CN118633996A - End effector and osteotomy device - Google Patents

Abstract

The application relates to an end effector and osteotomy equipment. Wherein the end effector comprises: a functional part, a connecting rod part and a fixing part. One end of the connecting rod part is connected with the fixed part, and the other end is connected with the functional part. The fixed part is used for being detachably connected with the tail end of the mechanical arm. The surface of the functional part comprises at least two joint surfaces, and the joint surfaces are used for being jointed with bones during osteotomy. The functional part further comprises at least three guide grooves. At least three guide grooves extend in at least two different directions and penetrate through the functional portion. And the number of the extending directions of the guide grooves is smaller than the number of the guide grooves. At least two of the different directions include two mutually perpendicular directions. The functional part is correspondingly provided with a bonding surface in at least one of two mutually perpendicular directions. At least two guide grooves extending in the same direction, the cross sections of which extend in two intersecting directions. According to the embodiment of the application, the osteotomy efficiency of the high-precision small-range osteotomy can be effectively improved.

Description

End effector and osteotomy device

Technical Field

The application relates to the technical field of medical instruments, in particular to an end effector and osteotomy equipment.

Background

In the related art, as the population ages, knee joint cartilage is damaged or the knee joint is abnormally worn due to diseases such as degenerative osteoarthritis and rheumatoid arthritis, ligament imbalance is caused, lower limb flexion and extension activities are limited, and joint operation is required to restore lower limb functions. As a result, hospitals perform more and more joint surgery each year.

In joint surgery, an osteotomy is required. Where multiple bone surfaces need to be cut by a robotic arm system for small-scale osteotomies, conventional approaches require grinding of the bone by a small grinding head. But the bone is ground by the grinding head to cut multiple bone surfaces, resulting in less efficient bone cutting. Therefore, improving the osteotomy efficiency of high-precision small-scale osteotomy is still a problem to be solved.

Disclosure of Invention

According to a first aspect of embodiments of the present application, there is provided an end effector for use with a robot arm end, comprising: a functional part, a connecting rod part and a fixing part; one end of the connecting rod part is connected with the fixed part, and the other end of the connecting rod part is connected with the functional part; the fixing part is detachably connected with the tail end of the mechanical arm;

The surface of the functional part comprises at least two joint surfaces, and the joint surfaces are used for being jointed with bones during osteotomy; the functional part also comprises at least three guide grooves; the at least three guide grooves extend along at least two different directions and penetrate through the functional part; and the number of the extending directions of the guide grooves is smaller than the number of the guide grooves; the at least two different directions include two mutually perpendicular directions;

The functional part is correspondingly provided with the bonding surface in at least one direction of the two mutually perpendicular directions; at least two guide grooves extending in the same direction, the cross sections of which extend in two intersecting directions.

According to the embodiment, the guide grooves extending in the directions and the bonding surface are formed in the functional part, so that the guide precision of the functional part can be greatly improved through the combination of the bonding surface and the guide grooves, the precision requirement of the small-range osteotomy can be met, and furthermore, the small grinding head can be replaced by a high-precision cutting mode to grind, so that the osteotomy efficiency of the high-precision small-range osteotomy can be effectively improved.

In some embodiments, at least one of the guide grooves is provided with a guide through hole at least one of both ends in an extending direction of a cross section thereof; the guide through holes extend along the extending direction of the corresponding guide grooves and penetrate through the functional parts; the guide through hole is communicated with the guide groove, and the diameter of the guide through hole is larger than the width of the guide groove; the guide through holes are used for arranging bone nails.

In some embodiments, the surfaces of the functional parts are correspondingly provided with the bonding surfaces in the two mutually perpendicular directions; the shape of the joint surface comprises an arc shape which is matched with the shape of the bone surface and a plane which is matched with the shape of the surface of the bone after osteotomy.

In some embodiments, the functional portion includes three of the guide grooves; the three guide grooves extend along two different directions and penetrate through the functional part; and the two different directions are mutually perpendicular; the cross sections of the two guide grooves extending along the same direction extend along two mutually perpendicular directions;

The cutting surfaces formed by the three guide grooves are mutually perpendicular.

In some embodiments, the link portion includes a functional connection portion and a link body portion; the functional connecting part is positioned between the connecting rod main body part and the functional part, and two ends of the functional connecting part are respectively connected with the connecting rod main body part and the functional part;

the thickness of the functional connection part is smaller than that of the connecting rod main body part.

In some embodiments, further comprising: the positioning frame and the positioning butt joint part; the positioning frame is used for being identified to position the end effector;

The positioning butt joint part is arranged on the connecting rod part; the positioning butt joint part comprises at least two butt joint surfaces, and each butt joint surface is provided with a butt joint boss; the positioning frame is detachably matched with the butting boss so as to be detachably fixed on the positioning butting part; the abutment bosses on each abutment face are oriented in different directions.

In some embodiments, the shaft passes through the locating interface, the interface being located around the shaft.

In some embodiments, the positioning rack comprises a rack body and at least three positioning pieces; the positioning piece is detachably arranged on the frame body, and is used for determining the position of the positioning piece after being identified and determining the position of the end effector according to the connection relation; at least three of the positioning members are not located on the same straight line.

In some embodiments, a drilling rig is also included; the drilling frame comprises a bracket base, a bracket matching part and at least two guide frames; the bracket base comprises a first base part and a second base part; the projection of the first base part on the second base part is positioned in the second base part;

the support matching part and the drilling guide part are positioned on two opposite sides of the support base, the support matching part is connected with the first base part, and the support matching part is connected with the second base part; the functional part is provided with a mounting hole penetrating through the functional part drilling frame; the bracket matching part is matched with the drilling frame mounting hole;

The drilling frame is also provided with a matching hole; the matching hole penetrates through the bracket matching part and the bracket base along the extending direction of the bracket matching part; the matching hole is used for matching with a drill bit.

According to a second aspect of embodiments of the present application, there is provided an osteotomy device, comprising a robotic arm and any of the end effectors described above.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic view of an end effector according to an embodiment of the present application.

Fig. 2 is a partially enlarged view showing a partial structure in the region Q1 in fig. 1 according to an embodiment of the present application.

Fig. 3 is an enlarged partial view of a portion of the structure in the region Q1 of fig. 1 at another angle according to an embodiment of the present application.

Fig. 4 is a state of the end effector in operation, according to an embodiment of the present application.

Fig. 5 is another state of the end effector in operation, according to an embodiment of the present application.

Fig. 6 is another state of the end effector in operation, according to an embodiment of the present application.

Fig. 7 is another state of the end effector in operation, according to an embodiment of the present application.

Fig. 8 is another state of the end effector in operation, according to an embodiment of the present application.

Fig. 9 is a schematic structural view of a spacer according to an embodiment of the present application.

Fig. 10 is a cross-sectional view of the spacer shown in fig. 9 along section line AA, according to an embodiment of the present application.

Fig. 11 is a schematic diagram showing the functional section mounting other components according to the embodiment of the present application.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

In performing a small range of osteotomies on a bone, for example, in a unicondylar osteotomies procedure, only half of the tibial articular end is subjected to the osteotomies, which requires cutting through a robotic arm system to form multiple bone surfaces, including horizontal and vertical osteotomies. In the traditional operation of cutting bone by using a mechanical arm, the operation of cutting bone by using a guide plate mechanical arm and a medical cutter is generally only applied to the operation of cutting bone in a large range, for example, the operation of cutting the whole bone joint directly by using the medical cutter. Therefore, the traditional bone cutting operation by matching the guide plate mechanical arm with the medical cutter requires frequent adjustment of the positions of the guide plate mechanical arm and the medical cutter, and the structure has insufficient precision in the small-range bone cutting operation.

But the mechanical arm of the guide plate and the medical cutter can not meet the precision requirement of the small-range osteotomy. The existing means also comprises a mechanical arm provided with a small grinding head for grinding bones, so that the operation of cutting bones in a small range is realized with high precision. However, the polishing operation is time-consuming, and the polishing accuracy is reduced due to the fact that the positions of the small grinding heads are required to be adjusted to polish bones at all angles, and the polishing accuracy is reduced due to the fact that the polishing speed of the small grinding heads is increased. And, the osteotomy surface obtained by grinding with the small grinding head has a certain concavity and convexity, which also affects the accuracy of the subsequent prosthesis to be mounted on the osteotomy site. Therefore, the operation efficiency of high-precision grinding by the small grinding head is made low. Therefore, improving the osteotomy efficiency of high-precision small-range osteotomy is still a problem to be solved.

The present application provides an end effector 10. Fig. 1 shows a schematic view of the structure of the end effector 10. Fig. 2 is a partially enlarged view of a portion of the structure in the region Q1 of fig. 1, and fig. 3 is a partially enlarged view of another angle of the structure in the region Q1 of fig. 1. As shown in the schematic structural diagrams of fig. 1, 2 and 3, the end effector 10 includes: a functional part 101, a link part 102 and a fixing part 103.

One end of the link portion 102 is connected to the fixing portion 103, and the other end is connected to the functional portion 101. The fixing portion 103 is detachably connected to a distal end of a robot arm (not shown). The functional portion 101, the link portion 102, and the fixing portion 103 may be partially formed integrally, partially formed separately and assembled, or may be formed integrally, or may be formed separately and assembled. And the parts are integrally formed, and the parts are separately formed and assembled, that is, the structure in which any two of the functional part 101, the connecting rod part 102 and the fixing part 103 are connected can be integrally formed and assembled and matched with the other structure. Specifically, the functional portion 101 may be integrally formed with the link portion 102 and then assembled and fitted with the fixing portion 103.

The surface of the functional part 101 includes at least two bonding surfaces M for bonding with bones during osteotomy. Specifically, as shown in fig. 2 and 3, the bonding surface M may include a first bonding surface M1 and a second bonding surface M2. The functional part 101 further includes at least three guide grooves 1010. Specifically, the functional part 101 may include three guide grooves 1010, or the functional part 101 may include four guide grooves 1010, or the functional part 101 may include five guide grooves 1010, or the functional part 101 may include six guide grooves 1010, or the functional part 101 may include seven guide grooves 1010, but is not limited thereto. At least three guide grooves 1010 extend in at least two different directions and penetrate through the functional part 101. And the number of the extending directions of the guide grooves 1010 is smaller than the number of the guide grooves 1010. That is, S guide grooves 1010 extend in (S-1) different directions, where S is equal to or greater than three. At least two of the different directions include two mutually perpendicular directions.

At least three guide grooves 1010 extend in at least two different directions and penetrate through the functional part 101. And the number of the extending directions of the guide grooves 1010 is smaller than the number of the guide grooves 1010. It may be that three guide grooves 1010 extend in two different directions, or four guide grooves 1010 extend in three different directions, or five guide grooves 1010 extend in two different directions, or five guide grooves 1010 extend in three different directions, or five guide grooves 1010 extend in four different directions, but not limited thereto.

At least two of the different directions include two mutually perpendicular directions. I.e. when there are two different directions, the two directions are perpendicular to each other. When there are more than two different directions, two directions are perpendicular to each other, and other directions than the two directions may be perpendicular to the two directions or may not be perpendicular to the two directions. The specific orientations of the two directions other than the two directions perpendicular to each other can be flexibly set according to actual needs, and are not strictly limited herein.

Specifically, according to the embodiment shown in fig. 1,2 and 3, the functional part 101 preferably includes three guide grooves 1010. And three guide grooves 1010 extend in two different directions. Fig. 2 and 3 show a first direction Z and a second direction Y perpendicular to each other. The three guide grooves 1010 extend in two different directions, and it may be that a first guide groove 1011 and a second guide groove 1012 of the three guide grooves 1010 extend in a first direction Z and a third guide groove 1013 extends in a second direction Y.

The functional portion 101 is provided with a bonding surface M corresponding to at least one of two mutually perpendicular directions. Specifically, the functional portion 101 may be provided with the bonding surface M in at least one of the two mutually perpendicular directions, that is, in the direction along which the guide groove extends, or may be provided with the bonding surface M in one of the two mutually perpendicular directions. As shown in fig. 2 and 3, the functional portion 101 is provided with a bonding surface M corresponding to the first direction Z and the second direction Y, wherein the first bonding surface M1 is provided corresponding to the first direction Z and the second bonding surface M2 is provided corresponding to the second direction Y.

At least two guide grooves 1010 extending in the same direction, the cross sections of which extend in two directions intersecting each other. Specifically, referring also to fig. 2 and 3, the guide groove 1010 extending in the first direction Z includes a first guide groove 1011 and a second guide groove 1012. While the cross section of the first guide groove 1011 extends in the third direction X and the cross section of the second guide groove 1012 extends in the second direction Y. Wherein the second direction Y intersects the third direction X, rather than being coincident or parallel to each other.

In performing an osteotomy guiding operation by the end effector 10 shown in fig. 1, 2 and 3, the end effector 10 in operation is shown with reference to fig. 4, 5, 6, 7 and 8. Wherein fig. 4, 5, 6, 7 and 8 each illustrate one state of the end effector 10 in operation. As shown in fig. 4, the mechanical arm drives the end effector 10 at the end thereof to move, and moves the end effector 10 to a position where the first contact surface M1 contacts the surface of the bone 30. The blade 21 of the cutter tip 20 passes through the first guide groove 1011 and cuts the bone 30 in the extending direction of the cross section of the first guide groove 1011. The shape of the blade 21 may include a saw blade shape or a blade shape, but is not limited thereto, and the shape of the blade 21 may be flexibly set according to actual needs, which is not limited thereto.

After the cutting of the blade 21 along the first guide groove 1011 is completed, referring to fig. 5, the position of the end effector 10 is maintained unchanged, the blade 21 is changed to the second guide groove 1012, and the blade 21 is limited along the second guide groove 1012, and the cutting is performed along the extending direction of the cross section of the second guide groove 1012. The functional part 101 can be stably attached to the bone 30 by the attachment relation between the attachment surface M of the functional part 101 and the bone 30, and the stability of the cutting process of the blade 21 can be improved. In addition, since the functional portion 101 is provided with the plurality of guide grooves 1010, and the plurality of guide grooves 1010 are arranged according to a specific rule, the position of the functional portion 101 does not need to be changed in the cutting process of the blade 21 along different directions, so that the guide precision of the functional portion 101 can be greatly improved through the design of combining the bonding surface M and the plurality of guide grooves 1010 to meet the precision requirement of the small-range osteotomy, and furthermore, the small-range osteotomy can be replaced by grinding through a high-precision cutting mode, so that the osteotomy efficiency of the high-precision small-range osteotomy can be effectively improved.

As shown in fig. 6, the bone cutting device may be configured to include the first contact surface M1 and the second contact surface M2, and may be configured to contact the bone 30 via the second contact surface M2, and may be configured to cooperate with the first guide groove 1011, the second guide groove 1012, or the first guide groove 1011 and the second guide groove 1012 via the third guide groove 1013, thereby completing other small-scale bone cutting operations. Similarly, as shown in fig. 7, in another embodiment, the end effector 10 may be used to cut bone 30 after the osteotomy, so that the first abutment surface M1 may be in stable contact with the cutting surface to enhance the stability of the osteotomy. Another angular view of a cut made by the end effector 10, as shown in FIG. 8, is also a view of the bone 30 after an osteotomy, which may be stabilized by the first abutment surface M1 in contact with the cutting surface to enhance the stability of the osteotomy.

Therefore, through setting up the guide way 1010 that binding face M and a plurality of direction extend on functional part 101, can make the direction precision of functional part 101 promote by a wide margin through the design that binding face M and a plurality of guide way 1010 combined together to accord with the precision requirement of small-scale osteotomy, and then, can replace little bistrique to polish through the mode of high accuracy cutting, with the osteotomy efficiency of effectively promoting high accuracy small-scale osteotomy.

In some embodiments, as shown in fig. 2 and 3, at least one guide groove 1010 is provided with a guide through hole 1014 at least one of both ends in an extending direction of a cross section thereof. Specifically, one guide groove 1010 may be provided with the guide through hole 1014, or two guide grooves 1010 may be provided with the guide through hole 1014, or three guide grooves 1010 may be provided with the guide through hole 1014, but not limited thereto. In the embodiment shown in fig. 2 and 3, the third guide slot 1013 may have a guide through hole 1014 at one end or may have a guide through hole 1014 at both ends. The second guide groove Y is provided with a guide through hole 1014 only at one end thereof, since the second guide groove Y has only one end in cross section.

Also, the two ends of the guide groove 1010 in the extending direction of the cross section thereof are exemplified by the embodiments shown in fig. 2 and 3, the extending direction of the cross section of the first guide groove 1011 is the third direction X, and the two ends of the cross section of the first guide groove 1011 in the extending direction thereof are the two ends of the cross section thereof in the third direction X. The extending direction of the cross section of the third guiding slot 1013 is the second direction Y, and the two ends of the cross section of the third guiding slot 1013 in the extending direction thereof are the two ends of the cross section in the second direction Y, that is, the two ends of the third guiding slot 1013 in fig. 2 and 3 are provided with the guiding through holes 1014.

The guide through holes 1014 extend in the extending direction of the corresponding guide grooves 1010 and penetrate the functional portion 101. The guide through hole 1014 communicates with the guide groove 1010, and the diameter of the guide through hole 1014 is greater than the width of the guide groove 1010. The guide through holes 1014 are used for placement of bone nails.

Specifically, fig. 2 shows the width W1 of the third guide groove 1013 and the diameter W2 of the guide through hole 1014. The diameter of the guide through hole 1014 is larger than the width of the guide groove 1010, which may be specifically that the width W1 of the third guide groove 1013 is smaller than the diameter W2 of the guide through hole 1014 correspondingly provided.

Referring to the schematic use views of the end effector 10 shown in fig. 4 to 8, when the mechanical arm drives the end effector 10 to move to the preset position during the bone cutting operation, after the bonding surface M of the functional portion 101 is bonded to the surface of the bone 30, the bone nail can be disposed in the guiding hole 1014, and the bone nail is partially located in the bone 30 and partially located in the functional portion 101 at the same time, so that the relative position between the functional portion 101 and the bone 30 can be further defined.

Also, since the bone screw portion is located in the bone, when the blade 21 is inclined in the guide groove 1010, the blade 21 is limited by the bone screw within the range of the cross-sectional orthographic projection of the guide groove 1010. For example, when the blade 21 extends into the bone 30 through the guide slot 1013 to cut the bone 30, if the blade 21 is tilted, the blade positioned in the bone 30 may extend out of the range of the cross-sectional orthographic projection of the third guide slot 1013 due to the tilt. In the case where the blade 21 is located near both ends of the third guide groove 1013, the blade 21 may be inclined at this time, that is, the blade 21 may extend from the end of the cross section of the third guide groove 1013 near the end of the bone 30 as the rotation center, so that a part of the blade 21 may extend out of the range of the orthographic projection of the cross section of the third guide groove 1013. By providing the bone screw, the limit of the two ends of the cross section of the guide groove 1010 continues to extend into the bone 30, so that the blade 21 can be limited when being deflected, and the patient is prevented from being damaged when the blade is cut to the part of the bone 30 outside the operation preset position.

Thus, by the provision of the guide through hole 1014 and the associated bone screw, the relative position between the functional part 101 and the bone 30 can be further defined by the bone screw, as well as limited when the blade 21 is deflected, so as to avoid damaging the patient by cutting the bone 30 beyond the pre-operative position.

In some embodiments, as shown in fig. 2 and 3, the surface of the functional portion 101 is correspondingly provided with an abutment surface M in two mutually perpendicular directions. The shape of the abutment surface M includes an arc shape corresponding to the surface shape of the bone 30 and a plane shape corresponding to the surface shape of the bone 30 after osteotomy.

Specifically, the shape of the fitting surface M includes an arc shape corresponding to the surface shape of the bone 30 and a plane surface corresponding to the surface shape of the bone 30 after osteotomy, that is, by setting an arc shape corresponding to the surface of the bone 30 in the functional portion 101, the fitting degree between the functional portion 101 and the surface of the bone 30 can be effectively improved, and the contact surface of the functional portion 101 when contacting the bone 30 is improved, so that the stability of the functional portion 101 after fitting the surface of the bone 30 is improved.

By arranging the plane adapted to the surface shape of the bone 30 after the osteotomy, when the bone 30 needs to perform the operation of cutting the other bone 30 after the osteotomy, the functional part 101 can be rotated by a small extent to change the joint surface M more suitable for the joint so as to improve the joint stability, and the contact area between the functional part 101 and the osteotomy surface of the bone 30 can be improved so as to improve the joint stability, thereby changing the working mode of the end effector by a small extent, and further performing the osteotomy task in the high-precision execution small-range osteotomy by the same end so as to further improve the osteotomy efficiency of the end effector 10 in the high-precision small-range osteotomy.

Therefore, by making the shape of the abutment surface M include an arc shape corresponding to the surface shape of the bone 30 and a plane surface corresponding to the surface shape of the bone 30 after osteotomy, it is possible to cope with various high-precision and small-range osteotomy scenes by the same end effector 10, and further, it is possible to further improve the osteotomy efficiency of the high-precision and small-range osteotomy operation of the end effector 10.

In some embodiments, as shown in fig. 2 and 3, the functional part 101 includes three guide grooves 1010. Three guide grooves 1010 extend in two different directions and penetrate the functional portion 101. And the two different directions are perpendicular to each other. Wherein the cross sections of the two guide grooves 1010 extending in the same direction extend in two directions perpendicular to each other.

Specifically, the cross sections of the two guide grooves 1010 extending in the same direction extend in two directions perpendicular to each other, that is, the first guide groove 1011 and the second guide groove 1012 shown in fig. 2 and 3 each extend in the first direction Z, and the third guide groove 1013 extends in the second direction Y. While the cross section of the first guide groove 1011 extends in the third direction X and the cross section of the second guide groove 1012 extends in the second direction Y.

The three guide grooves 1010 form cutting surfaces perpendicular to each other. The guide groove 1010 forms a cutting surface, that is, the blade 21 cuts the formed cutting surface by the limit of the guide groove 1010.

The setting like this can ensure that the design that combines together through binding face M and a plurality of guide way 1010 makes the direction precision of functional part 101 promote by a wide margin to accord with the accuracy requirement of bone surgery is cut to the small scale, and then, can replace the little bistrique through the mode of high accuracy cutting to polish, in order to effectively promote the bone efficiency of bone surgery is cut to the small scale of high accuracy.

In some embodiments, as shown in fig. 2 and 3, the link portion 102 includes a functional connection portion 1021 and a link body portion 1022. The function connecting portion 1021 is located between the link body portion 1022 and the function portion 101, and both ends of the function connecting portion 1021 are connected to the link body portion 1022 and the function portion 101, respectively.

The thickness of the functional connection portion 1021 is smaller than the thickness of the link body portion 1022. Specifically, fig. 2 and 3 show the thickness h1 of the functional connecting portion 1021 and the thickness h2 of the link main body portion 1022. The thickness of the functional connection portion 1021 is smaller than the thickness of the link body portion 1022, that is, the thickness h1 is smaller than the thickness h2.

Since it is necessary to cut other body tissues around the bone 30 during the osteotomy, the end effector 10 is driven to move by the mechanical arm, and the functional part 101 is finally attached to the bone 30. If the connecting rod body 1022 is directly connected to the functional part 101 with its thickness h2, the thickness h2 of the connecting rod body 1022 still occupies a part of the space after the functional part 101 is attached to the bone, which requires further pulling of the surrounding body tissue by a medical instrument or enlarging the surgical incision, which is clearly more disadvantageous for the patient, such as for rapid postoperative recovery of the patient.

After the functional portion 101 is attached to the bone 30, the thickness h1 of the functional connecting portion 1021 is smaller than the thickness h2 of the connecting rod main body 1022, so that the occupation of the connecting rod 102 to the surgical space can be effectively reduced, the space required by the end effector 10 in performing the surgery can be as small as possible, the incised body tissue is as small as possible, and the space is reserved for the operation of other instruments in the surgery by the small space occupation, so that the recovery of the patient and the smooth operation can be facilitated, and the osteotomy efficiency of the high-precision small-scale osteotomy can be further improved.

In some embodiments, as shown in fig. 1, the end effector 10 further comprises: the positioning frame 104 and the positioning butt joint part 105. The positioning frame 104 is used to be identified to position the end effector 10.

The positioning abutting portion 105 is mounted on the link portion 102. The positioning abutment 105 comprises at least two abutment surfaces 1051, each of which is provided with an abutment boss 1052. The positioning frame 104 is detachably engaged with the docking boss 1052 to detachably fix the positioning frame 104 to the positioning docking portion 105. The abutment bosses 1052 on each abutment surface 1051 face in different directions.

The angles between any two adjacent abutting surfaces 1051 may be the same or different, and are not limited herein. While adjacent abutment surfaces 1051, i.e., abutment surfaces 1051 between which no other abutment surfaces 1051 are present, are not directly connected by other abutment surfaces 1051.

Specifically, the abutment bosses 1052 on each abutment surface 1051 face in different directions, i.e., at an angle to each other. When the end effector 10 is displaced, and the positioning frame 104 is not positioned due to interference with the identification of the end effector 10, the positioning frame 104 may be removed and mated with other docking bosses 1052 oriented in different directions. Since the docking bosses 1052 are oriented in different directions, the overall orientation of the spacer 104 after mating with the docking bosses 1052 is also consistent with the line of defense of the docking bosses 1052. To achieve adjustment of the orientation of the spacer 104. Thus, by adjusting the orientation of the positioning frame 104, it is enabled to avoid sources of interference and be re-identified to position the end effector 10.

It should be noted that fig. 1 illustrates an embodiment in which the positioning docking portion 105 includes two docking surfaces 1051. It is contemplated that fig. 1 is merely exemplary, however, in other embodiments, the arrangement of interface 1051 is not limited to the embodiment shown in fig. 1.

In some embodiments, as shown in fig. 1, the shaft 102 passes through a locating interface 105, with interface 1051 located around the shaft 102. Wherein the abutment surfaces 1051 are located around the shaft portion 102, i.e. the abutment surfaces 1051 are arranged sequentially at positions around the shaft portion 102.

By this arrangement, the docking surface 1051 and the docking boss 1052 provided on the docking surface 1051 can be directed in as many directions as possible, so that the probability that the positioning frame 104 is blocked by the interference source after the positioning frame 104 is replaced in the docking position can be reduced, and further, the stable operation can be ensured.

In some embodiments, fig. 9 illustrates a schematic structural view of the spacer 104. Fig. 10 shows a cross-sectional view of the spacer 104 of fig. 9 along section line AA. As shown in fig. 1, and referring to the structures shown in fig. 8 and 9, the positioning frame 104 includes a frame body 1041 and at least three positioning members 1042. The positioning member 1042 is detachably mounted on the frame 1041, and the positioning member 1042 is used for determining the position of the positioning member 104 after being identified, and determining the position of the end effector 10 according to the connection relationship. At least three of the positioning members 1042 are not located on the same line.

The positioning member 1042 is detachably mounted on the frame 1041, as shown in fig. 10, a positioning magnetic structure 1043 is disposed in the positioning member 1042 and is in magnetic structure 1044 with the frame 1041. The positioning piece 1042 is positioned on the frame 1041 by the mutual attraction of the positioning magnetic attraction structure 1043 and the frame magnetic attraction structure 1044. In addition, the magnetic structure is convenient to replace quickly when the locating piece 1042 is stained, so that the stable operation is further realized.

The three positioning members 1042 are not located on the same straight line, and a positioning surface can be obtained by positioning the three positioning members 1042. By this positioning surface, the deflection state of the positioning frame 104 in each direction can be effectively determined, and thus, the deflection state of the end effector 10 in each direction can be effectively determined.

In some embodiments, fig. 11 shows a schematic diagram of the functional part 101 mounting other components. As shown in fig. 1 and 11, the end effector 10 further includes a drilling carriage 106. The drilling frame 106 includes a bracket base 1061, a bracket engagement portion 1062, and at least two guide frames 1063. The stand base 1061 includes a first base portion 10611 and a second base portion 10612. The projection of the first base portion 10611 onto the second base portion 10612 is located within the second base portion 10612. Referring to fig. 11, the drilling frame 106 can be more stably mounted to the functional part 101 by providing the first base part 10611 and the holder engaging part 1062.

The support engaging portion 1062 and the guide frame 1063 are disposed on opposite sides of the support base 1061, and the support engaging portion 1062 is connected to the first base portion 10611, and the support engaging portion 1062 is connected to the second base portion 10612. The functional portion 101 is provided with a drilling jig mounting hole 1015 penetrating the functional portion 101. The holder engaging portion 1062 engages with the holder mounting hole 1015.

The drilling carriage 106 is also provided with mating holes 1064. The fitting hole 1064 penetrates the bracket fitting portion 1062 and the bracket base 1061 in an extending direction of the bracket fitting portion 1062. The engagement hole 1064 is for engagement with a drill bit.

Specifically, the drill passes through the mating hole 1064 to achieve mating with the mating hole 1064. The portion thereof extending out of the mating hole 1064 is used to perform a drilling operation on the bone 30. The guide frame 1063 is used to match the drill bit with the matching hole 1064 and provide guide for the drill bit to match the matching hole 1064 more conveniently and accurately.

In addition, the support base 1061 may also be provided with a drilling magnetic attraction structure 10613 to attract the structure of the drill bit, so as to further improve the accuracy and efficiency of the drill bit matching.

In this way, the accuracy of the drilling operation through the fitting hole 1064 of the functional part 101 can be improved by the stable contact relationship between the functional part 101 and the bone 30, and further, the accuracy of the small-scale osteotomy can be further improved. And since the drilling function can be directly implemented on the functional part 101 by installing the drilling jig 106 on the functional part 101, a special drill guide structure is not required. Therefore, the efficiency of the small-range osteotomy can be further improved.

Therefore, by arranging the functional part 101 and the drilling frame 106, the accuracy and efficiency of the small-range osteotomy can be improved at the same time.

In some embodiments, the end effector 10 is primarily applicable to, but not limited to, tibial unicondylar osteotomies. It is contemplated that the end effector 10 may maximize its advantages when used in tibial unicondylar osteotomies.

The present application also provides an osteotomy device, comprising a robotic arm and any of the end effectors 10 described above.

The above embodiments of the present application may be complementary to each other without collision.

It is noted that in the drawings, the size of layers and regions may be exaggerated for clarity of illustration. Moreover, it will be understood that when an element or layer is referred to as being "on" another element or layer, it can be directly on the other element or intervening layers may be present. In addition, it will be understood that when an element or layer is referred to as being "under" another element or layer, it can be directly under the other element or intervening layers or elements may be present. In addition, it will be understood that when a layer or element is referred to as being "between" two layers or elements, it can be the only layer between the two layers or elements, or more than one intervening layer or element may also be present. Like reference numerals refer to like elements throughout.

The term "plurality" refers to two or more, unless explicitly defined otherwise.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (10)

1. An end effector for use with a robot arm tip, comprising: a functional part, a connecting rod part and a fixing part; one end of the connecting rod part is connected with the fixed part, and the other end of the connecting rod part is connected with the functional part; the fixing part is detachably connected with the tail end of the mechanical arm;

The surface of the functional part comprises at least two joint surfaces, and the joint surfaces are used for being jointed with bones during osteotomy; the functional part also comprises at least three guide grooves; the at least three guide grooves extend along at least two different directions and penetrate through the functional part; and the number of the extending directions of the guide grooves is smaller than the number of the guide grooves; the at least two different directions include two mutually perpendicular directions;

The functional part is correspondingly provided with the bonding surface in at least one direction of the two mutually perpendicular directions; at least two guide grooves extending in the same direction, the cross sections of which extend in two intersecting directions.

2. The end effector as claimed in claim 1, wherein at least one of the guide grooves is provided with a guide through hole at least one of both ends in an extending direction of a cross section thereof; the guide through holes extend along the extending direction of the corresponding guide grooves and penetrate through the functional parts; the guide through hole is communicated with the guide groove, and the diameter of the guide through hole is larger than the width of the guide groove; the guide through holes are used for arranging bone nails.

3. The end effector as set forth in claim 2 wherein the surfaces of said functional portions are provided with said abutment surfaces in correspondence in both of said two mutually perpendicular directions; the shape of the joint surface comprises an arc shape which is matched with the shape of the bone surface and a plane which is matched with the shape of the surface of the bone after osteotomy.

4. The end effector as set forth in claim 2 wherein said functional portion includes three of said guide slots; the three guide grooves extend along two different directions and penetrate through the functional part; and the two different directions are mutually perpendicular; the cross sections of the two guide grooves extending along the same direction extend along two mutually perpendicular directions;

The cutting surfaces formed by the three guide grooves are mutually perpendicular.

5. The end effector as set forth in claim 1 wherein said linkage portion includes a functional connection portion and a linkage body portion; the functional connecting part is positioned between the connecting rod main body part and the functional part, and two ends of the functional connecting part are respectively connected with the connecting rod main body part and the functional part;

the thickness of the functional connection part is smaller than that of the connecting rod main body part.

6. The end effector as set forth in claim 1 further comprising: the positioning frame and the positioning butt joint part; the positioning frame is used for being identified to position the end effector;

The positioning butt joint part is arranged on the connecting rod part; the positioning butt joint part comprises at least two butt joint surfaces, and each butt joint surface is provided with a butt joint boss; the positioning frame is detachably matched with the butting boss so as to be detachably fixed on the positioning butting part; the abutment bosses on each abutment face are oriented in different directions.

7. The end effector as set forth in claim 6 wherein said shaft passes through said positioning interface and said interface is located about said shaft.

8. The end effector as set forth in claim 6 wherein said positioning frame includes a frame body and at least three positioning members; the positioning piece is detachably arranged on the frame body, and is used for determining the position of the positioning piece after being identified and determining the position of the end effector according to the connection relation; at least three of the positioning members are not located on the same straight line.

9. The end effector as set forth in claim 1 further comprising a drill frame; the drilling frame comprises a bracket base, a bracket matching part and at least two guide frames; the bracket base comprises a first base part and a second base part; the projection of the first base part on the second base part is positioned in the second base part;

the support matching part and the drilling guide part are positioned on two opposite sides of the support base, the support matching part is connected with the first base part, and the support matching part is connected with the second base part; the functional part is provided with a mounting hole penetrating through the functional part drilling frame; the bracket matching part is matched with the drilling frame mounting hole;

The drilling frame is also provided with a matching hole; the matching hole penetrates through the bracket matching part and the bracket base along the extending direction of the bracket matching part; the matching hole is used for matching with a drill bit.

10. An osteotomy device comprising a robotic arm and an end effector as claimed in any one of claims 1 to 9.