CN117898788A - Curved acetabular file connecting rod, end effector and surgical robot - Google Patents

Abstract

The application provides a curved acetabular file connecting rod, an end effector and a surgical robot. The curved acetabular file connecting rod for connecting an acetabular file to a power device, comprising: a drive shaft for transmitting torque from the power plant; an outer casing covering the periphery of the transmission shaft, wherein a lock ring which can rotate relative to the outer casing is arranged on the periphery of the outer casing, and the lock ring is provided with an opening; a side cover provided with a first fixing part; when the locking ring rotates to the first position, the first fixing part can be fixed by the locking ring, the outer shell and the side cover form a closed space which covers the transmission shaft, and when the locking ring rotates to the second position, the first fixing part can move in and/or move out from the opening of the locking ring. In the application, the side cover corresponding to the outer shell is fixed by the locking ring, so that the radial dimension is smaller, and interference is avoided.

Description

Curved acetabular file connecting rod, end effector and surgical robot

Technical Field

The application relates to the technical field of medical instruments, in particular to a curved acetabular file connecting rod, an end effector and a surgical robot.

Background

With the development of the medical science and technology, robot positioning has been widely adopted to perform hip replacement surgery instead of traditional artificial hip replacement surgery. In robotic-assisted minimally invasive hip surgery, curved acetabular rasp links are often required. In the hip joint replacement operation, the acetabular file is connected with a power device (such as an electric reaming and drilling) through an acetabular file connecting rod, and the power device drives the acetabular file to perform rotary motion to finish grinding of human acetabulum. The acetabular file connecting rod plays an important role in connection in operation as a connecting device.

The curved acetabular file connecting rod consists of a shell for transmitting thrust and a transmission shaft for transmitting torsion, wherein the transmission shaft is wrapped in the shell. The gap between the drive shaft and the housing is prone to intra-operative contamination, which is difficult to clean after surgery. The existing opening mechanism of the shell has the problems of larger radial size and easy interference with tissues of patients.

Disclosure of Invention

The application provides a curved acetabular file connecting rod, an end effector and a surgical robot. Various aspects of embodiments of the application are described below.

In a first aspect, there is provided a curved acetabular file connecting rod for connecting an acetabular file to a power device, comprising: a drive shaft for transmitting torque from the power plant; an outer casing covering the periphery of the transmission shaft, wherein a lock ring which can rotate relative to the outer casing is arranged on the periphery of the outer casing, and the lock ring is provided with an opening; a side cover provided with a first fixing part; when the locking ring rotates to the first position, the first fixing part can be fixed by the locking ring, the outer shell and the side cover form a closed space which covers the transmission shaft, and when the locking ring rotates to the second position, the first fixing part can move in and/or move out from the opening of the locking ring.

In one possible embodiment, the side cover has a second fixing part, and the fixing manner of the second fixing part is the same as that of the first fixing part; or the second fixing part is hinged/spliced with one end of the outer shell far away from the locking ring.

In one possible embodiment, the curved acetabular file connecting rod further comprises: and the positioning device is used for circumferentially positioning the locking ring when the locking ring is positioned at the first position.

In one possible implementation manner, the positioning device is an elastic plunger arranged on the locking ring, the first fixing place is provided with a pit matched with the elastic plunger, and when the locking ring rotates to the first position, the elastic plunger is pressed into the pit of the first fixing place.

In one possible embodiment, the locking ring is provided with a pin hole, the positioning device comprises a first elastic piece and a plug pin located in the pin hole, the first elastic piece is arranged between the locking ring and a spigot of the plug pin, and the first elastic piece is used for enabling the plug pin to press the first fixing position or the outer shell.

In one possible embodiment, the first elastic member is a spring or a leaf spring.

In one possible embodiment, the power device has a power interface, and the curved acetabular file connecting rod further comprises: the installation part is positioned at the output end of the transmission shaft and is used for connecting the acetabular file; the connecting part is arranged at the first end of the outer shell and is used for connecting the power interface, and the connecting part is provided with a driven shaft, a lock ring positioned at the periphery of the driven shaft and an unlocking ring positioned at the periphery of the lock ring; the driven shaft is used for being connected with a driving shaft of the power interface to transmit torque; the locking collar is provided with a connector for connecting with a non-driving shaft portion of the power interface to axially engage the acetabular file connecting rod to the power interface, the connector being configured to be connectable with the non-driving shaft portion by rotation relative to the non-driving shaft portion; the unlocking ring can rotate relative to the lock ring, an anti-falling mechanism is arranged between the unlocking ring and the lock ring and used for preventing the lock ring and/or the driven shaft from being separated from the connection with the power interface.

In one possible embodiment, when the connecting portion is connected to the power interface, the lock collar abuts against a non-driving shaft portion of the power interface.

In one possible embodiment, the anti-disengaging mechanism includes an anti-disengaging pin shaft fixed on the lock ring, an anti-disengaging groove provided on the lock ring, the anti-disengaging groove having a limited area and an unlimited area, the anti-disengaging pin shaft being in the limited area, the lock ring not accompanying rotation of the lock ring and the lock ring being axially limited with respect to the lock ring, the anti-disengaging pin shaft being in the unlimited area, the lock ring accompanying rotation of the lock ring and the lock ring being axially movable with respect to the lock ring, a retaining device for causing the anti-disengaging pin shaft to be in the limited area, the retaining device including a second elastic member between the lock ring and the lock ring, one end of the second elastic member being connected with the lock ring, the other end of the second elastic member being connected with the lock ring.

In one possible embodiment, the acetabular file connecting rod comprises: the rotation stopping sleeve is coaxially connected with the lock ring and is far away from the connecting end of the power interface; the eccentric shell, but the surface of eccentric shell with the internal surface of anti-rotating cover has axial slip's fitting surface, the driven shaft passes the inner space of eccentric shell, the eccentric shell is followed the axial direction of anti-rotating cover is shifted out with the cooperation district of anti-rotating cover after, the eccentric shell is in the circumference release receive the restraint of anti-rotating cover, the eccentric shell is used for adjusting the position of the curved section of acetabular file connecting rod.

In one possible embodiment, the curved acetabular file connecting rod further comprises: an axial limiting mechanism located between the eccentric housing and the anti-rotation sleeve, the axial limiting mechanism being used for enabling the eccentric housing to be located in a matching area with the anti-rotation sleeve

In a second aspect, there is provided an end effector comprising: the power device is provided with a power output interface; and the curved acetabular file connecting rod according to the first aspect, one end of the curved acetabular file connecting rod is connected with the power output interface, and the other end of the curved acetabular file connecting rod is connected with the acetabular file.

In a third aspect, there is provided a surgical robot comprising: a robotic arm; the end effector of the first aspect, the end effector attached to an end of the robotic arm; and a control system for acquiring orientation information of the end effector and controlling movement of the robotic arm.

In the application, a lock ring is arranged on an outer shell body of a curved acetabular file connecting rod, and a side cover corresponding to the outer shell body is fixed by adopting the lock ring. The opening mode of the shell has smaller radial dimension, is beneficial to avoiding interference and is beneficial to holding.

Drawings

Fig. 1 is a schematic view of the components of a surgical robotic system.

Fig. 2 is a schematic view of a curved acetabular file connecting rod according to an embodiment of the application.

Fig. 3 is a schematic overall view of one possible embodiment of the curved acetabular file connecting rod of fig. 2.

Fig. 4 is a schematic view of one possible implementation of the locking ring in fig. 2.

Fig. 5 is a schematic view of another possible implementation of the locking ring of fig. 2.

Fig. 6 is a schematic view of one possible implementation of the curved acetabular file connecting rod of fig. 3.

Fig. 7 is a schematic diagram of the power interface of fig. 6.

Fig. 8 is a side view and cross-sectional illustration of the curved acetabular file connection of fig. 6.

Fig. 9 is a schematic explosion diagram of one possible connection of fig. 6.

Fig. 10 is a schematic diagram of the constituent elements/portions of an end effector according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. The same or similar reference numbers are used in the drawings to refer to the same or similar modules. It is to be understood that the drawings are merely illustrative and that the scope of the application is not limited thereto.

Acetabular files are a medical instrument used in hip replacement surgery, mainly for trimming and polishing the acetabulum (bowl-shaped portion in hip bone). In the operation process, a doctor can select a proper acetabular file according to the acetabular shape of a patient and the model of the artificial hip joint, and polish an acetabular fossa by operating the acetabular file so as to be perfectly matched with the artificial hip joint.

With the development of the medical science and technology, robot positioning has been widely adopted to perform hip replacement surgery instead of traditional artificial hip replacement surgery. Fig. 1 is a schematic diagram of the components of a surgical robotic system, as shown in fig. 1, a surgical robot 100 may include: a robotic arm 110, an end effector 120, a control system 130. Wherein end effector 120 may comprise: a power unit 121, an acetabular file connecting rod 122 and an acetabular file 123. The robotic arm 110 is used to hold an end effector 120. Generally, the acetabular file 123 is installed at one end of the acetabular file connecting rod 122, and the other end of the acetabular file connecting rod 122 is connected with a power device 121 (power device) arranged at the tail end of the robot arm 110 to drive the acetabular file 123 to rotate so as to trim the acetabular fossa of a patient, so that the adaptive acetabular cup prosthesis can be implanted conveniently.

Currently, acetabular file links are of both linear and curved (arcuate) type. When the acetabular file connecting rod and the operation part are not shielded by human tissues, the operation can be performed by adopting the linear acetabular file connecting rod; when the acetabular file connecting rod and the operation site are shielded by human tissues, the linear acetabular file connecting rod is not applicable any more, and the operation is usually performed by using the curved acetabular file connecting rod.

As in robotic-assisted minimally invasive hip surgery, curved acetabular rasp links are often required. The bending parts of the bending acetabular file connecting rods in the related art are connected through universal joint couplings, so that the reversing of transmission is realized. A curved acetabular file connecting rod or simply a curved acetabular file connecting rod. After the curved acetabular rasp connecting rod is connected to the distal end of the robot arm, it is necessary to be able to adjust the eccentric direction and to release the patient (i.e., to release the connection to the patient after the robot is locked). And when the eccentric direction is adjusted or the shell is axially twisted, the connecting interface with the power device cannot be loosened. Wherein, the eccentric direction adjustment means the orientation adjustment of the bending part of the bent acetabular file connecting rod relative to the axial line of the length direction of the acetabular file.

The curved acetabular file connecting rod consists of a shell for transmitting thrust and a transmission shaft (power shaft) which is wrapped in the shell and transmits torsion. The gap between the drive shaft and the housing is prone to intra-operative contamination, which is difficult to clean after surgery. The existing opening mechanism of the shell has larger radial dimension and is easy to interfere with the tissues of a patient.

Therefore, there is a need to design a smaller radial size shell opening solution for curved acetabular file connecting rods.

Based on the above, the embodiment of the application provides a curved acetabular file connecting rod. Fig. 2 is a schematic structural view of a curved acetabular file connecting rod according to an example of application. The curved acetabular file connecting rod of an embodiment of the application is described in detail below in conjunction with FIG. 2. The curved acetabular file connecting rod 200 is used to connect the acetabular file to a power device (or power section). As shown in fig. 2, the curved acetabular file connecting rod 200 may include: a drive shaft 210, an outer housing 220, and a side cover 240.

The drive shaft 210 is used to transfer torque from the power plant. In some embodiments, the drive shaft 210 may be multiple, with at least 2 of the multiple drive shafts having non-coincident axes. The plurality of transmission shafts may be coupled to each other by, for example, a universal joint coupling.

An outer case 220 covers the outer periphery of the transmission shaft 210, covering the rotatable transmission shaft 210 inside. The outer circumference of the outer housing 220 is provided with a rotatable locking ring 230, the locking ring 230 having an opening, i.e. the locking ring 230 is a split ring.

In some embodiments, the locking ring 230 may be disposed at one end of the outer housing 220, such as at a first end of the outer housing 220, the first end being the end of the outer housing proximate the power device. The first end of the outer housing 220 is provided with an axial limiting portion for axially limiting the locking ring 230 relative to the outer housing 220. The limiting portion may be a shoulder, a snap ring, or a pin, etc., and the limiting portion enables the locking ring 230 to rotate at a predetermined position. In some embodiments, no sleeve may be provided between the locking ring 230 and the outer housing 220. The inside of the locking ring 230 may be a self-lubricating material (e.g., graphite) and the locking ring 230 may rotate directly around the outer circumference of the outer housing 220, helping to reduce the radial size and footprint of the locking ring 230. In other embodiments, a sleeve may be provided between the locking ring 230 and the outer housing 220, which may be, for example, a copper sleeve. The locking ring 230 may be partially rotated around the outer circumference of the outer housing 220 or may be rotated completely (full) around the outer housing 220.

The side cover 240 has a first fixing portion 241, and the first fixing portion 241 may be located at one end of the side cover 240. The outer diameter (or radial height) of the first fixing portion 241 with respect to the central axis of the driving shaft 210 may be smaller than the outer diameter (or radial height) of the side cover 240 with respect to the central axis of the driving shaft 210, and the first fixing portion 241 and the adjacent side cover 240 wall may be provided with steps (shoulders) so as to be axially defined. The circumferential width of the first fixing portion 241 is smaller than the circumferential width of the opening of the locking ring 230. The outer housing 220 and the side cover 240 (and the drive shaft 210) together form the curvature of the curved acetabular file connecting rod 200.

The outer case 220 and the side cover 240 may form an enclosed space in which the driving shaft 210 is enclosed. In some embodiments, the outer surface profile of the outer housing 220 and the side cover 240 may be the same circumference, helping to reduce the overall footprint.

The locking ring 230 may be rotated to a plurality of positions relative to the surface of the outer housing 220. When the locking ring 230 rotates to the first position, the first fixing portion 241 is offset from the opening of the locking ring 230 by a certain angle, the first fixing portion 241 can be fixed by the locking ring 230, and the outer housing 220 and the side cover 240 form a closed space for covering the transmission shaft 210. When the locking ring 230 is rotated to the second position, the first fixing portion 241 faces the opening of the locking ring 230, and the first fixing portion can be moved in/out from the opening of the locking ring 230.

In some embodiments, the seal (or joint) between the outer housing 220 and the side cover 240 may be provided with a gasket that helps reduce the joint gap and block the ingress of contaminants.

In some implementations, the side cover 240 may have a second fixation point, which may be located opposite the end where the first fixation point 241 is located. The fixing manner of the second fixing portion may be the same as or different from that of the first fixing portion 241. In some implementations, the second securement may be hinged to the outer housing 220 opposite the end where the locking ring 230 is located. The opposite end may be as far away from the end of the locking ring 230 as possible to help improve the sealing effect. For example, the locking ring 230 may be located at a first end of the outer housing 220 and the second securement may be hinged to a second end of the outer housing 220, the second end being opposite the first end. For another example, the second fixing portion may be inserted into the second end of the outer housing 220, so as to facilitate the cleaning after the whole side cover 240 is pulled out.

Fig. 3 is a schematic overall view of one possible embodiment of the curved acetabular file connecting rod of fig. 2. The upper half of fig. 3 is a closed state of the outer housing 220 and the side cover 240, and the side cover 240 is buckled and sealed with the outer housing 220, so that most of pollutants can be prevented from entering. The lower half of fig. 3 is a cross-sectional view of the outer case 220 and the side cover 240 when closed. As shown in fig. 3, the outer housing 220 and the side cover 240 form a curved section 370 of the curved acetabular file connecting rod 300, and the interior of the curved section 370 may generally be provided with a portion of the drive shaft 210 of the universal joint coupling structure.

Fig. 4 is a schematic view of one possible implementation of the locking ring of fig. 2. As shown in fig. 4, the locking ring 230 may be a "C" shaped ring mounted to the outer housing 220 for rotation on the outer housing 220. Fig. 4 shows a locked state, in which the first fixing portion 241 is offset 180 degrees from the opening 235 of the locking ring 230, the first fixing portion 241 is fixed by the locking ring 230, and the outer housing 220 and the side cover 240 form a closed space enclosing the transmission shaft 210. The side cover 240 is sealed closed with the housing 220 to block the entry of most contaminants.

When the locking ring 230 is rotated such that the opening 235 is aligned with the first fixing portion 241 of the side cover 240 (about 180 ° rotation of the locking ring 230 shown in fig. 4), the first fixing portion 241 may be moved out (or in), and the side cover 240 may be opened to expose the power shaft 210 inside. At this point cleaning, maintenance or repair may be performed.

In the present application, the curved acetabular file connecting rod is provided with a locking ring 230 on the outer shell, and a side cover 240 corresponding to the outer shell 220 is fixed by using the locking ring 230. The shell opening mode has smaller radial dimension, is beneficial to avoiding interference and is beneficial to holding.

In some implementations, a positioning device may be provided on the locking ring 230 for circumferentially positioning the locking ring 230 when the locking ring 230 is in the first position and/or for compressing the first fixation site 241. Alternatively, the positioning device is used to define the circumferential position of the locking ring 230. The provision of the positioning means helps to improve the stability of the position of the locking ring 230 and the locking force to the side cover 240.

The positioning means may be positioned in a radial manner. In some implementations, the locking ring 230 may be provided with a resilient plunger 231, i.e. the positioning means may be a resilient plunger 231 provided to the locking ring 230. As shown in fig. 4, the first fixing portion 241 is provided with a recess matching with the head of the elastic plunger 231, and when the locking ring 230 is rotated to the first position, the elastic plunger 231 is pressed into the recess of the first fixing portion 241, thereby fixing the first fixing portion 241 of the side cover 240.

In some implementations, the resilient plunger 231 may be a spring plunger. The spring plunger is provided with pressure by the built-in spring, and after the spring plunger is sprung into the pit, the lock ring 230 can be limited in an auxiliary mode, the lock ring 230 is prevented from rotating, and the side cover 240 is also pressed.

In some implementations, the locking ring 230 is provided with a pin bore and the positioning device may include a first resilient member and a latch located in the pin bore. The first elastic piece is arranged between the lock ring and the spigot of the bolt, and the first elastic piece is used for enabling the bolt to press the first fixing position and/or the outer shell.

Fig. 5 is a schematic view of another possible implementation of the locking ring of fig. 2. As shown in fig. 5, the locking ring 230 is provided with a pin hole into which a latch 232 is inserted. The bolt 232 may be shaped like a Chinese character 'tu', i.e. a spigot may be provided on the bolt 232, and a first elastic member 233 is provided between the locking ring and the spigot, where the first elastic member 233 is used to press the bolt 232 against the first fixing portion 241 or the outer housing 220. In some embodiments, the plug 232 may be separate for ease of assembly, such as by threading the body of the plug 232 with the cap.

In some embodiments, the first elastic member 233 may be a spring or a shrapnel.

The latch 232 and spring plate (or spring) are used instead of spring plungers to fully retain the locking collar 230 in the locked position (i.e., the first position); to unlock the lock ring 230, the latch 232 is manually pulled out, and the lock ring 230 is free to rotate after being released.

In the embodiment of the application, the curved acetabular file connecting rod adopts the shell opening mode that the locking ring 230 fixes the side cover 240, the radial dimension is smaller, interference is not easy to generate during use, and the curved acetabular file connecting rod is also beneficial to holding. The positioning device is used for limiting the position of the locking ring 230, so that the locking force on the side cover 240 is improved, and the stability of the position of the locking ring 230 is improved.

Fig. 6 is a schematic view of one possible implementation of the curved acetabular file connecting rod of fig. 3. The acetabular file connection 300 is used to connect an acetabular file to a power interface 310 on a power device (or power section). As shown in fig. 3 and 6, the curved acetabular file connecting rod 300 may further comprise: a connection portion 320 and a mounting portion 380.

Wherein the mounting portion 380 is located at one end of the curved acetabular file connecting rod, i.e. at the output end of the transmission shaft 210, for connecting to the acetabular file.

The connection portion 320 is connected to a first end of the outer case 220, i.e., an opposite end to the end where the mounting portion 380 is located. The connection portion 320 is used to connect the power interface 310. The power interface 310 is an output interface of a power source for driving the curved acetabular file connecting rod 300. The connection part 320 has a driven shaft 321, a locking collar 322 located at the periphery of the driven shaft 321, and an unlocking ring 324 located at the periphery of the locking collar 322. The connection 320 is alternatively referred to as a link joint, a driven joint. The locking collar 322 is provided with a connector for connection with a non-driving shaft portion of the power interface 310 to axially engage the acetabular file link 300 to the power interface 310, the connector being configured to be connectable with the non-driving shaft portion by rotation relative to the non-driving shaft portion. Alternatively, the connection between the connector and the non-drive shaft portion is established by relative rotation of the locking collar 322 and the power interface 310. The connection may be, for example, a joint pin 323. The lock ring 322 is provided with a plurality of joint pins 323 (i.e., connectors) in the radial direction, and the plurality of joint pins 323 may be 4, and are uniformly distributed (spaced by 90 °) along the same bus bar. The driven shaft 321 is used to connect the driving shaft 311 of the power interface 310 to transmit torque. An anti-disengagement mechanism 330 is disposed between the lock collar 322 and the unlocking collar 324, and the anti-disengagement mechanism 330 is used to prevent the lock collar 322 and/or the driven shaft 321 from disengaging from the power interface 310.

In some embodiments, the driven shaft 321 is independent of the drive shaft 210, and the driven shaft 321 may transmit torque from the drive shaft 311 to the drive shaft 210. In other embodiments, the driven shaft 321 may also be one of the plurality of driving shafts 210 located at the input end.

In some implementations, the power interface 310 has a drive shaft 311 and a connecting ring 312 located at the periphery of the drive shaft 311. The connecting ring 312 is provided with a plurality of spiral shaped slide grooves 313, the slide grooves 313 having an adapting relationship with the joint pins 323. The number of the sliding grooves 313 may be 4 corresponding to 4 evenly distributed joint pins 323. The spiral chute 313 is provided with an opening and a snap-in a, and the connection 320 is connected to the power interface 310 when the joint pin 323 enters the snap-in a. The driving shaft 311 is used for connecting with a power source, or the driving shaft 311 is an output shaft of the power source. It will be appreciated that the drive shaft 311 is rotatable relative to the connecting ring 312. Thus, the power interface 310 is alternatively referred to as a power joint. After the joint pin 323 is located at the joint a, the joint pin 323 is constrained by the spigot on both sides of the joint along the axial direction of the connecting ring 312 (or the driving shaft 311). In some alternative embodiments, the number of runners may be 2,4, 6, etc. as many as the number of connector pins 323.

Fig. 7 is a schematic diagram of the power interface of fig. 6. As shown in fig. 7, the root of the spiral chute 313 is a clamping portion a, and two sides of the clamping portion a along the axial direction of the connecting ring 312 are provided with a spigot (stop plate). Wherein the driving pin 315 on the driving shaft 311 is used for transmitting power. In some implementations, when the connection portion 320 is connected to the power interface 310, the lock collar 322 abuts against a non-driving shaft portion of the power interface 310. The non-drive shaft portion may be, for example, a joint end face 314.

The plurality of joint pins 323 are respectively connected to the clamping positions of the corresponding plurality of spiral sliding grooves 313 through the openings in a rotating way, and the unlocking ring 324 is abutted against the joint end face 314 of the power interface 310 so as to carry out clamping connection between the power interface 310 and the connecting part 320.

It will be appreciated that in some embodiments, the connection 320 is a component of the curved acetabular file rod 300 and the power interface 310 is a component of a power device at the forward end of the curved acetabular file rod 300. In other embodiments, the connection 320 and the power interface 310 may both be components of the curved acetabular file connecting rod 300.

In some implementations, when the plurality of joint pins 323 are located at the clamping positions of the corresponding plurality of spiral sliding grooves 313, the anti-falling flanges 325 of the unlocking ring 324 (the connecting portion 320) abut against the joint end face 314 of the power interface 310, so that the joint pins 323 are limited to further slide in the axial direction of the connecting ring 312 at the clamping positions a in the sliding grooves 313, and stability of the clamping connection is also ensured.

In some implementations, a spring may be employed to stabilize and uniformly seat the anti-slip flange 325 of the unlocking ring 324 against the joint end face 314 of the power interface 310. The axis of the drive shaft 311 is generally perpendicular to the joint end face 314.

There are various ways of coupling the connector pin 323 and the locking collar 322. For example, the locking collar 322 may have an adapter pin bore machined therein that mates with the adapter pin 323, the adapter pin 323 being connected to the pin bore with an interference fit. For another example, the joint pin 323 may be welded to the lock ring 322 through a pin hole.

Since the chute 313 is spiral, the joint pin 323 and the lock ring 322 not only rotate around the axis of the connecting ring 312, but also axially displace during the process of rotating the joint pin 323 through the opening to the clamping position of the corresponding spiral chute 313. Similarly, during the process of rotating the joint pin 323 to the joint through the engagement portion, the joint pin 323 and the lock ring 322 not only rotate around the axis of the connecting ring 312, but also are axially displaced.

Alternatively, after the power interface 310 is connected to the connection portion 320, the joint pin 323 is engaged with the engagement portion of the slide groove 313. To separate the two parts, the connecting portion 320 is rotated to cause the connector pin 323 to climb up and then fall down in the chute 313 to separate from the opening.

In the normal working process of the power interface and the connection part, under the limit of the anti-disengaging mechanism and the unlocking ring, the connection piece on the locking ring does not generate circumferential rotation and axial displacement, and the locking ring and/or the driven shaft cannot be separated from the connection with the power interface. When the acetabular file connecting rod is required to be disassembled and assembled, the locking ring can be driven to rotate by the unlocking ring, so that the locking ring is connected with a non-driving shaft part at the power interface. After the acetabular file connecting rod is connected with the tail end of the robot arm, the acetabular file connecting rod is beneficial to ensuring that a connecting interface with a power device is not loosened when the eccentric direction of the acetabular file connecting rod is adjusted or the shell is twisted around the axial direction.

In some implementations, the anti-disengaging mechanism 330 is configured to have a restricted state and an unlocked state when the connection 320 is connected to the power interface 310. In the restricted state, the anti-disengagement mechanism 330 restricts axial movement and/or circumferential rotation of the lock collar 322 relative to the power interface 310; in the unlocked state, the anti-slip mechanism 330 allows the lock collar 322 to move axially and/or rotate circumferentially relative to the power interface 310.

Fig. 8 is a schematic side and cross-sectional view of the curved acetabular file connecting rod of fig. 6, and fig. 9 is a schematic exploded view of one possible connection of fig. 6. As shown in fig. 8, 9, in some implementations, the anti-disengaging mechanism 330 may include: a drop-proof pin 331 fixed to the lock ring 322, and a drop-proof groove 332 provided on the release ring 324. The escape prevention groove 332 has a restricted area C and an unrestricted area D. When the anti-falling pin 331 is located in the limited area C, the locking ring 322 is not limited in the circumferential direction but limited in the axial direction, and does not rotate along with the unlocking ring 324. That is, when the unlocking ring 324 rotates, the lock ring 322 does not rotate, and the lock ring 322 and the joint pin 323 do not generate axial displacement with respect to the power interface 310. The non-restricted area D of the anti-slip groove 332 leaves a space in the axial direction, when the unlocking ring rotates, the anti-slip pin shaft 331 is in the non-restricted area D, the axial direction is not restricted but one side is circumferentially restricted, when the unlocking ring rotates towards the restricted circumferential direction, the lock ring 322 rotates (synchronously rotates) along with the unlocking ring 324, that is, when the unlocking ring 324 rotates, the lock ring 322 also rotates, and the lock ring 322 and the joint pin 323 can axially displace relative to the power interface 310.

When the rotary unlocking ring 324 is rotated from the limited area C to the non-limited area D, the locking ring 322 rotates along with the unlocking ring 324 due to the limitation of the end side of the anti-falling groove 332, and the locking ring 322 can be connected with or disconnected from the power interface 310 by continuing to rotate. When the unlocking ring 324 is not forced to lie within the restricted zone C, the rotation and axial displacement of the locking ring 322 is restricted.

In some implementations, the anti-backup mechanism 330 may also include a retaining device 340. The retaining device 340 is used for keeping the anti-slip pin shaft 331 in the restricted area C when the acetabular file connecting rod is in normal operation, i.e. the locking ring 322 is kept from axial displacement and rotation, and the locking ring 322 and/or the driven shaft 321 are not disconnected from the power interface.

In some embodiments, one end of the anti-drop slot may be a restricted area and the other end an unrestricted area. In other embodiments, the middle portion of the anti-drop slot may be a restricted area and the two ends may be unrestricted areas. As shown in fig. 8 and 9, the anti-disengagement slot 332 may have a limited area C in the middle and two non-limited areas D at the two ends, where the limited area C is a chute with a certain width, and the non-limited area D extends a certain distance in the axial direction of the lock collar 322 near the anti-disengagement flange 325.

After the power interface 310 is connected to the connection portion 320, the anti-disengagement rib 325 of the unlocking ring 324 abuts against the joint end face 314 of the power interface 310. The unlocking ring 324 performs axial limit (axial direction of the driving shaft 311) on the anti-falling pin shaft 331 through the anti-falling groove 332, and since the sliding groove 313 is a spiral sliding groove, the axially limited locking ring 322 cannot rotate, so that the joint pin 323 cannot climb upwards, thereby playing an anti-falling role.

When the power interface 310 is actively connected to or disconnected from the connecting portion 320, the unlocking ring 324 can be manually rotated, so that the anti-disengagement pin shaft 331 is rotated to one of two ends (non-limited area D) of the anti-disengagement slot 332. The two ends of the anti-drop groove 332 leave a space in the axial direction (the axial direction of the driving shaft 311), and the anti-drop pin shaft 331 does not axially limit the unlocking ring 324 at the two ends of the anti-drop groove 332. Continuing to rotate the unlocking ring 324, the toggle anti-falling pin shaft 331 and the locking ring 322 rotate to drive the joint pin 323 to climb, so that the connection or separation of the two parts is realized. After the curved acetabular file connecting rod is connected with the tail end of the robot arm of the robot, the connecting interface with the power device is prevented from loosening when the eccentric direction is adjusted or the shell is twisted around the axial direction.

In some implementations, the retaining device 340 may include a second resilient member between the unlocking ring 324 and the locking ring 322. One end of the second elastic member is connected with the lock ring 322, and the other end of the second elastic member is connected with the unlocking ring 324.

In some implementations, the second elastic member may be a torsion spring.

As shown in fig. 8 and 9, the retaining device 340 may include a torsion spring 341, a torsion spring dial 342, and a catch 343. The lock ring 322 is provided with a torsion spring mounting groove 344 of a torsion spring 341, and the unlocking ring 324 is provided with a mounting groove 345 of a torsion spring shifting block 342. One end of the torsion spring 341 is fixed at the mounting hole of the lock ring 322 through a blocking pin 343, and the other end of the torsion spring 341 is mounted in the mounting groove 345 of the unlocking ring 324 through a torsion spring dial 342.

The two arms of the torsion spring 341 are crossed, sandwiching the torsion spring catch 343 and the torsion spring dial 342 between the two arms. When the unlocking ring 324 is rotated clockwise, the unlocking ring 324 drives the torsion spring shifting block 342 to shift one arm of the torsion spring 341, and the other arm of the torsion spring 341 is limited by the torsion spring blocking pin 343, so that the torsion spring 341 generates a torsion force in the counterclockwise direction on the unlocking ring 324. When the unlocking ring 324 is rotated counterclockwise, the torsion spring 341 will generate a clockwise torsion force. So that the unlocking ring 324 is maintained at the initial central position when not receiving an external force even though the escape prevention pin 331 is maintained at the central position of the escape prevention groove 332. The anti-disengaging pin shaft 331 can be positioned in the limited area C, i.e. the lock ring 322 is kept from axial displacement, and the joint pin 323 cannot disengage from the clamping position of the spiral chute 313.

In some implementations, the curved acetabular file link 300 may further include a rotation stop sleeve 350, an eccentric shell 351. The rotation stopping sleeve 350 is coaxially connected with the lock ring 322 and is far away from the connection end of the lock ring 322 and the power interface 310.

The outer surface of the eccentric housing 351 and the inner surface of the anti-rotation sleeve 350 have axially slidable mating surfaces, and the driven shaft 321 passes through the inner space of the eccentric housing 351. After the eccentric housing 351 is moved out of the mating region with the anti-rotation sleeve 350 in the axial direction of the anti-rotation sleeve 350, the eccentric housing 351 is released from the constraint of the anti-rotation sleeve 350 in the circumferential direction, and the eccentric housing 351 is used to adjust the position of the curved section 370 of the curved acetabular file connecting rod 300. As shown in fig. 3, the portion of the drive shaft 210 of the universal joint coupling structure may be generally disposed within the curved section 370. It should be understood that decentering in the eccentric housing 351 refers to a housing that houses an eccentric rotating shaft, and does not represent that the eccentric housing 351 itself is eccentric. For example, as shown in the lower right of fig. 8, the eccentric housing 351 and the rotation stop sleeve 350 may be coaxial. Wherein, the eccentric direction adjustment means the orientation adjustment of the bending part of the bent acetabular file connecting rod relative to the axial line of the length direction of the acetabular file.

The curved acetabular file connecting rod 300 may also include an axial limiting mechanism. An axial limiting mechanism is located between the eccentric housing 351 and the anti-rotation sleeve 350, the axial limiting mechanism being used to bring the eccentric housing 351 into engagement with the anti-rotation sleeve 350.

The axial limiting mechanism may take a variety of forms. For example, the axial limiting mechanism may be a pin limiting mode, corresponding pin holes are provided in the eccentric housing 351 and the anti-rotation sleeve 350, the pin is pulled out, and the eccentric housing 351 and the anti-rotation sleeve 350 can move axially. When the pin shaft is not pulled out, the eccentric housing 351 and the rotation preventing sleeve 350 cannot move axially.

In some implementations, the axial limiting mechanism may include a third resilient member. One end of the third elastic member is connected with the eccentric housing 351, and the other end of the third elastic member is connected with the rotation stopping sleeve 350. The third elastic member may be, for example, a spring, an elastic cord, or a damper. The spring in operation may be in tension or in compression.

For example, as shown in the upper left of fig. 8, the axial limiting mechanism may include a spring 352. One end (lower end) of the spring 352 is connected to a spigot on the rotation stop sleeve 350, and the other end (upper end) of the spring 352 is connected to one end of the eccentric housing 351. For example, the other end (upper end) of the spring 352 is connected to a pin (or upper retainer ring) on the driven shaft 321, and the driven shaft 321 and the eccentric housing 351 can move in synchronization in the axial direction.

The elastic force of the spring 352 keeps the eccentric casing 351 engaged with the rotation stopping sleeve 350, and after the eccentric casing 351 is pulled out, the engagement area between the eccentric casing 351 and the rotation stopping sleeve 350 is disengaged, and the eccentric casing 351 can rotate freely. At this time, the spring 352 is pressed, and after the external force is canceled, the spring 352 pushes the eccentric housing 351 back into the rotation stopping sleeve 350 again, and the rotation stopping is again limited.

The fit limit between the eccentric shell 351 and the anti-rotation sleeve 350 can be in various manners, so long as the two can axially slide and the requirement that rotation is not generated in the circumferential direction is met, and the specific form of the fit surface is not limited in the embodiment of the application.

In some implementations, the inner surface cross-sectional profile of the eccentric housing 351 may be a regular polygon, where the mating of the eccentric housing 351 and the anti-rotation sleeve 350 is a regular polygon mating surface. The inner surface cross-sectional profile of the eccentric housing 351 may be regular hexagon, regular octagon, etc. As shown in the lower right of fig. 8, the cross-sectional profile of the inner surface of the eccentric housing 351 may be regular octagon, and the processing is simple, the angle adjustment is convenient, and the quick installation and return after the angle adjustment are performed. It will be appreciated that the mating surface of the regular octagon may have 8 mating angles, or that the set of mating holes in the anti-rotation sleeve 350 has 8 angles corresponding to the regular octagon.

In some implementations, the anti-rotation sleeve 350 may be provided with one or more sets of mating locations. As shown in the lower right of fig. 8, the rotation stop sleeve 350 is provided with 2 sets of engagement positions, and has 16 angles corresponding to the regular octagon, which is helpful for improving the accuracy of angle adjustment, and for quickly mounting the eccentric housing 351 back after angle adjustment.

In some implementations, an annular stop (annular stop cap) may be provided on the end face of the anti-rotation sleeve 350 to prevent dust from entering the mating surface.

As can be seen from the above description, the unlocking ring 324 is provided with a mounting groove, an anti-falling pin, etc., which tends to affect the appearance of the product and easily cause the falling of the parts. In some implementations, the curved acetabular file link 300 includes a unlocking ring cover 361. The unlocking ring cover 361 is located outside the unlocking ring 324 and is rotatable in synchronization with the unlocking ring 324. Alternatively, the unlocking ring 324 is an unlocking ring assembly, which may further include an unlocking ring cover 361. Alternatively, the unlocking ring assembly includes an unlocking ring 324 and an unlocking ring cover 361. The unlocking ring cover 361 is arranged on the periphery of the unlocking ring 324, so that the unlocking ring can prevent parts from falling off, and the attractive appearance of the product can be improved.

The unlocking ring cover 361 may be fixedly coupled with the unlocking ring 324. There are a variety of ways in which the unlocking ring 324 and unlocking ring cover 361 may be connected. For example, the two may be connected by an interference fit. In some embodiments, the two may also be joined in reinforcement using screws or pins. In other embodiments, as shown in FIG. 9, the unlocking ring 324 and unlocking ring cover 361 may be secured to the connection using a retainer ring 362, screws 363. The retainer ring 362 is used to define the axial displacement between the unlocking ring 324 and the unlocking ring cover 361.

In the embodiment of the application, in the normal working process of connecting the power interface with the connecting part, under the limit of the anti-disengaging mechanism and the unlocking ring, the connecting piece on the locking ring does not generate circumferential rotation and axial displacement, and the locking ring and/or the driven shaft cannot be separated from the connection with the power interface. When the acetabular file connecting rod needs to be disassembled and assembled, the locking ring can be driven to rotate by the unlocking ring, so that the locking ring enters/breaks away from the connection with the non-driving shaft part at the power interface. After the curved acetabular file connecting rod is connected with the tail end of the robot arm, the curved acetabular file connecting rod is beneficial to ensuring that a connecting interface with a power device is not loosened when the eccentric direction of the curved acetabular file connecting rod is adjusted or the shell is twisted around the axial direction. The bent acetabular file connecting rod provided by the embodiment of the application can adjust the eccentric direction, adjust the position of the bent part of the bent acetabular file connecting rod, prevent the interference with tissues of a patient, and realize the release of the patient, namely, after the robot arm is locked, the connection with the patient can be released.

The embodiment of the application provides an end effector. Fig. 10 is a schematic diagram of the constituent elements/portions of an end effector according to an embodiment of the present application. As shown in fig. 10, the end effector 1000 may include a power device 1010, and a curved acetabular file link 1020 as described in any of the foregoing.

The power plant 1010 is provided with a power output interface.

One end of the curved acetabular file connecting rod 1020 is connected with a power output interface, and the other end of the curved acetabular file connecting rod 1020 is connected with an acetabular file.

Embodiments of the present application provide a surgical robot, as shown in fig. 1, a surgical robot 100 may include a robotic arm 110, an end effector 120, and a control system 130.

The robotic arm 110 corresponds to the arm of a surgeon, and can hold and position a surgical tool with high accuracy.

The end effector 120 is attached to the end of the robotic arm 110, and the end effector 120 is any of the end effectors described above. Such as end effector 120 may include: a power unit 121, an acetabular file connecting rod 122 and an acetabular file 123.

The control system 130 is used to obtain positional information of the end effector 120 and to control movement of the robotic arm 110. The control system 130 corresponds to the surgeon's brain, storing the surgical plan internally.

Surgical robot 100 may also include a navigation system 140. The navigation system 140 corresponds to the surgeon's eye, and cooperates with a tracer attached to the surgical tool and patient tissue, which can measure the position of the surgical tool and patient tissue in real time. The navigation system 140 may be based on optical or electromagnetic signals. The control system 130 calculates the route and/or the position of the robot arm 110 according to the information obtained by the navigation system, and may actively control the movement of the robot arm 110, or set the virtual boundary of the robot arm 110 through a force feedback mode, and then manually push the robot arm 110 to move along the route, plane or body defined by the virtual boundary.

Embodiments of the present application provide a medical device that may include an acetabular file and an acetabular file connecting rod as described in any of the foregoing. Wherein, the one end of acetabular file connecting rod is connected the power supply, and the other end is connected acetabular file.

In describing embodiments of the present application, it should be understood that the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the embodiments of the present application, the meaning of "plurality" is at least two, for example, two, three, etc., unless explicitly defined otherwise.

It should be noted that in the embodiments of the present application, 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 the element.

In describing embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

In the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

It will be understood that when a layer, an area, or a structure is described as being "on" or "over" another layer, another area, it can be referred to as being directly on the other layer, another area, or another layer or area can be included between the layer and the other layer, another area. And if the component is turned over, that layer, one region, will be "under" or "beneath" the other layer, another region.

It should be understood that the term "and/or" used in the embodiments of the present application is merely an association relationship describing the association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" in the embodiment of the present application generally indicates that the front and rear association objects are in an or relationship.

In the description of embodiments of the present application, a description of reference to the terms "one embodiment," "some embodiments," "examples," "particular examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In describing embodiments of the present application, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (12)

1. A curved acetabular file connecting rod for connecting an acetabular file to a power device, comprising:

a drive shaft for transmitting torque from the power plant;

An outer housing covering the periphery of the drive shaft, the outer housing being provided at its periphery with a locking ring rotatable relative to the outer housing, the locking ring having an opening;

a side cover provided with a first fixing part;

When the locking ring rotates to the first position, the first fixing part can be fixed by the locking ring, the outer shell and the side cover form a closed space which covers the transmission shaft, and when the locking ring rotates to the second position, the first fixing part can move in and/or move out from the opening of the locking ring.

2. The curved acetabular file connecting rod of claim 1, wherein the side cover has a second fixation, the second fixation being fixed in the same manner as the first fixation; or alternatively

The second fixing part is hinged/spliced with the opposite end of the outer shell, at the end of which the locking ring is positioned.

3. The curved acetabular file connecting rod of claim 1, further comprising:

and the positioning device is used for circumferentially positioning the locking ring when the locking ring is positioned at the first position.

4. The curved acetabular file connecting rod of claim 3, wherein the positioning device is an elastic plunger disposed on the locking ring, the first fixation location is provided with a recess matching the elastic plunger, and the elastic plunger is pressed into the recess of the first fixation location when the locking ring is rotated to the first position.

5. The curved acetabular file connecting rod of claim 3, wherein the locking ring is provided with a pin bore, the positioning device comprising a first resilient member and a pin located in the pin bore, the first resilient member being disposed between the locking ring and a spigot of the pin, the first resilient member being configured to compress the pin against the first fixation site or the outer shell.

6. The curved acetabular file connecting rod of claim 1, wherein the power device has a power interface, the curved acetabular file connecting rod further comprising:

the installation part is positioned at the output end of the transmission shaft and is used for connecting the acetabular file;

The connecting part is arranged at the first end of the outer shell and is used for connecting the power interface, and the connecting part is provided with a driven shaft, a lock ring positioned at the periphery of the driven shaft and an unlocking ring positioned at the periphery of the lock ring; the driven shaft is used for being connected with a driving shaft of the power interface to transmit torque; the locking collar is provided with a connector for connecting with a non-driving shaft portion of the power interface to axially engage the acetabular file connecting rod to the power interface, the connector being configured to be connectable with the non-driving shaft portion by rotation relative to the non-driving shaft portion;

The unlocking ring can rotate relative to the lock ring, an anti-falling mechanism is arranged between the unlocking ring and the lock ring and used for preventing the lock ring and/or the driven shaft from being separated from the connection with the power interface.

7. The curved acetabular file connecting rod of claim 6, wherein the locking collar abuts against a non-driving shaft portion of the power interface when the connecting portion is connected to the power interface.

8. The curved acetabular file connecting rod of claim 7, wherein the anti-slip mechanism comprises an anti-slip pin fixed to the lock ring, an anti-slip slot provided on the lock ring, the anti-slip slot having a restricted area in which the lock ring does not rotate with the lock ring and is axially restrained relative to the lock ring, and an unrestricted area in which the lock ring can rotate with the lock ring and is axially movable relative to the lock ring, and a retaining device for positioning the anti-slip pin in the restricted area, the retaining device comprising a second elastic member positioned between the lock ring and the lock ring, one end of the second elastic member being connected to the lock ring, the other end of the second elastic member being connected to the lock ring.

9. The curved acetabular file connecting rod of claim 6, comprising:

the rotation stopping sleeve is coaxially connected with the lock ring and is far away from the connecting end of the power interface;

The eccentric shell, but the surface of eccentric shell with the internal surface of anti-rotating cover has axial slip's fitting surface, the driven shaft passes the inner space of eccentric shell, the eccentric shell is followed the axial direction of anti-rotating cover is shifted out with the cooperation district of anti-rotating cover after, the eccentric shell is in the circumference release receive the restraint of anti-rotating cover, the eccentric shell is used for adjusting the position of the curved section of acetabular file connecting rod.

10. The acetabular file connecting rod of claim 9, wherein the curved acetabular file connecting rod further comprises:

And the axial limiting mechanism is positioned between the eccentric shell and the anti-rotation sleeve and is used for enabling the eccentric shell to be in a matching area with the anti-rotation sleeve.

11. An end effector, comprising:

the power device is provided with a power output interface;

And a curved acetabular file connecting rod according to any one of claims 1 to 10, one end of the curved acetabular file connecting rod being connected to the power output interface and the other end of the curved acetabular file connecting rod being connected to the acetabular file.

12. A surgical robot, comprising:

A robotic arm;

the end effector as set forth in claim 11 connected at a distal end of said robotic arm;

and a control system for acquiring orientation information of the end effector and controlling movement of the robotic arm.