CN116370017A

CN116370017A - Surgical system

Info

Publication number: CN116370017A
Application number: CN202210846027.7A
Authority: CN
Inventors: 张晓峰; 张钊; 江标; 李卫; 杜可斌
Original assignee: Beijing And Huaruibo Medical Technology Co ltd
Current assignee: Beijing And Huaruibo Medical Technology Co ltd
Priority date: 2022-07-19
Filing date: 2022-07-19
Publication date: 2023-07-04

Abstract

The present disclosure discloses a surgical system for preparing a predetermined shape on a hip joint, comprising a cutting tool for cutting bone tissue, a robotic arm, and a controller; the mechanical arm is used for holding the cutting tool and controlling the pose of the cutting tool; the controller is used for enabling the mechanical arm to enter a traction mode when the first signal is received and enabling the mechanical arm to enter a static mode when the first signal is not detected, wherein the mechanical arm can move under the traction of external force in the traction mode, and the mechanical arm keeps the cutting tool in the current pose in the static mode; in the stationary mode, the controller is further configured to control the robotic arm to automatically adjust the cutting tool to an alignment pose associated with the target pose upon receipt of the second signal. The preparation of the predetermined shape for the installation of the hip prosthesis can be assisted both safely and controllably and precisely by means of the surgical system.

Description

Surgical system

Technical Field

The present disclosure relates to the field of computer-assisted surgery, and in particular to surgical systems.

Background

Traditional hip replacements, although having been performed for over half a century, have been performed manually by doctors to install prostheses in ways that may result in less than ideal prosthesis installation sites due to different doctors or different conditions of the same doctor, and other factors. The non-ideal installation of the prosthesis position can directly influence the operation effect, and the situations of dislocation after replacement, prosthesis impact, reduced hip joint mobility, increased prosthesis abrasion and the like can be caused.

In robot-assisted total hip replacement surgery (THA), a bone model of a patient is generated through three-dimensional reconstruction of CT data, an operation planning procedure selects an appropriate prosthesis model according to the actual condition of the patient and plans the installation position of the prosthesis, and the predetermined shape and the position of the predetermined shape to be prepared of the hip joint are determined according to the installation position of the prosthesis. And, during the surgical procedure, a predetermined shape is prepared on the hip joint based on the surgical plan to install the prosthesis. Because the installation position of the prosthesis is a preferred installation position obtained after planning on a bone model by a doctor, the postoperative effect of hip joint replacement according to the process is ideal, so that accurately preparing the preset shape for installing the prosthesis on the hip joint is one of important preconditions for ensuring the ideal installation position of the prosthesis.

In clinical surgery, hip joint replacements include installation replacements for acetabular prostheses and femoral prostheses (including femoral stems and femoral head prostheses), the predetermined shape for installing acetabular prostheses being ground by acetabular files, and the predetermined shape for installing femoral stem prostheses being reamed by intramedullary canal reamers.

With the aid of the mechanical arm, the acetabular milling file rod assembly or the intramedullary reamer needs to act strictly according to an operation plan, the acetabular file or the intramedullary reamer is moved to a target pose, and the hip bone or the femur is processed by rotating at a high speed. In the process, the motion trail control of the acetabular milling file assembly or the intramedullary reamer is important, on one hand, the accurate motion control can ensure the accuracy of preparation of the preset shape rotation, and the incorrect orientation of the acetabular milling file assembly or the intramedullary reamer can cause the acetabular cup or the femoral stem to be incapable of being installed at a correct angle; on the other hand, reasonable motion control can guarantee that surgical tools such as an acetabular grinding file rod assembly or a marrow cavity reamer can not cause iatrogenic damage to a patient when penetrating into an affected part wound, because the femoral bone can be penetrated into the wound through human tissues no matter the acetabular bone is ground by an acetabular file or reamed by the marrow cavity reamer, and incorrect motion control can possibly cause safety accidents.

Currently, there are more mature Surgical systems on the market, such as the hip Surgical robot system of the MAKO Surgical company, whose disclosure is that of the chinese patent No. 105193506B, which limits the range of motion of the Surgical tool held by the robotic arm by force feedback control, which generally limits the acetabular file and the stem holding the acetabular file in a conical region by applying a first and a second limit, the acetabular file and the stem holding the acetabular file allowing a certain angular deviation with respect to the desired axis of the target pose. And the initiation area is set to initiate the first restriction and the second restriction. The above-described movement control process of the acetabular file and the holding rod is complicated and deviations of the acetabular file, the rod holding the acetabular file from a predetermined axis are allowed to cause unexpected or unnecessary grinding to some extent.

Disclosure of Invention

The present disclosure provides a surgical system that solves the problem of how to accurately prepare a hip joint in a hip replacement surgery.

The present disclosure provides a surgical system for preparing a predetermined shape on a hip joint, comprising a cutting tool for cutting bone tissue, a robotic arm, and a controller; the mechanical arm is used for holding the cutting tool and controlling the pose of the cutting tool; the controller is used for enabling the mechanical arm to enter a traction mode when the first signal is received and enabling the mechanical arm to enter a static mode when the first signal is not detected, wherein the mechanical arm can move under the traction of external force in the traction mode, and the mechanical arm keeps the cutting tool in the current pose in the static mode; in the stationary mode, the controller is further configured to control the robotic arm to automatically adjust the cutting tool to an alignment pose associated with the target pose upon receipt of the second signal.

In a first possible embodiment, in the stationary mode, further: the robotic arm holds the cutting tool within a pre-alignment range associated with the target pose.

In combination with the above possible implementation manner, in a second possible implementation manner, the controller is further programmed to: and determining a prealignment range and an alignment pose according to the target pose.

In combination with the above possible implementation manner, in a third possible implementation manner, the controller is further programmed to: deviations of the axis of the cutting tool from the axis of the target pose within the pre-alignment range are allowed.

In combination with the foregoing possible implementation manner, in a fourth possible implementation manner, the controller is further configured to: after the mechanical arm adjusts the cutting tool to the alignment pose and when the controller receives the third signal, a control signal for enabling the mechanical arm to enter a linear mode is generated, and the tail end of the mechanical arm can move along a straight line under the action of external force in the linear mode.

In combination with the above possible implementation manner, in a fifth possible implementation manner, the path of the linear movement of the end of the mechanical arm coincides with the rotation axis of the cutting tool.

In combination with the foregoing possible implementation manner, in a sixth possible implementation manner, during the rectilinear motion, an axis of the cutting tool coincides with an axis of the target pose.

In combination with the foregoing possible implementation manner, in a seventh possible implementation manner, the range of linear motion is a range determined by the alignment pose and the target pose.

With reference to the foregoing possible implementation manner, in an eighth possible implementation manner, the system includes an input device for inputting the first signal, the second signal, and the third signal.

In combination with the foregoing possible implementation manner, in a ninth possible implementation manner, the axis of the alignment pose and the axis of the target pose coincide.

In combination with the foregoing possible implementation manner, in a tenth possible implementation manner, the system includes an actuator, where one end of the actuator is connected to an end of the mechanical arm, and the other end carries a cutting tool.

With reference to the foregoing possible implementation manner, in an eleventh possible implementation manner, the actuator includes a power device and a tool assembly, the power device includes a robot connection end and an internal power assembly, the robot connection end is used for being connected to a mechanical arm end of the robot, 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, the tool assembly is detachably arranged on the power device through the connecting part, and when the tool assembly is connected with the power device through the connecting part, the surgical tool is engaged with the output shaft to receive the rotary motion output by the output shaft.

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

In combination with the above possible implementation, in a thirteenth 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 fourteenth possible implementation manner, a radial positioning structure is further provided between the surgical tool and the power device.

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

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

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

In combination with the foregoing possible implementation manner, in an eighteenth 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 a circumferential direction and an axial direction of the positioning pin.

In combination with the foregoing possible implementation manner, in a nineteenth 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 twentieth 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 connecting 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 twenty-first 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 a twenty-second 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 force, and a direction of the predetermined force is an axial direction of the output shaft.

In combination with the foregoing possible implementation manner, in a twenty-third possible implementation manner, the elastic member is disposed between the surgical tool and the connecting portion in the tool assembly, and the elastic member presses the surgical tool to axially compress the surgical tool and the output shaft.

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

In combination with the foregoing possible implementation manner, in a twenty-fifth possible implementation manner, the method further includes providing an end tracer, where the end tracer is disposed on a surface of the power device.

In combination with the above possible implementation, in a twenty-sixth possible implementation, the power device is configured to form an extension of the end section when connected to the end section of the mechanical arm, the output shaft being transverse to the end section.

In combination with the above possible implementation, in a twenty-seventh possible implementation, the powered device further includes a prosthesis mounting actuator interface.

In combination with the above possible implementation manner, in a twenty-eighth possible implementation manner, the robot connection end and the prosthesis installation actuator interface are distributed at two ends of the power device.

In combination with the above possible implementation, in a twenty-ninth possible implementation, the power device further includes a handle configured to be substantially parallel to a shaft to which the surgical tool is attached.

The surgical system for preparing a predetermined shape on a hip joint, the surgical system comprising a cutting tool for cutting bone tissue, a robotic arm, and a controller; the mechanical arm is used for holding the cutting tool and controlling the pose of the cutting tool; the controller is used for enabling the mechanical arm to enter a traction mode when the first signal is received and enabling the mechanical arm to enter a static mode when the first signal is not detected, wherein the mechanical arm can move under the traction of external force in the traction mode, and the mechanical arm keeps the cutting tool in the current pose in the static mode; in the stationary mode, the controller is further configured to control the robotic arm to automatically adjust the cutting tool to an alignment pose associated with the target pose upon receipt of the second signal. In this way, the cutting tool in the aligned pose has a position and a pose associated with the target pose, and the doctor only has to control the movement of the cutting tool from the aligned pose to the target pose to achieve the preparation of the predetermined shape when performing the prosthesis installation, the control process being short and labor-saving. The preparation of the predetermined shape for the installation of the hip prosthesis can be assisted both safely and controllably and precisely by means of the surgical system.

Drawings

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

FIG. 2 is a schematic illustration of a knot-shaping actuator and acetabular file structure according to an embodiment of the disclosure;

FIG. 3 is a schematic diagram of a registry and acetabular file structure according to an embodiment of the disclosure;

FIG. 4 is a schematic illustration of a robotic arm and acetabular file in a ready position according to an embodiment of the disclosure;

FIG. 5 is a schematic illustration of an acetabular file according to an embodiment of the disclosure positioned within a pre-alignment range P;

FIG. 6 is a schematic illustration of alignment pose in accordance with an embodiment of the present disclosure;

FIG. 7 is a second alignment pose schematic diagram of an embodiment of the present disclosure;

FIG. 8 is a third alignment pose schematic diagram of an embodiment of the present disclosure;

FIG. 9 is a schematic illustration of an acetabular file reaching an alignment pose B according to an embodiment of the disclosure;

FIG. 10 is a schematic illustration of an acetabular file of an embodiment of the disclosure reaching a target pose A;

FIG. 11 is a schematic illustration of the configuration of an arthroplasty actuator and intramedullary reamer of an embodiment of the present disclosure;

FIG. 12 is a schematic illustration of an articulation molding actuator of an embodiment of the present disclosure;

FIG. 13 is a schematic diagram of a power plant configuration of an embodiment of the present disclosure;

FIG. 14 is a schematic view of the internal structure of a power plant according to an embodiment of the present disclosure;

FIG. 15 is an enlarged view of the internal portion of the power plant according to the embodiment of the present disclosure;

FIG. 16 is a schematic diagram of an output shaft configuration of an embodiment of the present disclosure;

FIG. 17 is a schematic view of a coupling structure according to an embodiment of the present disclosure;

FIG. 18 is a schematic view of a joint and output shaft configuration of an embodiment of the present disclosure;

FIG. 19 is a cross-sectional view of a joint and output shaft configuration of an embodiment of the present disclosure;

FIG. 20 is a schematic view of a first tool assembly according to an embodiment of the present disclosure;

FIG. 21 is a cross-sectional view of a first tool assembly of an embodiment of the present disclosure;

FIG. 22 is a schematic view of a connection structure according to an embodiment of the present disclosure;

FIG. 23 is a schematic view of the joint, output shaft and tool assembly of an embodiment of the present disclosure;

FIG. 24 is a cross-sectional view of an arthroplasty actuator of an embodiment of the present disclosure;

FIG. 25 is a cross-sectional view of a power plant lot tool assembly connection in accordance with an embodiment of the present disclosure;

FIG. 26 is a schematic view of another radial positioning structure of an embodiment of the present disclosure;

FIG. 27 is a schematic view of yet another radial positioning structure of an embodiment of the present disclosure;

FIG. 28 is a schematic view of a second tool assembly according to an embodiment of the present disclosure;

reference numerals:

100-surgical system;

10-a prosthesis installation actuator;

20-joint forming actuator;

21-a power plant;

211-a power assembly;

212-a power source, 2121-a motor, 2122-a speed reducer;

213-output shaft, 2131-input section, 2132-middle section, 2133-output section, 2134-coupling spline, 2135-locating hole, 2136-keyway;

214-a housing, 2141-a handle;

216-a coupling, 2161-a first part, 2162-a second part;

217-connector, 2171-aperture, 2172-spin slot, 2173-stop portion, 2174-precession section, 2175-positioning section, 2176-aperture;

218-an insulating cover;

22-a tool assembly;

221-connecting parts, 2211-connecting rod lock heads, 2212-positioning pins;

222a, 222 b-surgical tools, 2221-extension rod spindle, 2222-spline joint, 2223-engagement hole, 2224-locating shaft, 2225-grip sleeve, 2226-ring groove, 2227-reamer spindle, 2228-reamer;

23a, 23 b-cutting means;

24-robot connection end;

25-screwing structure;

26-spline connection;

27-radial positioning structure;

280-positioning modules, 281-clamping holders, 282-elastic pieces and 283-sliding sleeves;

29-prosthesis mounting an actuator interface;

30-mechanical arm, 31-mechanical arm tail end;

a 40 controller;

50-input device, 51-pedal;

60-navigation system, 61-locator, 62-tracer, 621-bone tracer, 622-end tracer, 6221-tracer element, 623-probe, 624-registrar;

70-a display;

a-target pose, B-alignment pose, P-pre-alignment range, axis of U-target pose, axis of V-alignment pose, axis of W-acetabular file;

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.

The present disclosure proposes a surgical system for preparing a predetermined shape on a hip joint, comprising a cutting tool for cutting bone tissue, a robotic arm, and a controller; the mechanical arm is used for holding the cutting tool and controlling the pose of the cutting tool; the controller is used for enabling the mechanical arm to enter a traction mode when the first signal is received and enabling the mechanical arm to enter a static mode when the first signal is not detected, wherein the mechanical arm can move under the traction of external force in the traction mode, and the mechanical arm keeps the cutting tool in the current pose in the static mode; in the stationary mode, the controller is further configured to control the robotic arm to automatically adjust the cutting tool to an alignment pose associated with the target pose upon receipt of the second signal. By the arrangement of the surgical system, the surgical system can safely and controllably assist the preparation of the predetermined shape for installing the hip joint prosthesis.

In particular, the surgical system of the present disclosure will be described in detail with reference to the preparation of an acetabulum.

As shown in fig. 1, surgical system 100 includes a cutting tool 23a, an arthroplasty actuator 20, a robotic arm 30, and a controller 40.

As shown in fig. 2, the cutting tool 23a is an acetabular file, a generally hemispherical shell with cutting teeth on a spherical surface for cutting the acetabulum. The present embodiment is not limited in terms of the type and size of acetabular files.

The joint forming actuator 20 is provided with a power device 21, an output end on the power device 21 is detachably connected with a tool assembly 22, the tool assembly 22 comprises a surgical tool 222a, and the surgical tool 222a is an acetabular milling contusion assembly and comprises a connecting rod main shaft 2221. The cutting tool 23a is detachably connected to the end of the spindle 2221, and the power device 21 includes a motor, and the power device 21 drives the cutting tool 23a to rotate through the spindle 2221.

The robot arm 30 is a cooperative robot arm having a plurality of sensors therein, and each joint is independently controllable. The arthroplasty actuator 20 may be removably attached to the robot arm tip 31. The robotic arm 30 is capable of operating in a traction mode, an active mode, a stationary mode, and a spring arm mode. In the traction mode, the mechanical arm 30 balances the self gravity, the mechanical arm 30 can maintain the self posture under the condition of not receiving external force, and the mechanical arm 30 can move with multiple degrees of freedom under the action of the external force (except the gravity); in the active mode, each joint is applied with active control for performing various actions, and the mechanical arm 30 can be controlled by the controller 40 to perform autonomous movement; in the stationary mode, the joints of the mechanical arm cannot move relatively, and the posture of the mechanical arm 30 is locked; in the spring arm mode, the mechanical arm 30 has a part of functions of both the traction mode and the active mode, and the controller 40 can limit the movement range of the mechanical arm end 31 by applying different controls to each mechanical arm joint, so that the mechanical arm end 31 can move within a predetermined range under the pushing of a user.

The controller 40 is electrically connected with the mechanical arm 30 and the power device 21, and is used for controlling the movement mode of the mechanical arm 30 and the working state of the power device 21, wherein the working state of the power device 21 comprises the speed state or the start-stop state of the output of the power device 21.

With continued reference to fig. 1, in the present embodiment, a navigation system 60 is also provided, the navigation system 60 including a locator 61 and a tracer 62 for assisting the controller 40 in acquiring the target pose a of the cutting tool 23a and the real-time pose of the cutting tool 23 a. Wherein the locator 61 includes a binocular vision camera and an infrared light source, the tracer 62 is provided with a reflective ball/reflective sheet capable of reflecting infrared light and the reflective ball/reflective sheet reflecting infrared light can be recognized by the binocular vision camera. In an alternative embodiment, no infrared light source is provided in the positioner 61, and the tracer 62 is provided with a device with active light emitting capability, such as a led light source, an infrared light source, etc., which can be recognized and positioned by the binocular vision camera. In other alternative embodiments, the positioner 61 is not limited to a binocular vision camera, but may be an electromagnetic receiving device, and an electromagnetic transmitting device is disposed on the tracer 62, where the electromagnetic transmitting device transmits an electromagnetic signal to be recognized by the electromagnetic receiving device and obtains the position information thereof.

Referring to fig. 1 and 3, the tracer 62 includes a bone tracer 621, an end tracer 622, a probe 623, and a registrar 624, with the bone tracer 621 being connected to the patient's hip bone by a bracket for locating the patient's hip bone. The end tracer 622 is disposed on the arthroplasty actuator 20, and the end tracer 622 disposed on the arthroplasty actuator 20 has a first relative relationship with the robot arm end 31. The probe 623 is used to harvest a point on the hip bone and the locator 61 is able to learn positional information of the point harvested by the probe 623. The register 624 is detachably connected to the cutting tool 23a in a predetermined relative relationship, and the pose of the cutting tool 23a is obtained at the time of connection, and fig. 3 shows a connection manner of the register 624 and the cutting tool 23a, specifically by connecting the register 624 to the extension rod main shaft 2221 and bringing a part of the register 624 into abutment with the cutting tool 23 a. Of course, the connection of the register 624 to the cutting tool 23a is not limited to the manner shown in fig. 3. In an alternative embodiment, the end tracer 622 can be disposed directly at the end of the robotic arm 31 rather than on the arthroplasty actuator 20.

Further, with continued reference to fig. 1, the present embodiment further includes a display 70 and an input device 50, and the input device 50 includes a mouse, a keyboard and a pedal 51. The display 70, the mouse keyboard and the foot rest 51 are all electrically connected to the controller 40 (not shown). The display 70 is used to display various prompt information in surgery and operation live information in surgery. The prompt information is used for assisting the operation to be accurately performed according to an operation plan, and can be, for example, prompt information that an acetabular file is not installed, mechanical arm fault alarm information or acetabular file filing depth information and the like, and the operation live information can be relative position information of a cutting tool 23a and the hip bone of a patient displayed through an image, clearance condition information of bones to be removed and the like. The keyboard and mouse are used to interact with the surgical system, which can be operated by the assisting physician. The pedal 51 is used for providing control right for a doctor who pulls the mechanical arm 30 and the cutting tool 23a, so that the doctor can interact with the operation system through the pedal 51 under the condition that the doctor is far away from the keyboard and the mouse, the operation progress is confirmed and controlled, and the operation safety and controllability are improved.

The following describes the complete procedure for preparing an acetabulum with a surgical system:

s100, three-dimensional reconstruction and operation planning; and before the operation is performed by using the operation system, three-dimensional reconstruction is performed by combining the CT data of the affected bone which is shot/acquired, and a three-dimensional model of the hip joint is obtained. And planning the installation position of the prosthesis model on the reconstructed three-dimensional model of the hip joint, and determining the ideal position of the preset shape to be prepared according to the installation position of the prosthesis model.

It can be understood that on the three-dimensional model of the hip joint, a doctor can intuitively observe the condition of the affected part of the hip joint, and the doctor can select the model of the acetabular prosthesis and the installation position of the acetabular prosthesis to be installed by adjusting the simulated placement condition of the acetabular prosthesis model on the three-dimensional model of the hip joint, so that the process of operation planning is more intuitive. After the planned installation of the acetabular prosthesis model is completed, the overlapping part of the acetabular prosthesis model and the three-dimensional model of the hip joint can be determined to be an ideal position with a preset shape.

S200, spatial registration; after exposing the hip joint of the patient, the probe 623 is used for collecting the surface characteristic point data of the hip bone and the point and surface data of the appointed area, the locator 61 is used for obtaining the space position of the collecting point through a reflecting ball/reflecting sheet on the probe 623, and the three-dimensional model of the hip joint generated by three-dimensional reconstruction is used for completing the registration of the hip bone and the three-dimensional model of the hip joint of the patient through a space registration algorithm, so that the actual position of the hip bone of the patient in the operation space is determined.

It will be appreciated that the processes of S100 and S200 described above are preparations prior to preparation of a predetermined shape using the surgical system 100 of the present disclosure, by which the surgical system 100 can obtain relevant information and smoothly perform subsequent acetabular shell milling operations. Moreover, the specific techniques of three-dimensional reconstruction and surgical planning and spatial registration described above are well known to those skilled in the art and will not be described in detail herein.

S300, acquiring a target pose A of the cutting tool 23 a; the three-dimensional reconstruction and surgical planning processes determine the ideal position of the predetermined shape on the three-dimensional model, and the spatial registration process determines the correspondence between the patient's hip bone in the surgical space and the patient's hip bone in the three-dimensional model of the hip joint. Based on the correspondence and the known ideal location of the predetermined shape on the three-dimensional model of the hip joint, the controller 40 may obtain a planned location of the predetermined shape in the surgical space. Based on the planned position of the predetermined shape, the controller 40 knows the target pose a of the cutting tool 23a, wherein the target pose a is the theoretical pose that the cutting tool 23a has when the planned position prepares the predetermined shape.

S400 registers the cutting tool 23a and acquires the real-time pose of the cutting tool 23 a;

Registering the cutting tool 23a requires that the registrar 624 be installed with the cutting tool 23a once and removed after registration is completed. The specific registration process is as follows: the registrar 624 is connected to the cutting tool 23a in a predetermined relative relationship, as shown in fig. 3, the locator 61 recognizes the pose information of the registrar 624 and the pose information of the end tracer 622 on the joint formation executor 20, and the controller 40 obtains a second relative relationship of the cutting tool 23a with respect to the end tracer 622 based on the pose information of the end tracer 622, the pose information of the registrar 624, and the predetermined relative relationship, and then removes the registrar 624 from the cutting tool 23 a.

The process of acquiring real-time pose information of the cutting tool 23a is: with the registrar 624 removed, the controller 40 may indirectly obtain the real-time pose of the cutting tool 23a based on the second relative relationship and the real-time pose of the end tracer 622.

The real-time pose includes real-time position information and real-time pose information of the cutting tool 23 a. It is necessary to acquire pose information of the cutting tool 23a in real time when grinding the acetabulum because the controller 40 can precisely guide the depth and angle of grinding of the cutting tool 23a based on the pose information of the cutting tool 23a in real time. However, the cutting tool 23a actually used for the acetabular milling operation has various models, and there may be mounting or machining errors in the connection between the cutting tool 23a and the arthroplasty actuator 20, and the pose of the cutting tool 23a during the operation may not be accurately determined with respect to the pose of the end tracer 622. It is even less possible to accurately obtain the real-time pose of the cutting tool 23a based on the relationship between the cutting tool 23a and the end tracer 622. Also, since the cutting tool 23a is rotated at a high speed at the time of cutting, it is not preferable to continuously provide the register 624 on the cutting tool 23a or the link spindle 2221 to directly acquire the real-time pose of the cutting tool 23a in real time. Thus, prior to performing acetabular milling, a process of registering the cutting tool 23a is required so that the locator 61 can still obtain real-time pose of the cutting tool 23a in the surgical space in real-time from the real-time pose of the end tracer 622 and the second relative relationship after the registrar 624 is removed. The real-time pose of the cutting tool 23a obtained by such a method is relatively accurate, and the grinding accuracy of the prepared acetabulum can be improved by the more accurate real-time pose of the cutting tool 23 a.

S500, the controller 40 receives an input signal that a doctor steps on the pedal 51; the input signal of stepping on the pedal 51 is a confirmation signal generated by the control of the doctor, and by stepping on the pedal 51, the doctor can confirm the process of grinding the acetabulum, thereby improving the controllability of grinding the acetabulum by using the surgical system.

S600, judging and controlling the corresponding operation progress according to the real-time pose of the cutting tool 23a and the external input signals, wherein the judging process is specifically described in S700-S900.

S700 when the distance between the cutting tool 23a and the target pose a is greater than the first threshold, and the controller 40 receives the first signal that the doctor steps on the foot, the controller 40 controls the mechanical arm 30 to enter a traction mode in which the mechanical arm 30 can passively place the cutting tool 23a within the pre-alignment range P under the traction of the doctor, and after the cutting tool 23a reaches the pre-alignment range, the doctor releases the foot 51, the controller 40 enters a stationary mode without receiving the first signal, and the mechanical arm in the stationary mode is locked, thereby maintaining the cutting tool 23a in a fixed pose.

The target pose a includes target position information and target posture information of the cutting tool 23 a. The first threshold value is a preset determination value, and based on the first threshold value, it is determined whether the cutting tool 23a is farther from the target pose a, and if so (greater than the first threshold value), the cutting tool 23a should be allowed to approach the target pose a later. In general, as shown in fig. 4, in an initial state of the operation, the robot arm 30 is maintained at a preparation position under the control of the controller 40, and when the cutting tool 23a is mounted on the robot arm 30 at the preparation position, the distance of the cutting tool 23a from the target pose a is greater than the first threshold.

The pre-alignment range P is a region with boundaries determined from the position information in the target pose a, and may be, for example, a sphere, an ellipsoid, a cylinder, a prism, or other irregular region. Illustratively, as shown in fig. 5, the pre-alignment range P is ellipsoidal. This region is a region located in a small range close to the target pose a, and is provided for the purpose of enabling the acetabular file to be brought close to the target pose a in the case where the doctor manually pulls the mechanical arm 30. As shown in fig. 5, the region of the pre-alignment range P may have a distance from the target pose a; of course, the pre-alignment range P may also contain the target pose a or partially contain the target pose a. Moreover, within the pre-alignment range P, the axis W of the acetabular file is offset from the axis U of the target pose, and it will be appreciated that the purpose of pulling the acetabular file into the pre-alignment range P by the robotic arm 30 is to bring the acetabular file closer to the target pose a, and that the procedure is manual by the doctor, so that the axis W of the acetabular file is not required to be exactly coincident with the axis U of the target pose, nor is the doctor required to perform cumbersome angular precise alignment during the procedure. In an alternative embodiment, the tolerance of the axis W of the acetabular file within the pre-alignment range P to the axis U of the target pose ranges from 0 ° to 30 °.

At the time of performing the operation, the positioner 61 acquires the pose of the end-tracer 622, and the controller 40 acquires the real-time pose of the cutting tool 23a in the operation space by the pose of the end-tracer 622 and the determined second relative relationship. Based on the real-time pose of the cutting tool 23a at the ready position, the controller 40 determines that the distance of the cutting tool 23a from the target pose a is greater than the first threshold, and the system generates a corresponding alert message, for example, the alert message may be a text alert "surgical ready" on the display 70, or a corresponding audible alert. After receiving the prompt information, the doctor who operates the mechanical arm 30 depresses the pedal 51 to make the mechanical arm 30 enter a traction mode, the mechanical arm 30 can be arbitrarily changed in position within a movable range, and the cutting tool 23a at this time pulls the mechanical arm 30 to reach a pre-alignment range P by the doctor. The controller 40 judges whether the cutting tool 23a is within the pre-alignment range P by real-time pose information of the cutting tool 23a, and when the cutting tool 23a is within the pre-alignment range P, as in the state shown in fig. 5, issues a notice to the doctor that the cutting tool 23a has reached the pre-alignment range P. The prompt may be a visual prompt or an audible prompt. With reference to the above-mentioned prompt, the doctor determines that the arm reaches the pre-alignment range P and then releases the foot pedal 51, and the controller 40 controls the arm 30 to enter the stationary mode, and the pose of the arm 30 and the cutting tool 23a is locked.

It will be appreciated that the movement of the cutting tool 23a in S700 is generally performed by exposing the wound into the affected area, through some human tissue and into the human body. Since this movement is manually operated by the physician, the physician may be autonomously controlled to reduce collisions of the cutting tool 23a with the human body, greatly reducing the risk of the controller 40 directly controlling the robotic arm 30 to bring the cutting tool 23a into the pre-alignment range P, and reducing the likelihood of iatrogenic injury to the patient by the surgical system.

S800 when the cutting tool 23a is located in the pre-alignment range P and the controller 40 receives the second signal that the doctor steps on the pedal 51, the controller 40 controls the mechanical arm 30 to automatically position the cutting tool to an alignment pose B, wherein the alignment pose B includes alignment position information and alignment pose information;

note that, the alignment pose B is associated with the target pose a, and in this embodiment, as shown in fig. 6, the axis V of the alignment pose coincides with the axis U of the target pose, that is, the alignment pose and the target pose are the same. And a first distance is arranged between the alignment position and the target position, wherein the first distance is a preset value, for example, the first distance can be 2mm, 3mm or 5mm, and the target pose A can be simply translated to obtain the alignment pose B based on the associated alignment pose B and the target pose A. Of course, the first distance is set taking into account the situation of the acetabular fossa to be prepared at the patient's hip bone, the first distance being the minimum allowed to be set when the alignment position is in contact with the portion of the patient's acetabulum to be ground. Wherein, as shown in fig. 8, in an alternative embodiment, when the first distance is at a minimum, it means that the alignment pose B "is in contact with the surface of the acetabular fossa to be prepared, and the path for subsequently delivering the cutting tool 23a from the alignment pose B" to the target pose a is shorter, reducing the possibility of route deviation that may occur in the process, and promoting more accurate acetabular preparation.

As shown in fig. 6, the alignment pose B of the present embodiment is within the pre-alignment range P, so that when the cutting tool 23a is automatically delivered to the alignment pose B from the predetermined range by the robot arm 30, the distance traveled by the cutting tool 23a is shorter, and the automatic alignment with the shorter distance greatly reduces the possibility of uncontrolled collision of the cutting tool 23a with human tissue. Moreover, in order to satisfy the first distance as short as possible and thus ensure the accuracy of acetabular preparation in the straight-line mode, the pre-alignment range P is set at a position close to the target pose a. In some alternative embodiments, as shown in fig. 8, the alignment pose B "may also be outside the pre-alignment range P. In other alternative embodiments, as shown in FIG. 7, the alignment pose B' portion is outside of the pre-alignment range P.

In the process that the mechanical arm 30 automatically positions the cutting tool 23a to the alignment pose B, the mechanical arm 30 automatically delivers the cutting tool 23a to the alignment pose B according to the alignment under the control of the controller 40.

The process of obtaining the alignment path is as follows:

s801, acquiring position and posture information of the cutting tool 23a relative to the tail end tracer 622;

this positional posture information is already saved at the time of registering the cutting tool 23a, that is, a second relative relationship calculated at the time of registering the cutting tool 23a by the registrar 624.

S802, calculating the real-time pose of the current cutting tool 23 a;

the real-time pose of the current cutting tool 23a is calculated from the second relative relationship of the cutting tool 23a and the end tracer 622 and the pose of the end tracer 622 acquired by the positioner 61.

S803, calculating the posture of the alignment posture under the acetabular file coordinate system (wherein the alignment posture is posture information in an alignment posture B);

the alignment pose of the cutting tool 23a is acquired and the pose qua of the pose information in the acetabular file coordinate system is calculated.

S804, calculating the conversion relation between the acetabular file coordinate system and the manipulator tcp coordinate system;

and calculating a conversion relation qua1 between the acetabular file coordinate system and the mechanical arm tcp coordinate system through the attitudes of the acetabular file coordinate system and the mechanical arm tcp coordinate system.

S805, converting the posture of the alignment posture under the acetabular file coordinate system to a mechanical arm tcp coordinate system;

and converting the posture quat of the alignment posture under the acetabular file coordinate system obtained by S803 into the mechanical arm tcp coordinate system through quat 1 to obtain the posture quat 2 of the alignment posture under the mechanical arm tcp coordinate system.

The euler angle information required to rotate the mechanical arm 30 is calculated in S806, and the euler angle information is calculated in Roll, pitch, yaw by the posture qua2 obtained in S705.

S807, calculating a relative position pos of the alignment position (the alignment position is the position information in the alignment pose B) under the acetabular file coordinate system, and calculating a relative position relationship pos1 of the end tracer 622 under the acetabular file coordinate system;

s808, converting pos and pos1 into a tcp coordinate system to obtain new position relations rotpos and rotpos1;

s809, calculating a position transfer to be moved by the manipulator tcp through rotpos and rotpos1;

at this time, the calculation of euler angle and position movement information of the posture of the manipulator tcp to be adjusted is completed, the transfer and Roll, pitch, yaw are sent to the controller 40, and the controller 40 plans an alignment path for completing the alignment of the pose B according to the transfer and Roll, pitch, yaw.

S900 when the real-time pose of the cutting tool 23a coincides with the alignment pose B, as shown in fig. 9, and the controller 40 receives the input signal of the doctor stepping on the pedal 51, the controller 40 controls the cutting tool to rotate, and controls the mechanical arm 30 to limit the linear motion of the cutting tool 23a within a predetermined range.

In this process, the mechanical arm 30 is in a spring arm mode, and the movement of each joint of the mechanical arm 30 is controlled so that the mechanical arm end 31 can only move along a straight line (straight line mode), the direction of the straight line movement is the same as the direction of the axis U of the target pose, in the process of the straight line movement, the axis W of the acetabular file always keeps consistent with the direction of the axis U of the target pose, and the predetermined range of the straight line movement is the range determined by the alignment pose B and the target pose a. In this way, the movement of the cutting tool 23a from the alignment pose B to the target pose a is a translation of the cutting tool 23a along its own axis, severely limiting the movement of the cutting tool 23a to the target pose a, the specific control principle being that no or less active control is applied in the linear direction of the desired movement. In this way, the movement of the cutting tool 23a from the alignment pose B to the target pose a is actually a translation process of the cutting tool 23a along its axis, by which the cutting tool 23a can reach the target pose a in the simplest path, and the linear displacement path and pose of the cutting tool 23a are severely limited, so that the cutting tool 23a can accurately prepare a predetermined shape of the acetabulum on the hip joint by the linear movement.

When performing an operation, the controller 40 compares the real-time pose of the cutting tool 23a with the alignment pose B, if the real-time pose and the alignment pose B are overlapped and a doctor operating the mechanical arm 30 steps on the pedal 51, the controller 40 starts a motor, the motor drives the cutting tool 23a to rotate through the connecting rod main shaft 2221, the cutting tool 23a can reach a target pose a for completing cutting of a preset shape from the alignment pose B under the limitation of the mechanical arm 30, and fig. 10 shows a state that the acetabular file reaches the target pose a. In this way, the cutting tool performs the preparation of the hip joint precisely along a path that can be limited, the prepared predetermined shape being in a position that is precise and that corresponds to the ideal position for the installation of the prosthesis.

In an alternative embodiment, the first signal, the second signal and the third signal may be different. In an alternative embodiment, the external input signal may be not a signal that the doctor steps on the pedal 51, but may be a button signal or a voice signal. In an alternative embodiment, the external input signal is a confirmation signal input through a keyboard and a mouse, preferably, the information input through the mouse and the keyboard is input by an auxiliary doctor (a doctor who does not control the mechanical arm 30 to perform the operation), so that the relevant confirmation information is input after the doctor who controls the mechanical arm 30 to perform the operation confirms with the auxiliary doctor, thereby reducing the burden of the doctor who performs the operation and enabling the operation to be performed more intensively.

In an alternative embodiment, as shown in fig. 11, the surgical tool 222b is a intramedullary reamer, the cutting tool 23b is a reamer at the distal end of the intramedullary reamer, and the intramedullary reamer is used to augment the proximal femur, and the steps S100-S900 described above are performed under the surgical system 100 as are performed by the acetabular file during the reaming process, the specific principles of which are not described in detail herein.

In an alternative embodiment, as shown in fig. 12-15, the arthroplasty actuator 20 comprises a power device 21 and a tool assembly 22. The power unit 21 includes a robot attachment end 24 and an internal power assembly 211. The joint forming actuator 20 is connected to the end of the arm 30 of the robot through the robot connecting end 24, and the power assembly 211 includes a power source 212 and an output shaft 213, the output shaft 213 being connected to the power source 212. The tool assembly 22 includes a connection 221 and a surgical tool 222a, the surgical tool 222a being rotatably disposed at the connection 221. The tool assembly 22 is detachably disposed to the power unit 21 via the connection 221. When the tool assembly 22 is connected to the power unit 21 via the connection 221, the surgical tool 222a engages the output shaft 213 to receive the rotational movement output by the output shaft 213. The power assembly 211 is disposed inside the power unit 21 and outputs power through the output shaft 213. The output shaft 213 engages an end of the tool assembly 22 to drive the surgical tool 222a and the cutting tool 23a, eliminating the need for long guide barrels to guide the surgical tool 222a, making the actuator more compact. 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. 12, 14-15, the arthroplasty actuator 20 comprises a power device 21 and a tool assembly 22. The power plant 21 includes a housing 214 and a power assembly 211. The housing 214 is a hollow interior member and has a substantially quadrangular prism shape. The housing 214 is provided with a robot attachment end 24 and a prosthesis mounting actuator interface 29 at both ends, respectively. The robotic connection end 24 is used to connect the arthroplasty actuator 20 to the robotic arm 30. The prosthetic mounting actuator interface 29 is used to removably attach a prosthetic mounting actuator for prosthetic mounting by the prosthetic mounting actuator after formation of the acetabular socket. The housing 214 is further provided with a handle 2141, the interior of the handle 2141 is hollow, and the handle 2141 is detachably connected with the housing 214. The power unit 21 is configured for attachment to the tool assembly 22 as a quick-fit interface and is disposed on the opposite side of the housing 214 from the location of the handle 2141. The tool assembly 22 includes a surgical tool 222a, the surgical tool 222a being an acetabular rasp bar assembly. When tool assembly 22 is mounted to the quick-connect interface, handle 2141 is substantially aligned with the axis of surgical tool 222a, which are disposed on either side of power device 21. The surfaces of the housing 214 are used to attach end tracers 622 to indicate the position of the actuators.

As shown in fig. 14, the power assembly 211 includes a motor 2121, a reduction gear 2122, an output shaft 213, and a coupling 216. The motor 2121 and the decelerator 2122 constitute a power source 212, and the power source 212 is integrated inside the handle 2141 and fixedly connected to the housing 214. The shaft of the speed reducer 2122 is connected to the output shaft 213 via a coupling 216. The power source 212 and the output shaft 213 are both coaxially disposed, with the axis perpendicular to the housing 214.

As shown in fig. 16, the output shaft 213 includes an input segment 2131, a middle segment 2132, and an output segment 2133, which are disposed in sequence. The input segment 2131 is provided with a keyway 2136 for receiving rotational movement from the power source 212. The middle segment 2132 is mounted in bearings in the power plant 21. The output segment 2133 is provided with a coupling spline 2134, the coupling spline 2134 including a plurality of circumferentially spaced apart projections for outputting torque. The length of the coupling spline 2134 is less than the length of the output segment 2133, i.e., the end segment of the output segment 2133 is an optical axis.

As shown in fig. 17, the coupling 216 is a quincuncial coupling. The coupling 216 includes a first portion 2161 and a second portion 2162, the first portion 2161 and the second portion 2162 each being provided with a locking screw for a stationary shaft, and an insulating sleeve being provided between the first portion 2161 and the second portion 2162. The shaft at the output of the reducer 2122 is coupled to the first portion 2161 by a coupling key and a locking screw, and the output shaft 213 is likewise coupled to the second portion 2162 by a key and a locking screw. The keyed connection of the shaft coupling 216 with the shaft at the output of the reduction gear 2122 and the output shaft 213 increases the reliability of the transmission on the one hand on the basis of the locking screw and on the other hand the maximum torque that can be transmitted.

Referring to fig. 14 and 15, inside the arthroplasty actuator 20, an insulating cover 218 is provided around the periphery of the coupling 216. The insulating cover 218 can isolate the housing 214 from the speed reducer 2122, so as to prevent electric leakage of the motor 2121 from being conducted to the housing 214 through the speed reducer 2122. The insulating cover 218 also serves to isolate the wires/conductors from rubbing or tangling with the rotating coupling 216 inside the housing 214.

Referring to fig. 14 to 15 and fig. 18 to 19, the housing 214 is further provided with a joint 217, and the joint 217 is fixed to the housing 214.

The joint 217 is used to connect the tool assembly 22 and mount the output shaft 213. The main body of the joint 217 is columnar, a hole 2171 is formed in the main body, four rotary grooves 2172 are formed in the periphery of the main body, the rotary grooves 2172 are used for guiding the pin shaft piece and comprise limiting parts 2173 for limiting the circumferential direction and the axial direction of the pin shaft piece, and two wing plates are arranged at one end of the joint 217 along the radial direction. The bore 2171 is adapted to receive a bearing therein and to receive the middle section 2132 of the output shaft 213. The rotary groove 2172 includes a precession section 2174 and a positioning section 2175, the precession section 2174 extending helically in a first axial direction, the positioning section 2175 extending in a second axial direction at an end of the precession section 2174 extending, wherein the first axial direction and the second axial direction are opposite. The side walls of the positioning section 2175 form a spacing portion 2173 the side walls of the positioning section 2175 serve to form a second axial spacing and a circumferential spacing for the contents in the slot. The wings are used to secure the connector 217 to the housing 214. When the output shaft 213 is mounted to the joint 217, the coupling spline 2134 extends out of the aperture 2171 and out of the housing 214.

As shown in fig. 20-22, tool assembly 22 includes a connection 221 and a surgical tool 222a. The surgical tool 222a is rotatably provided to the connection part 221 through one end thereof. The surgical tool 222a is an acetabular milling rasp bar assembly, and the other end is connected to an acetabular rasp. The acetabular milling file stem assembly includes a stem main shaft 2221, an acetabular file connection component, and a grip sleeve 2225. One end of the connecting rod main shaft 2221 is rotatably connected with the connecting part 221, and the other end is provided with a file connecting part. The grip 2225 fits over the extension rod main shaft 2221. The end of the link main shaft 2221 connected to the connection part 221 is provided with a spline joint 2222 and an engagement hole 2223. The spline joint 2222 is capable of mating with the coupling spline 2134 to effect 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 2223 is the same as the diameter of the optical axis portion on the output section 2133.

The connection part 221 includes a link lock 2211 and a link connection module. The extension rod lock head 2211 is in a cup shape with a hollow inside, and a round hole is arranged at the bottom. Four positioning pins 2212 distributed along the circumferential direction are arranged on the inner circumferential surface of the extension rod lock head 2211 near the opening. The extension rod connection module is disposed inside the extension rod lock 2211 and is used for rotatably connecting the acetabular milling file assembly to the extension rod lock 2211.

The extension rod connection module includes a catch 281, a positioning module 280, and a pair of sliding sleeves 283, all coaxially retained within the extension rod lock 2211. The holder 281 is annular and is disposed at the outermost side (the opening side of the link lock 2211). The positioning module 280 includes an elastic member 282 for forming a predetermined force between the connection portion 221 and the power device 21, and the elastic member 282 is a thrust spring in this embodiment. The two sliding sleeves 283 are annular and are axially positioned between the clamping holder 281 and the bottom of the connecting rod lock 2211. The outer circumference of the sliding sleeve 283 is matched with the inner circumference of the extension rod lock head 2211, and the inner hole is equal in diameter with the extension rod main shaft 2221. The thrust spring is disposed between the two sliding sleeves 283.

The main shaft 2221 is sleeved in the clamping holder 281, the thrust spring and the sliding sleeve 283. The outer circumferential surface of the main shaft 2221 of the extension bar is further provided with two ring grooves 2226 having a predetermined interval, and the ring grooves 2226 are used for installing a retainer ring. In the assembled relationship, the catch 281, the thrust spring, the sliding sleeve 283 and the extension rod lock 2211 are all located between the two baffle rings, so that the extension rod lock 2211 and the extension rod main shaft 2221 form a whole. The thrust spring is compressible, so that the extension rod lock head 2211 has a certain activity along the axial direction of the extension rod main shaft.

As shown in fig. 23, the connection 221 and the power device 21 will be connected by a snap-in structure 25 to form an axial and circumferential limit for the connection, wherein the snap-in structure 25 is constituted by a dowel 2212 and a snap-in groove 2172, i.e. the tool assembly 22 is connected to the housing 214 by a snap-in fit of the dowel 2212 and the snap-in groove 2172.

Fig. 24 and 25 are schematic views of the structure of the acetabular rasp bar assembly mounted to the power device 21, and with reference to fig. 16-23, the acetabular rasp bar assembly is assembled with the power device with the dowel 2212 inserted into the dowel section 2175 of the rotary groove 2172. The axially extending two side walls of the positioning segment 2175 form a circumferential limit to the positioning pin 2212 and the end walls form an axial limit to the positioning pin 2212. Therefore, the connecting rod lock 2211 can not fall off along the axial direction and can not rotate along the circumferential direction under the condition of no external force. The radial positioning is formed between the connection 221 and both the extension bar spindle 2221 and the housing 214, which is equivalent to the radial positioning formed between the extension bar spindle 2221 and the output shaft 213 (which is positioned on the housing 214). Referring specifically to fig. 23 and 25, the optical axis portion of the output shaft 213 and the engagement hole 2223 of the main shaft 2221 of the extension rod form a radial positioning structure 27, and the radial positioning structure 27 is an equal-diameter shaft hole mating structure, that is, direct radial positioning is formed between the output shaft 213 and the engagement hole 2223. Limited by the length and mating accuracy of the mating segments that form the radial positioning between the connection 221 and the extension rod spindle 2221, there may be some amount of radial play of the extension rod spindle 2221. While radial positioning between the optical axis portion of the output shaft 213 and the engagement hole 2223 of the link main shaft 2221 can improve radial positioning accuracy.

The spline joint 2222 of the extension rod main shaft 2221 is aligned with and engages the coupling spline 2134 of the output shaft 213 to receive rotational movement. The axial force of the thrust spring against the rod lock 2211 causes the dowel 2212 to be axially compressed against the end wall of the dowel section 2175. Because the thrust spring is compressed, there is an internal stress in the connection between the connection portion 221 and the power unit 21, which enables stable axial positioning between the tool assembly 22 and the power unit, and the difficulty in designing or mounting to ensure the accuracy of the axial positioning is not increased, the connection is more stable, and loosening due to vibration or the like is not easy to occur. And, the link main shaft 2221 is urged by the urging spring against the output shaft 213 in the axial direction to form axial positioning.

Compared with screw thread screwing connection, the cooperation of the positioning pin 2212 and the screw groove 2172 is more labor-saving, so that the rapid disassembly and assembly in operation are facilitated; the direct physical restraint of the locating section 2175 to the locating pin 2212 is also more reliable relative to friction locking. In some alternative embodiments, the positioning pin 2212 may be disposed on the outer circumferential surface of the extension rod lock head 2211 and the spin groove 2172 is disposed on the inner circumferential surface of the joint 217. In alternative embodiments, the locating pin 2212 may be disposed on the inner/outer circumferential surface of the joint 217, and the spin groove 2172 may be disposed on the outer/inner circumferential surface of the extension rod lock head 2211, which also ensures that the locating pin 2212 can spin when mated with the spin groove 2172, and further enables axial and circumferential positioning of the joint 217 and the extension rod lock head 2211.

The joint between the output shaft 213 and the connecting rod main shaft 2221 is a spline connection 26, and the spline connection 26 is realized only by axially aligning the connecting rod main shaft 2221 with the output shaft 213 in the joint process, so that the operation is convenient. In some alternative embodiments, torque-transmittable connection may also be formed between the output shaft 213 and the main rod shaft 2221 by the interengagement of end surfaces.

In some alternative embodiments, as shown in fig. 26, other radial positioning structures may be substituted for the radial positioning between the optical axis portion of the output shaft 213 and the engagement hole 2223 of the extension rod main shaft 2221. For example, a positioning shaft 2224 is provided at the end of the main shaft 2221 of the extension rod, and a positioning hole 2135 is provided on the output shaft 213, and the shaft holes of the two are matched to form radial positioning. Alternatively, as shown in fig. 27, a shaft hole fitting structure is provided between the joint 217 and the link main shaft 2221, for example, a hole 2176 having a diameter larger than that of the spline portion of the output shaft 213 is provided at the end of the joint 217, and the ends of the corresponding link main shafts 2221 are provided with an equal diameter, forming a shaft hole fitting therebetween.

In some alternative embodiments, springs may be provided at other locations as the resilient members 282 in the positioning module 280 to create internal stresses between the tool assembly 22 and the power plant 21. For example, a compression spring is fixed to the power unit 21. When the tool assembly 22 is mounted on the power device 21, the extension rod lock head 2211 compresses the compression spring, and the positioning pin 2212 of the extension rod lock head 2211 is pressed in the rotary groove 2172 by the reaction force of the compression spring, so that the pre-compression force is kept between the extension rod lock head 2211 and the power device 21, and a stable connection is formed. In the end use condition, the extension rod main shaft 2221 will be axially compressed against the output shaft by the reaction force of the patient tissue. The compression spring may be a common coil spring, a disc spring, a wave spring, etc., and the elastic member 282 is not limited to a spring form, and may be a resilient spring plate.

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

In use, the arthroplasty actuator 20 is coupled to the robotic arm 30 via the robotic interface 24, and the arthroplasty actuator 20 is not mounted with the tool assembly 22. First, the robot arm 30 enters a preparation position according to a predetermined surgical plan. The surgeon attaches the acetabular rasp bar assembly with cutting tool 23a to arthroplasty actuator 20 via joint 217. Specifically, the doctor holds the extension rod lock head 2211 to axially sleeve the engagement hole of the extension rod main shaft 2221 on the output section 2133 of the output shaft 213, and makes the coupling spline 2134 aligned with the spline joint 2222 for engagement. After the circumferential engagement of the output shaft 213 and the extension rod main shaft 2221 is completed, the extension rod main shaft 2221 abuts against the output shaft 213, and the doctor pulls and rotates the extension rod lock head 2211 in a direction approaching to the actuator, so that the positioning pin 2212 of the extension rod lock head 2211 finally enters the positioning section 2175 along the screwing section 2174 in the rotary groove 2172.

In this way, the engagement of the coupling spline 2134 with the spline joint 2222 achieves circumferential engagement of the output shaft 213 and the extension rod main shaft 2221, and the engagement of the output segment 2133 with the engagement hole 2223 improves the coaxiality of the connection, and also increases the radial positioning length of the docking rod main shaft 2221 along with the extension rod lock head 2211, improving the coaxiality of the output shaft 213 and the extension rod main shaft 2221 when transmitting rotation. When the dowel 2212 is positioned within the dowel section 2175, the dowel 2212 is constrained from rotating circumferentially relative to the joint 217 by the two axially extending side walls of the dowel section 2175. The thrust spring causes the extension rod lock head 2211 to have a tendency to move relative to the joint 217 toward the extension rod main shaft 2221, which tends to prevent the dowel pin 2212 from axially backing out of the dowel section 2175 to the precession section 2174. The thrust spring axially abuts the rod main shaft 2221 against the output shaft 213, i.e., the thrust spring urges the rod main shaft 2221 into axial engagement with the output shaft 213. In the above operation, the radially positioned portion of the connecting rod main shaft 2221 is the top end, and the stroke for axially moving the acetabular milling file assembly is smaller, and the required operation space is correspondingly smaller.

To this end, the acetabular rasp bar assembly is fully coupled to the housing 214 and the arthroplasty actuator 20 is moved to a predetermined target location under the control of the robotic arm 30 and a physician under the direction of a predetermined surgical plan. The motor 2121 is started, and the rotation of the motor 2121 is transmitted to the output shaft 213 via the speed reducer 2122 and the coupling 216 in this order. Because the output shaft 213 is connected with the connecting rod main shaft 2221 through the coupling spline 2134 and the spline joint 2222, the connecting rod main shaft 2221 rotates under the drive of the output shaft 213, and in the rotation process, the connecting rod lock 2211 is fixedly connected with the joint 217, so that the connecting rod lock 2211 cannot rotate. The rotating extension rod spindle 2221 rotates the cutting tool 23a for grinding and shaping of the acetabular fossa.

After the grinding and shaping of the acetabular fossa are completed according to a predetermined operation plan, the mechanical arm 30 enters a pose in which the acetabular grinding file rod assembly can be detached, a doctor pulls the connecting rod lock head 2211 against the elastic force of the thrust spring, the positioning pin 2212 is out of the limitation of the positioning section 2175, the connecting rod lock head 2211 is rotated, the positioning pin 2212 is out of the rotary groove 2172 after passing through the screwing section 2174, and the connecting rod lock head 2211 is separated from the joint 217. Removal is accomplished by moving the acetabular milling rasp bar assembly axially along the connecting bar spindle 2221 away from the joint 217.

In summary, the motor 2121, the reducer 2122, the coupling, and the output shaft 213 are integrated inside the housing 214, and the power cord of the motor 2121 can be introduced through the interface between the housing 214 and the mechanical arm 30. The joint forming actuator 20 has compact structure, does not need to be provided with an external power source, and avoids the interference influence of the external power source and a power wire thereof on the operation space and the potential safety hazard of the exposed power wire. The operation steps of the operation are reduced without assembling an external power source in the operation. The tool assembly 22 is comprised of a connection 221 and acetabular rasp bar assembly as a preloaded modular component that facilitates the detachable connection of the surgical tool 222a to the output shaft 213.

In an alternative embodiment, as shown in fig. 28, the surgical tool 222b is a intramedullary reamer and the tool assembly 22 includes a coupling 221 and a intramedullary reamer. Wherein the intramedullary reamer comprises a reamer shank 2227 and a reamer 2228 (i.e., cutting tool 23 b) coupled to the reamer shank 2227 for reaming the marrow, the end of the reamer shank 2227 being provided with a spline joint 2222 for coupling with the coupling spline 2134; reamer 2228 is provided with a reamer edge for reaming the femoral medullary cavity in a rotational motion. The connecting portion 221 has the same structure as the connecting portion 221 for connecting the acetabular milling file rod assembly, and the connecting rod connecting module connects the reamer rod 2227 with the connecting rod lock head 2211. And, the tool assembly 22 connected with the intramedullary reamer is connected with the joint 217 and the output shaft 213 in the same way as the above, after the connecting rod lock 2211 is connected with the joint 217, the intramedullary reamer is connected to the output shaft 213 through the spline joint 2222 and the coupling spline 2134, and the output shaft 213 drives the intramedullary reamer to rotate under the drive of the motor 2121 and performs the reaming task of the proximal femur.

In an alternative embodiment, the arthroplasty actuator 20 is provided with three sets of end tracers 622. Three sets of end tracers 622 are provided on three faces of the housing 214, each set containing four co-planar tracer elements 6221. As shown in fig. 12 to 14, three planes are provided on the housing 214, and three sets of tracer elements 6221 are provided on the three planes, respectively. The tracing element 6221 may be a passive reflective ball or a reflective sheet, or an active electromagnetic generator or sensor.

It will be appreciated that in hip arthroplasty, the end tracer 622 sends positional information of the arthroplasty actuator 20 to the positioner 61, and the positioner 61 is typically fixedly positioned in the operative space, the positioner being the device in the navigation system 60 that receives the positional information, such that the arthroplasty actuator 20 can be identified by the positioner in a variety of positions by the positioning of the three sets of tracer elements 6221. Corresponding to the tracking element 6221, the locator may be an optical navigator to identify the reflected light or may be a receiver to identify the electromagnetic signal.

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 surgical system for preparing a predetermined shape on a hip joint, comprising:

a cutting tool for cutting bone tissue;

the mechanical arm is used for holding the cutting tool and controlling the pose of the cutting tool;

a controller for causing the robotic arm to enter a traction mode when a first signal is received, and for causing the robotic arm to enter a stationary mode when the first signal is not detected,

the mechanical arm can move under the traction of external force in the traction mode, and the mechanical arm keeps the cutting tool in the current pose in the static mode;

in the rest mode, the controller is further configured to control the robotic arm to automatically adjust the cutting tool to an alignment pose associated with a target pose upon receipt of a second signal.

2. A surgical system according to claim 1, wherein in the stationary mode is further: the robotic arm maintains the cutting tool within a pre-alignment range associated with a target pose.

3. The surgical system of claim 2, wherein the controller is further programmed to: and determining the prealignment range and the alignment pose according to the target pose.

4. The surgical system of claim 2, wherein the controller is further programmed to: deviations of the axis of the cutting tool from the axis of the target pose within the pre-alignment range are allowed.

5. The surgical system of claim 1, wherein the controller is further configured to: after the mechanical arm adjusts the cutting tool to the alignment pose and when the controller receives a third signal, a control signal for enabling the mechanical arm to enter a linear mode is generated, and the tail end of the mechanical arm can move along a straight line under the action of external force in the linear mode.

6. The surgical system of claim 5, wherein the path of the linear motion of the distal end of the robotic arm coincides with the axis of rotation of the cutting tool.

7. The surgical system of claim 5, wherein an axis of the cutting tool coincides with an axis of the target pose during the linear motion.

8. The surgical system of claim 5, wherein the range of linear motion is a range determined by the alignment pose and the target pose.

9. A surgical system according to claim 5, wherein the system comprises input means for inputting the first signal, the second signal and the third signal.

Cutting tool

10. The surgical system of claim 1, wherein the axis of the alignment pose and the axis of the target pose coincide.

11. A surgical system according to claim 1, comprising an actuator having one end connected to the distal end of the robotic arm and the other end carrying the cutting tool.

12. The surgical system of claim 1, wherein the actuator comprises a power device and a tool assembly:

the power device comprises a robot connecting end and an internally arranged power assembly, wherein the robot connecting end is used for being connected to the tail end of a mechanical arm of the robot, the power assembly comprises 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, wherein the surgical tool is rotatably arranged on the connecting part, the tool assembly is detachably arranged on the power device through the connecting part,

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.

13. A surgical system as recited in claim 12, wherein the engagement is formed by an insertion or socket action of the surgical tool in an axial direction relative to the output shaft.

14. The surgical system of claim 13, wherein the surgical tool and the output shaft are configured as a spline connection.

15. A surgical system according to claim 12, wherein a radial positioning structure is further provided between the surgical tool and the power device.

16. A surgical system according to claim 15, wherein the radial positioning structure is disposed between the surgical tool and the output shaft.

17. A surgical system according to claim 15, wherein the radial positioning structure is a shaft bore fit between the output shaft and the surgical tool.

18. A surgical system according to claim 12, wherein the connection and the power device are connected by a snap-fit structure to form axial and circumferential limits for the connection.

19. The surgical system of claim 18, wherein the snap-in structure comprises a groove and a locating pin disposed on a circumferential surface, the groove being configured to guide the locating pin and comprising a stop portion that limits the locating pin in both a circumferential direction and an axial direction.

20. A surgical system according to claim 19, wherein the spin slot is provided in the power device and the locating pin is provided in the connection.

21. A surgical system according to claim 19 wherein the screw channel includes a screw segment and a locating segment in communication, the locating pin providing a circumferential locating relationship and an axial locating relationship to the connecting portion and the power device upon entry of the locating pin into the locating segment along the screw segment.

22. A surgical system according to claim 21, wherein a positioning module is provided between the connection and the power device, the positioning module providing a predetermined force between the connection and the power device.

23. A surgical system according to claim 22, 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.

24. A surgical system according to claim 23, 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.

25. A surgical system according to claim 12, wherein the surgical tool is an acetabular rasp bar assembly or a intramedullary reamer.

26. A surgical system as recited in claim 12, further comprising an end tracer disposed on a surface of the power plant.

27. The surgical system of claim 12, wherein the power device is configured to form an extension of the end section when connected to the end section of the robotic arm, the output shaft being transverse to the end section.

28. The surgical system of claim 12, wherein the power device further comprises a prosthesis mounting actuator interface.

29. A surgical system according to claim 28, wherein the robotic connection and the prosthetic mounting actuator interface are distributed across the power device.

30. The surgical system of claim 12, wherein the power device further comprises a handle configured to be substantially parallel to a rod to which the surgical tool is attached.