CN116370163A

CN116370163A - Surgical system

Info

Publication number: CN116370163A
Application number: CN202210871986.4A
Authority: CN
Inventors: 张晓峰; 江标; 张钊; 杜可斌; 李卫
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
Anticipated expiration: 2042-07-19
Also published as: CN116370163B

Abstract

The present disclosure discloses a surgical system for installing an acetabular prosthesis on a hip joint, comprising a slide bar, a mechanical arm, and a controller, the slide bar being for carrying the acetabular prosthesis; the mechanical arm is used for holding a sliding rod, and the sliding rod can linearly slide relative to the tail end of the mechanical arm; the controller is used for generating a control signal which allows the mechanical arm to move under the traction of external force when receiving the first signal; and generating a control signal for locking the position of the mechanical arm when the first control signal is not detected; wherein the controller is further configured to generate a control signal to control the robotic arm to adjust the acetabular prosthesis to an alignment pose associated with the target pose when the second signal is received when the robotic arm is locked. The surgical operation system can safely and controllably and accurately mount the acetabular prosthesis.

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.

In clinical surgery, there is a lot of blood flesh tissue and soft tissue around the affected part of the patient, and the doctor is directly affected by these tissues and needs 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. The surgeon needs to install the acetabular prosthesis according to the cues of the system. An accurate and reliable prosthesis mounting system is therefore an important prerequisite for ensuring the ideal prosthesis mounting position.

In clinical surgery, hip replacements include installation replacements for acetabular prostheses and femoral prostheses (including femoral stems and femoral head prostheses). Wherein the acetabular prosthesis is impacted under the grip of the prosthesis installation actuator to install the acetabular prosthesis into the prepared acetabular socket.

With the aid of the mechanical arm, the prosthesis installation actuator on which the acetabular prosthesis is mounted is required to move to the target pose in strict accordance with the surgical plan. In the process, the motion trail control of the acetabular prosthesis is important, on one hand, accurate motion control can ensure accurate matching installation with an acetabular fossa, and incorrect installation orientation of the acetabular prosthesis can lead to the acetabular cup not being installed at a correct angle; on the other hand, reasonable motion control can ensure that the acetabular prosthesis and a rod piece for holding the acetabular prosthesis can not cause iatrogenic injury to a patient when going deep into an affected part wound, and incorrect motion control can possibly cause safety accidents.

Currently, there are already more mature Surgical systems for the installation of prostheses, such as the hip Surgical robot system of the MAKO Surgical company, whose disclosure is given in chinese patent No. 102612350B, which limits the range of motion of the acetabular prosthesis held by the mechanical arm by force feedback control, enabling the prosthesis to be installed in a desired pose. However, the motion control is only based on the tactile feedback and the limitation of the moving range of the surgical tool, the safety consideration is lacking when the mechanical arm automatically moves, the prosthesis mounting path and mode are not disclosed in detail, and the accuracy of the prosthesis mounting is difficult to ensure.

Disclosure of Invention

The present disclosure provides a surgical system that solves the problem of how to accurately and reliably perform acetabular prosthesis installation in hip replacement surgery.

The present disclosure proposes a surgical system for installing an acetabular prosthesis on a hip joint, comprising a slide bar for mounting the acetabular prosthesis, a mechanical arm, and a controller; the mechanical arm is used for holding a sliding rod, and the sliding rod can linearly slide relative to the tail end of the mechanical arm; the controller is used for generating a control signal which allows the mechanical arm to move under the traction of external force when receiving the first signal; and generating a control signal for locking the position of the mechanical arm when the first control signal is not detected; wherein the controller is further configured to generate a control signal to control the robotic arm to adjust the acetabular prosthesis to an alignment pose associated with the target pose when the second signal is received when the robotic arm is locked.

In a first possible embodiment, the mechanical arm, when locked, is further: the robotic arm is locked in a position that places the acetabular prosthesis 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 acetabular prosthesis 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: when the acetabular prosthesis is in an aligned position and the controller receives the third signal, a control signal for enabling the mechanical arm to enter a linear mode is generated, and in the linear mode, the tail end of the mechanical arm can move along a straight line under the action of external force.

In combination with the foregoing possible implementation manner, in a fifth possible implementation manner, a path of the linear motion of the end of the mechanical arm coincides with the axis of the slide rod.

In combination with the above possible implementation manner, in a sixth possible implementation manner, during the rectilinear motion, the axis of the acetabular prosthesis coincides with the 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 a prosthesis installation actuator, one end of which is connected to the end of the mechanical arm, and the other end of which carries the sliding rod.

With reference to the foregoing possible implementation manner, in an eleventh possible implementation manner, the prosthesis installation executor includes:

the sliding rod is provided with a sliding rod,

the support assembly comprises a coupling part, wherein the coupling part accommodates part of a rod section of the sliding rod, and the sliding 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; and

the tracer is arranged on the sliding rod to indicate the direction of the sliding rod.

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

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

In combination with the foregoing possible implementation manner, in a fifteenth 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 sixteenth 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 seventeenth 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 mechanism.

In combination with the foregoing possible implementation manner, in an eighteenth 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:

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.

In combination with the above possible implementation manner, in a nineteenth possible implementation manner, the adjusting member is movable between a first position and a second position of the adapter shaft, the circumferential position of the adjusting member between the first position and the slide bar is fixed, and the circumferential position of the adjusting member relative to the slide bar is adjustable at the second position.

In combination with the above possible implementation manner, in a twentieth 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.

The surgical system comprises a sliding rod, a mechanical arm and a controller, wherein the sliding rod is used for carrying an acetabular prosthesis; the mechanical arm is used for holding a sliding rod, and the sliding rod can linearly slide relative to the tail end of the mechanical arm; the controller is used for generating a control signal which allows the mechanical arm to move under the traction of external force when receiving the first signal; and generating a control signal for locking the position of the mechanical arm when the first control signal is not detected; wherein the controller is further configured to generate a control signal to control the robotic arm to adjust the acetabular prosthesis to an alignment pose associated with the target pose when the second signal is received when the robotic arm is locked. Thus, the acetabular prosthesis in the aligned pose has a position and a pose associated with the target pose, and when the acetabular prosthesis is installed, a doctor can accurately install the acetabular prosthesis by controlling the acetabular prosthesis to move from the aligned pose to the target pose, and the control process is short and labor-saving. The surgical operation system can safely and controllably and accurately mount the acetabular prosthesis.

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 prosthetic installation actuator and acetabular prosthesis configuration according to an embodiment of the disclosure;

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

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

fig. 5 is a schematic view of an acetabular prosthesis according to an embodiment of the disclosure 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 view of an acetabular prosthesis reaching an alignment pose B according to an embodiment of the disclosure;

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

FIG. 11 is a schematic illustration of the overall structure of a prosthetic mounting actuator according to an embodiment of the present disclosure;

FIG. 12 is a schematic diagram of the overall structure of a prosthetic mounting actuator according to an embodiment of the present disclosure;

FIG. 13 is a schematic view of the structure of the connection between the support assembly and the slide bar according to an embodiment of the present disclosure;

FIG. 14 is a schematic view of components at a slide rail according to an embodiment of the present disclosure;

FIG. 15 is a schematic view of the installation of a prosthetic installation actuator according to an embodiment of the present disclosure;

FIG. 16 is a schematic view of a support assembly and a second interface structure in accordance with an embodiment of the present disclosure;

FIG. 17 is a second schematic illustration of a support assembly and a second interface structure according to an embodiment of the present disclosure;

FIG. 18 is a third schematic illustration of a support assembly and a second interface structure according to an embodiment of the present disclosure;

FIG. 19 is a schematic view of a slide bar structure provided with an adjustment module according to an embodiment of the present disclosure;

FIG. 20 is a schematic diagram of a conditioning module in accordance with an embodiment of the present disclosure;

FIG. 21 is a second schematic illustration of a conditioning module according to an embodiment of the disclosure;

FIG. 22 is a third schematic illustration of an adjustment module according to an embodiment of the present disclosure;

FIG. 23 is a schematic view of a nut structure of an embodiment of the present disclosure;

FIG. 24 is a schematic diagram of a nut structure according to an embodiment of the present disclosure;

reference numerals:

100-surgical system;

10-prosthesis mounting actuators, 20-arthroplasty actuators;

11-a slide bar, 111-a holding part, 112-a nut, 1121-a stress plate and 1122-a connecting section;

13-acetabular prosthesis;

14-supporting components, 141-coupling parts, 142-main bodies, 143-insulating sleeves and 144-sliding sleeves;

15 axial buffer mechanism, 151-first buffer, 152-second buffer;

16-an axial limiting structure, 161-a retainer ring, 162-an insulating part and 1621-a blocking edge;

17-quick-dismantling mechanism, 171-first limit mechanism, 171 a-plug block, 1711-limit groove, 172-second limit mechanism, 1721-mounting hole, 1722-bolt, 1723-first elastic piece, 1724-cushion block, 1725-bolt pulling bolt;

18-second interface, 181-bottom plate, 182-limit button, 1821-first section, 1822-second section, 183-bolt hole;

19-adjusting components, 191-switching shafts, 1911-main shaft sections, 1912-connecting holes, 1913-clamping blocks, 1914-flanges, 1915-limiting sections, 1916-limiting steps, 192-adjusting pieces, 1921-nuts, 1922-switching sleeves, 1923-outer walls, 1924-clamping grooves, 1925-spline grooves, 1926-splines, 1927-retaining pieces, M-first positions and N-second positions;

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, 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 prosthesis;

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 installing an acetabular prosthesis on a hip joint, comprising a slide bar for mounting the acetabular prosthesis, a mechanical arm, and a controller; the mechanical arm is used for holding a sliding rod, and the sliding rod can linearly slide relative to the tail end of the mechanical arm; the controller is used for generating a control signal which allows the mechanical arm to move under the traction of external force when receiving the first signal; and generating a control signal for locking the position of the mechanical arm when the first control signal is not detected; wherein the controller is further configured to generate a control signal to control the robotic arm to adjust the acetabular prosthesis to an alignment pose associated with the target pose when the second signal is received when the robotic arm is locked. Thus, the acetabular prosthesis in the aligned pose has a position and a pose associated with the target pose, and when the acetabular prosthesis is installed, a doctor can accurately install the acetabular prosthesis by controlling the acetabular prosthesis to move from the aligned pose to the target pose, and the control process is short and labor-saving. The surgical operation system can safely and controllably and accurately mount the acetabular prosthesis.

Specifically, as shown in fig. 1, surgical system 100 includes a prosthesis mounting actuator 10, a robotic arm 30, and a controller 40.

One end of the prosthesis installation actuator 10 is connected with the mechanical arm 30, the other end of the prosthesis installation actuator is connected with the sliding rod 11, the sliding rod 11 can slide along a straight line relative to the tail end 31 of the mechanical arm, one end of the sliding rod 11 is provided with the acetabular prosthesis 13, and the other end of the sliding rod is used for receiving impact force for installing the acetabular prosthesis, and the impact force can be applied by doctors. A schematic structural view of the prosthesis mounting actuator is shown in fig. 2.

The robot arm 30 is a cooperative robot arm having a plurality of sensors therein, and each joint is independently controllable. The robotic arm 30, with the prosthetic mounting actuator 10 removably attached to the arm end 31, is capable of operating in a traction mode, an active mode, a rest 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 30 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, the controller 40 can limit the movement range of the mechanical arm end 31 by applying different controls to each mechanical arm joint, the mechanical arm end 31 can move within a predetermined range under the pushing of a user, such as a linear mode, and the mechanical arm is limited by the applied part so that the mechanical arm end can only move within a linear range.

The controller 40 is electrically connected to the mechanical arm 30, and is used for controlling the movement mode of the mechanical arm 30.

With continued reference to fig. 1, in this embodiment, a navigation system 60 is also provided, the navigation system 60 comprising a locator 61 and a tracer 62 for assisting the controller 40 in obtaining a target pose a of the acetabular prosthesis 13 and a real-time pose of the acetabular prosthesis 13. 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, 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 slide bar 11 and is fixedly connected to the slide bar 11, the end tracer 622 disposed on the prosthetic mounting actuator 10 having a first relative relationship to the 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 acetabular prosthesis 13 in a predetermined relative relationship and the pose of the acetabular prosthesis 13 is obtained when connected, and fig. 3 shows a manner of connecting the register 624 to the acetabular prosthesis 13, specifically by connecting the register 624 to the slide rod 11 and causing a portion of the register 624 to abut the acetabular prosthesis 13. Of course, the connection of the registrar 624 to the acetabular prosthesis 13 is not limited to the manner shown in fig. 3.

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, mouse, keyboard and 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 the prompt information can be, for example, prompt information that the acetabular prosthesis 13 is not installed, mechanical arm 30 fault alarm information, or grinding and contusion depth information of the acetabular prosthesis 13, and the operation live information can be relative position information of the acetabular prosthesis 13 and the hip bone of the patient, which is displayed through images, 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, 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. An ideal installation position of the prosthesis model is planned on the reconstructed three-dimensional model of the hip joint.

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 13 to be installed and the installation position of the acetabular prosthesis 13 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.

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 the predetermined shape using the surgical system of the present disclosure, by which the surgical system can acquire relevant information and smoothly perform subsequent installation of the acetabular prosthesis 13. 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 acetabular prosthesis 13; the three-dimensional reconstruction and operation planning processes determine the ideal position of the acetabular prosthesis model on the three-dimensional model of the hip joint, and the spatial registration processes determine the corresponding relationship between the hip bone of the patient in the operation space and the hip bone of the patient on the three-dimensional model of the hip joint. Based on this correspondence and the known ideal position of the acetabular prosthesis model on the three-dimensional model of the hip joint, the controller 40 may obtain a planned position of the acetabular prosthesis 13 in the surgical space. From the planned position, the controller 40 knows the target pose a of the acetabular prosthesis 13 in the surgical space, wherein the target pose a is the theoretical pose of the acetabular prosthesis 13 that needs to be installed.

S400, registering the acetabular prosthesis 13 and acquiring the real-time pose of the acetabular prosthesis 13;

registration of the acetabular prosthesis 13 requires one-time installation of the registrar 624 with the acetabular prosthesis 13 and removal after registration is complete. The specific registration process is as follows: the register 624 is connected to the acetabular prosthesis 13 in a predetermined relative relationship, i.e., one end of the register 624 abuts the acetabular prosthesis 13 and the other end is connected to the slide rod 11, 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 slide bar 11, and the controller 40 obtains a second relative relationship of the acetabular prosthesis 13 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 a predetermined relative relationship, and then removes the registrar 624 from the slide bar 11.

The process of acquiring real-time pose information of the acetabular prosthesis 13 is: with the registrar 624 removed, the controller 40 may indirectly obtain the real-time pose of the acetabular prosthesis 13 based on the second relative relationship and the real-time pose of the end-tracer 622.

The real-time pose of the acetabular prosthesis 13 includes real-time position information and real-time pose information of the acetabular prosthesis 13. When installing the acetabular prosthesis 13, it is necessary to acquire pose information of the acetabular prosthesis 13 in real time because the controller 40 can precisely guide the depth and angle of installation of the acetabular prosthesis 13 based on the pose information of the acetabular prosthesis 13 in real time. But the acetabular prosthesis 13 actually used for the acetabular prosthesis installation operation has various models of different sizes or different forms, and there may be installation or machining errors in connection between the acetabular prosthesis 13 and the slide rod 11, and the pose of the acetabular prosthesis 13 and the pose of the end tracer 622 in the operation do not have an accurately determined relationship. It is even less possible to accurately obtain the real-time pose of the acetabular prosthesis 13 based on the relationship between the acetabular prosthesis 13 and the end tracer 622. In this embodiment, when the registrar 624 is removed, the locator 61 can obtain the real-time pose of the acetabular prosthesis 13 in the surgical space in real-time based on the real-time pose of the end-tracer 622 and the second relative relationship. The real-time pose of the acetabular prosthesis 13 obtained by such a method is relatively accurate, and the accuracy of the installation of the acetabular prosthesis 13 can be improved by the real-time pose of the acetabular prosthesis 13 being relatively accurate.

S500, the controller 40 receives an input signal that a doctor steps on the pedal 51; the input signal of the 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 progress of the installation of the acetabular prosthesis 13, thereby improving the controllability of the installation of the acetabular prosthesis 13 by using the surgical system.

S600, judging and controlling the corresponding operation process according to the real-time pose of the acetabular prosthesis 13 and external input signals, wherein the judging process is specifically described in S700-S900.

S700 when the distance between the acetabular prosthesis 13 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 pedal 51, the controller 40 controls the mechanical arm 30 to enter a traction mode in which the mechanical arm 30 can passively bring the real-time pose of the acetabular prosthesis 13 to the target pose a of the acetabular prosthesis 13 under the traction of the doctor to a specific extent of movement that places the acetabular prosthesis 13 within the pre-alignment range P and after the acetabular prosthesis 13 reaches the pre-alignment range, the doctor releases the foot pedal, the controller 40 does not receive the first signal and enters a stationary mode in which the mechanical arm 30 is locked, thereby maintaining the acetabular prosthesis 13 in a fixed pose. The first signal is a continuous signal. Of course in an alternative embodiment the first signal may be a momentary signal.

The target pose a includes target position information and target posture information of the acetabular prosthesis 13. The first threshold is a preset determination value, and it is determined whether the acetabular prosthesis 13 is farther from the target pose a based on the first threshold, and if so (greater than the first threshold), the acetabular prosthesis 13 should be allowed to approach the target pose a later. Typically, as shown in fig. 4, in the initial state of the operation, the mechanical arm 30 is kept at a preparation position under the control of the controller 40, and when the acetabular prosthesis 13 is mounted on the mechanical arm 30 at the preparation position, the distance from the acetabular prosthesis 13 to 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, spherical, ellipsoidal, cylindrical or prismatic. 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 prosthesis 13 to be brought close to the target pose a in the case where the doctor manually pulls the mechanical arm 30. Also, within the pre-alignment range P, there may be a deviation of the axis W of the acetabular prosthesis from the axis U of the target pose. It will be appreciated that the purpose of pulling the acetabular prosthesis 13 into the pre-alignment range P by the robotic arm 30 is to bring the acetabular prosthesis 13 closer to the target pose a and that the procedure is manual and therefore the axis of the acetabular prosthesis 13 is not required to be exactly coincident with the axis of the target pose a, nor is the surgeon required to perform cumbersome angular precise alignment during the procedure. In an alternative embodiment, the allowable deviation of the axis W of the acetabular prosthesis from the axis U of the target pose within the pre-alignment range P ranges from 0 ° -30 °.

At the time of surgery, the positioner 61 acquires the pose of the end-tracer 622, and the controller 40 acquires the real-time pose of the acetabular prosthesis 13 in the surgical space by the pose of the end-tracer 622 and the determined second relative relationship. Based on the real-time pose of the acetabular prosthesis 13 at the prepared location, the controller 40 determines that the acetabular prosthesis 13 is greater than a first threshold distance from the target pose a and the system generates a corresponding alert, e.g., 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 changed in position at will within a movable range, and the acetabular prosthesis 13 at this time makes the acetabular prosthesis 13 reach a prealignment range P by the doctor pulling the mechanical arm 30. The controller 40 judges whether the acetabular prosthesis 13 is within the pre-alignment range P through real-time pose information of the acetabular prosthesis 13, and when the acetabular prosthesis 13 is within the pre-alignment range P, as shown in fig. 5, the doctor may judge whether the acetabular prosthesis 13 is within the pre-alignment range P according to the displayed parameters, or the system may give a notice to the doctor that the acetabular prosthesis 13 has been within the pre-alignment range P. The prompt may be a visual prompt or an audible prompt. The doctor releases the foot pedal after judging that the acetabular prosthesis 13 reaches the prealignment range P according to the judgment or referring to the prompt, the controller 40 controls the mechanical arm 30 to enter a static mode, the pose of the mechanical arm 30 is locked, and the acetabular prosthesis 13 is also held by the slide bar 11 and fixed in pose.

It will be appreciated that the movement of the acetabular prosthesis 13 in S700 is generally performed by exposing the wound into the affected area, through some body tissue, and into the body. Since this movement is manually operated by the surgeon, the surgeon may be autonomously controlled to reduce collisions of the acetabular prosthesis 13 and/or the sliding rod 11 with the human body, greatly reducing the risk of direct control of the robotic arm 30 by the controller 40 to reach the pre-alignment range P for the acetabular prosthesis 13 and reducing the likelihood of iatrogenic injury to the patient by the surgical system.

S800 when the acetabular prosthesis 13 is located in the pre-alignment range P and the controller 40 receives a second signal that the doctor steps on the pedal 51, the controller 40 controls the mechanical arm 30 to automatically position the acetabular prosthesis 13 to an alignment pose B, wherein the alignment pose B includes alignment position information and alignment pose information; the second signal of stepping on the pedal 51 is an instantaneous signal, and of course, the second signal may also be a continuous signal of stepping on the pedal 51 for a long time.

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 to take into account the prepared acetabular fossa at the patient's hip bone, the first distance when the alignment position is in contact with the patient's acetabulum being the minimum allowed setting. 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 prepared acetabular fossa surface, and the path for subsequently delivering the acetabular prosthesis 13 from the alignment pose B" to the target pose a is shorter, reducing the likelihood of route deviation that may occur during the process, and facilitating more accurate installation of the acetabular prosthesis 13.

As shown in fig. 6, the alignment pose B of the present embodiment is within the pre-alignment range P, so that when the acetabular prosthesis 13 is automatically delivered from the pre-alignment range P to the alignment pose B by the robotic arm 30, the path traveled by the acetabular prosthesis 13 is shorter, and the automatic alignment with the shorter path greatly reduces the possibility of uncontrolled collision of the acetabular prosthesis 13 with human tissue. And, in order to satisfy the above first distance as short as possible to ensure the accuracy of the acetabular preparation in the straight 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 acetabular prosthesis 13 to the alignment pose B, the mechanical arm 30 automatically delivers the acetabular prosthesis 13 to the alignment pose B according to 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 acetabular prosthesis 13 relative to the end tracer 622;

this positional posture information is already saved at the time of registering the acetabular prosthesis 13, i.e., a second relative relationship calculated at the time of registering the acetabular prosthesis 13 by the registrar 624.

S802, calculating the real-time pose of the current acetabular prosthesis;

the real-time pose of the current acetabular prosthesis 13 is calculated from the second relative relationship of the acetabular prosthesis 13 and the end tracer 622 and the pose of the end tracer 622 acquired by the positioner 61.

S803 calculates the posture of the alignment posture in the acetabular prosthesis coordinate system (wherein the alignment posture is posture information in the alignment posture B);

an alignment pose of the acetabular prosthesis 13 is acquired, and a pose qua of the pose information in an acetabular prosthesis coordinate system is calculated.

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

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

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

and converting the posture qua of the alignment posture obtained by S803 under the acetabular prosthesis coordinate system into the mechanical arm tcp coordinate system through qua1 to obtain the posture qua2 of the alignment posture under the mechanical arm tcp coordinate system.

And S806, calculating the Euler angle information required to rotate the mechanical arm through the gesture qua2 obtained in the S705, and calculating the Euler angle information, and Roll, pitch, yaw.

S807 calculates the relative position pos of the alignment position (the alignment position is the position information in the alignment pose B) under the acetabular prosthesis coordinate system, calculates the relative positional relationship pos1 of the end tracer 622 under the acetabular prosthesis 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 transmissions and Roll, pitch, yaw are sent to the controller 40, and the controller 40 plans an alignment path reaching the alignment pose B according to the transmissions and Roll, pitch, yaw.

S900 when the real-time pose of the acetabular prosthesis 13 coincides with the alignment pose B, as shown in fig. 9, and the controller 40 receives a third signal from the doctor to step on the pedal 51, the controller 40 controls the mechanical arm 30 to limit the linear motion of the acetabular prosthesis 13 within a predetermined range. Wherein the third signal to depress the foot pedal 51 is an instant signal. Of course, in an alternative embodiment, the third signal may be a continuous signal that continues to pedal 51 for a period of time.

In this process, the mechanical arm 30 is in a linear mode, and the movement of each joint of the mechanical arm 30 is controlled so that the mechanical arm end 31 can only move in a linear direction, the direction of the linear movement is the same as the direction of the axis U of the target pose, and in the process of the linear movement, the direction of the axis W of the acetabular prosthesis is always consistent with the direction of the axis U of the target pose under the holding of the mechanical arm end 31, and the predetermined range of the linear movement is the range determined by the alignment pose B and the target pose a. In this way, the movement of the acetabular prosthesis 13 from the alignment pose B to the target pose a is a translation of the acetabular prosthesis 13 along its own axis, the movement of the acetabular prosthesis 13 being severely limited to the target pose a, the specific control principle being that no or less active control is exerted in the linear direction of the desired movement. In this way, the movement of the acetabular prosthesis 13 from the alignment pose B to the target pose a is actually a translation process of the acetabular prosthesis 13 along its axis, by which the acetabular prosthesis 13 can reach the target pose a in the simplest path, and the linear displacement path and pose of the acetabular prosthesis 13 are severely limited so that the installation of the acetabular prosthesis 13 can be accurately completed as planned by the linear movement.

During operation, the controller 40 compares the real-time pose of the acetabular prosthesis 13 with the alignment pose B, and if the two are coincident and the doctor operating the mechanical arm 30 steps on the foot pedal 51, the mechanical arm 30 enters a linear mode, and the mechanical arm tip 31 can move in a straight line. Meanwhile, since the slide rod 11 can also move linearly relative to the prosthesis mounting actuator 10, the doctor applies an impact force to one end of the slide rod 11, for example, by striking a sliding hammer or a hammer, the acetabular prosthesis 13 can reach the target pose a from the alignment pose B along a straight line under the restriction of the mechanical arm 30, the prosthesis mounting actuator 10 and the slide rod 11, and fig. 10 shows a state in which the acetabular prosthesis 13 reaches the target pose a. In this way, the acetabular prosthesis 13 is installed with precision following a limited path of the acetabular prosthesis 13. During the gradual arrival of the acetabular prosthesis 13 along a straight line at the target pose a, the locator 61 detects the position of the end tracer 622 in real time and prompts the surgeon in real time via the display 70 as to the condition of the prosthesis installation.

The acetabular prosthesis 13 is linearly movable with respect to the prosthesis mounting actuator 10, that is, the acetabular prosthesis 13 is linearly movable with respect to the arm tip 31, and the arm tip 31 itself is linearly movable with respect to the operation space in a linear mode. In this way, when the slide bar 11 receives the impact force of the hammering, and when the redundant impact force is transmitted to the arm end 31, the redundant impact force promotes the arm end 31 to move in a straight line, and the straight line movement does not affect the straight line movement of the acetabular prosthesis 13. The mechanical arm 30 is provided with the acetabular prosthesis 13 in a straight mode, so that damage to mechanical arm joints caused by impact force of hammering can be reduced to a certain extent. Because the installation of the acetabular prosthesis 13 is achieved by only linear movement of the slide rod 11 relative to the prosthesis installation actuator 10 if the robot arm 30 is locked, the impact force received by the slide rod 11 may be transmitted to the respective robot arm joints, which remain fixed, through the robot arm tip 31, and the impact force may impact and damage the robot arm joints, which apply active torque.

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, the prosthetic mounting actuator 10 includes a slide bar 11, a support assembly 14, and an end tracer 622. The first end of the sliding rod 11 is used for connecting an acetabular prosthesis 13, and the second end of the sliding rod 11 is used for receiving impact force when the prosthesis is installed; the support assembly 14 comprises a coupling portion 141, the coupling portion 141 accommodating a portion of the slide bar 11, the slide bar 11 being axially movable relative to the support assembly 14; the support assembly 14 is used to connect the prosthesis mounting actuator 10 to a robotic arm 30 of a robotic system; an end tracer 622 is provided to the slide bar 11 to indicate the orientation of the slide bar 11. The prosthesis installation actuator 10 provided by the disclosure has the advantages that the sliding rod 11 is axially movable relative to the supporting component 14, so that the gap between the sliding rod 11 and the supporting component 14 in the axial direction can be larger than the stroke of the sliding rod 11 when being hit, and the sliding rod 11 and the supporting component 14 are prevented from being collided to damage the mechanical arm 30 connected with the actuator. The slide bar 11 is configured integrally with the support assembly 14. The actuator is used without assembling or disassembling the slide rod 11 and the supporting component 14, and is only connected to the mechanical arm 30 or separated from the mechanical arm 30 through the supporting component 14.

In particular, as in the embodiment shown in fig. 11-15, the prosthetic mounting actuator 10 includes a slide bar 11, a support assembly 14, an end tracer 622, an axial buffer mechanism 15, and an axial restraint structure 16. The prosthetic mounting actuator 10 is indirectly connected to the robotic arm 30 via the arthroplasty actuator 20, as shown in fig. 6, which is a schematic diagram of the connection of the prosthetic mounting actuator 10 to the arthroplasty actuator 20.

As shown in fig. 11 to 12, the slide bar 11 is a metal bar with a smooth surface, and one end of the slide bar 11 is used for receiving hammering of a doctor, and the other end is used for connecting with the acetabular prosthesis 13. The middle part of the slide bar 11 is provided with a holding part 111, and the holding part 111 is sleeved on the slide bar 11 in a sleeve shape and is fixed with the slide bar 11, so that a doctor can hold the slide bar 11 through the holding part 111. The grip 111 is an insulating plastic sleeve. The sliding rod 11 is used as a metal rod to ensure high strength when transmitting impact force, but instruments for operation are not expected to be heavy, so that the diameter of the sliding rod 11 is generally small, and the sliding rod is inconvenient for a doctor to hold. The plastic grip 111 increases the diameter of the grip of the slide bar 11, providing the surgeon with favorable grip conditions without adding significant weight to the surgical tool. Of course, in some embodiments, the grip 111 may also be an insulated rubber sleeve or a non-insulated metal sleeve. In other embodiments, the sleeve-shaped holding portion 111 may be omitted, and the holding portion 111 may be provided as a portion of the slide bar 11 itself, and the portion may be enlarged relative to the diameter of the slide bar 11 itself to facilitate holding.

The end tracer 622 includes a tracer portion and a connection 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 connection portion is used to fix the end tracer 622 to the slide bar 11.

As shown in fig. 12 to 14, the support assembly 14 includes a main body 142, a coupling portion 141, an insulating sleeve 143, and a sliding sleeve 144. The body 142 has a substantially hexahedral shape, and one end (right end as viewed in fig. 12) is used to connect the robot arm 30. The coupling portion 141 is a hole penetrating the body 142. The insulating sleeve 143 and the sliding sleeve 144 are both cylindrical. The insulating sleeve 143 is fitted in the coupling portion 141 and is axially fixed to the coupling portion 141. The insulating sleeve 143 serves to prevent the patient from making a conductive path with the equipment of the robotic arm 30 through contact between the support assembly 14 and the slide bar 11. The sliding sleeve 144 is sleeved in the insulating sleeve 143 and is axially fixed with the insulating sleeve 143. The sliding sleeve 144 is made of metal. The sliding rod 11 is matched with the sliding sleeve 144 through a shaft hole, and a gap allowing the sliding rod 11 to freely slide relative to the sliding sleeve 144 exists between the sliding rod 11 and the sliding sleeve 144. The sliding sleeve 144 arranged between the insulating sleeve 143 and the sliding rod 11 can reduce abrasion of the insulating sleeve 143 and can increase smoothness of sliding of the sliding rod 11.

The axial stop 16 includes a collar 161, a first end of the grip 111 distal from the acetabular prosthesis 13. The retainer 161 and the first end of the grip 111 are both fixed to the slide bar 11, and two steps having a diameter larger than that of the slide bar 11 are formed on the slide bar 11. As the slide bar 11 moves along the slide sleeve 144, interference occurs between the two steps and the support assembly 14 to form an axial stop for the slide bar 11. In this embodiment, the insulating member 162 is further disposed between the retainer ring 161 and the supporting component 14, and between the holding portion 111 and the supporting component 14, so that the retainer ring 161 and the holding portion 111 directly form axial interference with the insulating member 162. The insulator 162 is a sleeve open at both ends. The diameter of the inner space of the insulating member 162 is larger than the diameter of the slide bar 11, the diameter of the opening at one end of the insulating member 162 is larger than the diameter of the slide bar 11, the diameter of the opening at the other end is the same as the diameter of the slide bar 11, and the end is provided with a blocking edge 1621 to form an opening the same as the diameter of the slide bar 11. When the slide bar 11 is assembled with the support assembly 14, the retainer ring 161 and the first end of the grip 111 are located on both sides of the support assembly 14, respectively. The two insulators 162 are respectively sleeved on the sliding rod 11 and also respectively positioned at two sides of the supporting component 14, and one side of the insulator 162 with a blocking edge 1621 is connected with the main body 142. Thus, the retainer ring 161 and the first end of the grip 111 form two limit points on the slide bar, and the retainer ring 161 and the first end of the grip 111 limit the maximum sliding travel of the slide bar 11 relative to the support assembly 14 when the slide bar 11 slides relative to the support assembly 14.

In an alternative embodiment, the first end of the gripping portion 111 in the axial limiting structure 16 may be replaced by a separately provided collar 161, and in an alternative embodiment, the first end of the collar 161 or the gripping portion 111 may be a step or shoulder provided on the slide rod 11.

Referring specifically to fig. 12 and 13, an axial damping mechanism 15 is also provided in the present disclosure to axially damp the slide bar 11 and the support assembly 14 at least one point. The axial buffering mechanism 15 in this embodiment includes two buffering members, specifically a first buffering member 151 and a second buffering member 152, where the first buffering member 151 and the second buffering member 152 are distributed on two sides of the supporting assembly. The two cushioning members are springs. The first buffer 151 is disposed between the retainer 161 and the insulator 162, and the second buffer 152 is disposed between the first end of the grip 111 and the flange 1621 of the insulator 162. The first buffer member 151 and the second buffer member 152 are both sleeved on the slide rod 11, and are disposed in the insulating member 162 in a pre-compressed state. The first buffer 151 and the second buffer 152 buffer the sliding rod 11 sliding with respect to the supporting member 14, and the impact portion of the sliding rod 11 to the supporting member 14 is absorbed by the buffers when sliding. Thus, when the sliding rod 11 slides along the axis to install the acetabular prosthesis 13, the sliding rod 11 does not generate rigid impact on the mechanical arm 30, and locking or pose deviation of the mechanical arm 30 is reduced.

Driven by the robotic arm 30, the prosthesis installation actuator 10 reaches a target alignment position for installing the acetabular prosthesis, and the acetabular prosthesis 13 is aligned with the prepared acetabular fossa of the patient. During the movement and positioning process of the mechanical arm 30, the first buffer member 151 and the second buffer member 152 are both in a compressed state, and the sliding rod 11 maintains a certain axial positioning relationship with the main body 142 under the action of the first buffer member 151 and the second buffer member 152, that is, the sliding rod 11 is approximately kept in the middle position of the sliding stroke, and the sliding rod 11 cannot freely move along the coupling portion 141.

After the doctor confirms that the posture and the operation path of the acetabular prosthesis 13 are correct, the mechanical arm 30 is set to a straight line mode, that is, the mechanical arm 30 is set to have a tip arm/rod thereof with little damping in the axial direction along the slide bar 11 and with great damping in other directions by controlling the output torque of the motor at the joint of the mechanical arm 30. The prosthetic mounting actuator 10 connected to the robot arm 30 in this mode can be moved in the axial direction of the slide bar 11 by an external force, but is difficult to be moved in the radial direction or rotated about the radial direction. The doctor holds the grip 111 and applies an impact force to the first end on the slide bar 11. The impact force may be applied by a hammer strike or a slide hammer strike. The impact force causes the slide rod 11 to drive the acetabular prosthesis 13 into the acetabulum. At the moment of impact, the support assembly 14 does not move instantaneously due to inertia. During movement of the slide bar 11, the retainer 161 compresses the first dampener 151, and a dampener 151 acts on the support member to cause the support member 14 to move axially with the slide bar 11 with hysteresis. The first dampener 151 prevents the spring collar 161 from making rigid contact with the main body 142. After the slide bar 11 completes one impact on the acetabular prosthesis 13, the relative relationship between the slide bar 11 and the support component is automatically reset to a state of not receiving hammering under the action of the first buffer 151. In some cases, it may also be desirable to apply a force to the prosthetic mounting actuator 10 in a direction opposite to the hammering force when the prosthesis is implanted to dislodge the acetabular prosthesis 13 or prosthetic trial from the acetabulum. In this case, the second buffer 152 may prevent rigid contact between the slide bar 11 and the support assembly 14. The buffer mechanism can enable the mechanical arm 30 to automatically move along with the slide rod 11 in the process of impacting the slide rod 11, and an actuator is not required to be held manually. The operator can grasp the slide bar 11 and feel the striking shock as in the conventional operation.

The axial travel of the slide bar 11 is defined by the first end of the limit structure grip 111 and the retainer ring 161. The first buffer 151 and the second buffer 152 are arranged so that the limit structure of the slide bar 11 is not in rigid contact with the main body 142 all the time. When the sliding rod 11 does not receive the impact force, the sliding rod 11 is kept in the middle position relative to the coupling part 141, and the sliding rod 11 does not move freely relative to the supporting component, but a certain force is needed to overcome the first buffer piece 151 or the second buffer piece 152 so as to move the sliding rod 11, so that the sliding rod 11 is prevented from freely moving when the mechanical arm 30 moves.

In an alternative embodiment, the support assembly 14 is provided with a quick release mechanism 17 for connecting the prosthetic mounting actuator 10 to the robotic arm 30 or arthroplasty actuator 20. As shown in fig. 16 to 18, the quick release mechanism 17 includes a first limiting mechanism 171 and a second limiting mechanism 172, the first limiting mechanism 171 is a plug 171a, the second limiting mechanism 172 is a plug assembly, the plug 171a is used for being connected with the mechanical arm 30 or the joint forming actuator 20 in a plug-in manner, and the plug-in limiting direction of the plug assembly is perpendicular to the plug-in direction of the plug 171 a. The plug 171a is fixedly connected with the main body 142 or integrally formed, and two limiting grooves 1711 are formed in one end of the plug 171a along the plugging direction, wherein the limiting grooves 1711 are used for limiting the degree of freedom in the plugging direction.

The body 142 is provided with a mounting hole 1721 for receiving the latch assembly, and the mounting hole 1721 communicates with the coupling portion 141. The latch assembly includes a latch 1722, a first elastic member 1723, a pad 1724, and a latch pull 1725, where the pad 1724, the first elastic member 1723, and the latch 1722 are sequentially disposed in the mounting hole 1721. The first elastic member 1723 is a spring, the cushion block 1724 is abutted against the slide rod 11, the plug 1722 vertically passes through the plug 171a in the mounting hole 1721 along the thickness direction of the plug 171a, and the first elastic member 1723 is arranged between the plug 1722 and the cushion block 1724 in a compressed state. The middle section of the mounting hole 1721 communicates with the exterior of the main body 142 to form a movable region in which the latch 1722 can be manually pulled, and the latch 1725 radially passes through the latch 1722 and is fixed to the latch 1722, and the latch 1722 is restricted in the movable region by the latch 1725. Under the pushing of the first elastic member 1723, the latch pull 1725 abuts against one end of the active area, and the latch head portion penetrates out of the surface of the plug 171a and is an inclined surface.

To mount the prosthesis mounting actuator 10 to the arthroplasty actuator 20 by means of the quick release mechanism 17, the arthroplasty actuator 20 is provided with a second interface 18 in the form of a socket. Specifically, the second interface 18 includes a base plate 181, a latch hole 183, and a retaining buckle 182, where the base plate 181 is rectangular. The latch hole 183 is provided in the thickness direction of the bottom plate 181; the number of the limit buckles 182 is four and the limit buckles are respectively arranged at four corners of the bottom plate 181, and the limit buckles 182 and the bottom plate 181 form the second interface 18. The stop button 182 specifically includes a first section 1821 and a second section 1822 that are connected, the first section 1821 is connected with the base plate 181 and perpendicular to the base plate 181, and the second section 1822 is parallel to the base plate 181 and extends toward the inside of the base plate 181. The stopper 182 forms a space with the bottom plate 181 to accommodate the plug 171 a. When the plug 171a is inserted into the second interface 18, the limiting groove 1711 is engaged with the limiting button 182, and the plug 171a cannot be pulled out along the insertion direction under the limitation of the limiting button 182.

By providing the quick release mechanism 17, the prosthesis mounting actuator 10 can be easily removed. As shown in fig. 16 to 18, when the plug 171a is connected to the second connector 18 from top to bottom, the plane of the bottom plate 181 is first attached to the plane of the plug 171a, the inclined surface of the plug head contacts the bottom plate 181, and the plug 1722 is retracted toward the main body 142. The body 142 is moved downward relative to the second interface, the stopper groove 1711 engages with the stopper 182, the plug head enters into the plug hole 183, and the plug block 171a completely engages with the second interface 18. In the rectangular space coordinate system, the engagement of the insert 171a and the second interface 18 in thickness and width define 5 degrees of freedom of the insert 171a except for the z-axis (which may be the x-axis or the y-axis), the engagement of the limit groove 1711 and the limit button 182 define a degree of freedom of the prosthesis mounting actuator 10 sliding along the first direction of the z-axis, and the engagement of the latch 1722 and the latch hole 183 realizes a degree of freedom of the prosthesis mounting actuator 10 sliding along the second direction of the z-axis, the first direction being the direction of the coupling portion 141 axially downward and the second direction being the direction of the coupling portion 141 upward in fig. 16 to 18. To this end, the prosthetic mounting actuator 10 is fixedly coupled to the arthroplasty actuator 20 via the arrangement of the plug 171a, the second interface 18 and the latch assembly. When the plug is detached, the plug pulling plug 1725 (left pulling in fig. 16) is pulled to release the plug head from the plug hole 183, and then the plug block 171a is pulled out from the second connector 18 (upward pulling in fig. 16 relative to the second connector 18). The quick-release mechanism 17 of the prosthesis installation executor 10 is arranged, so that a doctor can quickly complete the installation and the disassembly of the prosthesis installation executor 10 during operation, and the operation time is saved.

In an alternative embodiment, as shown in fig. 19, the prosthesis mounting actuator 10 further comprises an adjustment assembly 19, the adjustment assembly 19 connecting the acetabular prosthesis 13 to the sliding rod 11 and being capable of adjusting the circumferential position of the acetabular prosthesis 13 relative to the sliding rod 11. The adjustment assembly 19 includes an adapter shaft 191 and an adjustment member 192. One end of the adapter shaft 191 is connected with the slide bar 11, and the other end is connected with the hip joint acetabular prosthesis 13. The adjusting member 192 is sleeved at the connection between the adapter shaft 191 and the slide bar 11, the adjusting member 192 can move between a first position M and a second position N of the adapter shaft 191 under the action of external force, the circumferential position between the adjusting member 192 and the slide bar 11 is fixed at the first position M, and the circumferential position of the adjusting member 192 relative to the slide bar 11 is adjustable at the second position N.

As shown in fig. 20, the adapter shaft 191 includes a slide bar joint, a main shaft section 1911, and an acetabular prosthesis joint, the slide bar joint and the acetabular prosthesis joint being disposed at both ends of the main shaft section 1911, the slide bar joint being for connection with the slide bar 11, the acetabular prosthesis joint being for connection with the acetabular prosthesis 13.

The connecting hole 1912 is formed in the top end of the sliding rod joint, the connecting hole 1912 is a smooth hole, two clamping blocks 1913 symmetrical to the axis of the switching shaft 191 are arranged on the periphery of the connecting hole 1912, and the two clamping blocks 1913 extend in a straight shape along the radial direction. The fixture block 1913 below is provided with the flange 1914 the same as the biggest radius of fixture block 1913, and the flange 1914 below is provided with spacing section 1915, and the radius of spacing section 1915 is greater than the radius of main shaft section 1911 to form spacing step 1916 in spacing section 1915 and main shaft section 1911 junction.

Referring to fig. 20-23, the adjustment member 192 includes a removably coupled nut 1921 and adapter sleeve 1922, splines 1926, and a retainer 1927. With specific reference to fig. 23, the nut 1921 is a shell with a downward opening, an external thread is provided on an external wall 1923 at the opening, two clamping grooves 1924 are symmetrically provided on the external wall 1923, the clamping grooves 1924 extend into the nut 1921, and spline grooves 1925 are provided at positions, close to the bottom, inside the nut 1921. The adapter sleeve 1922 is cup-shaped with an opening, and an inner wall of the opening of the adapter sleeve 1922 is provided with an inner thread. The spline 1926 is fixed to the slide bar 11 and is provided with tooth-like projections on the outer periphery. The holder 1927 is a spring having elasticity.

In the connected state, the nut 1921 is sleeved above the spline 1926 on the slide rod 11, the adapter sleeve 1922 is sleeved on the adapter shaft 191, the adapter sleeve 1922 and the nut 1921 are connected through matching of internal threads and external threads, the retainer 1927 is arranged in the adapter sleeve 1922, one end of the retainer 1927 is abutted against the bottom of the adapter sleeve 1922, and the other end of the retainer 1927 is abutted against the flange 1914.

In use, the end of the slide rod 11 is inserted into the connecting hole 1912, and the nut 1921 and the adapter sleeve 1922 are integrally connected by threads. For ease of understanding, the following description is provided in connection with the operating state and adjustment process of the adjustment member 192.

In the operating state, the adjuster 192 is positioned at the first position M, and as shown in fig. 21, the retainer 1927 is in a compressed state and abuts against the flange 1914 and the bottom of the adapter sleeve 1922, and the retainer 1927 pulls the nut 1921 through the adapter sleeve 1922, so that the spline groove 1925 of the nut 1921 is connected to the spline 1926, and the clamp block 1913 is fitted into the clamp groove 1924. In this way, the sliding rod 11 and the adjusting device are circumferentially fixed through the connection of the spline 1926 and the spline groove 1925, and the adapter shaft 191 and the adjusting device are circumferentially fixed through the matching of the clamping block and the clamping groove 1924. Based on the above process and principle, in the working state, through the connection of the adjusting component 19, the sliding rod 11 and the adapting shaft 191 are fixed axially, radially and circumferentially.

To meet clinical demands, it is necessary to ensure that the acetabular prosthesis 13 has a correct installation orientation, for example, the acetabular prosthesis 13 having wings, when the acetabular prosthesis 13 is implanted into an acetabular socket prepared in a patient, the acetabular prosthesis 13 needs to be fixed with the acetabular socket to strengthen the structure at the acetabular socket, and the wings need to be connected with the acetabular socket in the correct orientation. It is therefore necessary to adjust the orientation of the acetabular prosthesis 13 each time before the sliding rod 11. Based on the prosthesis installation actuator 10 of the present embodiment, when adjusting the direction of the acetabular prosthesis 13, as shown in fig. 22, the doctor pulls up the adjusting device to overcome the elastic force of the retainer 1927 until the bottom of the adapter sleeve 1922 abuts against the limiting step 1916, and the adjusting member 192 is located at the second position N. At this time, the spline 1926 is disengaged from the spline groove 1925, the clamping block 1913 is not disengaged from the clamping groove 1924, the adjuster 192 can be rotated circumferentially with respect to the slide rod 11, and the adapter shaft 191 rotates following the rotation of the adjuster 192. In this way, the adjustment of the acetabular prosthesis 13 relative to the slide bar 11 can be achieved without rotating the slide bar 11 by merely rotating the adjustment member 192. Further, since the slide bar 11 is connected with the end tracer 622 for providing the position information of the slide bar 11 in real time, the end tracer 622 needs to be aligned with the positioner for receiving the position information. The arrangement of the adjustment assembly described above also ensures that the end tracer 622 fixedly connected to the slide bar 11 does not lose alignment with the positioner due to rotation of the slide bar 11 as the acetabular prosthesis 13 is adjusted, ensuring that the end tracer 622 can be identified by the positioner in real time.

And, based on the adjustment assembly 19, the adapter shaft 191 can be connected with different models of acetabular prostheses 13 of different manufacturers by changing the acetabular prosthetic connector of the adapter shaft 191. The entire slide bar 11 does not need to be replaced for adapting to different acetabular prostheses 13, and the adaptation and application range of the prosthesis installation executor 10 are improved.

In an alternative embodiment, the buffer may retain only the first buffer 151 without providing the second buffer 152.

In some alternative embodiments, a buffer, such as first buffer 151, may be provided. And both ends of the buffer 151 are connected with the retainer 161 and the support assembly 14, respectively. The sliding rod 11 is pulled or supported by the buffer member 151 when moving along both directions, so as to form a buffer and drive the supporting component 14 to move along with the sliding rod 11.

In some alternative embodiments, the two bumpers of the axial bumpers 15 may not be pre-compressed. Such as the first buffer 151, may be compressed only by the gravity of the slide bar. The length of the two cushioning members can also be smaller than the stroke of the slide bar 11, and the cushioning members can move between the limiting structures, so long as the rigid collision can be prevented.

In an alternative embodiment, referring to fig. 11 and 24, a nut 112 is disposed at an end of the sliding rod 11 that receives the impact force, where the nut 112 includes a force-bearing plate 1121 and a connecting section 1122, and the connecting section 1122 is fixedly connected with the sliding rod 11 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 1121 is larger than that of the end part of the slide rod 11, the stress plate 1121 provides a larger stress target for hammering when a doctor applies impact force, and the phenomenon of empty hammer caused by smaller end part of the slide rod 11 is avoided.

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 installing an acetabular prosthesis on a hip joint, comprising:

the sliding rod is used for carrying an acetabular prosthesis;

the mechanical arm is used for holding the sliding rod, and the sliding rod can slide linearly relative to the tail end of the mechanical arm;

the controller is used for generating a control signal allowing the mechanical arm to move under the traction of external force when receiving the first signal; and generating a control signal to lock the position of the mechanical arm when the first control signal is not detected; wherein,,

the controller is further configured to generate a control signal to control the robotic arm to adjust the acetabular prosthesis to an alignment pose associated with a target pose when the robotic arm is locked upon receiving a second signal.

2. The surgical system of claim 1, wherein the robotic arm, when locked, is further to: the robotic arm is locked in a position that positions the acetabular prosthesis 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 acetabular prosthesis 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: when the acetabular prosthesis is in an aligned position and the controller receives a third signal, a control signal is generated to enable the mechanical arm to enter a linear mode, and in the linear mode, the tail end of the mechanical arm can move along a straight line under the action of external force.

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 the slide bar.

7. A surgical system according to claim 5, wherein during the linear motion, an axis of the acetabular prosthesis coincides with an axis of the target pose.

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.

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, wherein the system comprises a prosthetic mounting actuator having one end connected to the end of the mechanical arm and the other end carrying the slide bar.

12. The surgical system of claim 1, wherein the prosthesis mounting actuator comprises:

the sliding rod is provided with a sliding rod,

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.

13. The prosthetic mounting actuator of claim 12, 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.

14. The surgical system of claim 13, wherein an axial stop structure is disposed between the slide bar and the support assembly, the axial buffer mechanism being disposed between the support assembly and the axial stop structure.

15. The surgical system of claim 14, wherein the coupling is a channel extending through the buttress assembly, and the axial cushioning mechanism includes 2 cushioning members, the 2 cushioning members being located at opposite ends of the channel.

16. The surgical system of claim 15, wherein the axial stop structure comprises a collar disposed on the slide bar, the bumper being disposed between the collar and the support assembly.

17. A surgical system according to claim 12, wherein a quick release mechanism is provided between the support assembly and the robotic arm, the prosthesis mounting actuator being coupled to the robotic arm by the quick release mechanism.

18. The surgical system of claim 17, 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.

19. The surgical system of claim 12, further comprising an adjustment assembly for adjusting a circumferential position of a prosthesis relative to the slide bar, the adjustment assembly comprising:

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

20. A surgical system according to claim 19, wherein the adjustment member is movable between a first position and a second position of the adapter shaft, the adjustment member being fixed in position circumferentially between the first position and the slide bar, the adjustment member being adjustable in position circumferentially relative to the slide bar at the second position.

21. The surgical system of claim 19, 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.