CN116370162A

CN116370162A - Prosthesis installation actuator and surgical system

Info

Publication number: CN116370162A
Application number: CN202210768534.3A
Authority: CN
Inventors: 张钊; 张晓峰; 李卫
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: 2023-07-04

Abstract

The present disclosure provides a prosthesis mounting actuator for use in a robotic system-performed hip replacement procedure, including a slide bar, a support assembly, and a tracer. The first end of the sliding rod is used for connecting the prosthesis, and the second end of the sliding rod is used for receiving the 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. The prosthesis installation executor that this disclosure provided, the slide bar is movable for supporting component axial, can make slide bar and supporting component in the clearance of axial be greater than the stroke when the slide bar is beaten when using, avoids slide bar and supporting component to bump the arm that damages and the executor is connected.

Description

Prosthesis installation actuator and surgical system

Technical Field

The present disclosure relates to the field of medical devices, and in particular to a prosthesis installation actuator and a surgical system.

Background

In hip surgery, there is a lot of soft tissues around the affected part of the patient, and doctors are directly affected by these tissues and need to avoid them when the affected part applies an impact force of installation to the acetabular prosthesis. For this purpose, it is necessary to hold the acetabular cup prosthesis by a prosthesis stem and transmit impact forces thereto for installation. In combination with the existing computer-aided navigation surgery system, the prosthesis rod can align the acetabular prosthesis with the affected part of a patient under the assistance of a mechanical arm and other types of directional holding devices, and a doctor can install the acetabular prosthesis by applying striking to the prosthesis rod.

During the implantation of the prosthesis, the implantation depth and angle of the prosthesis are key indicators. The depth of the prosthesis changes with each strike and the system needs to measure the depth change and output it to the surgeon. Generally, the system relies on pose information of the robotic arm to determine pose information of the prosthesis to which it is attached, for which purpose it is necessary to determine the positional relationship of the prosthesis relative to the robotic arm by cooperation of mechanical structural dimensions between the robotic arm and the prosthetic rod. However, during the striking process, the mechanical arm should not make a large rigid collision with the prosthetic rod. Once a large rigid collision occurs, the mechanical arm may be damaged due to a large impact force or the position of the mechanical arm is separated from the accurate position for keeping the prosthesis installation actuator in the target pose, so that the operation precision is affected.

In the traditional operation, a surgeon directly holds the prosthesis rod by hand, and implantation conditions such as the depth of the prosthesis can be judged by feeling the vibration condition of the prosthesis rod in the striking process. In a robotic-assisted surgical system, the robot replaces the surgeon to hold and position the prosthetic rod, reducing the surgeon's perception of the shock conditions described above. While navigation systems can provide intuitive depth information, they do not allow the surgeon to work based on experience of subjective feelings.

Disclosure of Invention

The present disclosure provides a prosthesis installation executor and a surgical system that facilitate assisting a doctor in performing a hip prosthesis implantation procedure.

A first aspect of the present disclosure provides a prosthesis installation actuator for use in a hip replacement procedure performed by a robotic system, comprising a slide bar, a support assembly and a tracer, a first end of the slide bar being for connection to a prosthesis, a second end of the slide bar being for receiving an impact force when installing the prosthesis; 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 a first possible embodiment, the device further comprises an axial buffer mechanism, wherein the axial buffer mechanism forms axial buffer between the slide bar and the supporting component when the slide bar is subjected to axial impact.

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

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

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

In combination with the above possible implementation manner, in a fifth possible implementation manner, all 2 cushioning members are in a compressed state.

In combination with the foregoing possible implementation manner, in a sixth 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 seventh 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 an eighth possible implementation manner, the sliding rod further includes a holding portion for an operator to hold.

In combination with the above possible implementation manner, in a ninth possible implementation manner, the holding part is located between the support component and the prosthesis.

In combination with the above possible implementation manner, in a tenth possible implementation manner, the holding portion and the sliding rod are rigidly connected in an axial direction.

In combination with the foregoing possible implementation manner, in an eleventh possible implementation manner, a quick-disassembly 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-disassembly mechanism.

In combination with the foregoing possible implementation manner, in a twelfth possible implementation manner, the quick-disassembly 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 thirteenth 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 piece, 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 above possible implementation manner, in a fourteenth 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 sliding rod is fixed, and the circumferential position of the adjusting member relative to the sliding rod is adjustable at the second position.

In combination with the foregoing possible implementation manner, in a fifteenth possible implementation manner, the adjusting member forms a spline fit with the sliding rod at the first position, and/or a clamping groove is formed between the adjusting member and the adapting shaft, and the clamping groove extends along the axial direction of the adapting shaft.

In combination with the above possible implementation manner, in a sixteenth 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 for assisting in prosthesis installation in joint replacement surgery, comprising a prosthesis installation actuator as in the first aspect of the present disclosure, further comprising a robotic arm, a navigation system and a control system; the mechanical arm is used for carrying an actuator, and the actuator is detachably connected with the mechanical arm; 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 prosthesis installation actuator provided in the first aspect of the disclosure comprises a sliding rod, a supporting component and a tracer. The sliding rod is axially movable relative to the supporting component, and when the mechanical arm is used, the gap between the sliding rod and the supporting component in the axial direction is larger than the stroke of the sliding rod when the sliding rod is hit, so that the sliding rod and the supporting component are prevented from being collided and damaging the mechanical arm connected with the actuator.

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 the overall structure of a prosthetic mounting actuator according to an embodiment of the present disclosure;

FIG. 3 is a cross-sectional view of the overall structure of a prosthetic mounting actuator according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of a joint between a support assembly and a slide bar according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of components at a coupling portion of an embodiment of the present disclosure;

FIG. 6 is a schematic view of the installation of a prosthetic installation actuator according to an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a support assembly and a second interface structure according to an embodiment of the present disclosure;

FIG. 8 is a second schematic diagram of a support assembly and a second interface structure according to an embodiment of the present disclosure;

FIG. 9 is a third schematic illustration of a support assembly and a second interface structure according to an embodiment of the present disclosure;

FIG. 10 is a schematic view of a slide bar with an adjustment member mounted thereto according to an embodiment of the present disclosure;

FIG. 11 is a schematic illustration of an adjustment member in accordance with an embodiment of the present disclosure;

FIG. 12 is a second schematic view of an adjustment member according to an embodiment of the present disclosure;

FIG. 13 is a third schematic view of an adjustment member according to an embodiment of the present disclosure;

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

FIG. 15 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-slide sleeve, 8-first buffer, 9-retainer, 10-insulator, 101-flange, 11-second buffer, 12-plug, 121-limit slot, 13-second interface, 131-base plate, 132-limit button, 1321-first segment, 1322-second segment, 133-plug aperture, 14-mounting hole, 15-plug, 16-first elastic member, 17-spacer, 18-plug pull, 19-identification plug, 20-identification seat, 21-adapter shaft, 210-main shaft segment, 211-connecting hole, 212-fixture block, 213-flange, 214-limit segment, 215-limit steps, 22-nuts, 221-outer walls, 222-clamping grooves, 223-spline grooves, 23-adapter sleeves, 24-splines, 25-retainers, 26-nuts, 261-stress plates, 262-connecting sections, 27-adjusting members, 28-first positions, 29-second positions, 80-axial buffer mechanisms, 90-axial limit structures, 140-quick-release mechanisms, 141-first limit mechanisms, 142-second limit mechanisms, 1003-prostheses, 4000-support assemblies, 5000-adjusting assemblies, 6000-joint forming actuators 7000-prosthesis installation actuators, 9000-navigation systems, 9100-mechanical arms, 9200-control systems.

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 proposed by the present disclosure includes a robotic arm 9100, a navigation system 9000, a prosthesis mounting actuator 7000, 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 mechanical arm 9100 according to the route and/or the position of the mechanical arm according to the information obtained by the navigation system 9000 during the operation, or set the virtual boundary of the mechanical arm 9100 through a force feedback mode, and then manually push the mechanical arm 9100 to move along the route, the plane or the body defined by the virtual boundary.

The prosthetic mounting actuator 7000 is for use in a hip replacement surgery, and the prosthetic mounting actuator 7000 is a cup holding device comprising a slide bar, a support assembly and a tracer. The first end of the sliding rod is used for connecting the prosthesis, and the second end of the sliding rod is used for receiving the 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. The prosthesis installation executor that this disclosure provided, the slide bar is movable for supporting component axial, can make slide bar and supporting component in the clearance of axial be greater than the stroke when the slide bar is beaten when using, avoids slide bar and supporting component to bump the arm that damages and the executor is connected. The slide bar is configured integrally with the support assembly. When the actuator is used, the sliding rod and the supporting component are not required to be assembled or disassembled, and only the sliding rod and the supporting component are required to be connected to or separated from the mechanical arm.

In particular, as in the embodiment shown in fig. 2-6, the prosthesis mounting actuator 7000 includes a slide bar 1, a support assembly 4000, a tracer 2, an axial buffer mechanism 80, and an axial restraint structure 90. Referring specifically to fig. 6, the prosthetic mounting actuator 7000 is connected to the arthroplasty actuator 6000 by the support assembly 4000, with the slide bar 1 of the prosthetic mounting actuator 7000 being parallel to the structure of the arthroplasty actuator 6000 for connection to the cutting tool 1004. The structure of the arthroplasty actuator 6000 for coupling the cutting tool 1004 is such that the output shaft 400 and the coupling 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. 2 to 3, 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.

As shown in fig. 3 to 5, the support assembly 4000 includes a main body 4, a coupling part 5, an insulation 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. 3) 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.

Referring specifically to fig. 3 and 4, 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 prosthesis mounting actuator 7000 reaches a target alignment pose for mounting the 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 prosthetic mounting 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, and 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 prosthesis mounting actuator 7000 in a direction opposite to the hammering force when implanting the prosthesis to dislodge 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, the support assembly 4000 is provided with a quick release mechanism 140 for connecting the prosthetic mounting actuator 7000 to the robotic arm 9100 or the arthroplasty actuator 6000. As shown in fig. 7 to 9, 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 joint forming 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 prosthesis mounting actuator 7000 to the arthroplasty actuator 6000 by the quick release mechanism 140, the arthroplasty actuator 6000 is provided with a second interface 13 in the form of a slot. 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 prosthesis mounting actuator 7000 can be easily removed. As shown in fig. 7 to 9, 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 rectangular space coordinate system, the insert 12 and the second interface 13 cooperate in thickness and width to define 5 degrees of freedom of the insert 12 except for the z-axis (which may also be the x-axis or the y-axis), the engagement of the limit groove 121 and the limit button 132 define the degree of freedom of the prosthesis mounting 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 prosthesis mounting actuator 7000 sliding along the second direction in the z-axis, in fig. 7 to 9, the first direction is the direction in which the coupling portion 5 is axially downward, and the second direction is the direction in which the coupling portion 5 is upward. To this end, the prosthesis mounting actuator 7000 is fixedly connected to the arthroplasty actuator 6000 by the arrangement of the plug 12, the second interface 13 and the plug assembly. When the plug is detached, the plug pulling bolt 18 is pulled (pulled leftwards in fig. 7) 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. 7). The quick-release mechanism 140 of the prosthesis installation actuator 7000 is arranged, so that a doctor can quickly complete the installation and the disassembly of the prosthesis installation actuator 7000 during operation, and the operation time is saved.

As shown in fig. 10, in an alternative embodiment, the prosthesis mounting 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. 11, 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. 11 to 14, the adjuster 27 includes a detachably coupled nut 22 and adapter sleeve 23, a spline 24, and a holder 25. Referring specifically to fig. 14, 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. 12, 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 prosthesis mounting actuator 7000 of the present embodiment, when adjusting the direction of the prosthesis 1003, as shown in fig. 13, the doctor pulls up the adjusting device 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 range of the prosthesis installation actuator 7000 are improved without the need 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. 2 and 15, 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, the surgical system set forth in the second aspect of the present disclosure includes a prosthetic mounting actuator 7000 as set forth in the first aspect, further including a robotic arm 9100, a navigation system 9000, and a control system 9200. The robotic arm 9100 is used to mount the prosthetic mount actuator 7000 and control the orientation of the actuator. 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 control system programming such that the robotic arm 9100 moves entirely autonomously in accordance with a surgical plan, or by providing tactile feedback or force feedback to limit the surgeon to manually moving the surgical tool 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 with the mechanical arm 9100; the navigation system is used to measure the position of the prosthesis mounting actuator 7000 and the patient. The navigation system 9000 generally includes 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 is used to drive the robotic arm to move the prosthesis mounting actuator 7000 to the target position according to the surgical plan. The manipulator movement path, movement boundary, etc. may be included in the surgical plan.

In operation, the slide bar 1 of the prosthesis mounting actuator is preloaded with the prosthesis 1003. As a modular component, the prosthetic mounting actuator 7000 is directly or indirectly connected to the robotic arm 9100 via the support assembly 4000. Control system 9200 controls the movement of robotic arm 9100 to move the prosthetic mounting actuator 7000 to a target pose adjacent the patient's lesion in accordance with the path planned by the procedure. The physician observes to determine if the orientation of the prosthesis 1003 is correct and adjusts the orientation of the prosthesis 1003 by the adjustment means when it is incorrect. The prosthesis 1003 is then installed into the patient's prepared acetabular fossa. One hand holds the holding part 3 and the other hand holds the hammer or the slide hammer to apply an impact force to the slide bar 1. The prosthesis 1003 is installed into the acetabular socket by multiple forces.

In the process of force application, the sliding rod 1 moves axially relative to the supporting component 4000, so that the gap between the sliding rod 1 and the supporting component 4000 in the axial direction can be larger than the stroke of the sliding rod 1 when being hit, and the sliding rod 1 and the supporting component 4000 are prevented from colliding to damage a mechanical arm 9100 connected with an actuator. The specific process is as described in the first aspect, and is not described herein.

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 prosthesis mounting actuator for use in a hip replacement procedure performed by a robotic system, 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.

2. The prosthetic mounting actuator of claim 1, further comprising an axial damping mechanism, the axial damping mechanism forming an axial damping between the slide bar and the support assembly when the slide bar is axially impacted.

3. The prosthesis mounting actuator of claim 2, wherein an axial stop structure is disposed between the slide bar and the support assembly, and the axial buffer mechanism is disposed between the support assembly and the axial stop structure.

4. The prosthesis mounting actuator of claim 3, wherein the axial dampening mechanism is precompressed/stretched.

5. The prosthesis mounting actuator of claim 3, wherein the coupling portion is a channel extending through the support assembly, and the axial dampening mechanism comprises 2 dampening members, the 2 dampening members being located at each end of the channel.

6. The prosthetic mounting actuator of claim 5, wherein each of 2 of the buffers is in a compressed state.

7. The prosthetic mounting actuator of claim 5, wherein the axial stop structure comprises a collar disposed on the slide bar, the bumper being disposed between the collar and the support assembly.

8. The prosthetic mounting actuator of claim 7, wherein the axial stop structure further comprises an insulator on one side of the support assembly, the bumper being located between the insulator and the retainer ring.

9. The prosthetic mounting actuator of claim 1, wherein the slide bar further comprises a grip for an operator to grasp.

10. The prosthesis mounting actuator of claim 9, wherein the grip is located between the support assembly and the prosthesis.

11. The prosthesis mounting actuator of claim 9, wherein the grip portion is axially rigidly connected to the slide bar.

12. The prosthesis mounting actuator of claim 1, wherein a quick release mechanism is disposed between the support assembly and the robotic arm, the prosthesis mounting actuator being coupled to the robotic arm by the quick release mechanism.

13. The prosthesis mounting actuator of claim 12, wherein the quick release mechanism comprises a first limit mechanism and a second limit mechanism, the second limit mechanism being a manual release limit mechanism.

14. The prosthesis mounting actuator of claim 1, 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.

15. The prosthesis mounting actuator of claim 14, 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 circumferential position.

16. The prosthesis mounting actuator of claim 15, wherein the adjustment member forms a spline fit with the slide bar at the first location and/or wherein the adjustment member engages a cartridge slot extending axially of the adapter shaft.

17. The prosthetic mounting actuator of claim 14, further comprising a retaining member configured to retain the adjustment member in the first position when the adjustment member is not acted upon by an external force.

18. A surgical system for assisting in the installation of a prosthesis in a joint replacement procedure, comprising:

an actuator, which is the prosthesis mounting actuator of any one of claims 1 to 17;

the mechanical arm is used for carrying the actuator, and the actuator is detachably connected with the mechanical arm;

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.