CN218784458U - End effector and surgical system - Google Patents

Abstract

The present disclosure discloses an end effector and surgical system, comprising a saw blade, a main body and a tracer, the saw blade having a cutting end for cutting bone tissue; the main body is provided with a first interface, a second interface and a power mechanism, the first interface is used for connecting a robot arm, the second interface is used for connecting a saw blade, the power mechanism is arranged in the main body, and the power mechanism is used for providing power for the second interface; the tracer is arranged on the main body and used for indicating the direction of the saw blade; the first interface is located at the first end of the main body, the direction of the cutting end of the saw blade is parallel to the direction of the first end pointing to the second end of the main body, and the first end and the second end are two ends opposite to the direction of the main body. The blade is oriented relative to the body such that the end effector can perform an HTO, DFO or PFO type of procedure.

Description

End effector and surgical system

Technical Field

The present disclosure relates to the field of medical instruments, and in particular to an end effector and a surgical system.

Background

The knee joint deformity caused by congenital development or the knee joint pathological changes and deformities caused by knee osteoarthritis can seriously affect the normal standing and walking functions of the lower limbs of patients. Currently, total knee replacement surgery is a relatively mature treatment for the above-mentioned conditions. Total Knee Arthroplasty (TKA) may be used to directly remove a diseased Knee joint and replace an artificial joint to completely treat the disease. TKA requires shaping the distal femur and proximal tibia, followed by prosthesis installation. The reshaped bone is shaped to fit the prosthesis. The efficient reshaping mode is swinging saw cutting. During operation, the patient lies on the back, the knee joint bends, the soft tissue is cut to expose the joint bone, and the saw blade can cut into the bone from the upper part of the knee joint (the front part of the human body) at different angles.

However, the life of the joint prosthesis is limited, and after the life of the prosthesis is over, a revision surgery of the artificial joint prosthesis is required. The artificial joint prosthesis revision surgery is a very challenging surgery, and a plurality of problems can be encountered in the surgical process, such as difficulty in loosening local soft tissue scars of the knee joint and difficulty in exposing the joint, so that a doctor needs to have good technical reserves and revision surgical equipment to obtain a satisfactory surgical effect.

In addition, with the continuous and intensive research on knee joints and the increasing awareness of knee protection, clinical workers have gained great advices on correcting lower limb force lines by means of High Tibial Osteotomy (HTO), distal Femoral Osteotomy (DFO) or Proximal Fibular Osteotomy (PFO). The principle of the operation is illustrated by the example of genu varus HTO. In the HTO operation, the proximal tibia is cut from the inner side of the knee joint to form an incision, the incision is expanded by a certain angle through an expander, and strong internal fixation is added, so that the legs are straightened, and a force line passes through the outer compartment of the knee joint to slow down the inner wear of the knee joint. DFO is performed in much the same way as HTO surgery, and also creates an incision laterally to the distal femur to adjust the lower limb force line. The two operations can effectively correct the lower limb force line, and a plurality of clinical practices and research trials prove the effectiveness and reliability of the tibia high-position osteotomy and the femur far-end osteotomy for treating the knee osteoarthritis. And a proximal fibula osteotomy refers to a surgical method for delaying the development of knee osteoarthritis by cutting bone in a proximal portion of a fibula to improve medial compartment pressure. The operation is based on the 'knee joint differential settlement theory', and the pressure on the inner side of the knee joint is partially transferred to the outer side so as to relieve the excessive load of the inner joint surface of the knee joint. Moreover, the three surgical modalities described above have found increasing use in the clinical treatment of knee osteoarthritis and deformities. The wear of the joint is inevitable and perhaps eventually the patient still needs TKA surgery, but HTO, DFO and PFO can help the patient avoid premature TKA surgery, reducing the possibility that the patient will need revision of the artificial joint prosthesis during life.

With the development of Computer-Assisted Surgery (CAS) technology, more and more surgeries originally requiring manual work are gradually approaching to a semi-automatic CAS direction, so that doctors can easily and accurately perform surgical operations. The current idea is to plan a surgical plan using computer generated graphical images, align intraoperative patient tissue with the graphical images carrying the surgical plan by registration techniques, track the relative position of the surgical tool and patient tissue intraoperatively using a navigation system and display the images in a display, and precisely position the surgical tool to the planned position using robotics to assist in the positioning of the surgical tool. For example, in the case of using CT/MRI/DSA/PET/CTA/MRA image data to perform three-dimensional reconstruction of patient bone tissue in orthopedic surgery, a doctor can plan a surgical plan on a three-dimensional model and determine the orientation information of a plane to be osteotomy. After registration, the operator can know the progress of the operation and guide the operation by observing the image on the computer, and the robot can replace a doctor to hold and position an operation tool. The surgical planning may even be performed by a computer, with the surgery being performed fully or semi-automatically after confirmation by the physician. The semi-automatic operation mode can avoid the dependence on rich experience of doctors to a great extent, and the operation method has short learning curve and high operation precision and really brings convenience to patients and doctors.

However, in clinical practice, computer assisted surgery (CAD) technology is mainly applied to TKA for knee joint treatment at present, and no system capable of performing HTO, DFO or PFO is available for knee joint treatment. Surgical robots specifically designed for TKA are configured based on the needs of TKA and intraoperative constraints. For example, in the TKA operation, the exposed area of the knee joint is opened to face the upper part of the supine human body, and the saw needs to enter the human body from the upper part of the knee joint; the TKA procedure requires 6 osteotomies at different angles, thus ensuring that the robot has sufficient flexibility to adjust the position of the saw blade (of the pendulum saw actuator) relative to the joint during the 6 osteotomies. It should be noted that the robot not only needs to align the saw blade with the target osteotomy face, but also ensures that the oscillating saw actuator can be moved along the plane by the user. This requires such flexibility in the robotic end arm rigidly attached to the saw blade. To achieve this effect, the other arms and joints of the robot should be flexible enough to avoid any one arm reaching an extreme position. The position of the robot relative to the operating table is an important factor for ensuring the above effect. However, not only the position of the surgical robot is taken into consideration during the operation, but also the operational convenience of the doctor is the primary consideration, and the surgical robot cannot excessively occupy the operation space of the doctor. In addition, the swing saw actuator needs to be connected with a robot, a saw blade, a tracer and an operating handle, and the flexibility of the actuator, the comfort of a doctor holding the handle, the reasonability of the saw blade in the direction of entering the skeleton and the fact that the tracer is not shielded are guaranteed in the operation. The requirements and operative limitations of HTO, DFO or PFO are different for TKA, e.g. the opening direction on the bone is inside or outside the knee joint when HTO osteotomies, the actuator is correspondingly on the side of the knee joint, which makes it more difficult for the robot to reach this position and the tracer is more easily occluded. The present application is therefore directed to providing an actuator for a surgical robot and a surgical system, which can perform HTO, DFO, or PFO more conveniently.

Disclosure of Invention

The present disclosure is directed to providing an end effector and a surgical system capable of more conveniently performing HTO, DFO, or PFO.

A first aspect of the present disclosure provides an end effector comprising a saw blade, a body, and a tracer, the saw blade having a cutting end for cutting bone tissue; the main body is provided with a first interface, a second interface and a power mechanism, the first interface is used for connecting a robot arm, the second interface is used for connecting a saw blade, the power mechanism is arranged in the main body, and the power mechanism is used for providing power for the second interface; the tracer is arranged on the main body and used for indicating the direction of the saw blade; the first interface is located at the first end of the main body, the direction of the cutting end of the saw blade is parallel to the direction of the first end pointing to the second end of the main body, and the first end and the second end are two ends opposite to the direction of the main body.

In a first possible embodiment, the plane of the saw blade is parallel to the imaginary longitudinal section of the body.

In a second possible embodiment, in combination with the above possible implementation, the virtual longitudinal section is a plane of symmetry of the actuator.

In combination with the above possible implementation manners, in a third possible implementation manner, when the main body is connected to the robot arm, the main body is arranged coaxially with the end arm of the robot arm, and the saw blade plane is parallel to the axis of the end arm.

With reference to the foregoing possible implementation manners, in a fourth possible implementation manner, the second interface is located on the first side of the main body near the second end.

In combination with the above possible implementation manners, in a fifth possible implementation manner, the second interface is a clamping mechanism, and the clamping mechanism includes two clamping portions that are oppositely arranged, and the two clamping portions clamp the saw blade when approaching each other.

In combination with the above possible implementation manners, in a sixth possible implementation manner, the second interface is a plug-in mechanism, and the saw blade plug-in mechanism includes a slot and a limiting portion, and the limiting portion is configured to prevent the saw blade from being separated from the plug-in mechanism when the saw blade is connected to the plug-in mechanism.

In a seventh possible embodiment, in combination with the above possible implementation, the tracer is disposed at the second end of the body.

In combination with the above possible implementations, in an eighth possible implementation, the tracer is removably connected to the body.

With reference to the foregoing possible implementation manner, in a ninth possible implementation manner, the main body is further provided with a handle portion, and the handle portion is located on a second side of the main body, where the second side is opposite to the second port on the main body.

A second aspect of the present disclosure provides a surgical system comprising an end effector, a robotic arm, a positioning system, and a controller, the end effector being the end effector of the first aspect; the tail end arm of the robot arm is fixedly connected with the tail end executor; the positioning system is used for identifying the position of the tracer to acquire the azimuth information of the saw blade; the controller is used for controlling the movement and the orientation of the robot arm based on the orientation information and a pre-stored surgical plan.

The end effector provided by the first aspect of the disclosure comprises a saw blade, a main body and a tracer, wherein the tracer is arranged on the main body and is used for indicating the orientation of the saw blade; the cutting end of the saw blade is directed parallel to the direction in which the first end is directed toward the second end of the body, and the first end and the second end are opposite ends of the body. The positional relationship of the blade relative to the body is configured to provide the end effector with flexibility for performing HTO, DFO or PFO surgical types.

Drawings

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

FIG. 2 is a schematic diagram of an end effector configured to perform HTO in accordance with an embodiment of the present disclosure;

FIG. 3 is a front view of the end effector shown in FIG. 2;

FIG. 4 is a schematic view of the internal power mechanism of the end effector shown in FIG. 2;

FIG. 5 is a schematic view of a left leg medial tibial plateau osteotomy procedure of an embodiment of the present disclosure;

FIG. 6 is a first schematic view of the saw blade of the present disclosure aligned with the high position of the tibia;

FIG. 7 is a second schematic view of the saw blade of the present disclosure aligned with a high position of the tibia;

FIG. 8 is a schematic view of a first saw blade and clamping mechanism according to an embodiment of the present disclosure;

FIG. 9 is a schematic view of a second saw blade and clamping mechanism according to the disclosed embodiment;

FIG. 10 is a schematic view of a saw blade and a plugging mechanism according to an embodiment of the disclosure;

FIG. 11 is a schematic view of the connection of the tracer and the body according to an embodiment of the disclosure;

fig. 12 is a schematic structural diagram of a tracer according to an embodiment of the disclosure.

Reference numerals are as follows:

1-robot arm, 11-end arm, 12-trolley;

2-positioning system, 21-binocular vision camera;

3-a plug-in mechanism, 31-a slot and 32-a limiting part;

5-a controller;

6-saw blade, 61-cutting end, 62-connecting end;

7-end effector, 71-main body, 701-first end, 702-second end, 703-first side, 704-second side, 711-first interface, 712-second interface, 7121-rotating shaft, 713-power mechanism, 7131-motor, 7132-reducer, 7133-transmission mechanism, 72-tracer, 723-tracer element, 724-tracer frame and 73-handle part;

8-clamping mechanism, 81-clamping part;

91. 91 a-projection, 92 a-recess;

101-pin member, 102-sleeve, 103-locking member;

the axial line of the T-tibia is W-, P-virtual longitudinal section, h-tibia high target osteotomy plane, M-axial line of the first interface, N-axial line of the second interface, O-axial line of the handle part and T-tibia.

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 described in further 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 thereof.

It is noted that, herein, relational terms such as first and second, and the like may be 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.

The present disclosure relates to Computer-Assisted Surgery (CAS) technology, as shown in the schematic structural diagram of a surgical system shown in fig. 1. A surgical system relating to this technique includes a robot arm 1, a positioning system 2, an end effector 7 on which a saw blade 6 is mounted, and a controller 5. The robot arm 1 corresponds to an arm of a surgeon, and can hold the saw blade 6 and position and move the saw blade 6 with high accuracy. The positioning system 2 corresponds to the surgeon's eye and can measure the position of the saw blade 6 and the patient's tissue in real time. The controller 5 corresponds to the brain of the surgeon and stores the surgical plan internally. The controller 5 calculates the route and/or the position to be reached of the robot arm 1 according to the position information acquired by the positioning system 2 in the operation, and can control the movement of the robot arm 1, or set a virtual boundary of the robot arm 1 through a force feedback mode, and an end effector 7 manually pushing the robot arm 1 moves in/along the route and the surface defined by the virtual boundary.

Fig. 2 is a schematic diagram of the end effector 7 configured to perform HTO, in which the connection relationship of the saw blade 6 and the main body 71 of the end effector 7 is shown. In this connection, the saw blade 6 is disposed at one side of the main body (the lower side of the main body 71 in fig. 2), and the cutting end of the saw blade 6 for cutting bone tissue is directed parallel to the length direction of the main body 7, i.e., the saw blade 6 is directed to the left of the main body 7 in fig. 3. The end effector 7 is adapted to perform a tibial high osteotomy (HTO), a Distal Femoral Osteotomy (DFO) or a Proximal Fibular Osteotomy (PFO).

Refer to fig. 2 to 4. Fig. 3 is a front view of the end effector 7 shown in fig. 2. Fig. 4 is a schematic diagram of the internal power mechanism of the end effector 7 shown in fig. 2. Specifically, the end effector 7 includes a body 71, a tracer 72, and a saw blade 6. The main body 71 is substantially a cone, and a revolution center line W of the cone is coaxial with a rotation center line of the tip arm 11 of the robot arm 1. On this basis, the orientation reference and coordinate system CS of the body 71 are defined. The centre line W of revolution of the cone is the Z-axis of the coordinate system CS, and the two mutually perpendicular directions perpendicular to the Z-axis are the Y-axis and the X-axis. The extending direction of the rotation center line W is the longitudinal direction of the main body 71. The two ends of the main body 71 in the length direction are a first end 701 and a second end 702 respectively. The radial direction of the main body 71 is a lateral direction, and specifically includes an upper side, a lower side, a front side, and a rear side. The upper side, the lower side, the front side, and the rear side correspond to the Y-axis forward direction, the Y-axis reverse direction, the X-axis forward direction, and the X-axis reverse direction of the coordinate system CS.

The main body 71 is fixed coaxially with the end arm 11 when connected to the end arm 11 of the robot arm 1, and corresponds to an extension of the end arm 11 of the robot arm 1. In other embodiments, the shape of the main body 71 is not limited to a cone, and may be a regular or irregular shape having a predetermined length and being coaxial with the end arm 11 when attached to the robot arm 1. The term "coaxial" is not strictly limited to the literal meaning, as long as two rod-like structures are connected substantially collinearly. Of course, the length direction definition of the main body 71 of other shapes may also refer to the rotation center line W of the end arm 11 (when the main body 71 is connected to the robot arm 1), because the main body 71 rotates with the end arm 11, and the rotation center lines of both are the same.

The main body 71 has a first interface 711, a second interface 712, a power mechanism 713, and a handle portion 73. The first interface 711 is located at the first end 701 of the body 71. The second port 712 is located on the first side 703 of the body 71 and is closer to the second end 702 in the length direction. Handle portion 73 is located on a second side 704 of body 71 for providing a surgeon with a landing for pushing and pulling on end effector 7. The first side 703 of the body 71 corresponds to the aforementioned lower side, i.e., the reverse of the Y-axis; the second side 704 corresponds to the upper side, i.e., the positive direction of the Y-axis, described above. The first interface 711 is used to connect the main body 71 to the robot arm 1. The second interface 712 is used for connecting the saw blade 6. As shown in fig. 4, the second interface 712 is embodied as a mechanical connection structure and has a rotation shaft 7121 that can rotate reciprocally. The saw blade 6 is fixed on the rotating shaft 7121 and driven by the rotating shaft 7012 to swing back and forth. The power mechanism 713 is disposed inside the body 71, and the power mechanism 713 is used for providing power to the second interface 712. The power mechanism 713 mainly includes a motor 7131, a speed reducer 7132, and a transmission mechanism 7133. The motor 7131 and the reducer 7132 are used to provide initial power. One end of the transmission mechanism 7133 is connected with the speed reducer, and the other end is arranged at the second interface 712. When the saw blade 6 is connected to the second interface 712, the transmission mechanism 7133 receives the initial power of the motor 7131 and the speed reducer 7132 and drives the saw blade 6 to swing through the rotating shaft 7121.

The saw blade 6 is an elongated strip, and two ends of the saw blade are respectively a cutting end 61 and a connecting end 62. The cutting tip 61 is provided with serrations for cutting bone tissue. The connecting end 62 is used for connecting with the second interface 712 and receiving power for driving the saw blade 6 to swing.

A tracer 72 is provided at the second end 702 of the body 71 for indicating the orientation of the saw blade 6. The positioning system 2 can determine the orientation of the tracer 72 in the surgical space and, thus, the orientation of the saw blade 6. The tracer is an optical tracer with a tracing element 723 mounted thereon, the tracing element 723 being a reflective flake or a reflective sphere. The positioning system 2 includes a binocular vision camera 21 capable of recognizing a retroreflective sheeting or a retroreflective ball. The tracer enables the positioning system 2 to clearly and accurately know the position of the saw blade 6 during the movement of the end effector 7 holding the saw blade 6. For example, when cutting bone tissue, the extent of cutting of the bone tissue by the saw blade 6 and the condition of the remaining bone tissue to be cut can be determined by the position of the saw blade 6 reflected by the tracer. In an alternative embodiment, the tracer may also be an electromagnetic emitter or position sensor, and the respective positioning system 2, which is capable of identifying the position of the electromagnetic emission signal or position sensor, may determine the orientation of the saw blade 6.

Refer to fig. 2 to 7. Fig. 5 is a schematic view of a medial left leg tibia high osteotomy procedure. Fig. 6 and 7 are schematic views showing the saw blade aligned with the high tibial level. As shown in fig. 2, the blade 6 has an angle of zero degrees with the length direction of the main body 71, i.e. the cutting end 61 of the blade 6 is directed parallel to the direction (direction of the axis W) in which the first end 701 is directed to the second end 702. The plane of the blade 6 is parallel to a virtual longitudinal section P of the body 71, and the virtual longitudinal section P is a longitudinal section of the body 71. Specifically, the virtual longitudinal section P of the main body 71 is a plane defined by an axis M of the first port and an axis N of the second port, where the axis M of the first port coincides with the axis W, and the axis N of the second port coincides with a line connecting the main body 71 and the first side 703. The body 71 is symmetrical about the virtual longitudinal section P, taking the virtual longitudinal section P as the mirror surface.

When the end effector 7 performs a high tibial osteotomy or a distal femoral osteotomy, this type of operation protects the integrity of the physiological structure of the knee joint by an open wedge osteotomy or a closed osteotomy on the T-side of the femur or tibia, and is the main operation mode for treating early knee joint lesions. Unlike knee replacement surgery, a high tibial osteotomy or distal femoral osteotomy would be routed medially or laterally to the affected side. As shown in fig. 5, taking a tibia high position osteotomy inside a left leg as an example, the patient is in a knee bending supine position, the robot arm 1 and the trolley 12 carrying the robot arm are located on an opposite side (right side of the patient) of an affected part side of the patient, the positioning system 2 is located on the affected part side (left side of the patient), and the robot arm 1 points to the opposite side from the affected part side. An end effector 7 is attached to the end arm 11 of the robotic arm 1, and the robotic arm 1 holds the effector generally transverse to the patient and above and closer to the left leg midway between the left and right legs. As shown in fig. 6 and 7, the saw blade 6 will be advanced from the medial side of the proximal end of the patient's left tibia T during surgery, with the cutting end 61 of the saw blade 6 directed toward the proximal end of the tibia T in a horizontal direction transverse to the patient. When osteotomy is performed, the plane of the saw blade 6 is a planned osteotomy plane adapted to a predetermined surgical plan, and the end effector is required to adjust the angle of the plane of the saw blade 6 substantially around an axis W parallel to the intersection line of the coronal plane and the transverse plane of the human body. In the angle adjustment process, the tail end arm 11 of the robot arm 1 rotates around the axis of the tail end arm to enable the end effector 7 to rotate around the axis W, and the plane of the saw blade 6 rotates for a certain angle to be parallel to a high-position target osteotomy surface h of the tibia. And the robot arm 1 can realize the alignment of each plane and the tibia high-order target osteotomy surface h by translating for a certain distance according to a preset path in a certain range.

Under the condition that the translation of the saw blade 6 is not considered, in the angle adjustment process of the saw blade 6, the saw blade 6 is adapted to the corresponding tibia high-position target osteotomy surface h, the robot arm 1 does not need to adjust the posture of the robot arm 1 per se in a large angle and a large amplitude, and the angle adjustment of the saw blade 6 can be realized only by rotating the tail end arm 11 of the robot arm 1. It will be appreciated that the distal femur osteotomy is similar to the high tibia osteotomy, with the patient in a flexed knee supine position, with the end effector 7 carrying the saw blade 6 being accessed from either the medial or lateral side of the respective femur. Also, proximal fibular osteotomies are similar to high tibial osteotomies. The patient is normally in a supine position with the end effector 7 carrying the saw blade 6 being advanced from the posterolateral side of the respective fibula and the cutting position being 6 to 10cm below the fibula. During operation, the end effector 7 carries the saw blade 6 to cut off the fibula by about 2cm, and the cut-off end is blocked by bone wax to avoid the healing of the broken end of the fibula. In a distal femoral osteotomy and a proximal fibular osteotomy, the cutting end 61 of the saw blade 6 may be directed from the side of the bone to the surgical site based on a similar approach and osteotomy pose of the saw blade 6. The robot arm 1 can carry the end effector 7 to flexibly and conveniently carry out the distal femur osteotomy or the proximal fibula osteotomy.

In this way, end effector 7 may accommodate surgical approaches and types of operations for HTO, DFO, and PFO, without the need for robotic arm 1 carrying end effector 7 to position the saw blade to the targeted osteotomy plane in a complex or difficult to reach pose. The doctor has convenient operation and sufficient operation space, and the robot provided with the end effector 7 has enough flexibility to complete various surgical operations, so that the equipment purchase cost and the learning time cost of the doctor are greatly reduced.

As shown in fig. 8 and 9, in the present embodiment, the second interface 712 is a clamping mechanism 8 disposed on the rotating shaft 7121, and the saw blade 6 is connected to the end effector 7 through the clamping mechanism 8. The clamping mechanism 8 includes two oppositely disposed clamping portions 81, the end faces of which are perpendicular to the rotating shaft 7121. The two clamping portions 81 are moved toward each other by an external force to clamp the connecting end 62 of the blade 6, so that the blade 6 is fixed to the rotary shaft 7121 in the circumferential direction.

Fig. 8 is a schematic view of the first saw blade 6 and the clamping mechanism 8. A positioning structure is arranged between the two clamping parts 81 and the saw blade 6. The positioning structure comprises a protrusion 91 and a groove 92, the protrusion 91 and the groove 92 are respectively disposed on the clamping portion 81 and the saw blade 6, and when the groove 92 is matched with the protrusion 91, the saw blade 6 and the rotating shaft 7121 are axially fixed and can swing along with the rotation of the rotating shaft 7121.

With continued reference to fig. 8, a protrusion 91 is provided at one of the clamping portions 81, a recess 92 is provided at the connecting end 62 of the saw blade 6, and both the protrusion 91 and the recess 92 comprise circumferentially evenly distributed strip-shaped units. In an alternative embodiment, the projection 91 is provided at the connecting end 62 of the saw blade 6 and the recess 92 is provided at the clamping portion 81. In an alternative embodiment, as shown in fig. 9, fig. 9 is a schematic view of the second saw blade 6 and the clamping mechanism 8. The shape of the projection 91a and the groove 92a is different from that described above (embodiment shown in fig. 8), and the projection 91a and the groove 92a may have a bar shape as shown in fig. 9. Of course, the protrusion 91a and the groove 92a may be formed by a plurality of strips, as long as the circumferential fixation of the saw blade 6 with respect to the rotating shaft 7121 can be achieved.

In an alternative embodiment, the second interface 712 is a plug mechanism disposed on the rotating shaft 7121. Fig. 10 is a schematic view of the saw blade 6 and the plug-in mechanism 3. The plugging mechanism 3 includes a slot 31 and a stopper 32. The slot 31 is fixed to the rotary shaft 7121, and the slot 31 has the same thickness as the saw blade 6 and allows the coupling end 62 of the saw blade 6 to be inserted. The limiting portion 32 is a stop piece on the slot 31, and the stop piece limits the thickness of the slot 31. With this grafting mechanism 3 adapted, the link 62 of saw bit 6 is provided with joint portion 621, and joint portion 621 is bellied elastic rectangle piece that has on the saw bit 6, and its one end is connected with saw bit 6, and the other end just is protruding for saw bit 6 plane with saw bit 6 separation. One end of the bulge can be pressed to be flush with the plane of the saw blade 6 under the action of external force and can be recovered when the external force disappears. With this arrangement. When the connecting end 62 of the saw blade 6 is inserted into the slot 31, the clamping portion 621 is pressed to be flush with the surface of the saw blade 6 under the action of the limiting portion 32, and the connecting end 62 of the saw blade 6 can smoothly enter the slot 31. After the saw blade 6 enters the slot, the clamping portion 621 protrudes, and the limiting portion 32 prevents the saw blade 6 from exiting from the slot 31. When the saw blade 6 is detached, the clamping portion 621 is pressed and the saw blade 6 is pulled out. The saw blade 6 is connected with the end effector 7 in an inserting mode, and is convenient to disassemble and simple in structure.

As shown in fig. 11, fig. 11 is a schematic view of the tracer 72 and the main body 71. In this embodiment, the tracer 72 is removably attached to the second end 702 of the body 71 by a removable fastening structure. The removable fixing structure comprises a plug assembly comprising a plug member 101 and a sleeve 102, and a locking member 103, the tracer 72 having a remaining degree of freedom to move relative to the body 71 in a direction opposite to the plugging direction when the plug member 101 is plugged into the sleeve 102. The locking member 103 is intended to be fed in a direction perpendicular to the direction of insertion, so as to limit the remaining degrees of freedom of the tracer 72 with respect to the body 71.

With continued reference to fig. 11 and 12, fig. 12 is a schematic view of the construction of the tracer 72. Specifically, the plug member 101 is disposed on the body 71 and is a dovetail-shaped plug. The sleeve 102 is disposed on the tracer 72 and is a dovetail groove. When the latch member 101 is plugged into the sleeve 102, the tracer 72 has a non-fixed residual degree of freedom in the plugging direction with respect to the body 71. The locking part 103 is of a jackscrew structure, when the locking part 103 fixes the residual degree of freedom, the locking part 103 penetrates through the bottom surface of the slot to be in jacking contact with the surface of the plug pin part 101, and the tracer 72 is limited to be separated from the main body 71 along the opposite direction of the plugging direction. By providing a detachable connection of the tracer 72 to the body 71, the end effector 7 is more convenient to store and transport, and collision or damage to the tracer can be avoided. Wherein tracer damage will affect the accuracy of the positioning of the saw blade 6, which is disadvantageous in meeting the accuracy requirements of the procedure. In an alternative embodiment, the tracer 72 is fixedly attached to the second end of the body.

As shown in fig. 2, 3 and 12, the tracer includes a tracer shelf 724 and a tracer portion, the tracer shelf 724 coupled to the actuator body 71, the tracer portion including a plurality of tracer elements 723 coupled to the tracer shelf 724, the plurality of tracer elements 723 being arranged along a plane, the plurality of tracer elements 723 being arranged along the plane defining a plane that is recognized by the positioning system 2 and reflects the orientation of the saw blade 6 accordingly.

In an alternative embodiment, the body 71 of the end effector 7 is not provided with a handle portion 73. In this way, the operator can hold the second side 704 of the body 71 to control the pose change or movement of the end effector.

With continued reference to fig. 1, in a second aspect, the present disclosure is directed to a surgical system comprising an end effector 7, a robotic arm 1, a positioning system 2, and a controller 5, the end effector 7 being the end effector 7 of the first aspect; the robot arm 1 is used for carrying an end effector 7 and providing power for the end effector 7; the positioning system 2 is used for identifying the position of the tracer to acquire the position information of the osteotomy executor and/or the saw blade; and a controller 5 for controlling the end effector 7 to cut the bone according to a predetermined surgical plan.

In particular, the controller 5 may control the robotic arm 1 such that the robotic arm 1 moves fully autonomously according to the surgical plan, or by providing tactile or force feedback to limit the surgeon from manually moving the surgical tool 3 beyond a predetermined virtual boundary, or providing a virtual guide 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 end effector 7 is detachably connected with the robot arm 1; the positioning system 2 is used to know the position of the saw blade 6 and the patient's anatomy. The positioning system 2 generally comprises a positioner (such as a binocular camera 21) that measures the orientation of the tracer by means of a 3D measurement technique. The controller 5 is used to drive the robotic arm to move the prosthesis mounting actuator to a target position according to the surgical plan to position the saw blade 6 to the target osteotomy plane. The surgical plan may include a robotic arm movement path, a movement boundary, and the like. In clinical applications, the end effector 7 is capable of performing a high tibial osteotomy, a distal femoral osteotomy, and a proximal fibular osteotomy. One set of system can adapt to various surgical procedures and surgical operations, thereby reducing the time for a doctor to adapt to the surgical system and avoiding purchasing corresponding special equipment for various operations independently.

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 (11)

1. An end effector, comprising:

a saw blade having a cutting end for cutting bone tissue;

the main body is provided with a first interface, a second interface and a power mechanism, the first interface is used for connecting a robot arm, the second interface is used for connecting the saw blade, the power mechanism is arranged in the main body, and the power mechanism is used for providing power for the second interface;

a tracer provided to the body for indicating an orientation of the saw blade;

the first interface is located at a first end of the main body, the direction of the cutting end of the saw blade is parallel to the direction of the first end pointing to a second end of the main body, and the first end and the second end are two ends of the main body, wherein the directions of the two ends are opposite.

2. The end effector as claimed in claim 1, wherein a plane of the saw blade is parallel to an imaginary longitudinal section of the body.

3. The end effector as claimed in claim 2, wherein the virtual longitudinal profile is a plane of symmetry of the effector.

4. The end effector as claimed in claim 1, wherein the body is arranged coaxially with an end arm of a robotic arm when the body is attached to the arm, the blade plane being parallel to an axis of the end arm.

5. The end effector as claimed in claim 1, wherein the second interface is located on a first side of the body proximate the second end.

6. The end effector as claimed in claim 1, wherein the second interface is a clamping mechanism including two oppositely disposed clamping portions that clamp the saw blade when brought into proximity.

7. The end effector as claimed in claim 1, wherein the second interface is a plug mechanism, the blade plug mechanism including a slot and a limit portion configured to prevent a saw blade from disengaging the plug mechanism when the saw blade is connected to the plug mechanism.

8. The end effector as claimed in claim 1, wherein the tracer is disposed at the second end of the body.

9. The end effector as claimed in claim 1, wherein the tracer is removably attached to the body.

10. The end effector as claimed in claim 1, wherein the body is further provided with a handle portion located on a second side of the body opposite the second interface on the body.

11. A surgical system, comprising:

an end effector as claimed in any one of claims 1 to 10;

the end arm of the robot arm is fixedly connected with the end effector;

a positioning system for identifying the position of the tracer to obtain orientation information of the saw blade;

a controller for controlling the movement and orientation of the robotic arm based on the orientation information and a pre-stored surgical plan.

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