CN218420143U

CN218420143U - Prosthesis installation actuator and surgical operation system

Info

Publication number: CN218420143U
Application number: CN202221696304.2U
Authority: CN
Inventors: 张钊; 张晓峰; 李卫
Original assignee: Beijing And Huaruibo Medical Technology Co ltd
Current assignee: Beijing And Huaruibo Medical Technology Co ltd
Priority date: 2022-07-01
Filing date: 2022-07-01
Publication date: 2023-02-03
Anticipated expiration: 2032-07-01

Abstract

The present disclosure provides a prosthesis mounting actuator and surgical system for a hip replacement procedure performed by a robotic system, comprising a slide bar, a support assembly, and a tracer. The first end of the sliding rod is used for connecting the prosthesis, and the second end of the sliding rod is used for receiving impact force when the prosthesis is installed; the support assembly comprises a coupling part, the coupling part accommodates part of the rod section of the sliding rod, and the sliding rod is axially movable relative to the support assembly; the support assembly is used for connecting the prosthesis installation actuator to a mechanical arm of the robot system; the tracer sets up in the slide bar in order to indicate the position of slide bar. According to the prosthesis installation actuator provided by the disclosure, the sliding rod is axially movable relative to the supporting component, when the prosthesis installation actuator is used, the axial clearance between the sliding rod and the supporting component is larger than the stroke of the sliding rod when the sliding rod is struck, and the sliding rod and the supporting component are prevented from colliding and damaging a mechanical arm connected with the actuator.

Description

Prosthesis installation actuator and surgical operation system

Technical Field

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

Background

In hip surgery, there is more soft tissue around the patient's affected area that the surgeon is exposed to and needs to avoid directly when the affected area applies the impact force of installation to the acetabular prosthesis. For this purpose, it is necessary to hold the acetabular cup prosthesis by means of a prosthesis stem and to transmit impact forces thereto for the installation. In combination with the existing computer-assisted navigation surgery system, the prosthesis rod can align the acetabulum prosthesis with the affected part of a patient under the assistance of a directional holding device such as a mechanical arm, and a doctor can realize the installation of the acetabulum prosthesis by applying striking to the prosthesis rod.

During the implantation of the prosthesis, the implantation depth and angle of the prosthesis are key indicators. The depth of the prosthesis changes with each stroke and the system needs to measure and output this change to the surgeon. Generally, the system judges the pose information of the prosthesis connected to the robot arm depending on the pose information of the robot arm, and for this reason, the orientation relationship of the prosthesis with respect to the robot arm needs to be determined by the cooperation of the mechanical structure dimensions between the robot arm and the prosthesis stem. However, during the striking process, the mechanical arm should not make a large rigid collision with the prosthetic stem. Once a large rigid collision is generated, the mechanical arm may be damaged by a large impact force or the position of the mechanical arm is separated from the accurate position for keeping the prosthesis installation actuator in the target pose, thereby affecting the operation precision.

In the traditional operation, a surgeon directly holds the prosthesis rod by hands, and can judge the implantation conditions of the prosthesis such as the depth and the like by sensing the vibration condition of the prosthesis rod in the striking process. In a robot-assisted surgical system, the robot holds and positions the prosthesis stem instead of the surgeon, reducing the surgeon's perception of the vibration condition. While navigation systems can provide intuitive depth information, they do not allow the surgeon to function based on subjectively perceived experience.

Disclosure of Invention

The present disclosure provides a prosthesis installation actuator and an operation system, which facilitate assisting a doctor in performing hip prosthesis implantation surgery.

A first aspect of the present disclosure provides a prosthesis mounting actuator for a hip replacement procedure performed by a robotic system, comprising a slide bar, a support assembly, and a tracer, wherein a first end of the slide bar is configured to connect to a prosthesis and a second end of the slide bar is configured to receive an impact force when the prosthesis is mounted; the support assembly comprises a coupling part, the coupling part accommodates part of the rod section of the sliding rod, and the sliding rod is axially movable relative to the support assembly; the support assembly is used for connecting the prosthesis installation actuator to a mechanical arm of the robot system; the tracer sets up in the slide bar in order to indicate the position of slide bar.

In a first possible embodiment, the device further comprises an axial damping mechanism which forms an axial damping between the slide rod and the support member when the slide rod is subjected to an axial impact.

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

In a third possible embodiment, in combination with the above possible implementation, the axial damping mechanism is pre-compressed/extended.

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

In a fifth possible embodiment, in combination with the above possible implementation, the 2 buffers are all in a compressed state.

In combination with the above possible implementation manners, in a sixth possible implementation manner, the axial limiting structure includes a retaining ring disposed on the sliding rod, and the buffer member is disposed between the retaining ring and the supporting component.

With reference to the foregoing possible implementation manners, in a seventh possible implementation manner, the axial limiting structure further includes an insulating element on one side of the supporting assembly, and the buffer element is located between the insulating element and the retainer ring.

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

In a ninth possible embodiment, in combination with the above possible implementations, the gripping portion is located between the support component and the prosthesis.

In a tenth possible embodiment, in combination with the above possible implementation manners, the grip portion and the sliding rod are rigidly connected in the axial direction.

In an eleventh possible implementation manner, in combination with the above possible implementation manners, a quick release mechanism is disposed between the support assembly and the mechanical arm, and the prosthesis installation actuator is connected to the mechanical arm through the quick release mechanism.

With reference to the foregoing possible implementation manners, in a twelfth possible implementation manner, the quick release mechanism includes a first limiting mechanism and a second limiting mechanism, and the second limiting mechanism is a mechanism for manually releasing the limiting.

With reference to the foregoing possible implementation manner, in a thirteenth possible implementation manner, the prosthesis further includes an adjusting assembly, configured to adjust a circumferential position of the prosthesis relative to the sliding rod, where the adjusting assembly includes a coupling shaft and an adjusting member, and one end of the coupling shaft is configured to be connected to the prosthesis; the adjusting part is used for connecting the adapter shaft to the sliding rod, and the circumferential position between the adjusting part and the sliding rod is adjustable and fixed with the peripheral position between the adapter shaft.

In combination with the above possible implementation manners, in a fourteenth possible implementation manner, the adjusting piece is movable between a first position and a second position of the adapting shaft, the circumferential position of the adjusting piece between the first position and the sliding rod is fixed, and the circumferential position of the adjusting piece relative to the sliding rod at the second position is adjustable.

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

In combination with the above possible implementation manners, in a sixteenth possible implementation manner, the adjusting member further includes a retaining member configured to retain the adjusting member at the first position when the adjusting member is not subjected to an external force. A second aspect of the present disclosure provides a surgical system for assisting in the installation of a prosthesis in a joint replacement procedure, comprising a prosthesis installation actuator according to the first aspect of the present disclosure, further comprising a robotic arm, a navigation system, and a control system; the mechanical arm is used for carrying an actuator, and the actuator is detachably connected with the mechanical arm; the navigation system is used for measuring the position of the actuator; the control system is used for driving the mechanical arm to move the actuator to the target position according to the operation plan.

The prosthesis mounting actuator set forth in a first aspect of the present disclosure includes a slide bar, a support assembly, and a tracer. The slide bar is axially movable relative to the support assembly, and when the manipulator is used, the axial clearance between the slide bar and the support assembly is larger than the stroke of the slide bar when the slide bar is struck, so that the slide bar and the support assembly are prevented from colliding and damaging a mechanical arm connected with an actuator.

Drawings

FIG. 1 is a schematic view of a surgical system according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of the overall construction of a prosthesis installation actuator according to an embodiment of the present disclosure;

FIG. 3 is a cross-sectional view of the overall construction of a prosthesis installation actuator according to an embodiment of the present disclosure;

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

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

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

FIG. 7 is a first structural view of a support assembly and a second interface according to an embodiment of the disclosure;

FIG. 8 is a second structural view of a support assembly and a second interface according to an embodiment of the disclosure;

FIG. 9 is a third structural view of a support assembly and a second interface in accordance with an embodiment of the present disclosure;

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

FIG. 11 is a first schematic view of an adjustment member according to an embodiment of the present disclosure;

FIG. 12 is a second schematic view of an adjustment member in accordance with an embodiment of the present disclosure;

FIG. 13 is a third schematic view of an adjustment member in accordance with an embodiment of the present disclosure;

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

FIG. 15 is a schematic view of a nut structure according to an embodiment of the disclosure;

reference numerals: 1-a slide bar, 2-a tracer, 3-a grip, 4-a body, 5-a coupling, 6-an insulating sleeve, 7-a sliding sleeve, 8-a first buffer, 9-a retainer, 10-an insulating member, 101-a retainer, 11-a second buffer, 12-a plug, 121-a limiting groove, 13-a second interface, 131-a bottom plate, 132-a limiting buckle, 1321-a first section, 1322-a second section, 133-a plug hole, 14-a mounting hole, 15-a plug, 16-a first elastic member, 17-a cushion block, 18-a plug pull bolt, 19-an identification plug, 20-an identification seat, 21-a swivel shaft, 210-a main shaft section, 211-a connecting hole, 212-a plug block, 213-a flange, 214-a limiting section, 215-limiting step, 22-nut, 221-outer wall, 222-clamping groove, 223-spline groove, 23-adapter sleeve, 24-spline, 25-retainer, 26-nut, 261-stress plate, 262-connecting section, 27-adjusting part, 28-first position, 29-second position, 80-axial buffer mechanism, 90-axial limiting structure, 140-quick-release mechanism, 141-first limiting mechanism, 142-second limiting mechanism, 1003-prosthesis, 4000-supporting component, 5000-adjusting component, 6000-joint forming actuator 7000-prosthesis mounting actuator, 9000-navigation system, 9100-mechanical arm and 9200-control system.

Detailed Description

Features and exemplary embodiments of various aspects of the present disclosure will be described in detail below, and in order to make objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative only and are not intended to be limiting of the disclosure. It will be apparent to one skilled in the art that the present disclosure may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present disclosure by illustrating examples of the present disclosure.

It should be noted that, in this document, 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. Also, 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 phrases "comprising 8230; \8230;" comprises 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The embodiments will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1, the robotic system proposed by the present disclosure includes a robotic arm 9100, a navigation system 9000, a prosthesis mounting actuator 7000 and a control system 9200. The robot arm 9100 corresponds to an arm of a surgeon, and can hold a surgical tool and position the surgical tool with high accuracy. Navigation system 9000 corresponds to a surgeon's eye, and can measure the position of surgical tools and patient tissue in real time. The control system 9200 corresponds to the surgeon's brain, storing surgical plans internally. The control system 9200 calculates the route and/or the position to be reached of the mechanical arm according to the information acquired through the navigation system 9000 during operation, and may actively control the movement of the mechanical arm 9100, or manually push the mechanical arm 9100 to move along the route, plane or body defined by the virtual boundary after setting the virtual boundary of the mechanical arm 9100 in a force feedback mode.

Prosthesis mounting actuator 7000 is used in hip replacement surgery and prosthesis mounting actuator 7000 is a cup holder device comprising a slide bar, a support assembly and a tracer. The first end of the sliding rod is used for connecting the prosthesis, and the second end of the sliding rod is used for receiving impact force when the prosthesis is installed; the support assembly comprises a coupling part, the coupling part accommodates part of the rod section of the sliding rod, and the sliding rod is axially movable relative to the support assembly; the support assembly is used for connecting the prosthesis installation actuator to a mechanical arm of the robot system; the tracer is arranged on the sliding rod to indicate the position of the sliding rod. According to the prosthesis installation actuator provided by the disclosure, the sliding rod can move axially relative to the supporting component, when the prosthesis installation actuator is used, the axial clearance between the sliding rod and the supporting component is larger than the stroke of the sliding rod when the sliding rod is struck, and the sliding rod and the supporting component are prevented from colliding and damaging a mechanical arm connected with the actuator. The slide bar is configured integrally with the support assembly. When the actuator is used, the sliding rod and the supporting component do not need to be assembled or disassembled, and the sliding rod and the supporting component only need to be connected to or separated from the mechanical arm through the supporting component.

Specifically, as in the embodiment shown in fig. 2-6, the prosthesis mounting actuator 7000 includes a slide bar 1, a support assembly 4000, a tracer 2, an axial cushioning mechanism 80, and an axial stop structure 90. With particular reference to FIG. 6, the prosthesis mounting actuator 7000 is connected to the arthroplasty actuator 6000 via a support assembly 4000 such that the slide bar 1 of the prosthesis mounting actuator 7000 is parallel to the configuration of the arthroplasty actuator 6000 to which the cutting tool 1004 is attached. The articulation actuator 6000 is configured for attachment of the cutting tool 1004 to the output shaft 400 and the joint 600, both of which have an axis parallel to the slide bar 1. Acetabular socket/femoral medullary cavity formation and prosthesis implantation both involve angular accuracy of the tool axis, and axis angular accuracy is relevant, it being more advantageous to arrange the structure for attaching the cutting tool 1004 parallel to the structure for attaching the prosthesis 1003.

As shown in fig. 2 to 3, the sliding bar 1 is a smooth-surfaced metal bar, one end of the sliding bar 1 is used for receiving the hammering of the doctor, and the other end is used for connecting the prosthesis 1003. The middle part of the sliding rod 1 is provided with a holding part 3, and the holding part 3 is sleeved on the sliding rod 1 in a sleeve shape and is fixed with the sliding rod 1, so that a doctor can hold the sliding rod 1 through the holding part 3. The grip portion 3 is an insulated plastic sleeve. Among them, the sliding rod 1 as a metal rod ensures a high strength in transmitting the impact force, but the instrument for surgery is not desired to be bulky, so the sliding rod 1 has a generally small diameter and is not easy to be held by the doctor. The plastic holding part 3 not only increases the diameter of the holding part of the sliding rod 1 and provides favorable holding conditions for doctors, but also does not increase the weight of the surgical tools. Of course, in some embodiments, the grip portion 3 may also be an insulated rubber sleeve or a non-insulated metal sleeve. In other embodiments, the sleeve-shaped grip portion 3 may not be provided, but the grip portion 3 may be provided as a portion of the slide bar 1 itself, and the portion may be enlarged relative to the diameter of the slide bar 1 itself to facilitate gripping.

The tracer 2 comprises a tracer part and a connecting part. The tracking portion is provided with a plurality of positioning marks for providing position information. The positioning mark can be a reflective ball or a reflective sheet capable of reflecting infrared light, and can also be an infrared light source or an electromagnetic generator capable of actively sending signals to realize positioning. The connection portion is used to secure the tracer 2 to the slide bar 1.

As shown in fig. 3 to 5, the support assembly 4000 includes a main body 4, a coupling part 5, an insulating sheath 6, and a sliding sheath 7. The main body 4 has a substantially hexahedral shape, and one end (right end as viewed in fig. 3) is used to connect the robot arm 9100. The coupling portion 5 is a hole penetrating the body 4. The insulating sleeve 6 and the sliding sleeve 7 are both cylindrical. The insulating sleeve 6 is sleeved in the coupling part 5 and is axially fixed with the coupling part 5. The insulating sleeve 6 is used to prevent a conductive path from being formed between the patient and the device of the robotic arm 9100 through contact between the support assembly 4000 and the slider bar 1. The sliding sleeve 7 is sleeved in the insulating sleeve 6 and is axially fixed with the insulating sleeve 6. The sliding sleeve 7 is made of metal. The sliding rod 1 and the sliding sleeve 7 form shaft hole matching, and a gap allowing the sliding rod 1 to freely slide relative to the sliding sleeve 7 exists between the sliding rod 1 and the sliding sleeve 7. The sliding sleeve 7 arranged between the insulating sleeve 6 and the sliding rod 1 can reduce the abrasion of the insulating sleeve 6 and increase the sliding smoothness of the sliding rod 1.

The axial stop 90 comprises a collar 9, a first end of the grip portion 3 remote from the prosthesis 1003. The first ends of the retainer ring 9 and the holding part 3 are both fixed on the sliding rod 1, and two steps with the diameter larger than that of the sliding rod 1 are formed on the sliding rod 1. When the sliding rod 1 moves along the sliding sleeve 7, the two steps interfere with the supporting component to form axial limit to the sliding rod 1. In this embodiment, the insulating member 10 is further disposed between the retainer ring 9 and the support assembly 4000, and between the grip portion 3 and the support assembly 4000, so that axial interference is actually formed between the retainer ring 9 and the grip portion 3 directly and the insulating member 10. The insulator 10 is a sleeve open at both ends. The diameter of the inner space of the insulator 10 is larger than that of the sliding rod 1, the opening of one end of the insulator 10 has a diameter larger than that of the sliding rod 1, and the opening of the other end has the same diameter as that of the sliding rod 1, and the end is provided with a stopper 101 to form an opening having the same diameter as that of the sliding rod 1. When the slide bar 1 is assembled with the support assembly 4000, the retainer ring 9 and the first end of the holding portion 3 are respectively located at two sides of the support assembly 4000. Two insulating members 10 are sleeved on the sliding rod 1 and are respectively positioned at two sides of the supporting component 4000, and one side of the insulating member 10 with the blocking edge 101 is connected with the main body 4. Thus, the stop ring 9 and the first end of the holding portion 3 form two limit points on the slide bar, and when the slide bar 1 slides relative to the support assembly 4000, the stop ring 9 and the first end of the holding portion 3 limit the maximum sliding stroke of the slide bar 1 relative to the support assembly 4000.

In an alternative embodiment, the first end of the holding portion 3 in the axial limiting structure 90 can be replaced by a separately arranged retainer ring 9, and in another alternative embodiment, the retainer ring 9 or the first end of the holding portion 3 can be a step or a shoulder arranged on the sliding rod 1.

With particular reference to fig. 3 and 4, an axial damping mechanism 80 is also provided in the present disclosure to provide at least one damping of the slide bar 1 and the support assembly 4000 in the axial direction. The axial buffering mechanism 80 in this embodiment includes two buffering members, specifically, a first buffering member 8 and a second buffering member 11, where the first buffering member 8 and the second buffering member 11 are distributed on two sides of the supporting component. The two buffers are springs. The first cushion member 8 is disposed between the retainer 9 and the insulating member 10, and the second cushion member 11 is disposed between the first end of the grip portion 3 and the retainer 101 of the insulating member 10. The first buffer member 8 and the second buffer member 11 are both sleeved on the sliding rod 1 and arranged in the insulating member 10 in a pre-compression state. The first buffer member 8 and the second buffer member 11 buffer the sliding of the slide bar 1 relative to the support assembly 4000, and the impact on the support assembly 4000 when the slide bar 1 slides is absorbed by the buffer members. Thus, when the sliding rod 1 slides along the axis to mount the prosthesis 1003, the sliding rod 1 does not generate rigid impact on the mechanical arm 9100, and locking or posture deviation of the mechanical arm 9100 is reduced.

Driven by the robotic arm 9100, the prosthesis mounting actuator 7000 is brought into a target alignment position for mounting the acetabular prosthesis, and the prosthesis 1003 is aligned with the prepared acetabular socket of the patient's affected part. In the moving and positioning processes of the mechanical arm 9100, the first buffer member 8 and the second buffer member 11 are in a compressed state, and the sliding rod 1 and the main body 4 keep a certain axial positioning relation under the action of the first buffer member 8 and the second buffer member 11, that is, the sliding rod 1 is approximately kept in the middle of the sliding stroke, and the sliding rod 1 cannot freely move along the coupling portion 5.

After the doctor confirms that the pose of the prosthesis 1003 and the surgical path are correct, the robot arm 9100 is set to the linear spring arm mode, that is, the robot arm 9100 is set to have a small damping of its end arm/rod in the axial direction of the slide bar 1 and a large damping in other directions by controlling the output torque of the motor at the joint of the robot arm 9100. In this mode, the prosthesis mounting actuator 7000 connected to the mechanical arm 9100 can be moved in the axial direction of the slide bar 1 by an external force, and is difficult to move in the radial direction or rotate about the radial direction. The surgeon holds the grip portion 3 and applies an impact force to the first end of the slider bar 1. The impact force may be applied by hammer blows or slide hammer blows. The impact force causes the slide bar 1 to drive the prosthesis 1003 into the acetabulum. At the moment of impact, the support assembly 4000 does not instantaneously move due to inertia. In the moving process of the slide bar 1, the retainer ring 9 compresses the first buffer member 8, and the first buffer member 8 acts on the supporting assembly, so that the supporting assembly 4000 moves along the axial direction along with the slide bar 1 with hysteresis. The first buffer 8 avoids the spring collar 9 from coming into rigid contact with the body 4. After the sliding rod 1 finishes one impact on the prosthesis 1003, under the action of the first buffer member 8, the relative relationship between the sliding rod 1 and the supporting component automatically resets to a state of not receiving hammering. In some cases, it may also be desirable to apply a force to the prosthesis installation actuator 7000 in a direction opposite to the hammering force when the prosthesis is implanted to dislodge the prosthesis 1003 or the prosthesis trial from the acetabulum. In this case, the second buffer 11 may prevent rigid contact between the slide bar 1 and the support assembly 4000. Due to the arrangement of the buffer mechanism, the mechanical arm 9100 can automatically move along with the slide bar 1 in the process of impacting the slide bar 1, and an actuator does not need to be manually held. The operator can hold the slide bar 1 and can sense the striking vibration like the conventional operation.

The axial moving stroke of the slide bar 1 is limited by the first end of the holding part 3 of the limiting structure and the retainer ring 9. The first buffer 8 and the second buffer 11 are arranged so that the limit structure of the slide bar 1 is not in rigid contact with the main body 4 at all times. When the slide bar 1 does not receive impact force, the slide bar 1 is kept at a middle position relative to the coupling part 5, and the slide bar 1 cannot move freely relative to the supporting component, but the slide bar 1 can move only by overcoming the first buffer piece 8 or the second buffer piece 11 with a certain force, so that the slide bar 1 is prevented from moving freely when the mechanical arm 9100 moves.

In an alternative embodiment, the support assembly 4000 is provided with a quick release mechanism 140 for coupling the prosthesis mounting actuator 7000 with the mechanical arm 9100 or the arthroplasty actuator 6000. As shown in fig. 7 to 9, the quick release mechanism 140 includes a first limiting mechanism 141 and a second limiting mechanism 142, the first limiting mechanism 141 is an insert 12, the second limiting mechanism 142 is a plug assembly, the insert 12 is used for being connected with the mechanical arm 9100 or the joint forming actuator 6000 in an inserting manner, and an inserting limiting direction of the plug assembly is perpendicular to an inserting direction of the insert 12. The insert block 12 is fixedly connected with the main body 4 or integrally formed, two limiting grooves 121 are formed in one end of the insert block 12 along the inserting direction of the insert block, and the limiting grooves 121 are used for limiting the freedom degree in the inserting direction.

The main body 4 is provided with a mounting hole 14 for receiving the latch assembly, and the mounting hole 14 communicates with the coupling part 5. The bolt assembly comprises a bolt 15, a first elastic piece 16, a cushion block 17 and a bolt pull bolt 18, wherein the cushion block 17, the first elastic piece 16 and the bolt 15 are sequentially arranged in the mounting hole 14. The first elastic piece 16 is a spring, the cushion block 17 is abutted against the sliding rod 1, the bolt 15 is arranged in the mounting hole 14 and vertically penetrates through the insertion block 12 along the thickness direction of the insertion block 12, and the first elastic piece 16 is arranged between the bolt 15 and the cushion block 17 in a compressed state. The middle section of the mounting hole 14 is communicated with the outside of the main body 4 to form an active area capable of manually pulling the bolt 15, a bolt pull bolt 18 radially penetrates through the bolt 15 and is fixed with the bolt 15, and the bolt 15 is limited in the active area through the bolt pull bolt 18. Under the push of the first elastic element 16, the bolt pulling bolt 18 is abutted with one end of the active area, the head of the bolt penetrates out of the surface of the insert block 12, and the head of the bolt is an inclined surface.

To mount the prosthesis mounting actuator 7000 to the arthroplasty actuator 6000 via the quick release mechanism 140, the arthroplasty actuator 6000 is provided with a second interface 13 in the form of a socket. Specifically, the second interface 13 includes a bottom plate 131, a latch hole 133, and a stopper 132, wherein the bottom plate 131 has a rectangular shape. The latch hole 133 is provided in the thickness direction of the bottom plate 131; the number of the limit buckles 132 is four, and the limit buckles 132 are respectively arranged at four corners of the bottom plate 131, and the limit buckles 132 and the bottom plate 131 form the second interface 13. The retaining buckle 132 specifically includes a first segment 1321 and a second segment 1322 connected to each other, the first segment 1321 is connected to the bottom plate 131 and perpendicular to the bottom plate 131, and the second segment 1322 extends parallel to the bottom plate 131 and toward the inside of the bottom plate 131. The stopper 132 and the base plate 131 form a space for accommodating the insert block 12. When the insert block 12 is inserted into the second interface 13, the limit groove 121 is engaged with the limit buckle 132, and the insert block 12 cannot be separated from the slot along the insertion direction under the limit of the limit buckle 132.

The prosthesis mounting actuator 7000 can be easily disassembled by the provision of the quick release mechanism 140. As shown in fig. 7 to 9, when the insertion block 12 is connected to the second interface 13 from top to bottom, the plane of the bottom plate 131 is firstly attached to the plane of the insertion block, the inclined surface of the head of the latch contacts the bottom plate 131, and the latch 15 retracts toward the main body 4. The main body 4 is moved downwards relative to the second interface, the limit groove 121 is engaged with the limit buckle 132, the head of the plug pin enters the plug pin hole 133, and the plug block 12 is completely engaged with the second interface 13. In the rectangular spatial coordinate system, the plug 12 and the second interface 13 are matched in thickness and width to define 5 degrees of freedom of the plug 12 except for the z-axis (which may be the x-axis or the y-axis), the engagement of the limit groove 121 and the limit buckle 132 defines the degree of freedom of the prosthesis mounting actuator 7000 to slide along the z-axis in the first direction, and the engagement of the pin 15 and the pin hole 133 implements the degree of freedom of the prosthesis mounting actuator 7000 to slide along the z-axis in the second direction, in fig. 7 to 9, the first direction is the downward direction of the coupling portion 5, and the second direction is the upward direction of the coupling portion 5. To this end, the prosthesis mounting actuator 7000 is fixedly secured to the arthroplasty actuator 6000 via the provision of the insert 12, the second interface 13 and the latch assembly. When the connector is disassembled, the plug pulling bolt 18 is pulled (pulled leftwards in fig. 7), so that the head of the plug is pulled out of the plug hole 133, and then the plug block 12 is pulled out of the second interface 13 (pulled upwards relative to the second interface 13 in fig. 7). Due to the arrangement of the quick-release mechanism 140 of the prosthesis installation actuator 7000, a doctor can quickly complete the installation and the disassembly of the prosthesis installation actuator 7000 during an operation, thereby saving the operation time.

As shown in fig. 10, in an alternative embodiment, the prosthesis mounting actuator 7000 further comprises an adjustment assembly 5000, the adjustment assembly 5000 connecting the prosthesis 1003 to the sliding bar 1 and being capable of adjusting the circumferential position of the prosthesis 1003 relative to said sliding bar. The adjustment assembly 5000 includes a coupling shaft 21 and an adjustment member 27. One end of the transfer shaft 21 is connected with the sliding rod 1, and the other end is connected with the hip joint prosthesis 1003. The adjusting part 27 is sleeved on the connection part of the transfer shaft 21 and the slide bar 1, the adjusting part 27 can move between a first position 28 and a second position 29 of the transfer shaft 21 under the action of external force, the circumferential position of the adjusting part 27 between the first position 28 and the slide bar 1 is fixed, and the circumferential position of the adjusting part 27 relative to the slide bar 1 at the second position 29 is adjustable.

As shown in fig. 11, the adapting shaft 21 includes a sliding rod joint, a main shaft section 210 and an acetabular prosthesis joint, the sliding rod joint and the acetabular prosthesis joint are disposed at two ends of the main shaft section 210, the sliding rod joint is used for connecting with the sliding rod 1, and the acetabular prosthesis joint is used for connecting with the prosthesis 1003.

The top end of the sliding rod joint is provided with a connecting hole 211, the connecting hole 211 is a light hole, two clamping blocks 212 which are symmetrical about the axis of the transfer shaft 21 are arranged on the periphery of the connecting hole 211, and the two clamping blocks 212 extend along the radial direction in a shape like a Chinese character 'yi'. A flange 213 with the same maximum radius as the fixture 212 is arranged below the fixture 212, a limiting section 214 is arranged below the flange 213, the radius of the limiting section 214 is larger than that of the main shaft section 210, and a limiting step 215 is formed at the joint of the limiting section 214 and the main shaft section 210.

Referring to fig. 11 to 14, the adjuster 27 includes the detachably connected nut 22 and adaptor sleeve 23, splines 24 and retainer 25. Specifically referring to fig. 14, the nut 22 is in a shell shape with a downward opening, an external thread is disposed on an outer wall 221 of the opening, two clamping grooves 222 are symmetrically disposed on the outer wall 221, the clamping grooves 222 extend into the nut 22, and a spline groove 223 is disposed at a position close to the bottom inside the nut 22. Adapter sleeve 23 is the cup that has the opening, and adapter sleeve 23 opening department inner wall is provided with the internal thread. The spline 24 is fixed on the sliding rod 1, and the periphery of the spline is provided with a dentate bulge. The holder 25 is a spring having elasticity.

In the connection state, the nut 22 is sleeved above the spline 24 on the slide rod 1, the adapter sleeve 23 is sleeved on the adapter shaft 21, the adapter sleeve 23 is connected with the nut 22 through the matching of the internal thread and the external thread, the retaining piece 25 is arranged in the adapter sleeve 23, one end of the retaining piece is abutted with the bottom of the adapter sleeve 23, and the other end of the retaining piece is abutted with the flange 213.

When the sliding rod is used, the tail end of the sliding rod 1 is inserted into the connecting hole 211, and the nut 22 and the adapter sleeve 23 are connected into a whole through threads. For ease of understanding, the following description will be made in conjunction with the operating state of the adjusting member 27 and the adjusting process.

In the operating state, the adjusting member 27 is located at the first position 28, as shown in fig. 12, the retainer 25 is in a compressed state and abuts against the flange 213 and the bottom of the adapter sleeve 23, the retainer 25 pulls the nut 22 through the adapter sleeve 23, the spline groove 223 of the nut 22 is connected with the spline 24, and the latch 212 is embedded in the slot 222. In this way, the sliding rod 1 and the adjusting device are circumferentially fixed through the connection of the spline 24 and the spline groove 223, and the adapter shaft 21 and the adjusting device are circumferentially fixed through the matching of the clamping block and the clamping groove 222. Based on the process and principle, the sliding rod 1 and the adapter shaft 21 are axially, radially and circumferentially fixed through the connection of the adjusting assembly in the working state.

To meet clinical requirements, it is desirable to ensure that the prosthesis 1003 has the correct orientation for installation when implanting the prosthesis 1003 into a prepared acetabular socket of a patient, such as prosthesis 1003 having wings, the prosthesis 1003 needs to be secured to the acetabular socket to strengthen the structure at the acetabular socket, and the wings need to engage the acetabular socket in the correct orientation. It is therefore necessary to adjust the orientation of the prosthesis 1003 each time before sliding the bar 1. Based on the prosthesis mounting actuator 7000 of this embodiment, when adjusting the direction of the prosthesis 1003, as shown in fig. 13, the doctor pulls the adjusting device upward to overcome the elastic force of the retaining member 25 until the bottom of the adapter sleeve 23 abuts against the limiting step 215, the adjusting member 27 is located at the second position 29, at this time, the spline 24 is disengaged from the spline groove 223, the clamping block 212 is not disengaged from the clamping groove 222, the adjusting member 27 can rotate circumferentially relative to the sliding rod 1, and the adapter shaft 21 rotates along with the rotation of the adjusting member 27. In this way, the adjustment of the prosthesis 1003 with respect to the direction of the sliding bar 1 can be achieved without rotating the sliding bar 1, by simply rotating the adjustment member 27. Further, since the tracer 2 for providing position information of the slide bar 1 in real time is connected to the slide bar 1, the tracer 2 needs to be aligned with a locator receiving the position information. The arrangement of the adjustment assembly described above also ensures that the tracer 2, which is fixedly connected to the slide bar 1 when the prosthesis 1003 is adjusted, does not lose alignment with the positioner due to rotation of the slide bar 1, ensuring that the tracer 2 can be identified by the positioner in real time.

And, based on the adjustment assembly, the adapter shaft 21 can be connected with different models of prostheses 1003 of different manufacturers by changing the acetabular prosthesis joint of the adapter shaft 21. The entire slide bar 1 does not need to be replaced for adapting to different prostheses 1003, which improves the adaptation and the range of applicability of the prosthesis mounting actuator 7000.

In an alternative embodiment, the buffers can only retain the first buffer 8 without the second buffer 11.

In some alternative embodiments, a buffer, such as buffer 8, may be provided. And both ends of the buffer member 8 are connected with the retainer ring 9 and the support member 4000, respectively. The sliding rod is dragged or supported by the buffer part 8 when moving along two directions, so that buffering is formed and the supporting component 4000 can be driven to move along with the sliding rod.

In some alternative embodiments, the two buffers of the axial buffering mechanism 80 may not be pre-compressed. Such as the first buffer 8, can be compressed only by the weight of the slide. The length of the two buffer parts can be smaller than the stroke of the sliding rod 1, and the buffer parts can move between the limiting structures as long as rigid collision can be prevented.

In an alternative embodiment, referring to fig. 2 and fig. 15, a nut 26 is disposed at an end of the sliding rod 1 receiving the impact force, the nut 26 includes a force-bearing plate 261 and a connecting section 262, and the connecting section 262 is fixedly connected with the sliding rod 1 through a thread, but the connecting manner is not limited to a threaded connection, and may be other connecting manners such as a pin connection; the area of the stress plate 261 is larger than that of the end part of the slide bar 1, and the stress plate 261 provides a larger stress target for hammering when a doctor applies impact force, so that the phenomenon that the end part of the slide bar 1 is smaller and hammering is empty is avoided.

With continued reference to fig. 1, the surgical system set forth in the second aspect of the present disclosure includes a prosthesis mounting effector 7000 as set forth in the first aspect, further including a robotic arm 9100, a navigation system 9000 and a control system 9200. The robotic arm 9100 is used to carry the prosthesis mounting actuator 7000 and control the orientation of the actuator. The robotic arm 9100 can either fully actively control the orientation of the actuator or cooperatively limit some of the actuator's degrees of freedom or range of motion. In particular, the robotic arm 9100 may be controlled via control system programming to cause the robotic arm 9100 to move fully autonomously according to the surgical plan, or by providing tactile or force feedback to limit the surgeon from manually moving the surgical tool beyond predetermined virtual boundaries, or to provide virtual guidance to guide the surgeon in moving along a certain degree of freedom. The virtual boundaries and virtual guides may be derived from the surgical plan or may be set intraoperatively via an input device. The actuator is detachably connected with the mechanical arm 9100; the navigation system is used to measure the position of the prosthesis mounting actuator 7000 and the patient. Navigation system 9000 generally comprises a locator and a tracer. The tracer is mounted on the actuator, surgical tool, and patient body. The tracer is typically an array of multiple tracer elements, each of which may emit an optical or electromagnetic signal, in an active or passive manner. A locator (e.g., a binocular camera) measures the orientation of the tracer by 3D measurement techniques. The control system 9200 is used to drive the robotic arm to move the prosthesis mounting actuator 7000 to the target position according to the surgical plan. The surgical plan may include a robotic arm movement path, a movement boundary, and the like.

When in operation, the sliding rod 1 of the prosthesis installation actuator is pre-loaded with a prosthesis 1003. As a modular component, prosthesis mounting actuator 7000 is connected directly or indirectly to robotic arm 9100 through support assembly 4000. The control system 9200 controls the mechanical arm 9100 to move the prosthesis mounting actuator 7000 to a target pose near the affected part of the patient according to the planned path of the operation. The physician observes the judgment whether the orientation of the prosthesis 1003 is correct and adjusts the orientation of the prosthesis 1003 by the adjustment means if not correct. Prosthesis 1003 is then installed into the patient's prepared acetabular socket. The grip 3 is held by one hand, and a hammer or a slide hammer is held by the other hand to apply an impact force to the slide bar 1. The prosthesis 1003 is installed into the acetabular socket with multiple applications of force.

In the process of force application, the slide rod 1 can move axially relative to the support assembly 4000, and when the device is used, the axial clearance between the slide rod 1 and the support assembly 4000 can be larger than the stroke of the slide rod 1 when the slide rod 1 is struck, so that the slide rod 1 and the support assembly 4000 are prevented from colliding and damaging a mechanical arm 9100 connected with an actuator. The specific process is as described in the first aspect, and is not described herein.

Although the present disclosure has been described in detail hereinabove with respect to general illustrations and specific embodiments thereof, it will be apparent to those skilled in the art that certain modifications or improvements may be made thereto based on the present application. Accordingly, such modifications and improvements are intended to be within the scope of this disclosure, as claimed.

Claims

1. A prosthesis mounting actuator for a hip replacement procedure performed by a robotic system, comprising:

the sliding rod is used for connecting a prosthesis at a first end and receiving impact force when the prosthesis is installed at a second end;

a support assembly comprising a coupling portion, the coupling portion housing a portion of a rod segment of the slide rod, the slide rod being axially movable relative to the support assembly; the support assembly is used for connecting the prosthesis mounting actuator to a mechanical arm of a robot system; and

a tracer disposed on the slide bar to indicate an orientation of the slide bar.

2. The prosthesis installation actuator of claim 1, further comprising an axial dampening mechanism that forms axial dampening between the slide bar and the support assembly when the slide bar is axially impacted.

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

4. The prosthesis installation actuator of claim 3, wherein the axial dampening mechanism is pre-compressed/extended.

5. The prosthesis installation actuator of claim 3, wherein the coupling portion is a channel extending through the support member, and the axial dampening mechanism comprises 2 dampeners, the 2 dampeners being located at respective ends of the channel.

6. The prosthesis installation actuator of claim 5, wherein 2 of said bumpers are each in compression.

7. The prosthesis installation actuator of claim 5, wherein the axial stop arrangement comprises a collar disposed on the sliding rod, and the buffer member is disposed between the collar and the support assembly.

8. The prosthesis installation actuator of claim 7, wherein said axial restraint structure further comprises an insulator on one side of said support assembly, said bumper being positioned between said insulator and said retainer ring.

9. The prosthesis mounting actuator of claim 1, wherein the slide bar further comprises a grip portion for gripping by an operator.

10. The prosthesis installation actuator of claim 9, wherein the gripping portion is located between the support assembly and a prosthesis.

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

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

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

14. The prosthesis mounting actuator of claim 1, further comprising an adjustment assembly for adjusting a circumferential position of a prosthesis relative to the sliding bar, the adjustment assembly comprising:

one end of the transfer shaft is used for connecting the prosthesis;

the adjusting piece is used for connecting the adapter shaft to the sliding rods, and the circumferential position between the adjusting piece and the sliding rods is adjustable and fixed.

15. The prosthesis installation actuator of claim 14, wherein the adjustment member is movable between a first position and a second position of the spindle, the adjustment member being fixed in circumferential position between the first position and the slide bar, the adjustment member being adjustable in circumferential position relative to the slide bar in the second position.

16. The prosthesis installation actuator of claim 15, wherein the adjustment member forms a spline engagement with the slide bar at the first position and/or wherein the adjustment member engages the spindle with a cartridge detent extending axially of the spindle.

17. The prosthesis mounting actuator of claim 14, further comprising a retainer configured to retain the adjustment member in the first position when the adjustment member is not subjected to an external force.

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

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

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

a navigation system for measuring a position of the actuator; and

and the control system is used for driving the mechanical arm to move the actuator to the target position according to the operation plan.