CN219661885U

CN219661885U - Joint operation device and surgical operation system

Info

Publication number: CN219661885U
Application number: CN202222566229.4U
Authority: CN
Inventors: 张晓峰; 张钊; 张春; 李卫; 马舜尧; 杜可斌; 赵宇; 江标; 刘鹏春; 郑小中
Original assignee: Beijing And Huaruibo Medical Technology Co ltd
Current assignee: Beijing And Huaruibo Medical Technology Co ltd
Priority date: 2022-09-27
Filing date: 2022-09-27
Publication date: 2023-09-12
Anticipated expiration: 2032-09-27

Abstract

The present disclosure discloses an joint surgical device and a surgical system for selectively performing knee joint surgery or hip joint replacement surgery, the surgical device including a knee joint actuator, a hip joint actuator, and a robotic arm. A knee effector for coupling the saw blade to cut a predetermined shape on a bone, the knee effector being configured to be detachably coupled to the saw blade; a hip-joint actuator for connecting an actuating tool to prepare a prosthesis-mounted space on a bone and to implant the prosthesis, the hip-joint actuator being configured for detachable connection with the actuating tool; the robot arm is used for connecting a knee joint actuator or a hip joint actuator and can control the movement and the orientation of a saw blade or an execution tool; the knee and hip actuators are configured to have the same first interface for detachably connecting the knee or hip actuator to the robotic arm. So that a set of surgical devices can perform both knee joint surgery and hip joint surgery.

Description

Joint operation device and surgical operation system

Technical Field

The present disclosure relates to the field of medical devices, and in particular to joint surgical devices and surgical systems.

Background

Currently, lower limb joint diseases include knee joint osteoarthropathy, hip joint osteoarthropathy, femoral neck fracture, femoral head necrosis and the like, and the diseases seriously affect normal walking of patients and activities of lower limbs. Artificial joint replacement surgery may treat the above-mentioned diseases. For severely diseased joints, joint replacement has the effects of relieving joint pain, maintaining joint mobility, maintaining joint stability or improving lower limb deformity.

Joint replacement surgery mainly includes knee replacement surgery and hip replacement surgery. In total knee arthroplasty (Total Knee Arthroplasty, TKA for short), the distal femur and proximal tibia that make up the knee joint need to be machined to a shape and size suitable for prosthetic implantation. The machining of the femur and tibia is mainly performed by cutting multiple planes with a saw. The shape of the bone after being machined substantially determines the accuracy of the implantation of the knee prosthesis, and thus the machining accuracy of each plane determines the accuracy of the implantation of the prosthesis. In total hip arthroplasty (Total Hip Arthroplasty, THA for short), the proximal ends of the acetabulum and femur that make up the hip joint are machined to a shape and size suitable for prosthetic implantation. Hip arthroplasty involves the grinding of the acetabular fossa and osteotomy and reaming of the proximal femoral head. The accuracy of hip replacement relates to the accuracy of prosthetic implantation on the acetabular side and the accuracy of prosthetic implantation on the femoral side. The accuracy of the implantation of the acetabular-side prosthesis depends on the machining accuracy of the acetabular fossa and the accuracy of the control of the implantation angle and depth of the acetabular prosthesis during implantation. The accuracy of implantation of the prosthesis on the femoral side depends on the accuracy of reaming on the femoral side.

Traditional joint replacement surgery generally relies on the experience of a doctor, and the processing of the joint and the installation of the prosthesis are manually performed through experience of a great deal of skill, so that long learning curves of the joint replacement surgery can ensure joint replacement with good surgical accuracy through accumulation of experience for many years.

In recent years, with the development of computer-aided surgery techniques, surgical procedures have been navigated using computer-generated graphical images at the time of surgery. The method comprises the steps of completing collection and three-dimensional reconstruction of original data of a patient by using a computer, and guiding a doctor's operation thought by using a three-dimensional model, so that the doctor can know the operation progress and guide the operation through observing images on the computer. The operation planning can be carried out even by a computer, and the operation can be completed fully automatically or semi-automatically after the confirmation of doctors. The novel operation mode based on image navigation enables doctors to rapidly, safely and effectively utilize medical data to complete operation.

Such as knee surgery robots sold by MAKO surgery. Generally, a robotic system includes a robotic arm, a navigational positioning system, and a control system. The robot arm corresponds to the arm of a surgeon, and can hold the execution tool and position the execution tool with high accuracy. The navigational positioning system corresponds to the surgeon's eye and can measure the position of the implement and patient tissue in real time. The control system corresponds to the surgeon's brain, storing the surgical plan internally. The control system calculates the route and/or the position of the robot arm according to the information acquired by the navigation positioning system in operation, and can actively control the movement of the robot arm, or the robot arm is manually pushed to move along the route, the surface or the body defined by the virtual boundary after the virtual boundary of the robot arm is set by a force feedback mode. In a robotic system from the equine surgical company, an electric pendulum saw is suspended from the end of the robotic arm. The surgical positioning of the pendulum saw by the robotic arm to the vicinity of the knee joint and the operation of the surgeon activates and pushes the motorized pendulum saw to cut bone, thereby preparing the installation site for the implant of the prosthesis. Robotically-assisted knee replacement surgery has a number of advantages over traditional knee replacement surgery. For example, experience dependence on the surgeon is reduced; reduces iatrogenic injury caused by the use of the traditional mechanical positioning structure.

However, the robotic system described above may not be suitable for the type of procedure such as hip replacement surgery, as previously described, requiring multiple procedures in the hip surgery (e.g., reaming the acetabulum, tapping the acetabular cup, reaming the femoral side), and correspondingly requiring different configurations of the implement. Systems designed to accommodate multiple tools require multiple end effectors and removal and installation of different types of effectors onto a robotic arm during a surgical procedure can increase surgical time. In addition, the process of striking the acetabular cup to the acetabular cup can create high impact forces that can damage the delicate robotic arm.

The equine surgical company also provides a surgical robot dedicated for hip replacement, whose composition is disclosed in chinese patent No. CN 102612350B. In performing acetabular reaming using the surgical robot, it is necessary to attach a reaming tool to a gripping structure at the distal end of the robot arm and then connect a power unit to the reaming tool. The holding structure is also used for connecting the cup holder for the operation of installing the acetabular prosthesis, so that after the acetabular grinding operation is completed, the power device is required to be detached, then the grinding tool is detached, and finally the cup holder is installed on the holding structure.

The knee joint operation robot and the hip joint replacement operation robot are two independent devices, and each set of operation robot can only independently complete knee joint operation or hip joint operation.

Disclosure of Invention

The present disclosure provides a joint surgery device and a surgery system, which solve the problem that a surgery robot cannot take account of hip joint replacement surgery and knee joint surgery.

A first aspect of the present disclosure provides an joint surgical device for selectively performing a knee joint surgery or a hip joint replacement surgery, including a knee joint actuator, a hip joint actuator, and a robotic arm. A knee effector for connecting a saw blade to cut a predetermined shape on a bone, the knee effector being configured to be detachably connected to the saw blade; a hip-joint actuator for connecting an execution tool to prepare a prosthesis-mounted space on a bone and to implant the prosthesis, the hip-joint actuator being configured for detachable connection with the execution tool; the robot arm is used for connecting a knee joint actuator or a hip joint actuator; the knee and hip actuators are configured to have the same first interface for detachably connecting the knee or hip actuator to the robotic arm.

In a first possible embodiment, the knee or hip actuator is coaxial with the end arm when the first interface is connected to the end arm of the robotic arm.

In combination with the above possible implementation, in a second possible implementation, the first interface comprises a locking mechanism for connecting the knee or hip joint actuator to the end arm of the robotic arm.

With reference to the foregoing possible implementation manners, in a third possible implementation manner, the hip joint actuator includes a first actuator and a second actuator; a first actuator for connecting a cutting tool to machine an acetabulum and/or a intramedullary canal, the first actuator having a first interface and a second interface; a second actuator for connecting to a second interface of the first actuator when performing a prosthetic implantation operation, the second actuator for connecting to the prosthesis and receiving an impact of installing the prosthesis; wherein the first actuator is configured to be mounted to the robotic arm via the first interface.

In combination with the above possible implementation, in a fourth possible implementation, the structure for connecting the prosthesis is parallel to the structure for connecting the cutting tool when the second actuator is connected to the first actuator.

In combination with the foregoing possible implementation manner, in a fifth possible implementation manner, the first interface and the second interface are distributed at two ends of the first actuator.

In combination with the above possible implementation manner, in a sixth possible implementation manner, the first actuator is provided with a first handle configured to be parallel or coaxial with the cutting tool when the cutting tool is connected to the first actuator, and the first handle and the cutting tool are distributed on both sides of the first actuator.

In combination with the foregoing possible implementation manner, in a seventh possible implementation manner, the first actuator includes a power device and a tool assembly, where the tool assembly is detachably connected to the power device, and the first interface is disposed on the power device.

With reference to the foregoing possible implementation manner, in an eighth possible implementation manner, the power device includes a built-in power assembly, where the power assembly includes a power source and an output shaft, and the output shaft is connected to the power source; the tool assembly comprises a connecting part and a surgical tool, the surgical tool is rotatably arranged on the connecting part, and the tool assembly is detachably arranged on the power device through the connecting part; wherein the surgical tool is engaged with the output shaft to receive rotational movement of the output shaft output when the tool assembly is coupled to the power device via the coupling.

In combination with the above possible implementation, in a ninth possible implementation, the insertion or socket action of the surgical tool in the axial direction relative to the output shaft forms the engagement.

In combination with the foregoing possible implementation manner, in a tenth possible implementation manner, a radial positioning structure is further disposed between the surgical tool and the power device.

In combination with the foregoing possible implementation manner, in an eleventh possible implementation manner, a radial positioning structure is disposed between the surgical tool and the output shaft, and the radial positioning structure is a shaft hole fit between the output shaft and the surgical tool.

In combination with the foregoing possible implementation manner, in a twelfth possible implementation manner, a positioning module is disposed between the connection portion and the power device, and the positioning module forms a predetermined acting force between the connection portion and the power device.

In combination with the foregoing possible implementation manner, in a thirteenth possible implementation manner, the positioning module includes an elastic member, and the elastic member is pressed by the power device and the tool assembly to generate a predetermined force, and the direction of the predetermined force is an axial direction of the output shaft.

With reference to the foregoing possible implementation manner, in a fourteenth possible implementation manner, the second actuator is a prosthesis mounting actuator, including a sliding rod, a supporting component, and a sliding rod tracer; one end of the sliding rod is used for connecting the prosthesis, and the other end of the sliding rod is used for receiving the impact force when the prosthesis is installed; the support assembly comprises a coupling part, wherein the coupling part accommodates part of a rod section of the slide rod, and the slide rod is axially movable relative to the support assembly; the support assembly is used for connecting the second actuator to a robot arm of the robot system; the slide bar tracer is disposed on the slide bar to indicate the orientation of the slide bar.

In combination with the foregoing possible implementation manner, in a fifteenth possible implementation manner, the second actuator further includes an axial buffering mechanism, and the axial buffering mechanism forms an axial buffer between the slide bar and the support assembly when the slide bar is subjected to an axial impact.

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

In combination with the foregoing possible implementation manner, in a seventeenth possible implementation manner, the coupling portion is a channel penetrating through the support assembly, and the axial buffering mechanism includes 2 buffering members, where the 2 buffering members are located at two ends of the channel, respectively.

In combination with the foregoing possible implementation manner, in an eighteenth possible implementation manner, the knee joint actuator includes a main body and a tracer; the main body is provided with a first interface, a third interface and a power mechanism, wherein the first interface is used for being connected with the robot arm, the third interface is used for being connected with the saw blade, the power mechanism is arranged in the main body, and the power mechanism is used for providing power for the third interface; the tracer is arranged on the main body and used for indicating the direction of the saw blade; wherein the third interface is configured to form a first connection relationship or a second connection relationship with the saw blade, the first connection relationship having a first relative orientation relationship between the saw blade and the main body, the second connection relationship having a second relative orientation relationship between the saw blade and the main body.

In combination with the foregoing possible implementation manner, in a nineteenth possible implementation manner, the first relative azimuth relationship is that the saw blade has a first angle value with the main body, and the second relative azimuth relationship is that the saw blade has a second angle value with the main body.

In combination with the foregoing possible implementation manner, in a twentieth possible implementation manner, the first relative orientation relationship is that the saw blade is perpendicular to the main body, and the second relative orientation relationship is that the saw blade is parallel to the main body.

In combination with the foregoing possible implementation manner, in a twenty-first possible implementation manner, the first interface is located at a first end of the main body, and the third interface is located at a first side of the main body.

In combination with the foregoing possible implementation manner, in a twenty-second possible implementation manner, the third interface is located on the first side of the main body near the second end, and the second end and the first end are two ends of the main body.

In combination with the above possible implementation, in a twenty-third possible implementation, in a first connection relationship, the cutting end of the saw blade extends away from the main body from the first side of the main body, and in a second connection relationship, the cutting end of the saw blade is directed opposite to the first end of the main body.

In combination with the above possible implementation, in a twenty-fourth possible implementation, the plane of the saw blade is arranged parallel to the virtual longitudinal section of the main body.

In combination with the above possible implementation manner, in a twenty-fifth possible implementation manner, the main body is coaxially disposed with the distal arm of the robot arm when connected to the robot arm, and the virtual longitudinal section is parallel to the axis of the distal arm.

A second aspect of the present disclosure is a surgical system comprising an joint surgical device, a navigation system, and a control system. The joint surgery device is the joint surgery device of the first aspect; the navigation system is used for detecting the position of the knee joint actuator or the hip joint actuator; the control system is used for driving the robotic arm to move the knee joint actuator or the hip joint actuator to a target position according to the surgical plan.

The joint surgical device proposed by the first aspect of the present disclosure comprises a knee joint actuator, a hip joint actuator and a robotic arm. A knee effector for connecting a saw blade to cut a predetermined shape on a bone; the hip joint actuator is used for connecting an actuating tool to prepare a prosthesis-mounted space on a bone and to implant the prosthesis; the robot arm is used for connecting a knee joint actuator or a hip joint actuator and can control the movement and the orientation of a saw blade or an execution tool; the knee and hip actuators are configured to have the same first interface for detachably connecting the knee or hip actuator to the robotic arm. The knee or hip joint actuators can be selectively mounted to the robotic arm. So that a set of surgical devices can perform both knee joint surgery and hip joint surgery.

Drawings

FIG. 1 is a schematic view of a surgical system for performing a hip procedure in accordance with an embodiment of the present disclosure;

FIG. 2 is a schematic illustration of a hip actuator according to an embodiment of the present disclosure;

FIG. 3 is a schematic illustration of a first actuator use in accordance with an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a power plant configuration of an embodiment of the present disclosure;

FIG. 5 is a cross-sectional view of the internal structure of a power plant according to an embodiment of the present disclosure;

FIG. 6 is a schematic illustration of the configuration of the output shaft of the power plant of FIG. 3 in accordance with an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of an output shaft configuration of an embodiment of the present disclosure;

FIG. 8 is a schematic view of a coupling structure according to an embodiment of the present disclosure;

FIG. 9 is a schematic view of a joint and output shaft configuration of an embodiment of the present disclosure;

FIG. 10 is a cross-sectional view of a joint and output shaft structural representation of an embodiment of the present disclosure;

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

FIG. 12 is a cross-sectional view of a first tool assembly according to an embodiment of the present disclosure;

FIG. 13 is a schematic view of a connection structure according to an embodiment of the present disclosure;

FIG. 14 is a schematic illustration of a snap-in structure and spline connection of an embodiment of the present disclosure;

FIG. 15 is a schematic cross-sectional view of a power plant and a first tool assembly according to an embodiment of the present disclosure;

FIG. 16 is a schematic view of a first tool assembly and power plant connection configuration in accordance with an embodiment of the present disclosure;

FIG. 17 is a schematic view of another connection structure between an output shaft and a main shaft of a connecting rod according to an embodiment of the disclosure;

FIG. 18 is a schematic view of another connection structure between the output shaft and the main shaft of the connecting rod according to the embodiment of the present disclosure;

FIG. 19 is a schematic view of a first actuator coupled to a second tool assembly according to an embodiment of the present disclosure;

FIG. 20 is a schematic diagram of the overall structure of a second actuator according to an embodiment of the present disclosure;

FIG. 21 is a cross-sectional view of the overall structure of a second actuator according to an embodiment of the present disclosure;

FIG. 22 is a schematic view of a connection between a support assembly and a slide bar in accordance with an embodiment of the present disclosure;

FIG. 23 is a schematic illustration of components at a coupling portion of an embodiment of the present disclosure;

FIG. 24 is a schematic view of a body and first actuator connection according to an embodiment of the present disclosure;

FIG. 25 is a schematic view of a support assembly and a second interface structure in accordance with an embodiment of the present disclosure;

FIG. 26 is a second schematic illustration of a support assembly and a second interface structure according to an embodiment of the present disclosure;

FIG. 27 is a third schematic illustration of a support assembly and a second interface structure according to an embodiment of the present disclosure;

FIG. 28 is a schematic view of a slide bar with an adjustment member mounted thereto in accordance with an embodiment of the present disclosure;

FIG. 29 is a schematic view of an adjustment member in accordance with an embodiment of the present disclosure;

FIG. 30 is a second schematic view of an adjustment member according to an embodiment of the present disclosure;

FIG. 31 is a third schematic view of an adjustment member according to an embodiment of the present disclosure;

FIG. 32 is a schematic view of a nut structure according to an embodiment of the present disclosure;

FIG. 33 is a schematic diagram of a nut structure according to an embodiment of the present disclosure;

FIG. 34 is a schematic view of a surgical system for performing knee surgery in accordance with an embodiment of the present disclosure;

FIG. 35 is a schematic view of a knee effector configured to perform total knee arthroplasty in accordance with an embodiment of the present disclosure;

FIG. 36 is a schematic view of a knee joint actuator configured to perform a tibial plateau osteotomy in accordance with an embodiment of the present disclosure;

FIG. 37 is an elevation view of the knee joint actuator shown in FIG. 35;

FIG. 38 is a right side view of the knee joint actuator shown in FIG. 35;

FIG. 39 is a schematic view of the internal power mechanism of the knee joint actuator shown in FIG. 35;

FIG. 40 is a right side view of the knee joint actuator shown in FIG. 36;

FIG. 41 is a schematic representation of a right leg total knee arthroplasty in accordance with an embodiment of the present disclosure;

FIG. 42 is a schematic view of a knee joint actuator adjusting a blade angle in accordance with an embodiment of the present disclosure;

FIG. 43 is a schematic view of an alignment of a saw blade with a distal target osteotomy plane b of a femur in accordance with an embodiment of the present disclosure;

FIG. 44 is a schematic view of a left leg medial tibial plateau osteotomy of an embodiment of the present disclosure;

FIG. 45 is a high level schematic view of a saw blade aligned tibia in accordance with an embodiment of the present disclosure;

FIG. 46 is a second view of a high level schematic of a saw blade alignment tibia in accordance with an embodiment of the present disclosure;

FIG. 47 is a schematic view of a first saw blade and clamping mechanism according to an embodiment of the present disclosure;

FIG. 48 is a schematic view of a second saw blade and clamping mechanism according to an embodiment of the present disclosure;

FIG. 49 is a second schematic view of a second saw blade and clamping mechanism according to an embodiment of the present disclosure;

FIG. 50 is a schematic diagram of a second tracer to body connection according to an embodiment of the disclosure;

fig. 51 is a schematic diagram of a second tracer construction of an embodiment of the disclosure.

Reference numerals:

1-slide bar, 2-slide bar tracer, 3-grip, 4-body, 5-coupling, 6-insulating sleeve, 7-sliding sleeve, 8-first buffer, 9-retainer, 10-insulator, 11-second buffer, 12-plug, 13-second interface, 14-mounting hole, 15-plug, 16-first spring, 17-spacer, 18-plug pull, 21-adapter shaft, 22-nut, 23-adapter sleeve, 24-spline, 25-retainer, 26-nut, 27-adjuster, 28-first position, 29-second position, 30-first interface, 40-first handle, 50-insulating cover, 60-grip sleeve, 70-ring groove, 80-axial buffer mechanism, 90-axial limit structure;

100-shell, 101-baffle edge, 121-limit groove, 131-bottom plate, 132-limit button, 1321-first section, 1322-second section, 133-bolt hole, 140-quick-dismantling mechanism, 141-first limit mechanism, 142-second limit mechanism, 150-tracing component, 151-tracing element;

200. 200 a-motors, 210-main shaft sections, 211-connecting holes, 212-clamping blocks, 213-flanges, 214-limiting sections, 215-limiting steps, 221-outer walls, 222-clamping grooves, 223-spline grooves, 261-stress plates and 262-connecting sections;

300. 300 a-speed reducer;

400-an output shaft, 401-an input section, 402-a middle section, 403-an output section, 4031-a coupling spline, 404-a positioning hole, 4011-a key groove;

500-coupling, 501-first part, 502-second part;

600-joint, 601-hole, 602-spin groove, 6020-limit part, 6021-precession section, 6022-positioning section, 603-hole, 610-spin structure;

700-connecting rod main shaft, 701-spline joint, 702-joint hole; 703-positioning shaft, 710-spline connection, 720-radial positioning structure;

800-connecting rod lock head, 801-locating pin;

900-positioning modules, 901-clamping holders, 902-elastic pieces and 903-sliding sleeves;

1000a, 1000 b-surgical tool, 1001-reamer spindle, 1002-reamer edge, 1003-prosthesis, 1004a, 1004 b-cutting tool;

2000-power plant, 2100-power assembly, 2200-power source, 3000-tool assembly, 4000-support assembly, 5000-adjustment assembly, 6000-first actuator, 7000-second actuator, 8000-connection, 9000-navigation system, 9001-binocular vision camera, 9100-robotic arm, 9101-end arm, 9102-trolley, 9200-control system, 9300-hip actuator, 9400-knee actuator;

36-saw blade, 361-cutting end, 362-connecting end;

371-main body, 3701-first end, 3702-second end, 3703-first side, 3704-second side, 3712-third interface, 37121-spindle, 3713-power mechanism, 37133-transmission mechanism, 3721-first tracer, 3722-second tracer, 3723-tracer element, 3724-tracer rack, 373-second handle;

38-clamping mechanism 381-clamping portion;

391. 391 a-projections, 392 a-recesses, 3921-receiving spaces;

3101-latch member, 3102-set, 3103-lock;

w-axis, P-virtual longitudinal section, a-tibia target osteotomy plane, B-femur distal target osteotomy plane, C-femur anterior target osteotomy plane, D-femur posterior target osteotomy plane, E-femur posterior target osteotomy plane, G-femur anterior target osteotomy plane, h-tibia high target osteotomy plane, A-first pose, B-second pose, C-third pose, D-fourth pose, E-fifth pose, G-sixth pose, M-axis of first interface, N-axis of second interface, O-axis of second handle, F-femur, 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 the 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 the detailed embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative of the present disclosure and not limiting. 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 showing examples of the present disclosure.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

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

The present disclosure provides surgical devices for selectively performing knee surgery or hip replacement surgery, including knee actuators, hip actuators, and robotic arms. The knee effector is configured to be removably coupled to the saw blade for cutting a predetermined shape into bone. The hip-joint actuator is used for connecting an actuating tool for preparing a prosthesis-mounted space on a bone and for implanting a prosthesis, and is configured for detachable connection with the actuating tool. The robotic arm is used to connect a knee or hip joint actuator and is capable of controlling the movement and orientation of a saw blade or implement. Wherein the knee joint actuator and the hip joint actuator are configured to have the same first interface for detachably connecting the knee joint actuator or the hip joint actuator to the robotic arm.

Specifically, when the knee joint actuator or the hip joint actuator is alternatively connected with the robot arm, surgical treatment can be performed on the knee joint and the hip joint respectively. When the knee joint operation is executed, the knee joint executor is carried with a saw blade to cut bones on femur or tibia, and a target osteotomy face is prepared. For example, in Total Knee Arthroplasty (TKA), a knee effector prepares five target osteotomies at the distal femur and one target osteotomies at the proximal tibia with a saw blade. When performing hip joint surgery, the hip joint actuator carries an execution tool to prepare a space for installing the prosthesis on the femur or the hip bone, and installs the acetabular prosthesis in the prepared space on the hip bone. Wherein the execution tool comprises a marrow cavity reamer, an acetabular file and an acetabular prosthesis. The intramedullary reamer can be reamed at the proximal femur end for installation of a femoral stem prosthesis. The acetabular file may cut an acetabular cup suitable for installation of the acetabular cup prosthesis at the acetabular cup of the hip bone. The acetabular prosthesis can then be installed into the prepared acetabular fossa under the influence of an impact force.

As shown in fig. 1, the robotic system for performing hip surgery provided by the present disclosure includes a robotic arm 9100, a navigation system 9000, a hip actuator 9300, and a control system 9200. The robot arm 9100 corresponds to a surgeon's arm, and can hold an execution tool and position the execution tool with high accuracy. The navigation system 9000 corresponds to the surgeon's eye and can measure the position of the implement and patient tissue in real time. Control system 9200 corresponds to the surgeon's brain, storing the surgical plan internally. The control system 9200 may actively control the movement of the robotic arm 9100, or may manually push the robotic arm 9100 to move along a path, plane, or within a defined volume defined by virtual boundaries after setting the virtual boundaries of the robotic arm 9100 via a force feedback mode, based on information acquired intraoperatively by the navigation system 9000 to calculate the path and/or position of the robotic arm. The implement includes an acetabular file, a reamer portion of a intramedullary cavity reamer, and an acetabular prosthesis. Wherein the reamer parts of the acetabular file and the intramedullary reamer are used as cutting tools to prepare a mounting space for mounting the acetabular prosthesis or the femoral stem prosthesis on the bone.

The hip actuator 9300 is used to prepare the space for the installation of the prosthesis on the bone and to implant the prosthesis. The hip joint actuator includes a first actuator and a second actuator. The first actuator is for connecting a cutting tool for machining an acetabulum and/or a intramedullary canal. The first actuator has a first interface and a second interface. The second actuator is configured to be coupled to a second interface of the first actuator when performing a prosthetic implant operation. The second actuator is used for connecting the prosthesis and receiving the impact of installing the prosthesis. Wherein the hip actuator is configured to be mounted to the robotic arm 9100 via a first interface. When acetabulum preparation and medullary cavity preparation are performed in hip joint surgery, a first actuator is connected to the robot arm 9100; the second actuator is connected to the first actuator when the prosthesis is to be installed. With the above arrangement, the operation of replacing the actuator can be reduced.

Specifically, in hip replacement surgery, the preparation of the acetabular fossa is generally first advanced after exposing the affected hip. In this procedure, the acetabular fossa at the affected area needs to be ground with a rotating acetabular rasp to prepare a shape suitable for installation of the prosthesis. Fig. 1 is a schematic view of a first actuator for preparing an acetabular socket. The first actuator 6000 is connected to the robotic arm 9100 via the first interface 30, and the first actuator 6000 is detachably connected to an acetabular rasp tool assembly/acetabular rasp bar (i.e., the surgical tool 1000 a) having an acetabular rasp tool end for connection to an acetabular rasp (i.e., the cutting tool 1004 a). In this state, the acetabular rasp tool assembly/acetabular rasp bar may be driven by the first actuator 6000 to rasp the acetabulum. After the preparation of the acetabulum is completed, an acetabular prosthesis needs to be placed in the acetabulum. Fig. 2 shows a state where the second actuator 7000 is connected to the second interface 13 of the first actuator 6000 (when the acetabular rasp tool assembly for grinding the acetabulum on the first actuator 6000 is removed). The second actuator 7000 is indirectly connected to the robot arm 9100 via the first actuator 6000, and the prosthesis can be mounted under the grip of the robot arm 9100. Further, as shown in fig. 19, to perform reaming of the proximal femur, the second actuator 7000 is removed from the second interface 13 and a intramedullary reamer assembly for reaming is installed on the first actuator 6000. The intramedullary reamer assembly includes a reamer shaft portion (i.e., surgical tool 1000 b) and a reamer portion (i.e., cutting tool 1004 b).

The first actuator 6000 is described below as shown in fig. 1 to 19.

The first actuator 6000 is a joint arthroplasty actuator for preparing a molded acetabular fossa or intramedullary canal on a hip joint. First actuator 6000 includes power plant 2000 and tool assembly 3000. The power plant 2000 includes a housing 100 and an internal power assembly 2100. The first actuator 6000 is coupled to the end of the robot arm 9100 of the robot and the power assembly 2100 includes a power source 2200 and an output shaft 400, the output shaft 400 being coupled to the power source 2200. The tool assembly 3000 includes a connecting portion 8000 and a surgical tool 1000a, the surgical tool 1000a being rotatably disposed at the connecting portion 8000. The tool assembly 3000 is detachably mounted to the power unit 2000 via the connection 8000. When tool assembly 3000 is coupled to power device 2000 via coupling 8000, surgical tool 1000a is engaged with output shaft 400 to receive rotational movement output by output shaft 400. The power assembly 2100 is disposed inside the housing 100 and outputs power through the output shaft 400. The output shaft 400 engages an end of the tool assembly 3000 to drive the rasp bar without the use of a long guide barrel to guide the bar, resulting in a more compact actuator structure. Thus, the interference influence of an external power source on the operation space and the safety influence are reduced; the operation of assembling an external power source in the operation is reduced, so that the operation flow is smoother.

In particular, as shown in fig. 2, 4 to 6. Fig. 2 is a schematic view of a hip joint actuator. Fig. 4 is a schematic diagram of a power plant. Fig. 5 is a sectional view showing the internal structure of the power unit. Fig. 6 is a schematic view of the structure of the output shaft of the power unit in fig. 3. First actuator 6000 includes power plant 2000 and tool assembly 3000. Power plant 2000 includes a housing 100 and a power assembly 2100. The housing 100 is a hollow interior member and has a substantially quadrangular prism shape. The housing 100 is provided at both ends thereof with a first interface 30 and a second interface 13, respectively. The first interface 30 includes a locking mechanism for connecting the first actuator 6000 to the robotic arm 9100. The second interface 13 serves as a prosthesis mounting actuator interface for detachably connecting a prosthesis mounting actuator (i.e., the second actuator 7000). The shell 100 is also provided with a first handle 40, the first handle 40 is hollow, and the first handle 40 is detachably connected with the shell 100. The power device 2000 is configured for coupling to the tool assembly 3000 as a quick-fit interface disposed on the opposite side of the housing 100 from the first handle 40. When the tool assembly 3000 is mounted to the quick-fit interface, the first handle 40 is substantially aligned with the axis of the acetabular rasp bar assembly, which are disposed on either side of the power device 2000. Various surfaces of the housing 100 are used to connect the tracer assemblies 150 to indicate the position of the actuators.

As shown in fig. 5, power assembly 2100 includes motor 200, reducer 300, output shaft 400, and coupling 500. The motor 200 and the decelerator 300 constitute a power source 2200, and the power source 2200 is integrated inside the first handle 40 and fixedly connected with the housing 100. The shaft of the speed reducer 300 is connected to the output shaft 400 through a coupling 500. The power source 2200 and the output shaft 400 are both coaxially disposed, with the axis perpendicular to the housing 100.

As shown in fig. 7, fig. 7 is a schematic view of the structure of the output shaft. The output shaft 400 includes an input section 401, a middle section 402, and an output section 403 arranged in sequence. The input section 401 is provided with a keyway 4011 for receiving rotational movement from the power source 2200. The middle section 402 is mounted in bearings in the power plant 2000. The output section 403 is provided with a coupling spline 4031, the coupling spline 4031 comprising a plurality of circumferentially spaced apart protrusions for outputting torque. The length of the coupling spline 4031 is less than the length of the output section 403, i.e., the end section of the output section 403 is an optical axis.

As shown in fig. 8, fig. 8 is a schematic view of a coupling structure. The coupling 500 is a quincuncial coupling. The coupling 500 comprises a first part 501 and a second part 502, the first part 501 and the second part 502 are provided with locking screws for fixing shafts, and an insulating sleeve is arranged between the first part 501 and the second part 502. The shaft at the output of the reducer 300 is connected to the first portion 501 by a coupling key and a locking screw, and the output shaft 400 is also connected to the second portion 502 by a key connection and a locking screw. The coupling 500 and the shaft at the output end of the reducer 300 and the keyed connection of the output shaft 400 increase the reliability of the transmission on the basis of the locking screw on the one hand and the keyed connection on the other hand increases the maximum torque that can be transmitted.

Referring to fig. 5 and 6, inside the first actuator 6000, an insulating cover 50 is provided at the outer periphery of the coupling 500. The insulating cover 50 can isolate the housing 100 from the speed reducer 300, so as to prevent the electric leakage of the motor 200 from being conducted to the housing 100 through the speed reducer 300. The insulation cover 50 has a function of isolating wires/leads, preventing the wires/leads inside the housing 100 from rubbing or winding with the rotating coupling 500.

Reference is made to fig. 5 to 7 and fig. 9 to 10. Fig. 9 is a schematic view of the joint and output shaft configuration. Fig. 10 is a cross-sectional view of a joint and output shaft configuration. The housing 100 is further provided with a connector 600, and the connector 600 is fixed to the housing 100.

The joint 600 is used to connect the tool assembly 3000 and mount the output shaft 400. The main body of the connector 600 is columnar, a hole 601 is formed in the main body, four rotary grooves 602 are formed in the periphery of the main body, and the rotary grooves 602 are used for guiding the pin shaft piece and comprise limiting parts 6020 for limiting the circumferential direction and the axial direction of the pin shaft piece. One end of the joint 600 is provided with two wings in the radial direction. The bore 601 is configured to receive a bearing and receive the middle section 402 of the output shaft 400. The spiral groove 602 includes a precession section 6021 and a positioning section 6022, the precession section 6021 extending helically in a first axial direction, the positioning section 6022 extending in a second axial direction at an end of the precession section 6021 extending, wherein the first axial direction and the second axial direction are opposite. The sidewall of the positioning segment 6022 forms a stop portion 6020. The locating section 6022 is used to form a second axial stop and a circumferential stop for the contents of the trough. The wings are used to secure the connector 600 to the housing 100. When the output shaft 400 is mounted to the joint 600, the coupling splines 4031 extend out of the bore 601 and are located outside of the housing 100.

As shown in fig. 11 to 13. Fig. 11 is a schematic view of a first tool assembly. Fig. 12 is a cross-sectional view of a first tool assembly. Fig. 13 is a schematic view of a connection structure. Tool assembly 3000 includes a connector 8000 and a surgical tool 1000a. The surgical tool 1000a is rotatably provided at one end thereof to the connection portion 8000. The surgical tool 1000a is an acetabular milling file component, and the other end is connected with an acetabular milling file. The acetabular milling rasp bar assembly includes a connecting bar spindle 700, an acetabular rasp connecting member, and a handle sleeve 60. One end of the connecting rod main shaft 700 is rotatably connected with the connecting part 8000, and the other end is provided with a file connecting part. The handle sleeve 60 is sleeved outside the main shaft 700 of the extension rod. The end of the extension rod main shaft 700 connected to the connection portion 8000 is provided with a spline joint 701 and a joint hole 702. The spline joint 701 can be fitted with the coupling spline 4031 to achieve transmission of rotational motion. But the two are not a tight fit and can be separated in the axial direction. The diameter of the engagement hole 702 is the same as the diameter of the optical axis portion on the output section 403.

The connection 8000 includes a extension bar lock 800 and an extension bar connection module. The extension rod lock head 800 is hollow and cup-shaped, and a round hole is arranged at the bottom. Four positioning pins 801 distributed along the circumferential direction are arranged on the inner circumferential surface of the extension rod lock head 800 near the opening. The extension rod connection module is disposed inside the extension rod lock 800 for rotatably connecting the acetabular milling rasp bar assembly to the extension rod lock 800.

The extension rod connection module includes a catch 901, a positioning module 900, and a pair of sliding sleeves 903, all coaxially retained within the extension rod lock 800. The clip 901 is ring-shaped and is provided at the outermost side (the opening side of the link lock 800). The positioning module 900 includes an elastic member 902 for providing a predetermined force between the connection portion 8000 and the power device 2000, and in this embodiment, the elastic member 902 is a thrust spring. The two sliding sleeves 903 are annular and are axially positioned between the clamping support 901 and the bottom of the extension rod lock head 800. The outer circumference of the sliding sleeve 903 is matched with the inner circumference of the extension rod lock head 800, and the inner hole is equal in diameter with the extension rod main shaft 700. The thrust spring is disposed between two sliding sleeves 903.

The main shaft 700 of the extension rod is sleeved in the clamping support 901, the thrust spring and the sliding sleeve 903. The outer circumferential surface of the extension bar main shaft 700 is further provided with two ring grooves 70 having a predetermined interval, and the ring grooves 70 are used for installing a retainer ring. In the assembled relationship, the clamping support 901, the thrust spring, the sliding sleeve 903 and the extension rod lock head 800 are all located between the two baffle rings, so that the extension rod lock head 800 and the extension rod main shaft 700 form a whole. The thrust spring is compressible, so that the extension rod lock head 800 has a certain activity along the axial direction of the extension rod main shaft.

As shown in fig. 14, fig. 14 is a schematic view of a screwing structure and a spline connection. The connection portion and the power device 2000 will be connected by a screwing structure 610 to form axial and circumferential limits of the connection portion, wherein the screwing structure 610 is composed of a positioning pin 801 and a screwing groove 602, i.e. the tool assembly 3000 is connected to the housing 100 by screwing the positioning pin 801 and the screwing groove 602.

As shown in fig. 15 and 16. FIG. 15 is a schematic cross-sectional view of a power plant and a first tool assembly. Fig. 16 is a schematic view of the connection between the first tool assembly and the power unit. Referring also to fig. 7-14, in assembled relationship, the locating pin 801 is inserted into the locating section 6022 of the spin slot 602. The two axially extending side walls of the locating section 6022 form a circumferential limit to the locating pin 801 and the end walls form an axial limit to the locating pin 801. Therefore, the extension bar lock 800 does not drop in the axial direction or rotate in the circumferential direction without external force. The radial positioning is formed between the connection 8000 and both the extension rod main shaft 700 and the housing 100, which is equivalent to the radial positioning formed between the extension rod main shaft 700 and the output shaft 400 (which is positioned on the housing 100). Referring specifically to fig. 14 and 16, the optical axis portion of the output shaft 400 and the engagement hole 702 of the main shaft 700 of the extension rod form a radial positioning structure 720, and the radial positioning structure 720 is an equal-diameter shaft hole matching structure, that is, direct radial positioning is formed between the output shaft 400 and the engagement hole 702. Limited by the length and mating accuracy of the mating segments that form the radial positioning between the connection 8000 and the extension rod main shaft 700, there may be some radial play of the extension rod main shaft 700. And radial positioning between the optical axis portion of the output shaft 400 and the engagement hole 702 of the link main shaft 700 can improve radial positioning accuracy.

The spline joint 701 of the extension rod main shaft 700 aligns with and engages the coupling spline 4031 of the output shaft 400 to receive rotational movement. The axial force of the thrust spring against the lever lock 800 causes the locating pin 801 to be axially compressed against the end wall of the locating section 6022. Because the thrust spring is compressed, the connection between the connection portion 8000 and the power device 2000 has internal stress, and the internal stress enables stable axial positioning between the tool assembly 3000 and the power, and the design difficulty or the installation difficulty for ensuring the axial positioning precision cannot be increased, so that the connection is more stable, and the looseness is not easy to occur due to vibration and the like. And, the extension rod main shaft 700 is urged by the thrust spring against the output shaft 400 in the axial direction to form axial positioning.

Compared with screw thread screwing connection, the matching of the positioning pin 801 and the screw groove 602 is more labor-saving, and the rapid disassembly and assembly during operation are facilitated; the direct physical restraint of the locating section 6022 to the locating pin 801 is also more reliable relative to friction locking. In some alternative embodiments, the positioning pin 801 may be disposed on the outer circumferential surface of the extension bar lock 800, and the spin groove 602 is disposed on the inner circumferential surface of the joint 600. In other alternative embodiments, the locating pin 801 may be disposed on the inner/outer circumferential surface of the joint 600, and the rotation groove 602 may be disposed on the outer/inner circumferential surface of the extension rod lock head 800, so that the locating pin 801 is also guaranteed to be screwed when being matched with the rotation groove 602, and further axial and circumferential positioning of the joint 600 and the extension rod lock head 800 is achieved.

The joint between the output shaft 400 and the extension rod main shaft 700 is a spline connection 710, and the spline connection 710 is realized only by axially aligning the extension rod main shaft 700 with the output shaft 400 in the joint process, so that the operation is convenient. In some alternative embodiments, torque-transmittable connection between the output shaft 400 and the main shaft 700 of the extension rod can be formed by mutual engagement of end surfaces.

As shown in fig. 17, fig. 17 is a schematic diagram of another connection structure between the output shaft and the main shaft of the extension rod. In some alternative embodiments, other radial positioning structures may be substituted for the radial positioning between the optical axis portion of the output shaft 400 and the engagement hole 702 of the extension rod main shaft 700. For example, a positioning shaft 703 is provided at the end of the main shaft 700 of the extension rod, and a positioning hole 404 is provided on the output shaft 400, and the shaft holes of the two are matched to form radial positioning. Alternatively, as shown in fig. 18, fig. 18 is a schematic view of another connection structure between the output shaft and the main shaft of the extension rod. A shaft hole fitting structure is provided between the joint 600 and the extension bar main shaft 700, for example, a hole 603 having a diameter larger than that of the spline portion of the output shaft 400 is provided at the end of the joint 600, and the ends of the corresponding extension bar main shafts 700 are provided to have the same diameter, forming a shaft hole fitting therebetween.

In some alternative embodiments, springs may also be provided at other locations as elastic members 902 in positioning module 900 to create internal stresses between tool assembly 3000 and power plant 2000. For example, a compression spring is fixed to the power unit 2000. When the tool assembly 3000 is mounted to the power device 2000, the extension rod lock head 800 compresses the compression spring, and the reaction force of the compression spring compresses the positioning pin 801 of the extension rod lock head 800 in the rotary groove 602, so that the pre-pressure is kept between the extension rod lock head 800 and the power device 2000, and a relatively stable connection is formed. In the final use condition, the extension rod main shaft 700 is axially compressed with the output shaft by the reaction force of the patient tissue. The compression spring may be a common coil spring, a disc spring, a corrugated spring, etc., and of course, the elastic member 902 is not limited to a spring form, and may be a resilient piece.

The use of the hip arthroplasty will be described in detail.

In use, the first actuator 6000 is coupled to the robotic arm 9100 via the first interface 30, and the tool assembly 3000 is not installed on the first actuator 6000. First, the robotic arm 9100 enters a ready position according to a predetermined surgical plan. The surgeon mounts the acetabular rasp bar assembly carrying the acetabular rasp (i.e., cutting tool 1004 a) to the first actuator 6000 via the adapter 600. Specifically, the doctor holds the extension rod lock head 800 to axially sleeve the engagement hole of the extension rod main shaft 700 on the output section 403 of the output shaft 400, and makes the coupling spline 4031 aligned with the spline joint 701 for engagement. After the circumferential engagement of the output shaft 400 and the extension rod main shaft 700 is completed, the extension rod main shaft 700 is abutted against the output shaft 400, and a doctor pulls and rotates the extension rod lock head 800 in a direction approaching to the actuator, so that the positioning pin 801 of the extension rod lock head 800 finally enters the positioning section 6022 along the screwing section 6021 in the rotary groove 602.

Thus, the coupling spline 4031 engages the spline joint 701 to achieve circumferential engagement of the output shaft 400 and the extension rod main shaft 700, and the mating of the output section 403 and the engagement hole 702 improves the coaxiality of the connection, and also increases the radial positioning length of the docking rod main shaft 700 along with the extension rod lock head 800, improving the coaxiality of the output shaft 400 and the extension rod main shaft 700 when transmitting rotation. When the locating pin 801 is positioned within the locating section 6022, the locating pin 801 is constrained from rotating circumferentially relative to the fitting 600 by the two axially extending side walls of the locating section 6022. The thrust spring causes the extension bar lock head 800 to have a tendency to move relative to the joint 600 toward the extension bar main shaft 700, which tends to prevent the locating pin 801 from axially exiting the locating section 6022 to the precession section 6021. The thrust spring axially abuts the extension rod main shaft 700 against the output shaft 400, i.e., the thrust spring urges the extension rod main shaft 700 into axial engagement with the output shaft 400. In the above operation, the radially positioned portion of the extension rod spindle 700 is the top end, and the axial travel of the acetabular milling rasp bar assembly is small, and the required operation space is correspondingly small.

To this end, the acetabular rasp bar assembly is fully coupled to the housing 100 and the first actuator 6000 is moved to a predetermined target position under the control of the robotic arm 9100 and a physician under the direction of a predetermined surgical plan. The motor 200 is started, and the rotation of the motor 200 is transmitted to the output shaft 400 through the decelerator 300 and the coupling 500 in order. Since the output shaft 400 is connected with the extension rod main shaft 700 through the coupling spline 4031 and the spline joint 701, the extension rod main shaft 700 is driven by the output shaft 400 to rotate, and in the rotating process, the extension rod lock head 800 is fixedly connected with the joint 600, so that the extension rod lock head 800 cannot rotate. The rotating extension rod spindle 700 rotates the acetabular file (cutting tool 1004 a) for grinding and shaping of the acetabular fossa.

After the grinding forming of the acetabular fossa is completed according to a predetermined operation plan, the robot arm 9100 enters a pose in which the acetabular grinding file rod assembly can be detached, a doctor overcomes the limitation that the thrust spring elastic force lifts the extension rod lock head 800, the positioning pin 801 is separated from the positioning section 6022, the extension rod lock head 800 is rotated, the positioning pin 801 is separated from the rotary groove 602 after passing through the precession section 6021, and the extension rod lock head 800 is separated from the joint 600. Removal is accomplished by moving the acetabular milling rasp bar assembly away from the adapter 600 in the axial direction of the extension bar spindle 700.

In summary, the motor 200, the reducer 300, the coupling, and the output shaft 400 are integrated inside the housing 100, and the power cord of the motor 200 may be introduced through the interface between the housing 100 and the robot arm 9100. The first actuator 6000 is compact in structure, an external power source is not required to be arranged, and interference influence of the external power source and a power line thereof on a surgical space and potential safety hazards caused by exposure of the power line are avoided. The operation steps of the operation are reduced without assembling an external power source in the operation. The tool assembly 3000 is comprised of a connection 8000 and acetabular rasp bar assembly as a preloaded modular component that facilitates the detachable connection of the surgical tool 1000a to the output shaft 400.

As shown in fig. 19, fig. 19 is a schematic view of a first actuator structure with a second tool assembly attached thereto. In an alternative embodiment, the surgical tool 1000b is the reamer shank portion of a intramedullary reamer (i.e., reamer shank 1001), and the implement tool 1004b is the reamer portion of a intramedullary reamer. The tool assembly 3000 includes a reamer spindle 1001 of a intramedullary reamer and a coupling 8000. The reamer spindle 1001 and the reamer part for reaming the marrow connected to the reamer spindle 1001 constitute a intramedullary cavity reamer. The end of the reamer spindle 1001 is provided with a spline joint 701 for connection with a coupling spline 4031; the reamer is provided with a reamer blade 1002 for reaming the femoral medullary cavity in a rotational motion. The connecting portion 8000 has the same structure as the connecting portion 8000 for connecting the acetabular milling file rod assembly, and the connecting rod connecting module connects the reamer rod 1001 with the connecting rod lock 800. And, the tool assembly 3000 connected with the reamer rod 1001 is connected with the joint 600 and the output shaft 400 in the same way, after the extension rod lock head 800 is connected with the joint 600, the intramedullary reamer is connected to the output shaft 400 through the spline joint 701 and the coupling spline 4031, and the output shaft 400 drives the intramedullary reamer to rotate under the drive of the motor 200 and performs the reaming task of the proximal femur.

In an alternative embodiment, the first actuator 6000 is provided with three sets of tracer assemblies 150. Three sets of tracer assemblies 150 are provided on three sides of the housing 100, each set containing four co-planar tracer elements 151. As shown in fig. 2 to 4, three planes are provided on the housing 100, and three sets of trace elements 151 are provided on the three planes, respectively. The tracer element 151 may be a passive reflective ball or a reflective sheet, or may be an active electromagnetic generator or sensor.

It will be appreciated that in a hip arthroplasty procedure, the tracer assembly 150 sends positional information of the first actuator 6000 to a locator, which is typically fixedly positioned in the operative space, which is the means for receiving positional information in the navigation system 9000, such that the first actuator 6000 can be identified to the positional information in a variety of poses by the positioning of three sets of tracer elements 151. The locator may be an optical navigator for identifying reflected light or a receiver for identifying electromagnetic signals, corresponding to the trace element 151.

The second actuator 7000 is described in detail below, as shown in fig. 20 to 33.

The second actuator 7000 is a prosthesis mounting actuator for mounting the prosthesis 1003 in a hip replacement surgery. The second actuator comprises a slide bar 1, a support assembly 4000 and a slide bar tracer 2. One end of the slide bar 1 is used for connecting the prosthesis 1003 (i.e. the implement) and the other end of the slide bar 1 is used for receiving the impact force when installing the prosthesis. The support assembly 4000 comprises a coupling part 5, the coupling part 5 accommodating a part of the rod section of the slide rod 1, the slide rod 1 being axially movable relative to the support assembly 4000. The support assembly 4000 is used to connect the second actuator 7000 to the robotic arm 9100 of the robotic system. The tracer is provided to the slide bar 1 to indicate the orientation of the slide bar 1. In the second actuator 7000, the slide bar 1 is axially movable relative to the support assembly 4000, so that the axial clearance between the slide bar 1 and the support assembly 4000 can be larger than the stroke of the slide bar 1 when being hit, and the damage to the robot arm 9100 connected with the actuator due to the collision between the slide bar 1 and the support assembly 4000 can be avoided. The slide bar 1 and the support assembly 4000 are configured as a whole. The actuator can be used without assembling or disassembling the slide bar 1 and the support assembly 4000, and the whole actuator can be connected to the robot arm 9100 or separated from the robot arm 9100 through the support assembly.

Specifically, as in the embodiment shown in fig. 3, 20-27, the second actuator 7000 includes a slide bar 1, a support assembly 4000, a slide bar tracer 2, an axial buffer mechanism 80, and an axial limit structure 90. The second actuator 7000 is connected to the first actuator 6000 via the support assembly 4000, and the slide bar 1 of the second actuator 7000 is parallel to the structure of the first actuator 6000 for connecting the cutting tool 1004a when the two are connected. The first actuator 6000 is configured to be coupled to the cutting tool 1004a such that the axis of the output shaft 400 and the joint 600 are parallel to the slide bar 1. Both acetabular fossa/femoral medullary cavity formation and prosthesis implantation involve angular precision of the tool axis, and the axis angular precision is correlated, it is more advantageous to arrange the structure for attaching the cutting tool 1004a in parallel with the structure for attaching the prosthesis 1003.

As shown in fig. 20 to 21. Fig. 20 is a schematic diagram showing the overall structure of the second actuator. Fig. 21 is a cross-sectional view of the overall structure of the second actuator. The slide bar 1 is a smooth-surfaced metal rod, one end of the slide bar 1 is used for receiving hammering of doctors, and the other end is used for connecting the prosthesis 1003. The middle part of the slide bar 1 is provided with a holding part 3, and the holding part 3 is sleeved on the slide bar 1 in a sleeve shape and is fixed with the slide bar 1, so that a doctor can hold the slide bar 1 through the holding part 3. The grip 3 is an insulating plastic sleeve. The sliding rod 1 is used as a metal rod piece to ensure high strength when transmitting impact force, but instruments used for operation are not expected to be heavy, so that the diameter of the sliding rod 1 is generally small, and the sliding rod is inconvenient for a doctor to hold. The plastic holding part 3 not only increases the diameter of the holding part of the slide bar 1, provides favorable holding conditions for doctors, but also does not increase the weight of the surgical tool. Of course, in some embodiments, the grip 3 may also be an insulated rubber sleeve or a non-insulated metal sleeve. In other embodiments, the sleeve-shaped holding part 3 may be omitted, and the holding part 3 may be provided as a part of the slide bar 1 itself, and the part may be enlarged relative to the diameter of the slide bar 1 itself to facilitate holding.

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

The support assembly 4000 comprises a body 4, a coupling portion 5, an insulating sleeve 6 and a sliding sleeve 7. The body 4 has a substantially hexahedral shape, and one end (right end as viewed in fig. 21) 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 serves to prevent the patient from making a conductive path with the robotic arm 9100 equipment via contact of the support assembly 4000 with the slide 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 abrasion of the insulating sleeve 6 and increase smoothness of sliding 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 retainer ring 9 and the first end of the holding part 3 are both fixed on the slide bar 1, and two steps with diameters larger than the slide bar 1 are formed on the slide bar 1. When the slide bar 1 moves along the sliding sleeve 7, interference occurs between the two steps and the supporting component to form axial limit on the slide bar 1. In this embodiment, an 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 and the insulating member 10. The insulator 10 is a sleeve open at both ends. The diameter of the inner space of the insulating member 10 is larger than the diameter of the slide bar 1, the diameter of the opening at one end of the insulating member 10 is larger than the diameter of the slide bar 1, the diameter of the opening at the other end is the same as the diameter of the slide bar 1, and the end is provided with a blocking edge 101 to form an opening the same as the diameter of the slide bar 1. When the slide bar 1 is assembled with the support assembly 4000, the retainer ring 9 and the first end of the holding part 3 are respectively located at two sides of the support assembly 4000. The two insulating pieces 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 piece 10 with the blocking edge 101 is connected with the body 4. Thus, the retainer ring 9 and the first end of the grip portion 3 form two limit points on the slide rod, and the retainer ring 9 and the first end of the grip portion 3 limit the maximum sliding travel of the slide rod 1 relative to the support assembly 4000 when the slide rod 1 slides relative to the support assembly 4000.

In an alternative embodiment, the first end of the grip portion 3 in the axial limiting structure 90 may be replaced by a separately provided retainer ring 9, and in an alternative embodiment, the first end of the retainer ring 9 or the grip portion 3 may be a step or shoulder provided on the slide rod 1.

With specific reference to fig. 21 and 22, fig. 22 is a schematic view of the structure of the connection between the support assembly and the slide bar. An axial damping mechanism 80 is also provided in the present disclosure to axially damp the slide bar 1 and the support assembly 4000 in at least one position. 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 assembly. The two cushioning members are springs. The first cushioning member 8 is disposed between the retainer ring 9 and the insulator 10, and the second cushioning member 11 is disposed between the first end of the grip portion 3 and the stopper edge 101 of the insulator 10. The first buffer member 8 and the second buffer member 11 are both sleeved on the slide bar 1 and are arranged in the insulating member 10 in a pre-compressed state. The first buffer member 8 and the second buffer member 11 buffer the sliding rod 1 when sliding relative to the support assembly 4000, and the impact portion of the sliding rod 1 to the support assembly 4000 is absorbed by the buffer members when sliding. In this way, when the slide bar 1 slides along the axis to mount the prosthesis 1003, the slide bar 1 does not rigidly impact the robotic arm 9100, reducing the occurrence of locking or misalignment of the robotic arm 9100.

Driven by the robotic arm 9100, the second actuator 7000 reaches a target alignment position for installing an acetabular prosthesis, with the prosthesis 1003 aligned with the prepared acetabular fossa in the patient's affected area. During the movement and positioning of the robotic arm 9100, the first buffer member 8 and the second buffer member 11 are both in a compressed state, and the slide bar 1 maintains a certain axial positioning relationship with the body 4 under the action of the first buffer member 8 and the second buffer member 11, i.e. the slide bar 1 is kept approximately in the middle position of the sliding stroke, and the slide bar 1 does not freely move along the coupling portion 5.

After confirming the pose of the prosthesis 1003 and the operation path by the doctor, the robot arm 9100 is set to a linear spring arm mode, that is, the robot arm 9100 is set to have a tip arm/rod thereof with little damping in the axial direction along the slide bar 1 and with great damping in other directions by controlling the output torque of the motor at the joint of the robot arm 9100. The second actuator 7000 connected to the robot arm 9100 in this mode can be moved in the axial direction of the slide bar 1 by an external force, and is difficult to be moved in the radial direction or rotated about the radial direction. The doctor holds the grip 3 and applies an impact force to the first end on the slide bar 1. The impact force may be applied by a hammer strike or a slide hammer strike. The impact force causes the slide bar 1 to drive the prosthesis 1003 into the acetabulum. At the moment of impact, the presence of the support assembly 4000 due to inertia does not move instantaneously. During the movement of the slide bar 1, the retainer ring 9 compresses the first cushioning member 8, and the first cushioning member 8 acts on the support assembly, so that the support assembly 4000 moves with the slide bar 1 in the axial direction in a lagging manner. The first cushioning member 8 prevents the circlip 9 from making rigid contact with the body 4. After the slide bar 1 completes one impact to the prosthesis 1003, the relative relationship between the slide bar 1 and the supporting component is automatically reset to a state of not receiving hammering under the action of the first buffer 8. In some cases, it may also be desirable to apply a force to the second actuator 7000 in a direction opposite to the hammering force when the prosthesis is implanted to eject 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. The arrangement of the buffer mechanism can enable the robot arm 9100 to automatically move along with the slide bar 1 in the process of impacting the slide bar 1, and an actuator is not required to be held manually. The operator can hold the slide bar 1 and feel the striking vibration as in the conventional operation.

The axial movement travel of the slide bar 1 is limited by the first end of the limit structure grip 3 and the retainer ring 9. The arrangement of the first buffer 8 and the second buffer 11 prevents the limit structure of the slide bar 1 from being in rigid contact with the body 4 all the time. When the slide bar 1 does not receive the impact force, the slide bar 1 is kept in the middle position relative to the coupling part 5, and the slide bar 1 does not move freely relative to the supporting component, but a certain force is needed to overcome the first buffer piece 8 or the second buffer piece 11 to move the slide bar 1, so that the slide bar 1 is prevented from freely moving when the robot arm 9100 moves.

In an alternative embodiment, support assembly 4000 is provided with quick release mechanism 140 for connecting second actuator 7000 to robotic arm 9100 or first actuator 6000. As shown in fig. 25 to 27, fig. 25 to 27 are schematic views of the support assembly and the second interface structure. 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 block 12, the second limiting mechanism 142 is a plug pin assembly, the insert block 12 is used for being connected with the robot arm 9100 or the first actuator 6000 in an inserting manner, and the inserting limiting direction of the plug pin assembly is perpendicular to the inserting direction of the insert block 12. The insert block 12 is fixedly connected with the body 4 or integrally formed, one end of the insert block 12 along the inserting direction is provided with two limiting grooves 121, and the limiting grooves 121 are used for limiting the freedom degree in the inserting direction.

The body 4 is provided with a mounting hole 14 for accommodating the plug pin assembly, and the mounting hole 14 communicates with the coupling portion 5. The bolt assembly comprises a bolt 15, a first elastic piece 16, a cushion block 17 and a bolt pulling 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 with the slide bar 1, the bolt 15 vertically passes through the insert block 12 in the mounting hole 14 along the thickness direction of the insert 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 body 4 to form a movable area capable of manually poking the bolt 15, and the bolt pulling bolt 18 radially penetrates through the bolt 15 and is fixed with the bolt 15, and the bolt 15 is limited in the movable area through the bolt pulling bolt 18. The latch pull 18 is abutted against one end of the movable area under the pushing of the first elastic member 16, and the latch head penetrates out of the surface of the plug 12 and is an inclined plane.

To mount the second actuator 7000 to the first actuator 6000 by the quick release mechanism 140, a second interface 13 in the form of a slot is provided on the first actuator 6000. Specifically, the second interface 13 includes a bottom plate 131, a latch hole 133, and a limit button 132, where the bottom plate 131 is rectangular. The bolt hole 133 is provided along 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 that are connected, where the first segment 1321 is connected to the bottom plate 131 and is perpendicular to the bottom plate 131, and the second segment 1322 is parallel to the bottom plate 131 and extends toward the inside of the bottom plate 131. The stopper 132 and the bottom plate 131 form a space for accommodating the insert 12. When the plug 12 is inserted into the second interface 13, the limiting groove 121 is clamped with the limiting buckle 132, and the plug 12 cannot be separated along the inserting direction under the limitation of the limiting buckle 132.

By providing the quick release mechanism 140, the second actuator 7000 can be easily removed. As shown in fig. 25 to 27, when the plug 12 is connected to the second connector 13 from top to bottom, the plane of the bottom plate 131 is first attached to the plane of the plug, the inclined surface of the plug head contacts the bottom plate 131, and the plug 15 is retracted toward the body 4. The body 4 is moved downwards relative to the second interface, the limiting groove 121 is clamped with the limiting buckle 132, the bolt head enters the bolt hole 133, and the plug block 12 is completely matched with the second interface 13. In the space rectangular coordinate system, the insert 12 and the second interface 13 fit together in thickness and width to define 5 degrees of freedom of the insert 12 except for the z-axis (may also be the x-axis or the y-axis), the engagement of the limit groove 121 and the limit buckle 132 define the degree of freedom of the second actuator 7000 sliding along the first direction in the z-axis, and the cooperation of the latch 15 and the latch hole 133 realizes the degree of freedom of the second actuator 7000 sliding along the second direction in the z-axis, in fig. 25 to 27, the first direction is the direction of the coupling portion 5 axially downward, and the second direction is the direction of the coupling portion 5 upward. To this end, the second actuator 7000 is fixedly connected to the first actuator 6000 by the arrangement of the plug 12, the second interface 13 and the plug pin assembly. When the plug is detached, the plug pulling bolt 18 is pulled (pulled leftwards in fig. 25) to enable the plug head to be separated from 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. 25). The setting of the quick detach mechanism 140 of the second actuator 7000 allows a doctor to quickly complete the installation and the detachment of the second actuator 7000 during the operation, thereby saving the operation time.

As shown in fig. 28, fig. 28 is a schematic view of a slide bar structure with an adjusting member mounted thereon. In an alternative embodiment, the second actuator 7000 further comprises an adjustment assembly 5000, the adjustment assembly 5000 connecting the prosthesis 1003 to the slide bar 1 and being capable of adjusting the circumferential position of the prosthesis 1003 relative to said slide bar. The adjustment assembly 5000 includes an adapter shaft 21 and an adjustment member 27. The adapter shaft 21 has one end connected to the slide bar 1 and the other end connected to the hip joint prosthesis 1003. The adjusting piece 27 is sleeved at the joint of the adapter shaft 21 and the slide bar 1, the adjusting piece 27 can move between a first position 28 and a second position 29 of the adapter shaft 21 under the action of external force, the circumferential position between the adjusting piece 27 and the slide bar 1 at the first position 28 is fixed, and the circumferential position of the adjusting piece 27 relative to the slide bar 1 at the second position 29 is adjustable.

As shown in fig. 29, fig. 29 is a schematic view of the first adjusting member. The adapter shaft 21 comprises a slide bar joint, a main shaft section 210 and an acetabular prosthesis joint, wherein the slide bar joint and the acetabular prosthesis joint are arranged at two ends of the main shaft section 210, the slide bar joint is used for being connected with the slide bar 1, and the acetabular prosthesis joint is used for being connected 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 smooth hole, the periphery of the connecting hole 211 is provided with two clamping blocks 212 symmetrical with respect to the axis of the switching shaft 21, and the two clamping blocks 212 extend in a straight shape along the radial direction. The fixture block 212 below is provided with the flange 213 the same with the biggest radius of fixture block 212, and the flange 213 below is provided with spacing section 214, and the radius of spacing section 214 is greater than the radius of main shaft section 210 to form spacing step 215 in spacing section 214 and main shaft section 210 junction.

Refer to fig. 29 to 32. Fig. 30 is a second schematic view of an adjusting member. Fig. 31 is a third schematic view of an adjustment member. Fig. 32 is a schematic diagram of a nut structure according to an embodiment of the present disclosure. The adjustment member 27 comprises a detachably connected nut 22 and adapter sleeve 23, a spline 24 and a retainer 25. Referring specifically to fig. 32, the nut 22 is in a shell shape with a downward opening, an external thread is provided on an external wall 221 at the opening, two clamping grooves 222 are symmetrically provided on the external wall 221, the clamping grooves 222 extend into the nut 22, and a spline groove 223 is provided at a position near the bottom inside the nut 22. The adapter sleeve 23 is cup-shaped with an opening, and an inner thread is arranged on the inner wall of the opening of the adapter sleeve 23. The spline 24 is fixed on the slide bar 1, and the periphery is provided with tooth-like projections. 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 and the nut 22 are connected through matching of internal threads and external threads, the retainer 25 is arranged in the adapter sleeve 23, one end of the retainer is abutted with the bottom of the adapter sleeve 23, and the other end of the retainer is abutted with the flange 213.

In use, 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 is provided in connection with the operating state and the adjustment procedure of the adjustment member 27.

In the working state, the adjusting member 27 is located at the first position 28, as shown in fig. 30, the retainer 25 is in a compressed state and is abutted against the flange 213 and the bottom of the adapter sleeve 23, the retainer 25 pulls the nut 22 through the adapter sleeve 23, so that the spline groove 223 of the nut 22 is connected with the spline 24, and the clamping block 212 is embedded in the clamping groove 222. Thus, 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 above process and principle, in the working state, through the connection of the adjusting component, the sliding rod 1 and the adapter shaft 21 are fixed axially, radially and circumferentially.

To meet clinical needs, it is necessary to ensure that the prosthesis 1003 has the correct orientation for installation when the prosthesis 1003 is implanted in the prepared acetabular fossa in the patient, for example a prosthesis 1003 having wings, the prosthesis 1003 needs to be secured to the acetabular fossa to strengthen the structure at the acetabular fossa, and the wings need to be connected to the acetabular fossa in the correct orientation. It is therefore necessary to adjust the orientation of the prosthesis 1003 before each slide bar 1. Based on the second actuator 7000 of the present embodiment, when adjusting the direction of the prosthesis 1003, as shown in fig. 31, the doctor pulls the adjusting device upward to overcome the elastic force of the retainer 25 until the bottom of the adapter sleeve 23 abuts against the limiting step 215, and 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 slide rod 1, and the adapter shaft 21 rotates following the rotation of the adjusting member 27. In this way, the adjustment of the orientation of the prosthesis 1003 relative to the slide bar 1 can be achieved without rotating the slide bar 1, simply by rotating the adjustment member 27. Further, since the slide bar tracer 2 for providing the position information of the slide bar 1 in real time is connected to the slide bar 1, the slide bar tracer 2 needs to be aligned with a positioner that receives the position information. The arrangement of the above-described adjustment assembly also ensures that the slide bar tracer 2 fixedly connected to the slide bar 1 does not lose alignment with the positioner due to the rotation of the slide bar 1 when the prosthesis 1003 is adjusted, ensuring that the slide bar tracer 2 can be identified by the positioner in real time.

Also, based on the adjustment assembly, the adapter shaft 21 can be connected to different models of prostheses 1003 from different manufacturers by changing the acetabular prosthetic connector of the adapter shaft 21. The adaptation and the application of the second actuator 7000 are improved without having to replace the entire slide bar 1 for adapting to different prostheses 1003.

In an alternative embodiment, the cushioning members may retain only the first cushioning members 8 and no second cushioning members 11 are provided.

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

In some alternative embodiments, the two bumpers of the axial bumper mechanism 80 may not be pre-compressed. For example, the first cushioning member 8 may be compressed only by the gravity of the slide bar. The length of the two buffer parts can also be smaller than the stroke of the slide bar 1, and the buffer parts can move between the limiting structures, so long as the rigid collision can be prevented.

In an alternative embodiment, referring to fig. 20 and 33, fig. 33 is a schematic view of a nut structure. The end of the slide bar 1 receiving the impact force is provided with a nut 26, the nut 26 comprises a stress plate 261 and a connecting section 262, the connecting section 262 is fixedly connected with the slide bar 1 through threads, and the connecting mode is not limited to threaded connection, and can be other connecting modes such as pin connection; the area of the stress plate 261 is larger than that of the end part of the sliding rod 1, the stress plate 261 provides a larger stress target for hammering when a doctor applies impact force, and the phenomenon of hammer blank caused by smaller end part of the sliding rod 1 is avoided.

The surgical system architecture for performing knee Surgery, as shown in fig. 34, involves Computer-Assisted Surgery (CAS) techniques. The surgical system relating to this technique includes a robotic arm 9100, a navigation system 9000, a knee effector 9400 carrying a saw blade 36, and a control system 9200. The robotic arm 9100 corresponds to a surgeon's arm that can hold the saw blade 36 and position and move the saw blade 36 with greater precision. The navigation system 9000 corresponds to the surgeon's eye and can measure the position of the saw blade 36 and patient tissue in real time. Control system 9200 corresponds to the surgeon's brain, storing the surgical plan internally. The control system 9200 calculates the route and/or the position to be reached of the robotic arm 9100 based on the position information obtained by the navigation system 9000 during surgery, and may control the movement of the robotic arm 9100, or set the virtual boundary of the robotic arm 9100 by a force feedback mode, and manually push the knee joint actuator 9400 of the robotic arm 9100 to move within/along the route or plane defined by the virtual boundary.

Refer to fig. 35 and 36. Fig. 35 is a schematic view of a knee effector 9400 configured to perform total knee arthroplasty, wherein a first attachment relationship of the saw blade 36 to a main body 371 of the knee effector 9400 is shown. In this connection, the saw blade 36 is disposed on one side of the main body (the lower side of the main body 371 in fig. 35), and one end of the saw blade 36 for cutting bone tissue is directed perpendicularly to the longitudinal direction of the main body 371, i.e., the saw blade 36 is directed downward with respect to the main body 371 in fig. 35. The knee actuator 9400 is adapted to perform osteotomy procedures in total knee arthroplasty in a first coupling relationship. Fig. 36 is a schematic view of a knee effector 9400 configured to perform a tibial plateau osteotomy, wherein a second connection relationship of the saw blade 36 to the body 371 of the knee effector 9400 is shown. In this connection, the saw blade 36 is also provided on one side of the main body (the lower side of the main body 371 in fig. 36), and one end of the saw blade 36 for cutting bone tissue is directed parallel to the longitudinal direction of the main body 371, i.e., the saw blade 36 is directed to the left of the main body 371 in fig. 36. The knee effector 9400 is adapted to perform a tibial plateau osteotomy, a distal femur osteotomy, or a proximal fibula osteotomy in a second connection.

With continued reference to fig. 35-40. Fig. 37 is a front view of the knee joint actuator 9400 shown in fig. 35. Fig. 38 is a right side view of the knee actuator 9400 shown in fig. 35. Fig. 39 is a schematic view showing the internal structure of the knee joint actuator 9400 shown in fig. 5. Fig. 40 is a right side view of the knee actuator 9400 shown in fig. 36. Specifically, the knee effector 9400 includes a main body 371 and a tracer. The tracers include a first tracer 3721 and a second tracer 3722. The main body 371 is substantially a cone, and a rotation center line W of the cone is coaxial with a rotation center line of the distal arm 9101 of the robot arm 9100. On this basis, a direction reference of the subject 371 and a coordinate system CS are defined. The rotation center line W of the cone is the Z axis of the coordinate system CS, and 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 371. The body 371 has first and second ends 3701 and 3702, respectively, at opposite ends in the longitudinal direction. The body 371 is radially lateral 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 371 is fixed coaxially with the distal arm 9101 when connected to the distal arm 9101 of the robot arm 9100, and corresponds to extension of the distal arm 9101 of the robot arm 9100. In other embodiments, the shape of the body 371 is not limited to a cone, as long as it has a regular or irregular shape that is coaxial with the tip arm 9101 when connected to the robot arm 9100 and has a predetermined length. The term "coaxial" is not strictly limited to the literal meaning, as long as two rod-like structures are connected substantially co-linearly. Of course, the longitudinal definition of the main body 371 of other shapes may be referred to (when the main body 371 is connected to the robot arm 9100) the rotation center line W of the tip arm 9101, because the main body 371 rotates with the tip arm 9101, and the rotation center lines thereof are the same.

The body 371 has a first interface 30, a third interface 3712, a power mechanism 3713, and a second handle 373. The first interface 30 is located at a first end 3701 of the body 371. The third interface 3712 is located on the first side 3703 of the body 371 and is closer to the second end 3702 in the length direction. A second handle 373 is located on a second side 3704 of the main body 371 for providing a force application portion for a surgeon to push and pull the knee effector 9400. The first side 3703 of the body 371 corresponds to the underside described above, i.e., the reverse of the Y-axis; the second side 3704 corresponds to the upper side described above, i.e., the positive direction of the Y-axis. The first interface 30 includes a locking mechanism for connecting the body 371 to the robotic arm 9100. The third interface 3712 is for connecting the saw blade 36. As shown in fig. 39, the third interface 3712 is specifically a mechanical connection structure, and has a rotating shaft 37121 capable of reciprocating rotation. The saw blade 36 is fixed on the rotating shaft 37121 and is driven by the rotating shaft 7012 to reciprocate. A power mechanism 3713 is disposed inside the main body 371, the power mechanism 3713 being configured to provide power to the third interface 3712. The power mechanism 3713 mainly includes a motor 200a, a speed reducer 300a, and a transmission mechanism 37133. The motor 200a and the reducer 300a are used for providing initial power, one end of the transmission mechanism 37133 is connected with the reducer, and the other end is arranged at the third interface 3712. When the saw blade 36 is connected to the third interface 3712, the transmission mechanism 37133 receives the initial power of the motor 200a and the reducer 300a and drives the saw blade 36 to swing through the rotating shaft 37121.

The saw blade 36 is elongated and has cutting ends 361 and connecting ends 362, respectively. The cutting end 361 is provided with serrations for cutting bone tissue. The connection end 362 is configured to connect to the third interface 3712 and receive power to drive the saw blade 36 in a swinging motion.

A tracer is disposed at the second end 3702 of the body 371 for indicating the orientation of the saw blade 36. The tracers include a first tracer 3721 and a second tracer 3722. The first tracer 3721 is fixedly disposed at the second end 3702 of the main body 371, and the tracer element 3723 on the first tracer 3721 is removable. The navigation system 9000 can determine the orientation of the tracer in the surgical space and thereby the orientation of the saw blade 36. The tracer is an optical tracer, on which a tracer element 3723 is mounted, the tracer element 3723 being a reflective sheet or sphere. The navigation system 9000 includes a binocular vision camera 9001 capable of recognizing a reflective sheet or a reflective ball. The tracer allows the navigation system 9000 to clearly and accurately know the position of the blade 36 during movement of the knee effector 9400 to hold the blade 36. Such as when cutting bone tissue, the extent to which the blade 36 cuts bone tissue, as well as the remaining bone tissue to be cut, may be determined by the position of the blade 36 as reflected by the tracer. In an alternative embodiment, the tracers may also be electromagnetic transmitters or position sensors and the respective navigation system 9000 capable of identifying the electromagnetic transmission signals or position of the position sensors may determine the orientation of the saw blade 36.

When the saw blade 36 is connected to the third interface 3712, a first connection or a second connection may be formed between the saw blade 36 and the third interface 3712. In a first connection relationship there is a first relative orientation relationship between the blade 36 and the main body 371, and the orientation of the blade 36 is indicated by a first tracer 3721. The second connection has a second relative relationship between the blade 36 and the body 371, and the orientation of the blade 36 is indicated by the second tracer 3722.

Fig. 35, 37 and 38 are schematic views of the saw blade 36 in a first connection relationship with the third interface 3712. In the first connection, the blade 36 and the main body 371 have a first angle, which is a right angle, i.e., the length direction of the blade 36 and the length direction of the main body 371 (the direction of the rotation center line W) have an angle of 90 degrees. The plane of the saw blade 36 is parallel to the virtual longitudinal section P of the main body 371. The virtual vertical section P is a longitudinal section of the main body 371, and is parallel to the axis of the distal arm 9101 of the robot arm 9100. As particularly shown in fig. 35, the lengthwise direction of the saw blade 36 is directed in the opposite direction of the Y-axis; the plane of the saw blade 36 is parallel to the plane defined by the Y-axis and the Z-axis. With continued reference to fig. 35, the axis M of the first interface and the axis N of the second interface are both on a virtual longitudinal section P, wherein the axis M of the first interface coincides with the rotation centerline W, i.e. the axis M is coaxial with the Z-axis in the CS coordinate system. The axis N of the second interface coincides with the line of the body 371 pointing towards the first side 3703, i.e. the axis N is parallel to the Y-axis in the CS coordinate system. The main body 371 is symmetrical about the virtual vertical section P with the virtual vertical section P as a mirror plane. The axis O of the second handle is substantially coincident with the axis N of the second interface.

As shown in fig. 41 to 43, fig. 41 is a schematic view of a right leg total knee arthroplasty. Fig. 42 is a schematic view of the knee effector 9400 adjusting the angle of the saw blade 36. Fig. 43 is a schematic view of the knee effector 9400 adjusted to align the blade with the 6-femur distal target osteotomy plane b. With the saw blade 36 in a first orientation with the main body 371, the knee effector 9400 facilitates knee replacement procedures, such as total knee replacement or unicondylar replacement. In this type of surgery, taking a right leg total knee replacement as an example, the patient is in a supine position with the knees bent, the robotic arm 9100 and the dolly 9102 carrying it are positioned on the affected part side of the patient (the right side of the patient) and the navigation system 9000 is positioned on the opposite side of the affected part side (the left side of the patient). The robotic arm 9100 is directed laterally from the affected area, the end arm 9101 of the robotic arm 9100 is coupled to a knee actuator 9400, and the robotic arm 9100 holds the knee actuator 9400 generally above the knee and transverse to the patient. During operation, the saw blade 36 is led from the front side of the patient, the cutting end 361 of the saw blade 36 points to the knee joint, and when the saw blade 36 cuts bones, the saw blade plane can realize the positioning of six planes planned by knee joint replacement operation only by adjusting the angle of the knee joint actuator 9400 approximately around the axis W parallel to the intersection line of the coronal plane and the cross section of the human body.

Referring specifically to fig. 42, when the knee joint actuator 9400 carries the saw blade 36 to position different osteotomies, the plane of the saw blade 36 is adjusted at a position away from the affected area in order to adapt to the angle of the different target osteotomies. Rotation of the distal arm 9101 of the robotic arm about its own axis rotates the knee effector 9400 about axis W, with the plane of the saw blade 36 rotated through a certain angle. According to the clinical osteotomy sequence, the knee joint actuator 9400 has a first posture A, a second posture B, a third posture C, a fourth posture D, a fifth posture E and a sixth posture G in sequence after posture adjustment. Wherein the angle 6 of the saw blade in the first pose a of the knee effector 9400 corresponds to the angle of the tibial target osteotomy face a; the angle of the saw blade in the second posture B corresponds to the angle of the target osteotomy face B of the distal femur; the angle 6 of the saw blade in the third posture C corresponds to the angle of the target osteotomy face C of the front end of the femur; the angle of the saw blade in the fourth posture D corresponds to the angle of the target osteotomy face D of the rear end of the femur, the angle of the saw blade in the fifth posture E corresponds to the angle of the target osteotomy face E of the rear oblique femur, and the angle of the saw blade in the sixth posture G corresponds to the angle of the target osteotomy face G of the front oblique femur. After the saw blade 36 is positioned at the angles with respect to the six corresponding target osteotomy planes, the robotic arm 9100 translates a certain distance within a certain range according to a predetermined path to achieve alignment of each plane with the target osteotomy plane, as shown in fig. 43, which is a schematic view of the saw blade 36 aligned with the target osteotomy plane b at the distal femur and about to perform osteotomy, the robotic arm 9100 limits the movement range of the saw blade 36 to the plane under the control of the control system 9200 after the saw blade 36 is positioned in this state, and the doctor pushes the knee joint actuator 9400 to move on the plane and complete the corresponding osteotomy.

With continued reference to fig. 42, regardless of the translation of the position of the blade 36, during the angular adjustment of the blade 36, the rotation of the knee effector 9400 about the axis W brings the blade 36 to angular adjustment to accommodate different target osteotomy planes. In this way, the robot arm 9100 does not need to adjust its posture at a large angle, and the angle of the saw blade 36 can be adjusted by rotating the knee actuator 9400 about the axis W only by the tip arm 9101 of the robot arm 9100. It will be appreciated that the knee unicondylar replacement is similar to the total knee replacement, and also that in the supine position of the patient in flexion, the saw blade 36 is used to perform an osteotomy from the anterior approach of the patient, and the positioning principle of the specific osteotomy plane is the same as that associated with the total knee replacement and will not be described again.

Fig. 44-46 are schematic views of the surgical space of the saw blade 36 and the third interface 3712 in a second connection relationship. Fig. 44 is a schematic view of a left leg medial tibial plateau osteotomy. Fig. 45 and 46 are schematic views of the saw blade aligned with the high tibia. In the second connection, the blade 36 and the main body 371 have a second angle, which is zero, i.e., the length direction of the blade 36 is parallel to the length direction (direction of the axis W) of the main body 371. The plane of the saw blade 36 is parallel to a virtual longitudinal section P of the main body 371, which is a longitudinal section of the main body 371. Specifically, the virtual longitudinal section P of the main body 371 is a plane defined by an axis M of the first interface and an axis N of the second interface, where the axis M of the first interface coincides with the axis W, and the axis N of the second interface coincides with a line of the main body 371 pointing to the first side 3703. The main body 371 is symmetrical about the virtual vertical section P with the virtual vertical section P as a mirror plane.

With the second orientation between the blade 36 and the body 371, the knee effector 9400 facilitates high tibial osteotomies and distal femoral osteotomies. This type of procedure protects the integrity of the physiology of the knee by an open wedge osteotomy or a closed osteotomy laterally of the femur F or tibia T, the primary surgical modality for treating early knee joint pathologies. Unlike knee replacement surgery, a tibial plateau osteotomy or a distal femur osteotomy will be routed on the medial or lateral side of the affected side. As shown in fig. 44, taking the upper tibia osteotomy on the medial left leg as an example, the patient is in a supine position with the knee bent, the robotic arm 9100 and the trolley 9102 carrying it are positioned on the opposite side of the patient's affected area (the right side of the patient), and the navigation system 9000 is positioned on the affected area (the left side of the patient). The robotic arm 9100 is pointed to the opposite side from the affected side, with the knee actuator 9400 attached to the distal arm 9101 of the robotic arm, and the robotic arm 9100 holds the actuator generally transverse to the patient and above and closer to the left leg intermediate the left and right legs. As shown in fig. 45 and 46, during operation, the saw blade 36 will be routed medially from the proximal end of the patient's left leg tibia T, with the cutting end 361 of the saw blade 36 pointing proximally toward the tibia T in a direction transverse to the patient's horizontal direction. In osteotomies, the plane of blade 36 is a planned osteotomy plane that accommodates a predetermined surgical plan, requiring the knee effector 9400 to adjust the angle of the plane of blade 36 approximately about an axis W that is parallel to the intersection of the coronal plane and the transverse plane of the body. In the angular adjustment process, rotation of the distal arm 9101 of the robotic arm about its own axis rotates the knee effector 9400 about the axis W, with the plane of the saw blade 36 rotated through an angle parallel to the tibial high target osteotomy plane h. And, the robotic arm 9100 translates a distance in a range according to a predetermined path to achieve alignment of the various planes with the tibial high target osteotomy plane h.

Under the condition that the translation of the saw blade 36 is not considered, in the angle adjustment process of the saw blade 36, the saw blade 36 is adapted to the corresponding tibia high-level target osteotomy plane h, the robot arm 9100 does not need to adjust the posture of the robot arm 9100 greatly at a large angle, and the adjustment of the angle of the saw blade 36 can be realized only by rotating the tail end arm of the robot arm 9100. It will be appreciated that the distal femur osteotomy is similar to the high tibia osteotomy in that the patient is in a flexed supine position with the knee effector 9400 carrying the saw blade 36 routed from either the medial or lateral side of the respective femur. Also, proximal fibula osteotomies are similar to high tibial osteotomies. The patient is typically in a supine position with the knee joint actuators 9400 carrying saw blades 36 accessing the respective fibula from the posterolateral approach, cutting position 6 to 10cm below the fibula head. In operation, the knee joint actuator 9400 carries a saw blade 36 to cut the fibula approximately 2cm and to block the cut end with bone wax to prevent the broken end of the fibula from healing. In a distal femur osteotomy and a proximal fibula osteotomy, the cutting end 361 of the blade 36 may be directed from the side of the bone toward the surgical site when the blade 36 has a second connection relationship with the knee effector 9400 based on a similar approach and osteotomy pose of the blade 36. The robotic arm 9100 can carry a knee joint actuator 9400 to flexibly and conveniently perform distal femur osteotomies or proximal fibula osteotomies.

Thus, by providing the first and second connection of the blade 36 to the main body 371, the cutting end 361 of the blade 36 can be better directed toward the knee joint area to be operated on the anterior side of the patient when the blade 36 has a first orientation with respect to the main body 371. With the blade 36 in the second orientation with the body 371, the cutting end 361 of the blade 36 is better directed toward the femur F, tibia T, or fibula from the medial or lateral side of the patient's lower limb. The blade 36 is coupled to the main body 371 in a first coupling relationship and a second coupling relationship, the knee effector 9400 can accommodate different surgical approaches and types of surgery, and the robotic arm 9100 carrying the knee effector 9400 does not need to position the blade to the target osteotomy plane in a complex or difficult-to-reach pose. The operation of doctor is convenient, the operation space is sufficient, and the robot carrying the knee joint actuator 9400 has enough flexibility to complete various operation type operations, the equipment purchase cost and the learning time cost of doctor are greatly reduced.

As shown in fig. 47-49, in the present embodiment, the third interface 3712 is a clamping mechanism 38, and the saw blade 36 is coupled to a knee effector 9400 via the clamping mechanism 38. The clamping mechanism 38 includes two oppositely disposed clamping portions 381 that are brought closer together by an external force to clamp the attachment end 362 of the saw blade 36.

A schematic of the first saw blade 36 and clamping mechanism 38 is shown in fig. 47. A reversing structure is provided between the two clamping portions 381 and the saw blade 36, and the reversing structure can enable the saw blade 36 to be connected with the main body 371 through the third interface 3712 to form a first connection relationship or a second connection relationship. The reversing structure comprises a protrusion 391 and a groove 392, wherein the protrusion 391 and the groove 392 are respectively arranged on the clamping part 381 and the saw blade 36, the groove 392 at least comprises two accommodating spaces 3921, and the saw blade 36 and the rotating shaft 37121 are respectively fixed in the circumferential direction when the two accommodating spaces 3921 are matched with the protrusion 391.

With continued reference to fig. 47, the protrusions 391 are provided on one of the clamping portions 381, the recesses 392 are provided on the attachment end 362 of the saw blade 36, and both the protrusions 391 and the recesses 392 include circumferentially uniformly distributed strip-like elements. When the saw blade 36 is clamped by the clamping portion 381, the saw blade 36 will have a plurality of angular attachment arrangements relative to the main body 371, wherein the two attachment arrangements correspond to a first attachment relationship and a second attachment relationship of the saw blade 36 to the main body 371, respectively. Thus, when knee replacement surgery is desired, adjustment of the mating relationship of the projection 391 and recess 392 provides a first orientation of the saw blade 36 with respect to the main body 371. When a high tibial or distal femoral resection is desired, the mating relationship of the projection 391 and recess 392 can be adjusted to provide a second orientation of the saw blade 36 with respect to the main body 371. In an alternative embodiment, the protrusions 391 are provided at the attachment end 362 of the saw blade 36 and the recesses 392 are provided at the clamping portion 381. In an alternative embodiment, fig. 48 and 49 are schematic views of a second type of saw blade 36 and clamping structure 8. The shape of the protrusions 391a and recesses 392a is different from that described above (embodiment shown in fig. 37). The protrusion 391a is formed in a bar shape, the recess 392a has two receiving spaces 3921 disposed at 90 degrees therebetween, and the bar-shaped protrusion 391a corresponds to the first and second connection relationships of the saw blade 36 and the main body 371 in the two receiving spaces 3921, respectively. The condition shown in fig. 48 provides the saw blade 36 in a first connected relationship with the main body 371; the condition shown in fig. 49 provides the blade 36 in a second connected relationship with the main body 371.

As shown in fig. 39, 40, and 50, in the present embodiment, the tracers include a first tracer 3721 and a second tracer 3722. The first tracer 3721 is fixedly disposed at the second end 3702 of the main body 371, and the tracer element 3723 on the first tracer 3721 is removable, the orientation being indicated by the first tracer 3721 when the saw blade 36 has a first connected relationship with the main body 371. The second tracer 3722 is removably attached to the second end 3702 of the main body 371, the orientation being indicated by the second tracer 3722 when the saw blade 36 has a second connection relationship with the main body 371.

In a clinical procedure, when the saw blade 36 is in a first connected relationship with the main body 371, the saw blade 36 is directed from the anterior side of the patient (above the knee of the patient when the patient is flexed) toward the knee, and the knee actuator 9400 is positioned above the leg of the patient in the flexed state, and the first tracer 3721 is substantially coincident with the height of the main body 371 relative to the patient. The navigation system 9000 is located on the opposite side of the main body 371, and can identify the position information of the first tracer 3721, and the control system 9200 obtains the position information of the saw blade according to the position information of the first tracer 3721 to control the knee joint actuator 9400 to position the saw blade 36 to the target osteotomy plane.

When the saw blade 36 has a second connection to the main body 371, the tracer element 3723 on the first tracer 3721 is removed and the second tracer 3722 is connected to the second end 3702 of the main body 371. The second tracer 3722 is located on the side of the first tracer 3721 facing away from the third interface 3712. Thus, in the surgical space, the second tracer 3722 can be positioned higher than the patient's lower limb in the flexed state when the knee effector 9400 is positioned at the proximal end of the tibia T in the flexed state, and the navigation system 9000 on the opposite side of the second tracer 3722 can recognize the positional information of the second tracer 3722 without obstruction. The verification stand when the plane of the saw blade 36 is verified also needs to face the navigation system 9000, the saw blade 36 is closer to the main body 371, the first tracer 3721 and the second tracer 3722 may be blocked when the verification stand is mounted on the saw blade 36, and the second tracer 3722 is not blocked from being recognized by the navigation system 9000 when the verification stand is mounted on the saw blade 36.

In an alternative embodiment, the tracer may comprise only the first tracer 3721. When performing total knee replacement, tibial high resection or femoral distal resection, the saw blade 36 has a first connection or a second connection with the main body, and the positioning system determines the pose of the saw blade 36 in the surgical space by the pose of the first tracer 3721. In the case of only the first tracer 3721, it is only necessary to ensure that the leg or verification frame of the patient in the flexed position does not obstruct the view of the navigation system 9000 identifying the first tracer 3721 when the access blade 36 has the second connection relationship with the actuator. The height thereof in the Y-axis forward direction may be increased on the basis of the first tracer 3721 shown in fig. 35.

As shown in fig. 39, 40, 50 and 51, fig. 50 is a schematic diagram of the second tracer 3722 and the main body 371. Fig. 51 is a schematic diagram of a second tracer construction. In this embodiment, the second tracer 3722 is connected to the second end 3702 of the main body 371 by a detachable fixing structure, which includes a plug assembly and a locking member 3103, the plug assembly includes a plug member 3101 and a sleeve member 3102, and when the plug member 3101 is plugged into the sleeve member 3102, the second tracer 3722 has a remaining degree of freedom to move relative to the main body 371 in a direction opposite to the plugging direction. The lock 3103 is used to feed in a direction perpendicular to the direction of insertion to limit the remaining degrees of freedom of the second tracer 3722 relative to the main body 371.

With continued reference to fig. 50 and 51, specifically, the latch 3101 is provided on the main body 371 and is a dovetail-shaped plug. The set 3102 is provided in the second tracer 3722, and is a dovetail groove. When the plug member 3101 is plugged into the sleeve 3102, the second tracer 3722 has a remaining degree of freedom in the plugging direction that is not fixed with respect to the main body 371. The locking member 3103 is a jackscrew structure, and when the remaining degrees of freedom are fixed by the locking member 3103, the locking member 3103 penetrates through the bottom surface of the slot to be in abutting contact with the surface of the latch member 3101, so as to limit the second tracer 3722 from being separated from the main body 371 along the opposite direction of the plugging direction.

As shown in fig. 35 to 40, 50 and 51, the tracer includes a tracer rack 3724 and a tracer portion, the tracer rack 3724 is connected to the actuator body 371, the tracer portion includes a plurality of tracer elements 3723 connected to the tracer rack 3724, the plurality of tracer elements 3723 are arranged along a plane, and the plurality of tracer elements 3723 arranged along the plane define a plane that is recognized by the navigation system 9000 and reflects an orientation of the saw blade 36 accordingly.

In an alternative embodiment, the body 371 of the knee effector 9400 does not have a second handle 373 disposed thereon. In this way, the operator may grasp the second side 3704 of the body 371 to control the pose change or movement of the knee joint actuator.

With continued reference to fig. 1 and 34, in a second aspect, the present disclosure proposes a surgical system comprising an joint surgical device, a navigation system 9000, and a control system 9200, the joint surgical device being a knee joint surgical device of the first aspect. In the joint surgical device, a robot arm 9100 is used to mount a hip joint actuator 9300 or a knee joint actuator 9400, and power the hip joint actuator 9300 or the knee joint actuator 9400; the navigation system 9000 is used to identify the position of the tracer to obtain position information of the saw blade or the implement; a control system 9200 for controlling the hip actuator 9300 or the knee actuator 9400 to operate in accordance with a predetermined operation schedule.

In particular, the control system 9200 can control the robotic arm 9100 such that the robotic arm 9100 moves entirely autonomously in accordance with a surgical plan, or by providing tactile feedback or force feedback to limit the surgeon to manually moving the surgical tool 3 beyond a predetermined virtual boundary, or to provide virtual guidance to guide the surgeon along a certain degree of freedom. The virtual boundaries and virtual guides may be derived from a surgical plan or may be intraoperatively set by an input device. The hip joint actuator 9300 or the knee joint actuator 9400 can be detachably connected with the robot arm 9100; the navigation system 9000 is used to learn the position of the saw blade 36, the implement, and the patient's bone. The navigation system 9000 generally comprises a locator (e.g. a binocular camera 21) to measure the position of the tracer as described above by means of 3D measurement techniques. The control system 9200 is used to drive the robotic arm to move the hip or knee effector 9300, 9400 according to a surgical plan to position the saw blade 36 or implement to a target position. The surgical plan may include robotic arm travel paths, movement boundaries, and the like.

In the surgical system, with the aid of robotic arm 9100, control system 9200, and navigation system 9000. Preparation of the acetabular fossa or preparation of the intramedullary canal or installation of the prosthesis 1003 can be performed only with the robotic arm 9100 coupled to the hip actuator 9300. Knee surgery is performed with the robotic arm attached to the knee effector 9400. The system can adapt to various operation modes and operation modes, so that the time for a doctor to adapt to the operation system is reduced, and corresponding special equipment is not required to be purchased independently for various operations.

While the disclosure has been described in detail with respect to the general description and the specific embodiments thereof, it will be apparent to those skilled in the art that certain modifications and improvements can be made thereto based upon the disclosure. Accordingly, such modifications or improvements may be made without departing from the spirit of the disclosure and are intended to be within the scope of the disclosure as claimed.

Claims

1. An joint surgery device for selectively performing knee surgery or hip replacement surgery, comprising:

a knee effector for connecting a saw blade to cut a predetermined shape on a bone, the knee effector being configured to be detachably connected with the saw blade;

A hip-joint actuator for connecting an actuating tool to prepare a prosthesis-mounted space on a bone and to implant a prosthesis, the hip-joint actuator being configured for detachable connection with the actuating tool;

a robotic arm for connecting the knee or hip joint actuator;

the knee and hip actuators are configured to have identical first interfaces for detachably connecting the knee or hip actuator to the robotic arm.

2. The joint surgical device of claim 1, wherein the knee or hip actuator is coaxial with the end arm of the robotic arm when the first interface and the end arm are connected.

3. The joint surgical device of claim 1, wherein the first interface includes a locking mechanism for connecting the knee or hip actuator to a distal arm of the robotic arm.

4. The joint surgical device of claim 1, wherein the hip actuator comprises:

a first actuator for connecting a cutting tool to machine an acetabulum and/or a intramedullary canal, the first actuator having a first interface and a second interface; and

A second actuator for connecting to a second interface of the first actuator when performing a prosthetic implantation operation, the second actuator for connecting to a prosthesis and receiving an impact of installing the prosthesis; wherein, the liquid crystal display device comprises a liquid crystal display device,

the first actuator is configured to be mounted to a robotic arm via the first interface.

5. The joint surgical device of claim 4, wherein the structure for attaching the prosthesis is parallel to the structure for attaching the cutting tool when the second actuator is attached to the first actuator.

6. The joint surgical device of claim 4, wherein the first interface and the second interface are distributed across the first actuator.

7. The joint surgical device of claim 4, wherein the first actuator is provided with a first handle configured to be parallel or coaxial with the cutting tool when the cutting tool is connected to the first actuator, the first handle and the cutting tool being distributed on both sides of the first actuator.

8. The joint surgical device of claim 4, wherein the first actuator comprises a power device and a tool assembly, the tool assembly being detachably coupled to the power device, the first interface being disposed on the power device.

9. The joint surgical device of claim 8, wherein the power device comprises a built-in power assembly comprising a power source and an output shaft, the output shaft being coupled to the power source;

the tool assembly comprises a connecting part and a surgical tool, the surgical tool is rotatably arranged on the connecting part, and the tool assembly is detachably arranged on the power device through the connecting part; wherein, the liquid crystal display device comprises a liquid crystal display device,

the surgical tool is engaged with the output shaft to receive rotational movement of the output shaft when the tool assembly is coupled to the power device via the coupling.

10. The joint surgical device of claim 9, wherein the engagement is formed by an insertion or socket action of the surgical tool in an axial direction relative to the output shaft.

11. The joint surgical device of claim 9, wherein a radial positioning structure is further provided between the surgical tool and the power device.

12. The joint surgical device of claim 11, wherein the radial positioning structure is disposed between the surgical tool and the output shaft, the radial positioning structure being a shaft bore fit between the output shaft and the surgical tool.

13. The joint surgical device of claim 9, wherein a positioning module is disposed between the connection and the power device, the positioning module providing a predetermined force between the connection and the power device.

14. The joint surgical device of claim 13, wherein the positioning module includes a resilient member that is compressed by the power device and the tool assembly to generate the predetermined force, the predetermined force being in a direction that is axial to the output shaft.

15. The joint surgical device of claim 4, wherein the second actuator is a prosthetic mounting actuator comprising:

the device comprises a sliding rod, a fixing device and a fixing device, wherein one end of the sliding rod is used for connecting a prosthesis, and the other end of the sliding rod is used for receiving impact force when the prosthesis is installed;

a support assembly including a coupling portion that accommodates 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 second actuator to a robot arm of a robot system; and

the slide bar tracer is arranged on the slide bar to indicate the direction of the slide bar.

16. The joint surgical device of claim 15, wherein the second actuator further comprises an axial damping mechanism that forms an axial damping between the slide bar and the support assembly when the slide bar is axially impacted.

17. The joint surgical device of claim 16, wherein an axial limit structure is disposed between the slide bar and the support assembly, and the axial buffer mechanism is disposed between the support assembly and the axial limit structure.

18. The joint surgical device of claim 17, wherein the coupling portion is a channel extending through the support assembly, and the axial cushioning mechanism includes 2 cushioning members, the 2 cushioning members being located at opposite ends of the channel.

19. The joint surgical device of claim 1, wherein the knee joint actuator comprises:

the main body is provided with a first interface, a third interface and a power mechanism, wherein the first interface is used for being connected with the robot arm, the third interface is used for being connected with the saw blade, the power mechanism is arranged in the main body, and the power mechanism is used for providing power for the third interface;

The tracer is arranged on the main body and used for indicating the direction of the saw blade; wherein the method comprises the steps of

The third interface is configured to form a first connection relationship or a second connection relationship with the saw blade, wherein the saw blade and the main body have a first relative orientation relationship under the first connection relationship, and the saw blade and the main body have a second relative orientation relationship under the second connection relationship.

20. The joint surgical device of claim 19, wherein the first relative orientation is a first angle value of the saw blade to the body and the second relative orientation is a second angle value of the saw blade to the body.

21. The joint surgical device of claim 20, wherein the first relative orientation is with the saw blade perpendicular to the body and the second relative orientation is with the saw blade parallel to the body.

22. The joint surgical device of claim 19, wherein the first interface is located at a first end of the body and the third interface is located at a first side of the body.

23. The joint surgical device of claim 22, wherein the third interface is located on the first side of the body proximate to a second end, the second end and the first end being two ends of the body.

24. The joint surgical device of claim 22, wherein in the first connection the cutting end of the saw blade extends away from the body from the first side of the body, and in the second connection the cutting end of the saw blade is directed opposite the first end of the body.

25. The joint surgical device of claim 19, wherein the plane of the saw blade is disposed parallel to the virtual longitudinal cross-section of the body.

26. The joint surgical device of claim 25, wherein the body is coaxially disposed with a distal arm of the robotic arm when connected thereto, the virtual longitudinal section being parallel to an axis of the distal arm.

27. A surgical system, comprising:

an joint surgery device according to any one of claims 1 to 26;

a navigation system for detecting a position of the knee or hip actuator; and

and the control system is used for driving the robot arm to move the knee joint actuator or the hip joint actuator to the target position according to the operation plan.