CN116687630A - Prosthesis installation actuator and surgical system - Google Patents

Prosthesis installation actuator and surgical system Download PDF

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Publication number
CN116687630A
CN116687630A CN202211732816.4A CN202211732816A CN116687630A CN 116687630 A CN116687630 A CN 116687630A CN 202211732816 A CN202211732816 A CN 202211732816A CN 116687630 A CN116687630 A CN 116687630A
Authority
CN
China
Prior art keywords
slide bar
prosthesis
sleeve
shock
actuator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211732816.4A
Other languages
Chinese (zh)
Inventor
王超
张春
张钊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing And Huaruibo Medical Technology Co ltd
Original Assignee
Beijing And Huaruibo Medical Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing And Huaruibo Medical Technology Co ltd filed Critical Beijing And Huaruibo Medical Technology Co ltd
Priority to CN202211732816.4A priority Critical patent/CN116687630A/en
Priority to PCT/CN2023/103989 priority patent/WO2024002262A1/en
Publication of CN116687630A publication Critical patent/CN116687630A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
    • A61F2/4609—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of acetabular cups
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
    • F16F15/085—Use of both rubber and metal springs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2002/4632—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2002/4681—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor by applying mechanical shocks, e.g. by hammering

Abstract

The application discloses a prosthesis installation actuator and a surgical system, wherein the prosthesis installation actuator is used for executing a surgical plan under the holding of a robot arm, the prosthesis installation actuator comprises a sliding rod, a main body and a first damping mechanism, the sliding rod is used for carrying a prosthesis and can receive impact to install the prosthesis to a target position; the body includes a receiving channel for receiving the slide bar and configured such that the slide bar is linearly movable relative to the receiving channel; a first shock absorbing mechanism is disposed within the receiving channel and is configured to engage the slide bar on a peripheral side, the first shock absorbing mechanism being configured to reduce an impact transferred from the slide bar to the body. The prosthesis installation actuator solves the problem that impact received by the prosthesis installation actuator is easy to be transmitted to the robot arm.

Description

Prosthesis installation actuator and surgical system
Technical Field
The application belongs to the field of medical equipment, and particularly relates to a prosthesis installation actuator and a surgical system.
Background
In the robot-assisted hip replacement surgery, an acetabular prosthesis (acetabular cup) and a robot arm are connected to a prosthesis mounting actuator, respectively. Under the holding of the robot arm, the acetabular prosthesis enters the acetabular fossa of a patient according to a preset operation plan by hammering the prosthesis mounting actuator, but vibration generated in the process of hammering the acetabular impactor is transmitted to the robot arm through the prosthesis mounting actuator, and the robot arm is easy to damage and lock. Thereby affecting the reliability of the robot arm and affecting the smooth operation.
Disclosure of Invention
The embodiment of the application provides a prosthesis installation actuator and a surgical system, which solve the problem that the impact received by the prosthesis installation actuator is easy to be transmitted to a robot arm.
Embodiments of the first aspect of the present application provide an acetabular impactor comprising:
a slide bar for carrying a prosthesis and capable of receiving an impact to mount the prosthesis to a target location;
a body including a receiving channel for receiving the slide bar and configured such that the slide bar is linearly movable relative to the receiving channel;
and a first damper mechanism disposed in the accommodation passage and configured to engage the slide bar at a peripheral side, the first damper mechanism being for reducing an impact transmitted from the slide bar to the main body.
According to an embodiment of the first aspect of the application, the first damping means comprise a first elastic member having the ability to deform radially and/or axially along the receiving channel.
According to any one of the foregoing embodiments of the first aspect of the present application, the first damping mechanism further includes a sleeve, an inner periphery of which is engaged with the slide rod shaft hole, and an outer periphery of which is engaged with the first elastic member.
According to any one of the preceding embodiments of the first aspect of the present application, the first elastic member is a shock pad, which is annular and has a predetermined axial thickness and radial thickness.
According to any one of the preceding embodiments of the first aspect of the present application, an outer periphery of the shock pad is fitted in the accommodation channel shaft hole, and an inner periphery of the shock pad is fitted in the sleeve shaft hole.
According to any one of the foregoing embodiments of the first aspect of the present application, a first circumferential limit structure is formed between the shock pad and the sleeve, the first circumferential limit structure including a first groove and a first protrusion that cooperate with each other, and/or,
a second circumferential limiting structure is formed between the shock pad and the shell, and comprises a second groove and a second protrusion which are matched with each other.
According to any one of the preceding embodiments of the first aspect of the present application, the first damper mechanism further includes an axial limiting structure for preventing the first damper mechanism from axially coming out of the accommodating passage.
According to any one of the foregoing embodiments of the first aspect of the present application, the sliding rod further includes a second damper mechanism and a third damper mechanism disposed on both sides of the first damper mechanism along a length direction of the sliding rod, respectively.
According to any one of the preceding embodiments of the first aspect of the present application, each of the second damper mechanism and the third damper mechanism includes a second elastic member having a capability of deforming in an axial direction of the slide bar for reducing an axial impact transmitted from the slide bar to the main body.
According to any one of the foregoing embodiments of the first aspect of the present application, the acetabular cup comprises a sliding rod, a striking cap, and an acetabular cup connecting mechanism, wherein the striking cap is disposed at one end of the sliding rod, the acetabular cup connecting mechanism is disposed at the other end of the sliding rod, and the acetabular cup connecting mechanism is used for connecting an acetabular cup.
Embodiments of the second aspect of the present application also provide a surgical system comprising:
a prosthesis installation actuator, wherein the prosthesis installation actuator is any prosthesis installation actuator provided in the first aspect of the application;
a robot arm for carrying the prosthesis mounting actuator;
a control system for controlling the robotic arm and/or the prosthesis mounting actuator to perform a predetermined surgical plan.
In the prosthesis installation actuator provided by the application, the accommodating channel in the main body is used for accommodating the sliding rod and the first damping mechanism, and the sliding rod passes through the accommodating channel, namely the main body is sleeved on the sliding rod. The first damping mechanism is arranged between the sliding rod and the accommodating channel of the connecting mechanism, the first damping mechanism is arranged on the periphery of the sliding rod, the impact transmitted to the main body by the sliding rod can be fully reduced by the periphery of the sliding rod, and the impact on the robot arm connected to the main body is effectively reduced. Therefore, the probability of locking failure of the robot arm connected to the prosthesis installation actuator due to impact is reduced, the reliability of the robot arm is improved, and meanwhile, the probability of successful operation is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
FIG. 1 is a schematic view of a prosthesis mounting actuator according to an embodiment of the present application;
FIG. 2 is a cross-sectional view of a prosthetic mounting actuator provided in an embodiment of the present application;
FIG. 3 is a partial cross-sectional view of a prosthetic mounting actuator provided in accordance with an embodiment of the present application;
fig. 4 is an enlarged view of region P of fig. 2;
FIG. 5 is a schematic illustration of the components of a prosthetic mounting actuator provided in an embodiment of the present application;
FIG. 6 is a schematic illustration of the components of a prosthetic mounting actuator provided in an embodiment of the present application;
FIG. 7 is a partial schematic view of a prosthetic mounting actuator provided in accordance with an embodiment of the present application;
FIG. 8 is a partial schematic view of a prosthetic mounting actuator provided in accordance with an embodiment of the present application;
FIG. 9 is a schematic diagram II of a prosthesis mounting actuator according to an embodiment of the present application;
fig. 10 is a schematic structural view of a surgical system according to an embodiment of the present application.
In the accompanying drawings:
1-a prosthesis installation actuator; 10-a body; 101-a receiving channel; 103-a latch spring; 104-a bolt; 105-contacts; 106-connecting blocks; 107-a clamp spring pad groove; 108-a clamp spring groove; 11-a slide bar; 111-a third groove; 1111-a first part; 1112-a second portion; b1-a planar portion; b2-arc face; 112-fourth grooves; 113-a first via; 114-fifth groove; 12-a first shock absorbing mechanism; 121-a sleeve; 122-a first elastic member; a1-a first end; a2-a second terminal; a3-an intermediate region; l-a preset gap; 13-hitting the cap; 14-acetabular cup connection; 15-a first circumferential limit structure; 151-a first groove; 152-first protrusions; 16-a second circumferential limit structure; 161-second grooves; 162-second protrusions; 17-a second shock absorbing mechanism; 171-a first limiting block; 1711-a second clip end; 172-a first compression spring; 1721-a first clip end; 173-a compression spring cover; 1731-third clip end; 18-a third shock absorbing mechanism; 181-a second limiting block; 1811-a second via; 182-limiting pins; 183-second compression spring; 19-an axial limiting structure; 191-snap springs; 192-jump ring pad; x-length direction.
Detailed Description
Features and exemplary embodiments of various aspects of the application are described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the application. It will be apparent, however, to one skilled in the art that the present application 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 application by showing examples of the application.
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.
The inventors have found that in a robot-assisted hip replacement surgery, surgical equipment includes an acetabular prosthesis (acetabular cup), a prosthesis installation actuator including a connection mechanism for connecting the robot arm and a slide bar connected to the connection mechanism, a bone hammer, a robot arm, and the like. During operation, the bone hammer is used for hammering the sliding rod in the prosthesis installation executor to hammer the acetabular prosthesis into the acetabular fossa of a patient, vibration in the hammering process is transmitted to the robot arm after being transmitted to the connecting mechanism by the sliding rod, and when the hammering force is large and the vibration is severe, the robot arm has the risk of locking faults. The robot arm is locked, so that the robot arm can be damaged, the reliability of the robot arm is reduced, the smooth operation can be affected, and a patient is placed in danger. Based on the research on the above problems, the inventor provides a prosthesis installation actuator, which can effectively solve the problem that the impact received by the prosthesis installation actuator is easily transmitted to a robot arm, thereby improving the reliability of the robot arm connected with the prosthesis installation actuator.
For a better understanding of the present application, a detailed description of a prosthetic mounting actuator according to an embodiment of the present application is provided below in connection with fig. 1-10.
Referring to fig. 1 to 3, an embodiment of the present application provides a prosthesis mounting actuator 1 for performing a surgical plan under the grip of a robotic arm. The prosthesis mounting actuator 1 comprises a slide bar 11, a body 10 and a first damping mechanism 12. The slide bar 11 is used for mounting the prosthesis and is capable of receiving an impact to mount the prosthesis to a target location. The body 10 includes a receiving channel 101, the receiving channel 101 being for receiving the slide bar 11 and being configured such that the slide bar 11 is linearly movable relative to the receiving channel 101. The first damper mechanism 12 is disposed in the accommodation channel 101, and the first damper mechanism 101 is configured to engage the slide bar 11 at Zhou Cejie for reducing the impact transmitted from the slide bar 11 to the main body 10.
Wherein the prosthesis is an acetabular prosthesis, also called an acetabular cup. The body 10 is used to connect with a robot arm that grips the slide bar 11 by being connected with the body 10. In the prosthesis installation actuator provided by the application, the first damping mechanism 12 can be in interference fit with the accommodating channel 101, so that the first damping mechanism 12 and the main body 10 are installed. The main body 10 is slidably connected with the slide rod 11, and limits the sliding travel of the slide rod 11 along the length direction x of the slide rod 11 through a limiting mechanism.
In the prosthesis installation actuator provided by the application, the accommodating channel 101 in the main body 10 is used for accommodating the sliding rod 11 and the first damping mechanism 12, and the sliding rod 11 passes through the accommodating channel 101, namely the main body 10 is sleeved on the sliding rod 11. The first damping mechanism 12 is arranged between the sliding rod 11 and the accommodating channel 101 of the connecting mechanism 10, and the first damping mechanism 12 is arranged on the periphery side of the sliding rod 11, so that the impact transmitted to the main body 10 by the sliding rod 11 can be sufficiently reduced by the periphery side of the sliding rod 11, and the influence of the impact on the robot arm connected to the main body 10 is effectively reduced. Thereby reducing the probability of locking failure of the robot arm connected to the prosthesis mounting actuator 1 due to impact, improving the reliability of the robot arm and improving the probability of successful operation.
In one possible embodiment, as shown in fig. 1, the prosthesis mounting actuator 1 further comprises a striking cap 13 and an acetabular cup connection mechanism 14, the striking cap 13 being disposed at one end of the slide bar 11, the acetabular cup connection mechanism 14 being disposed at the other end of the slide bar 11, the acetabular cup connection mechanism 14 being for connecting the prosthesis.
In the prosthesis installation actuator 1 provided by the application, the striking cap 13 is connected to one end of the slide rod 11, the prosthesis connecting mechanism 14 is connected to the other end of the slide rod 11, and the striking cap 13 is a hammering stress part in the using process of the prosthesis installation actuator 1, namely in the operation process. The slide rod 11 is fixed integrally with the striking cap 13, and the striking cap 13 is hammered by a bone hammer to enable the prosthesis connected to the acetabular cup connection mechanism 14 to be fitted into the patient's acetabular fossa.
In one possible embodiment, the first shock absorbing mechanism 12 includes a first elastic member 122, and the first elastic member 122 has the ability to deform radially and/or axially along the receiving channel 101, so as to absorb the deformation in the radial and/or axial directions. When the slide bar 11 is impacted, the first elastic member 122 may reduce the transmission of the impact to the body 10 from the slide bar 11 in the radial and/or axial directions, thereby protecting the robot arm connected to the body 10.
In one possible embodiment, the first damping mechanism 12 further includes a sleeve 121, an inner circumference of the sleeve 121 is engaged with the shaft hole of the slide rod 11, and an outer circumference of the sleeve 121 is engaged with the first elastic member 122.
In the above embodiment, the sleeve 121 is sleeved on the circumferential side of the slide bar 11, and the first elastic member 122 is disposed on the circumferential side of the sleeve 121, so as to realize the buffering between the slide bar 11 and the main body 10 in all directions.
In one possible embodiment, the first elastic member 122 is a shock pad, which is annular and has a predetermined axial thickness and radial thickness.
In the above embodiment, the first elastic member 122 is a shock pad, the shock pad may be made of silica gel, and the silica gel has better elasticity, and may play a role in good buffering and shock absorption, and the material is easy to obtain and convenient to install. The shock pad may be deformed after being impacted to achieve shock absorption, thereby reducing the transmission of shock from the slide bar 11 to the body 10. The shock pad can be annular to the telescopic week side is located to the cover, and the shock pad can be installed with sleeve 121 interference fit, in order to promote the compactness of connection, better absorbs the impact that slide bar 11 transmitted sleeve 121. The shock pad is of a predetermined axial and radial thickness so as to provide cushioning in the axial and/or radial directions. The axial thickness and the radial thickness of the shock pad can be set according to the magnitude of the impact force in actual operation, and the present application is not particularly limited.
In one possible embodiment, the outer circumference of the shock pad is fitted in the shaft hole of the receiving channel 101, and the inner circumference of the shock pad is fitted in the shaft hole of the sleeve 121.
The shock pad is annular, so that the shock pad can be installed through shaft hole matching. Specifically, the shock pad can be installed with the sleeve 121 in an interference fit, and the main body 10 can be installed with the shock pad in an interference fit, so that tight connection of the three is achieved, at this time, due to the tight fit of the shock pad, the sleeve 121 and the main body 10, the tightness among the three can be improved, and liquid entering the prosthesis installation actuator 1 in the cleaning and steam sterilization processes of the prosthesis installation actuator 1 can be reduced.
In the above embodiment, the shock pad is sleeved on the circumferential side of the sleeve 121 and the sleeve 121 is sleeved on the circumferential side of the slide rod 11, so that the shock absorbing function along the circumferential direction of the slide rod 11 can be realized, and meanwhile, the shock absorbing pad can be deformed by extrusion in any direction, so that the shock absorbing function can be realized in any direction other than the circumferential direction. That is, the first damper mechanism 12 can reduce the shock transmitted from the slide rod 11 to the main body 10 in all directions.
In one possible embodiment, as shown in fig. 4, the sleeve 121 includes a first end A1 and a second end A2 along the length direction x of the sliding rod 11, and the number of shock pads is two, wherein one shock pad is sleeved at the first end A1, the other shock pad is sleeved at the second end A2, and a preset gap L is formed between the two shock pads along the length direction x of the sliding rod 11.
In the above embodiment, the number of the shock-absorbing pads is two, the two shock-absorbing pads are arranged along the length direction x of the slide bar 11, and a predetermined gap L is left between the two shock-absorbing pads along the length direction x of the slide bar 11, so that the two shock-absorbing pads are independent of each other. When vibrations are generated, the two shock pads can deform respectively to realize shock absorption, so that mutual interference is avoided, the shape of each shock pad is changed flexibly, the transmission of vibrations can be reduced effectively, and the shock absorption effect of the first shock absorption mechanism 12 is further improved.
In the above embodiment, the shock pad may be installed with the sleeve 121 in an interference fit, and installed with the main body 10 in an interference fit, at this time, since the shock pad, the sleeve 121 and the main body 10 are tightly matched, the tightness between the three can be improved, the probability of the preset gap L being invaded by the liquid is reduced, and the reliability thereof is improved.
In another possible embodiment, the number of shock pads may be one, extending from the first end A1 to the second end A2 of the sleeve 121. The number of parts is reduced, the degree of complexity of assembly is reduced, and the shock absorbing effect is also achieved, reducing the shock transmitted from the slide bar 11 to the main body 10, although the amount of material is increased compared with the arrangement of two shock absorbing pads.
In an alternative embodiment, the first elastic member 122 may be a set of springs arranged along the circumference of the slide bar 11, and the direction of the deformation of the springs is radial to the receiving channel. The springs are mainly used to provide radial shock absorption between the slide bar 11 and the body 10, thereby protecting the robot arm connected to the body 10.
In one possible embodiment, as shown in fig. 4, the sleeve 121 includes an intermediate region A3 between the first end A1 and the second end A2, the first end A1 and the second end A2 having a smaller diameter than the intermediate region A3 to form a recess into which the shock pad portion protrudes.
In the above embodiment, the diameters of the first end A1 and the second end A2 of the sleeve 121 refer to the diameters of the circumscribed circles of the first end A1 and the second end A2 of the sleeve 121 along the own circumference, and the diameter of the intermediate area A3 refers to the diameter of the circumscribed circle of the intermediate area A3 along the own circumference.
In the above embodiment, by setting the diameters of the first end A1 and the second end A2 of the sleeve 121 to be smaller than the diameter of the intermediate area A3, grooves can be formed at the first end A1 and the second end A2, respectively, that is, stepped surfaces, which are one inner surface of the grooves, are formed between the first end A1 and the intermediate area A3, and between the second end A2 and the intermediate area A3. The cross section parallel to the length direction x of the sliding rod 11 in the shock pad is set to be L-shaped, one end of the L-shaped is in contact with the step surface, and the other end of the L-shaped is in contact with the outer surface of the middle area A3, so that the limit of the shock pad along the length direction x of the sliding rod 11 is realized, and the shock absorbing effect of the two shock pads at two ends of the sleeve 121 is ensured.
In one possible embodiment, the first damper mechanism 12 further includes an axial stop structure 19, the axial stop structure 19 being configured to prevent the first damper mechanism 12 from axially exiting the receiving channel 101.
In the above embodiment, the number of the axial limiting structures 19 may be two, and the axial limiting structures are respectively disposed at two ends of the sleeve 121 to limit the first damping mechanism 12 in the accommodating channel 101.
When the first damping mechanism 12 is located on the "L" shaped damping pad, the axial limiting structure 19 may be disposed on a side of the first damping mechanism 12 away from the middle area A3, and connected to the sleeve 121 and the main body 10, respectively. An axial limiting structure 19 is arranged on one side, far away from the middle area A3, of the first damping mechanism 12, the axial limiting structure 19 can prevent the damping pad from separating from the accommodating channel 101, and the position of the damping pad along the length direction x of the sliding rod 11 is thoroughly fixed through the limiting of the axial limiting structure 19 and the step surface, so that the damping pad is prevented from moving along the length direction x of the sliding rod 11. In one possible embodiment, as shown in fig. 4, the axial limiting structure 19 includes a clamp spring 191 and a clamp spring pad 192, the clamp spring pad 192 contacts the shock pad, the clamp spring 191 is located on a side of the clamp spring pad 192 away from the shock pad, and the clamp spring 191 is clamped with the sleeve 121 and the main body 10.
In the above embodiment, the main body 10 may be provided with the snap spring pad groove 107 for accommodating the snap spring pad 192 and the snap spring groove 108 for accommodating the snap spring 191, and the snap spring pad groove 107 and the snap spring groove 108 each extend in the circumferential direction of the accommodating passage 101. The clip spring groove 108 is located between two opposite end surfaces of the main body 10 along the length direction x of the sliding rod 11, so that the clip spring 191 can be effectively limited along the length direction x of the sliding rod 11.
In one possible embodiment, as shown in fig. 5, a first circumferential limit structure 15 is formed between the shock pad and the sleeve 121, and the first circumferential limit structure 15 includes a first groove 151 and a first protrusion 152 that are engaged with each other.
The number of the first grooves 151 is plural, the plurality of first grooves 151 are formed inside the shock pad and arranged along the circumferential direction of the shock pad, the number of the first protrusions 152 is the same as that of the first grooves 151, and the first protrusions 152 are formed outside the sleeve 121 and arranged along the circumferential direction of the sleeve 121.
In the above embodiment, the first circumferential limit structure 15 is used to achieve position limitation between the shock pad and the sleeve 121 along the circumferential direction of the sleeve 121, and the relative position change of the sleeve 121 and the shock pad along the circumferential direction of the sleeve 121 is reduced or even avoided. The first circumferential spacing structure 15 includes a first groove 151 and a first protrusion 152 that are matched with each other, where the first protrusion 152 may be formed on an outer side of the sleeve 121, i.e., a side of the sleeve 121 facing away from the accommodating channel 101, and at this time, the first groove 151 is formed on an inner side of the shock pad, i.e., a side of the shock pad facing the sleeve 121. The first grooves 151 are disposed in one-to-one correspondence with the first protrusions 152, the number of the first grooves 151 is plural, the plurality of first grooves 151 are arranged along the circumferential direction of the shock pad, the number of the first protrusions 152 is plural, and the plurality of first protrusions 152 are arranged along the circumferential direction of the sleeve 121. Alternatively, the first groove 151 may be formed at the outer side of the sleeve 121, i.e., the side of the sleeve 121 facing away from the receiving channel 101, and at this time, the first protrusion 152 is formed at the inner side of the shock pad, i.e., the side of the shock pad facing the sleeve 121.
In the above embodiment, the first protrusion 152 is formed at the first end A1 and the second end A2 of the sleeve 121, and extends to the end surface of the sleeve 121 along the length direction x thereof, so as to cooperate with the first protrusion 152 and ensure the sealing reliability, and the shock pad can be slid into the first end A1 or the second end A2 along the length direction x of the sleeve 121, so that the installation manner is simple.
In the above embodiment, by providing the first circumferential limit structure 15, the probability of the relative position change between the shock pad and the sleeve 121 along the circumferential direction of the sleeve 121 under the action of an external force can be reduced, and the influence on the sealing performance and the structural stability of the first shock absorbing mechanism 12 due to the relative position change between the shock pad and the sleeve 121 along the circumferential direction of the sleeve 121 can be reduced.
In one possible embodiment, as shown in fig. 6, a second circumferential limit structure 16 is formed between the shock pad and the housing 101, and the second circumferential limit structure 16 includes a second groove 161 and a second protrusion 162 that are engaged with each other.
The number of the second grooves 161 is plural, the plurality of second grooves 161 are formed outside the shock pad and are arranged along the circumferential direction of the shock pad, the number of the second protrusions 162 is the same as that of the second grooves 161, and the second protrusions 162 are formed on one side of the housing 101 facing the accommodating passage 101 and are arranged along the circumferential direction of the accommodating passage 101.
In the above embodiment, the second circumferential limit structure 16 is used to achieve position limitation between the shock pad and the housing 101 along the circumferential direction of the sleeve 121, reducing the relative position variation of the housing 101 and the shock pad along the circumferential direction of the sleeve 121. The second circumferential spacing structure 16 includes a second groove 161 and a second protrusion 162 that are matched with each other, and the second protrusion 162 may be formed on an outer side of the shock pad, i.e. a side of the shock pad away from the sleeve 121, and at this time, the second groove 161 is formed on an inner side of the housing 101, i.e. a side of the housing 101 facing the accommodating channel 101. The second grooves 161 are disposed in one-to-one correspondence with the second protrusions 162, the number of the second grooves 161 is plural, and the plurality of second grooves 161 are arranged along the circumferential direction of the accommodation channel 101, the number of the second protrusions 162 is plural, and the plurality of second protrusions 162 are arranged along the circumferential direction of the shock pad. Alternatively, the second groove 161 may be formed at the outer side of the cushion, i.e., the side of the cushion facing away from the sleeve 121, and at this time, the second protrusion 162 is formed at the inner side of the housing 101, i.e., the side of the housing 101 facing the receiving channel 101.
In the above embodiment, the housing 101 and the shock pad can be assembled in the axial direction of the accommodation passage 101, the sealing reliability between the sealing housing 101 and the shock pad can be ensured, and the mounting manner is simple.
In the above embodiment, by providing the second circumferential limit structure 16, the probability of the relative position change between the shock pad and the housing 101 along the circumferential direction of the accommodating channel 101 under the action of an external force can be reduced, and the influence on the sealing performance and the structural stability of the first shock absorbing mechanism 12 due to the relative position change between the shock pad and the housing 101 along the circumferential direction of the accommodating channel 101 can be reduced.
In one possible embodiment, as shown in fig. 4, the sliding rod 11 further includes a second damper 17 and a third damper 18 disposed on both sides of the first damper 12 along the length direction x of the sliding rod.
The second damper mechanism 17 and the third damper mechanism 18 are respectively connected to the slide bar 11, and limit the first damper mechanism 12 in the length direction x along the slide bar 11.
The main body 10 is slidably connected with the slide rod 11, and the relative position of the connecting mechanism 10 along the length direction x of the slide rod 11 is limited by the second damping mechanism 17 and the third damping mechanism 18. When hammering the slide rod 11, the vibration along the length direction x of the slide rod 11 can be reduced by the second damping mechanism 17 and the third damping mechanism 18, so that the damping performance between the slide rod 11 and the main body 10 in the prosthesis installation actuator 1 is further improved, and the reliability of the robot arm connected with the main body 10 is improved.
The impact of the second and third damping mechanisms 17, 18 to the main body 10 along the length direction x of the slide bar 11 can also be absorbed by the damping pad in the first damping mechanism 12, thereby further improving the damping performance of the prosthesis installation actuator 1.
In a possible embodiment, the second and third damping mechanisms 17 and 18 each comprise a second elastic member having the ability to deform in the axial direction of the slide bar 11 for reducing the axial impact transmitted by the slide bar to the body 10.
The second elastic member may include a compression spring, specifically, the second elastic member in the second shock absorbing mechanism 17 may include a first compression spring 171, and the second elastic member in the third shock absorbing mechanism 18 may include a second compression spring 181.
In one possible embodiment, as shown in fig. 4, the second shock absorbing mechanism 17 includes a first stopper 171, a first compression spring 172, and a compression spring cover 173. The slide bar 11 comprises a third groove 111 extending in the circumferential direction. The first limiting block 171 includes a second locking end 1711, where the second locking end 1711 is configured to be locked to the third groove 111. The first compression spring 172 is sleeved on the periphery of the sliding rod 11, and has a first clamping end 1721 contacting with the first limiting block 171, and the other end of the first compression spring 172 abuts against the first damping mechanism 12 through the bottom of the compression spring cover 173. The pressure spring cover 173 is sleeved on the circumference of the first pressure spring 172, and includes a third clamping end 1731 extending between the first pressure spring 172 and the first damping mechanism 12.
The slide bar 11 is slidably connected to the body 10, i.e. the slide bar 11 is slidable in the receiving channel 101 along the length direction x of the slide bar 11.
The second damping mechanism 17 is disposed on one side of the main body 10, where the first compression spring 172 is located inside the compression spring cover 173, i.e. on the side of the compression spring cover 173 facing the sliding rod 11, the stroke of the compression spring cover 173 and the sliding rod 11 for assisting in limiting the first compression spring 172 is along the length direction x of the sliding rod 11, limiting the first compression spring 172 along the radial direction of the sliding rod 11, and meanwhile, the compression spring cover 173 can be used for protecting the first compression spring 172. Along the length direction x of the sliding rod 11, the pressure spring cover 173 may cover the first pressure spring 172 and at least part of the first limiting block 171, and meanwhile, along the radial direction of the sliding rod 11, the first limiting block 171 needs to be located inside the pressure spring cover 173, so as to ensure that the sliding rod 11 can slide along the length direction x thereof relative to the accommodating channel 101. The pressure spring cover 173 is limited in position along the length direction x of the slide bar 11 by a third clamping end 1731.
The first compression spring 172 is located between the third clamping end 1731 of the compression spring cover 173 and the first stopper 171, and the first compression spring 172 is in a compressed state to maintain the elastic force of the first stopper 171, so that the first stopper 171 contacts with a side wall of the third groove 111 away from the main body 10. When the slide bar 11 receives hammering through the striking cap 13, the slide bar 11 moves along the length direction x relative to the main body 10, and the slide bar 11 drives the first limiting block 171 to move towards the direction close to the main body 10, so that the slide bar 11 compresses the first pressure spring 172 through the first limiting block 171, and at least part of impact axially received by the slide bar 11 is absorbed by the first pressure spring 172, thereby realizing a damping effect.
As shown in fig. 7 and 8, in the above embodiment, the slide bar 11 may include a flat surface portion B1 and a cambered surface portion B2 connected to the flat surface portion B1, the third groove 111 includes a first portion 1111 opposite to the flat surface portion B1 and a second portion 1112 opposite to the cambered surface portion B2, and the slide bar 11 further includes a fourth groove 112 on a side of the third groove 111 remote from the main body 10, the fourth groove 112 having a smaller dimension in the circumferential direction of the slide bar 11 than the diameter of the slide bar 11. During the assembly process, the sliding rod 11 is slid into the pressure spring cover 173, the first pressure spring 172 is connected into the pressure spring cover 173 in a sliding manner, the first clamping end 1721 is matched with the third groove 111 in a clamping manner, then the first limiting block 171 is connected with the sliding rod 11 in a sliding manner, the second clamping end 1711 is contacted with the plane part B1 in a sliding manner, when the sliding rod slides to the third groove 111, the first limiting block 171 can rotate along the circumferential direction of the sliding rod 11 due to the smaller diameter of the third groove 111, and when the sliding rod rotates to the position opposite to the fourth groove 112, the first limiting block 171 slides into the fourth groove 112 under the elastic action of the first pressure spring 172, so that the second clamping end 1711 enters the fourth groove 112, and the circumferential limiting of the first limiting block 171 is realized.
In one possible embodiment, as shown in fig. 4, the third damping mechanism 18 includes a second limiting block 181, a limiting pin 182 and a second compression spring 183, the sliding rod 11 includes a first through hole 113, the second limiting block 181 includes second through holes 1811 corresponding to two ends of the first through hole 113 one by one, the limiting pin 182 is in plug-in fit with the first through hole 113 and the second through hole 1811, and the second compression spring 183 is limited between the first damping mechanism 12 and the second limiting block 181.
In the above embodiment, the sleeve 121 may be formed with the fifth groove 114 for receiving the second compression spring 183 to limit the second compression spring 183 in the circumferential direction of the slide bar 11. In the above embodiment, the stopper pin 182 may be further welded to the second stopper 181, and the present application is not particularly limited.
In the above embodiment, the robot arm may have a linear motion capability, and in the linear motion mode, the robot arm may have a capability of moving in the length direction x while the slide bar 11 moves in the length direction x. Thus, when the slide bar 11 receives the hammering, the main body 10 has a state of being delayed with the slide bar 11, that is, after the slide bar 11 is hammered, the main body 10 is linearly moved in the length direction x by the buffering of the second damper mechanism 17. In the process of the linear movement of the main body 10, the main body 10 can compress the second compression spring 183 to realize the sliding in the direction approaching to the second limiting block 181, so that the movement and the stress of the mechanical arm are buffered.
The second compression spring 183 in the third damper mechanism 18 also keeps the first compression spring 172 in a compressed state without an external force, ensuring that the slide bar 11 has a predetermined positional relationship with the main body 10 when not being hammered. In addition, no matter the slide bar 11 moves in the forward direction or the reverse direction along the length direction x relative to the main body 10, the slide bar 11 is not in rigid contact with the main body 10, and the impact of the slide bar 11 is prevented from being directly transmitted to the main body 10.
In the above embodiment, the second damping mechanism 17 may be disposed at the end of the main body 10 near the striking cap 13, and the third damping mechanism 18 may be disposed at the end of the main body 10 near the acetabular cup connecting mechanism 14, where the first compression spring 172 in the second damping mechanism 17 is longer along the length direction x of the sliding rod 11, so that the damping effect is better, the second compression spring 183 in the third damping mechanism 18 is shorter along the length direction x of the connecting section, and the second limiting block 181 in the third damping mechanism 18 may be fixed at the relative position with the sliding rod 11, so as to reduce the sliding stroke of the main body 10 towards the third damping mechanism 18, thereby increasing the space between the third damping mechanism 18 and the acetabular cup connecting mechanism 14, so that the doctor can hold the sliding rod 11 in the space.
In one possible embodiment, only the second damper mechanism 17 may be provided, and the second damper mechanism 17 may also be provided at the position of the third damper mechanism 18, the present application is not particularly limited.
In one possible embodiment, as shown in fig. 3 and 9, the body 10 further includes a latch spring 103, a latch 104, a contact 105, and a connection block 106, the body 10 being for connection with a robotic arm. The latch spring 103, the latch 104, and the contact 105 are all connected to the side wall of the receiving channel 101 through a via in the connection block 106.
In the conventional design, the main body 10 is rigidly connected to the robot arm, so that the robot arm is easily damaged or locked due to vibration of the main body 10. In the prosthesis installation actuator 1, the vibration of the main body 10 is mainly transmitted when the sliding rod 11 is subjected to mechanical beating, and the vibration of the main body 10 can be effectively reduced by arranging the first damping mechanism 12, the second damping mechanism 17 and the third damping mechanism 18 between the main body 10 and the sliding rod 11, so that the robot arm is effectively protected, the reliability of the robot arm is improved, the operation can be smoothly performed, and the loss of life and property is reduced.
The second aspect proposes a surgical system 2, as shown in fig. 10, comprising a prosthesis mounting actuator 1, a robotic arm 21 and a control system 22, the prosthesis mounting actuator 1 being any of the prosthesis mounting actuators 1 provided in the above-described embodiments of the application.
The robot arm 21 is used for mounting the prosthesis mounting actuator 1.
The control system 22 is used to control the robotic arm 121 and/or the prosthesis mounting actuator 1 to perform a predetermined surgical plan.
In the surgical system provided by the application, the robot arm 21 is connected with the prosthesis installation executor 1, and the first damping mechanism is arranged in the holiday installation executor 1, so that the influence of impact on the robot arm 21 connected with the prosthesis installation executor 1 can be effectively reduced, the probability of locking failure of the robot arm 21 connected with the prosthesis installation executor 1 caused by the impact is reduced, the reliability of the robot arm 21 is improved, and meanwhile, the probability of successful surgery is improved. I.e. the reliability of the surgical system 2 is significantly improved.
In accordance with the above embodiments of the application, these embodiments are not exhaustive of all details, nor are they intended to limit the application to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best utilize the application and various modifications as are suited to the particular use contemplated. The application is limited only by the claims and the full scope and equivalents thereof.

Claims (11)

1. A prosthesis mounting actuator for performing a surgical plan under the grip of a robotic arm, comprising:
a slide bar for carrying a prosthesis and capable of receiving an impact to mount the prosthesis to a target location;
a body including a receiving channel for receiving the slide bar and configured such that the slide bar is linearly movable relative to the receiving channel;
and a first damper mechanism disposed in the accommodation passage and configured to engage the slide bar at a peripheral side, the first damper mechanism being for reducing an impact transmitted from the slide bar to the main body.
2. The prosthesis mounting actuator of claim 1, wherein the first dampening mechanism comprises a first resilient member having the ability to deform radially and/or axially along the receiving channel.
3. The prosthesis mounting actuator of claim 2, wherein the first shock absorbing mechanism further comprises a sleeve, the sleeve inner circumference engaging the slide bar shaft bore and the sleeve outer circumference engaging the first resilient member.
4. The prosthesis mounting actuator of claim 3, wherein the first resilient member is a shock pad, the shock pad being annular and having a predetermined axial thickness and radial thickness.
5. The prosthesis mounting actuator of claim 4, wherein the outer perimeter of the shock pad mates with the receiving channel shaft bore and the inner perimeter of the shock pad mates with the sleeve shaft bore.
6. The prosthetic mounting actuator of claim 3, wherein a first circumferential limit structure is formed between the shock pad and the sleeve, the first circumferential limit structure comprising a first recess and a first protrusion that cooperate with each other, and/or,
a second circumferential limiting structure is formed between the shock pad and the shell, and comprises a second groove and a second protrusion which are matched with each other.
7. The prosthetic mounting actuator of claim 3, wherein the first shock absorbing mechanism further comprises an axial stop structure for preventing the first shock absorbing mechanism from axially exiting the receiving channel.
8. The prosthesis mounting actuator of claim 1, further comprising a second shock absorbing mechanism and a third shock absorbing mechanism disposed on opposite sides of the first shock absorbing mechanism along a length of the slide bar.
9. The prosthesis mounting actuator of claim 8, wherein the second and third dampening mechanisms each comprise a second resilient member having the ability to deform in an axial direction of the slide bar for reducing axial shock transmitted by the slide bar to the body.
10. The prosthesis mounting actuator of claim 1, further comprising a striking cap disposed at one end of the slide bar and an acetabular cup connection disposed at the other end of the slide bar, the acetabular cup connection being for connection to an acetabular cup.
11. A surgical system, comprising:
a prosthetic mounting actuator according to any one of claims 1 to 10;
a robot arm for carrying the prosthesis mounting actuator;
a control system for controlling the robotic arm and/or the prosthesis mounting actuator to perform a predetermined surgical plan.
CN202211732816.4A 2022-07-01 2022-12-30 Prosthesis installation actuator and surgical system Pending CN116687630A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202211732816.4A CN116687630A (en) 2022-12-30 2022-12-30 Prosthesis installation actuator and surgical system
PCT/CN2023/103989 WO2024002262A1 (en) 2022-07-01 2023-06-29 Hip replacement surgery actuator and surgical system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211732816.4A CN116687630A (en) 2022-12-30 2022-12-30 Prosthesis installation actuator and surgical system

Publications (1)

Publication Number Publication Date
CN116687630A true CN116687630A (en) 2023-09-05

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CN202211732816.4A Pending CN116687630A (en) 2022-07-01 2022-12-30 Prosthesis installation actuator and surgical system

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Country Link
CN (1) CN116687630A (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090292361A1 (en) * 2008-05-26 2009-11-26 Rudolf Morgenstern Lopez Intervertebral implant and installation tool
US20100049205A1 (en) * 2006-12-28 2010-02-25 Istituto Ortopedico Galeazzi S.P.A Surgical instrument for stimulating, in the intraoperative phase, the functioning instability of acetabular components of hip prostheses
CN204998616U (en) * 2015-06-30 2016-01-27 广东嘉腾机器人自动化有限公司 Damping device and applied this damping device's AGV frame
CN111497547A (en) * 2020-04-14 2020-08-07 海隆石油集团(上海)信息技术有限公司 Damping device of robot and wheel set structure with damping device
CN111655187A (en) * 2018-01-26 2020-09-11 马科外科公司 End effector, system, and method for impacting a prosthesis guided by a surgical robot
US20200294423A1 (en) * 2017-11-21 2020-09-17 Ossimtech Inc. Impactor mechanism for virtual reality surgery simulation system and telesurgery
CN114869550A (en) * 2022-05-31 2022-08-09 杭州柳叶刀机器人有限公司 Guide knocking cap and prosthesis knocking device for joint replacement

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100049205A1 (en) * 2006-12-28 2010-02-25 Istituto Ortopedico Galeazzi S.P.A Surgical instrument for stimulating, in the intraoperative phase, the functioning instability of acetabular components of hip prostheses
US20090292361A1 (en) * 2008-05-26 2009-11-26 Rudolf Morgenstern Lopez Intervertebral implant and installation tool
CN204998616U (en) * 2015-06-30 2016-01-27 广东嘉腾机器人自动化有限公司 Damping device and applied this damping device's AGV frame
US20200294423A1 (en) * 2017-11-21 2020-09-17 Ossimtech Inc. Impactor mechanism for virtual reality surgery simulation system and telesurgery
CN111655187A (en) * 2018-01-26 2020-09-11 马科外科公司 End effector, system, and method for impacting a prosthesis guided by a surgical robot
CN111497547A (en) * 2020-04-14 2020-08-07 海隆石油集团(上海)信息技术有限公司 Damping device of robot and wheel set structure with damping device
CN114869550A (en) * 2022-05-31 2022-08-09 杭州柳叶刀机器人有限公司 Guide knocking cap and prosthesis knocking device for joint replacement

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