the radius of spacing section 214 is greater than the radius of main shaft section 210 to form spacing step 215 in spacing section 214 and main shaft section 210 junction.

Referring to fig. 29 to 32, the adjuster 27 includes a detachably coupled nut 22 and adapter sleeve 23, a spline 24, and a retainer 25. Referring specifically to fig. 32, the nut 22 is in a shell shape with a downward opening, an external thread is provided on an external wall 221 at the opening, two clamping grooves 222 are symmetrically provided on the external wall 221, the clamping grooves 222 extend into the nut 22, and a spline groove 223 is provided at a position near the bottom inside the nut 22. The adapter sleeve 23 is cup-shaped with an opening, and an inner thread is arranged on the inner wall of the opening of the adapter sleeve 23. The spline 24 is fixed on the slide bar 1, and the periphery is provided with tooth-like projections. The holder 25 is a spring having elasticity.

In the connection state, the nut 22 is sleeved above the spline 24 on the slide rod 1, the adapter sleeve 23 is sleeved on the adapter shaft 21, the adapter sleeve 23 and the nut 22 are connected through matching of internal threads and external threads, the retainer 25 is arranged in the adapter sleeve 23, one end of the retainer is abutted with the bottom of the adapter sleeve 23, and the other end of the retainer is abutted with the flange 213.

In use, the tail end of the sliding rod 1 is inserted into the connecting hole 211, and the nut 22 and the adapter sleeve 23 are connected into a whole through threads. For ease of understanding, the following description is provided in connection with the operating state and the adjustment procedure of the adjustment member 27.

In the working state, the adjusting member 27 is located at the first position 28, as shown in fig. 30, the retainer 25 is in a compressed state and is abutted against the flange 213 and the bottom of the adapter sleeve 23, the retainer 25 pulls the nut 22 through the adapter sleeve 23, so that the spline groove 223 of the nut 22 is connected with the spline 24, and the clamping block 212 is embedded in the clamping groove 222. Thus, the sliding rod 1 and the adjusting device are circumferentially fixed through the connection of the spline 24 and the spline groove 223, and the adapter shaft 21 and the adjusting device are circumferentially fixed through the matching of the clamping block and the clamping groove 222. Based on the above process and principle, in the working state, through the connection of the adjusting component, the sliding rod 1 and the adapter shaft 21 are fixed axially, radially and circumferentially.

To meet clinical needs, it is necessary to ensure that the prosthesis 1003 has the correct orientation for installation when the prosthesis 1003 is implanted in the prepared acetabular fossa in the patient, for example a prosthesis 1003 having wings, the prosthesis 1003 needs to be secured to the acetabular fossa to strengthen the structure at the acetabular fossa, and the wings need to be connected to the acetabular fossa in the correct orientation. It is therefore necessary to adjust the orientation of the prosthesis 1003 before each slide bar 1. Based on the second actuator 7000 of the present embodiment, when adjusting the direction of the prosthesis 1003, as shown in fig. 31, the doctor pulls the adjusting device upward to overcome the elastic force of the retainer 25 until the bottom of the adapter sleeve 23 abuts against the limiting step 215, and the adjusting member 27 is located at the second position 29. At this time, the spline 24 is disengaged from the spline groove 223, the clamping block 212 is not disengaged from the clamping groove 222, the adjusting member 27 can rotate circumferentially relative to the slide rod 1, and the adapter shaft 21 rotates following the rotation of the adjusting member 27. In this way, the adjustment of the orientation of the prosthesis 1003 relative to the slide bar 1 can be achieved without rotating the slide bar 1, simply by rotating the adjustment member 27. Further, since the tracer 2 for providing the position information of the slide bar 1 in real time is connected to the slide bar 1, the tracer 2 needs to be aligned with a positioner that receives the position information. The arrangement of the above-described adjustment assembly also ensures that the tracer 2 fixedly connected to the slide bar 1 does not lose alignment with the positioner due to the rotation of the slide bar 1 when the prosthesis 1003 is adjusted, ensuring that the tracer 2 can be identified by the positioner in real time.

Also, based on the adjustment assembly, the adapter shaft 21 can be connected to different models of prostheses 1003 from different manufacturers by changing the acetabular prosthetic connector of the adapter shaft 21. The adaptation and the application of the second actuator 7000 are improved without having to replace the entire slide bar 1 for adapting to different prostheses 1003.

In an alternative embodiment, the cushioning members may retain only the first cushioning members 8 and no second cushioning members 11 are provided.

In some alternative embodiments, a buffer, such as buffer 8, may be provided. And both ends of the buffer 8 are respectively connected with the retainer 9 and the support assembly 4000. The sliding rod is pulled or supported by the buffer member 8 when moving along two directions, so that buffer is formed and the support assembly 4000 can be driven to move along with the sliding rod.

In some alternative embodiments, the two bumpers of the axial bumper mechanism 80 may not be pre-compressed. For example, the first cushioning member 8 may be compressed only by the gravity of the slide bar. The length of the two buffer parts can also be smaller than the stroke of the slide bar 1, and the buffer parts can move between the limiting structures, so long as the rigid collision can be prevented.

In an alternative embodiment, referring to fig. 20 and 33, a nut 26 is disposed at an end of the sliding rod 1 that receives the impact force, where the nut 26 includes a force plate 261 and a connection section 262, and the connection section 262 is fixedly connected with the sliding rod 1 through threads, and of course, the connection manner is not limited to threaded connection, but may be other connection manners such as pin connection; the area of the stress plate 261 is larger than that of the end part of the sliding rod 1, the stress plate 261 provides a larger stress target for hammering when a doctor applies impact force, and the phenomenon of hammer blank caused by smaller end part of the sliding rod 1 is avoided.

With continued reference to fig. 1, a second aspect of the present disclosure contemplates a surgical system that includes the hip replacement surgical actuator 9300, the robotic arm 9100, the navigation system 9000, and the control system 9200 set forth in the first aspect. The mechanical arm 9100 is used for mounting a hip replacement surgery actuator; the navigation system 9000 is used to measure the position of the hip replacement surgery actuator 9300; the control system 9200 is used to drive the robotic arm 9100 to move the hip replacement surgery actuator 9300 to a target position according to a surgical plan.

The robotic arm 9100 can either fully actively control the orientation of the actuators or cooperatively limit a portion of the degrees of freedom or range of motion of the actuators. Specifically, the robotic arm 9100 can be controlled via programming of the control system 9200 such that the robotic arm 9100 moves entirely autonomously in accordance with a surgical plan, or by providing tactile or force feedback to limit manual movement of the surgical tool by the surgeon beyond a predetermined virtual boundary, or to provide virtual guidance to guide the surgeon along a certain degree of freedom. The virtual boundaries and virtual guides may be derived from a surgical plan or may be intraoperatively set by an input device. The actuator is detachably connected to the arm 9100.

The navigation system 9000 is used to measure the position of the actuator and patient. Navigation systems generally include a locator and a tracer. The tracer is mounted on the actuator, surgical tool and patient body. Tracers are typically arrays of a plurality of tracer elements, each of which may emit optical or electromagnetic signals in an active or passive manner. A locator (e.g. a binocular camera) measures the orientation of the tracer as described above by 3D measurement techniques.

The control system 9200 compares the current position of the actuator with the target position according to the position information obtained by the navigation system 9000, and drives the mechanical arm 9100 to move the hip replacement surgery actuator 9300 to the target position according to the surgery plan. The manipulator movement path, movement boundary, etc. may be included in the surgical plan. The surgical plan is carried on a three-dimensional reconstructed digital model of the patient's bone, which is registered/registered with the patient's tissue during surgery.

In the surgical system, with the aid of the mechanical arm 9100, the control system 9200 and the navigation system 9000, the acetabular fossa preparation or the intramedullary canal preparation can be performed on the affected part only with the first actuator 6000 connected, and the installation of the prosthesis 1003 can be performed with the second actuator 7000 connected to the first actuator 6000.

While the disclosure has been described in detail with respect to the general description and the specific embodiments thereof, it will be apparent to those skilled in the art that certain modifications and improvements may be made thereto based on the present application. Accordingly, such modifications or improvements may be made without departing from the spirit of the disclosure and are intended to be within the scope of the disclosure as claimed.

Claims

1. A hip replacement surgical actuator for preparing a prosthesis-mounted space on a bone and implanting a prosthesis, comprising:

a first actuator for connecting a cutting tool to machine an acetabulum and/or a intramedullary canal, the first actuator having a first interface and a second interface; and

A second actuator for connecting to a second interface of the first actuator when performing a prosthetic implantation operation, the second actuator for connecting to a prosthesis and receiving an impact of installing the prosthesis; wherein,

The hip replacement surgery executor is used for being mounted to a mechanical arm through the first interface;

the structure for connecting the prosthesis is parallel to the structure for connecting the cutting tool when the second actuator is connected to the first actuator;

the first actuator comprises a power device and a tool assembly, wherein the tool assembly is detachably connected with the power device.

2. The hip replacement surgical actuator of claim 1 wherein the first interface and the second interface are distributed across the first actuator.

3. The hip replacement surgical actuator according to claim 1, wherein the first actuator is provided with a handle configured to be parallel or coaxial with the cutting tool when the cutting tool is connected to the first actuator.

4. The hip replacement surgery actuator according to claim 3, wherein the handle and the cutting tool are distributed on both sides of the first actuator when the cutting tool is connected to the first actuator.

5. The hip replacement surgical actuator of claim 1 wherein the first interface is disposed on the power device.

6. The hip replacement surgery actuator according to claim 1, wherein the power device comprises a built-in power assembly comprising a power source and an output shaft, the output shaft being connected to the power source;

The tool assembly comprises a connecting part and a surgical tool, the surgical tool is rotatably arranged on the connecting part, and the tool assembly is detachably arranged on the power device through the connecting part; wherein,

The surgical tool is engaged with the output shaft to receive rotational movement of the output shaft when the tool assembly is coupled to the power device via the coupling.

7. The hip replacement surgical actuator according to claim 6, wherein the engagement is formed by an insertion or socket action of the surgical tool in an axial direction relative to the output shaft.

8. The hip replacement surgical actuator according to claim 7, wherein the surgical tool and the output shaft are configured as a spline connection.

9. The hip replacement surgical actuator of claim 6 wherein a radial positioning structure is further provided between the surgical tool and the power device.

10. The hip replacement surgical actuator according to claim 9, wherein the radial positioning structure is disposed between the surgical tool and the output shaft.

11. The hip replacement surgical actuator according to claim 9, wherein the radial positioning structure is a shaft bore fit between the output shaft and the surgical tool.

12. The hip replacement surgical actuator according to claim 6, wherein the connection portion and the power device are connected by a snap-fit structure to form axial and circumferential limits for the connection portion.

13. The hip replacement surgery actuator according to claim 12, wherein the screwing structure includes a screw groove provided on a circumferential surface and a positioning pin, the screw groove being for guiding the positioning pin and including a limiting portion limiting the positioning pin in circumferential and axial directions.

14. The hip replacement surgery actuator according to claim 13, wherein the spin groove is provided to the power device and the positioning pin is provided to the connection portion.

15. The hip replacement surgical actuator of claim 13 wherein the socket includes a threaded section and a locating section in communication, the locating pin providing a circumferential locating relationship and an axial locating relationship between the connecting portion and the power device upon entry of the locating pin into the locating section along the threaded section.

16. The hip replacement surgery actuator according to claim 15, wherein a positioning module is provided between the connection portion and the power unit, the positioning module causing a predetermined force between the connection portion and the power unit.

17. The hip replacement surgical actuator according to claim 16, wherein the positioning module includes a resilient member that is compressed by the power device and the tool assembly to generate the predetermined force in a direction that is axial to the output shaft.

18. The hip replacement surgical actuator according to claim 17, wherein the resilient member is disposed between a surgical tool and a connection in the tool assembly, the resilient member compressing the surgical tool to axially compress the surgical tool and the output shaft.

19. The hip replacement surgical actuator according to claim 18, wherein the surgical tool is an acetabular rasp bar or a intramedullary canal reamer.

20. The hip replacement surgical actuator of claim 1 further comprising a tracer assembly disposed on a surface of the power plant.

21. The hip replacement surgical actuator according to claim 1, wherein the first actuator, when connected to an end section of the robotic arm, forms an extension of the end section.

22. The hip replacement surgical actuator of claim 1 wherein the second actuator is a prosthetic mounting actuator comprising:

a slide bar, a first end of which is used for connecting a prosthesis, and a second end of which is used for receiving the impact force when the prosthesis is installed;

A support assembly including a coupling portion that accommodates a portion of a rod segment of the slide rod, the slide rod being axially movable relative to the support assembly; the support assembly is used for connecting the prosthesis installation actuator to a mechanical arm of a robot system; and

The tracer is arranged on the sliding rod to indicate the azimuth of the sliding rod.

23. The hip replacement surgical actuator according to claim 22, further comprising an axial dampening mechanism, the axial dampening mechanism forming an axial dampening between the slide bar and the support assembly when the slide bar is axially impacted.

24. The hip replacement surgery actuator according to claim 23, wherein an axial limit structure is provided between the slide bar and the support assembly, and the cushioning mechanism is provided between the support assembly and the axial limit structure.

25. The hip replacement surgical actuator according to claim 24, wherein the axial cushioning mechanism is precompressed/stretched.

26. The hip replacement surgical actuator according to claim 24 wherein the coupling portion is a channel extending through the support assembly, the axial cushioning mechanism including 2 cushioning members, the 2 cushioning members being located at opposite ends of the channel.

27. The hip replacement surgical actuator according to claim 26, wherein each of the 2 bumpers is in compression.

28. The hip replacement surgical actuator according to claim 26, wherein the axial stop structure includes a collar disposed on the slide bar, the bumper being disposed between the collar and the support assembly.

29. The hip replacement surgical actuator according to claim 28 wherein the axial stop structure further includes an insulator on one side of the support assembly, the bumper being positioned between the insulator and the collar.

30. The hip replacement surgical actuator according to claim 22, wherein the slide bar further comprises a grip for an operator to grasp.

31. The hip replacement surgical actuator according to claim 30 wherein the grip is located between the support assembly and a prosthesis.

32. The hip replacement surgical actuator according to claim 30, wherein the grip portion is rigidly connected axially to the slide bar.

33. The hip replacement surgery actuator according to claim 22, wherein a quick release mechanism is provided between the support assembly and the mechanical arm, the prosthesis mounting actuator being connected to the mechanical arm by the quick release mechanism.

34. The hip replacement surgical actuator according to claim 33 wherein the quick release mechanism includes a first limit mechanism and a second limit mechanism, the second limit mechanism being a manual release limit mechanism.

35. The hip replacement surgical actuator according to claim 22, further comprising an adjustment assembly for adjusting the circumferential position of the prosthesis relative to the slide bar, the adjustment assembly comprising:

One end of the switching shaft is connected with the prosthesis;

The adjusting piece is used for connecting the switching shaft to the sliding rod, the circumferential position between the adjusting piece and the sliding rod is adjustable, and the circumferential position between the adjusting piece and the switching shaft is fixed.

36. The hip replacement surgical actuator according to claim 35, wherein the adjustment member is movable between a first position and a second position of the adapter shaft, the adjustment member being fixed in a circumferential position between the first position and the slide bar, the adjustment member being adjustable in the second position relative to the slide bar in a circumferential position.

37. The hip replacement surgical actuator according to claim 36, wherein the adjustment member forms a spline fit with the slide bar at the first position and/or wherein the adjustment member engages a cartridge slot extending axially of the adapter shaft.

38. The hip replacement surgical actuator according to claim 35, further comprising a retaining member configured to retain the adjustment member in the first position when the adjustment member is not subjected to an external force.

39. A surgical system, comprising:

an actuator which is the hip replacement surgery actuator of any one of claims 1 to 38;

the mechanical arm is connected with the first interface of the actuator;

A navigation system for measuring the position of the actuator; and

And the control system is used for driving the mechanical arm to move the actuator to the target position according to the operation plan.