CN219835715U

CN219835715U - Acetabular prosthesis installation actuator and operation system

Info

Publication number: CN219835715U
Application number: CN202320355847.6U
Authority: CN
Inventors: 王超
Original assignee: Beijing And Huaruibo Medical Technology Co ltd
Current assignee: Beijing And Huaruibo Medical Technology Co ltd
Priority date: 2023-03-01
Filing date: 2023-03-01
Publication date: 2023-10-17
Anticipated expiration: 2033-03-01

Abstract

The utility model provides an acetabular prosthesis installation actuator and an operation system, which belong to the technical field of medical equipment, and comprise a sliding rod, an actuator body and a buffer component, wherein one end of the sliding rod is used for carrying an acetabular prosthesis, and the other end of the sliding rod is used for receiving impact to install the acetabular prosthesis to a target position; the actuator body comprises a first connecting end and a second connecting end, the first connecting end is used for being connected with the robot arm, the second connecting end is provided with a channel for receiving the sliding rod, and a preset gap is reserved between the channel and the sliding rod; the buffer component is sleeved on the slide rod, one end of the buffer component is elastically connected with the slide rod, and the other end of the buffer component is in a first matching state or a second matching state with the actuator body at one end of the channel. According to the acetabular prosthesis installation actuator and the operation system, the buffer component can buffer radial impact between the sliding rod and the actuator body and absorb partial radial impact between the sliding rod and the connecting mechanism.

Description

Acetabular prosthesis installation actuator and operation system

Technical Field

The utility model belongs to the technical field of medical equipment, and particularly relates to an acetabular prosthesis installation actuator and an operation system.

Background

In robotic-assisted hip replacement surgery, an acetabular prosthesis is required to be rigidly connected to an acetabular impactor and to be driven into the patient's acetabular fossa by hammering the acetabular impactor with a bone hammer. With reference to the information of the surgical plan, whether the acetabular prosthesis is hammered into place can be determined according to the position information of the reflector identification points on the acetabular impactor. The whole using process of the acetabular impactor is assembled and connected with the mechanical arm. The mechanical arm can be transmitted to the vibrations that the bone hammer produced when hammering the acetabular impactor, and when hammering power is big, vibrations are violent, the mechanical arm can appear locking trouble. The mechanical arm is locked, so that the mechanical arm can be damaged, and the smooth operation can be influenced.

Disclosure of Invention

The utility model aims to provide an acetabular prosthesis installation actuator and an operation system, which aim to greatly reduce vibration generated when an acetabular impactor is hammered by a bone hammer in operation and transmitted to a mechanical arm.

In order to achieve the above purpose, the utility model adopts the following technical scheme: provided are an acetabular prosthesis installation actuator and a surgical system, comprising:

one end of the sliding rod is used for carrying an acetabular prosthesis, and the other end of the sliding rod is used for receiving impact to mount the acetabular prosthesis to a target position;

the actuator body comprises a first connecting end and a second connecting end, wherein the first connecting end is used for being connected with the robot arm, the second connecting end is provided with a channel for receiving the sliding rod, and a preset gap is reserved between the channel and the sliding rod;

the buffer component is sleeved on the sliding rod, one end of the buffer component is elastically connected with the sliding rod, and the other end of the buffer component is in a first matching state or a second matching state with the actuator body at one end of the channel; in the first matching state, the sliding rod is coincident with the axis of the channel, and in the second matching state, the axis of the sliding rod is offset relative to the axis of the channel.

Preferably, the damper assembly includes a damper configured to be elastically deformable to switch the damper assembly and the actuator body between a first engagement state and the second engagement state.

Preferably, the first mating state is a curved mating.

Preferably, the curved surface is one or more of a spherical surface and a conical surface.

Preferably, the actuator body of passageway one end is provided with first mating surface, the one end of buffer assembly is provided with the second mating surface, under the first mating condition, first mating surface with the laminating of second mating surface.

Preferably, the first mating surface and the second mating surface are configured such that when the slide bar receives a radial impact, the first mating surface and the second mating surface are offset, and the buffer assembly and the actuator body are switched to a second mating state.

Preferably, the first mating surface is convex, and the second mating surface is concave.

Preferably, the buffer assembly comprises a guide member and an elastic member, wherein the guide member is sleeved on the sliding rod, one end of the guide member is a curved surface and is matched with the actuator body at one end of the channel, and the other end of the guide member is elastically connected with the sliding rod through the elastic member.

Preferably, the elastic member is a spring disposed along an axial direction of the slide bar.

The present utility model also provides a surgical system comprising:

a prosthesis mounting actuator, the prosthesis mounting actuator being any one of the above;

a robot arm for carrying the prosthesis mounting actuator;

a control system for controlling the robotic arm and/or the prosthesis mounting actuator to perform a predetermined surgical plan.

The acetabular prosthesis installation executor and the operation system provided by the utility model have the beneficial effects that: compared with the prior art, the acetabular prosthesis installation actuator and the operation system have the advantages that the acetabular prosthesis installation actuator transmits shock to the connecting mechanism when the sliding rod receives impact, so that vibration of the robot arm is reduced, and locking or faults of the robot arm are avoided. The buffer component can buffer radial impact between the slide bar and the actuator body, and partial radial impact between the slide bar and the connecting mechanism is absorbed by means of the change of the matching state of the buffer component and the actuator body. The acetabular prosthesis installation actuator is assembled by mechanical parts, and is flexible and stable in structure.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of an acetabular prosthesis installation actuator according to an embodiment of the utility model;

fig. 2 is a schematic structural view of an acetabular prosthesis installation actuator according to an embodiment of the utility model;

FIG. 3 is a schematic cross-sectional view of an acetabular prosthesis installation actuator according to an embodiment of the utility model;

fig. 4 is a schematic structural view III of an acetabular prosthesis installation actuator according to an embodiment of the utility model;

FIG. 5 is a schematic view of a damping device according to an embodiment of the present utility model;

fig. 6 is a schematic structural diagram of a surgical system according to an embodiment of the present utility model.

In the figure:

1. a robotic arm; 2. a control system; 3. a buffer assembly; 31. a guide member; 311. a first guide; 3111. a first contact block; 3112. a first limiting member; 312. a second guide; 3121. a second contact block; 3122. a second limiting piece; 32. an elastic member; 321. a first elastic member; 322. a second elastic member; 4. striking the cap; 5. an actuator body; 51. a channel; 6. a slide bar; 7. acetabular cup connection.

Detailed Description

Embodiments of the present utility model are described in further detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the utility model and are not intended to limit the scope of the utility model, i.e., the utility model is not limited to the embodiments described.

In the description of the present utility model, it is to be noted that, unless otherwise indicated, the meaning of "plurality" is two or more; the terms "upper," "lower," "left," "right," "inner," "outer," and the like are merely used for convenience in describing the present utility model and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The "vertical" is not strictly vertical but is within the allowable error range. "parallel" is not strictly parallel but is within the tolerance of the error.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present utility model can be understood as appropriate by those of ordinary skill in the art.

For a better understanding of the present utility model, embodiments of the present utility model are described below with reference to fig. 1 to 6.

Referring to fig. 1 to 5 together, an acetabular prosthesis installation actuator according to the present utility model will now be described. The acetabular prosthesis installation actuator comprises a sliding rod 6, an actuator body 5 and a buffer component 3, wherein one end of the sliding rod 6 is used for carrying an acetabular prosthesis, and the other end of the sliding rod is used for receiving impact to install the acetabular prosthesis to a target position; the actuator body 5 comprises a first connecting end and a second connecting end, wherein the first connecting end is used for being connected with the robot arm 1, the second connecting end is provided with a channel 51 for receiving the slide rod 6, and a preset gap is reserved between the channel 51 and the slide rod 6; the buffer component 3 is sleeved on the slide rod 6, and the buffer component 3 is configured such that one end of the buffer component 3 is elastically connected with the slide rod 6, and the other end of the buffer component 3 is in a first matching state or a second matching state with the actuator body 5 at one end of the channel 51; in the first mated state, the slide bar 6 coincides with the axis of the channel 51, and in the second mated state, the axis of the slide bar 6 is offset with respect to the axis of the channel 51.

The acetabular prosthesis installation actuator has the first matching state of the buffer assembly 3 and the actuator body 5 under the condition of no external force. When the slide rod 6 receives a force for installing the acetabular prosthesis, a part of the impact received by the slide rod 6 is transmitted to the damper assembly 3, and the engagement state of the damper assembly 3 and the actuator body 5 is changed from the first engagement state to the second engagement state. When the impact applied to the slide rod 6 is ended, the matching state of the buffer assembly 3 and the actuator body 5 is changed from the second matching state to the first matching state.

Compared with the prior art, the acetabular prosthesis installation executor provided by the utility model has the advantages that the shock transmitted to the connecting mechanism when the sliding rod 6 receives impact is reduced, so that the robot arm is prevented from locking or failing. The buffering action of the buffer assembly 3 can buffer the radial impact between the slide rod 6 and the actuator body 5, and the partial radial impact between the slide rod and the connecting mechanism is absorbed by the change of the matching state of the buffer assembly 3 and the actuator body 5. The acetabular prosthesis installation actuator is assembled by mechanical parts, and is flexible and stable in structure.

As a specific implementation of the embodiment of the present utility model, referring to fig. 1 to 5, the buffer assembly 3 includes a buffer member, and the buffer member is configured to be elastically deformed so as to switch between the first mating state and the second mating state of the buffer assembly 3 and the actuator body 5. In this embodiment, the first mating state is curved surface mating.

In this embodiment, the actuator body 5 at one end of the channel 51 is provided with a first mating surface, and one end of the buffer assembly 3 is provided with a second mating surface, where in the first mating state, the first mating surface is attached to the second mating surface. The first mating surface and the second mating surface are configured such that when the slide bar 6 receives a radial impact, the first mating surface and the second mating surface are dislocated, and the buffer assembly 3 and the actuator body 5 are switched to the second mating state.

In this embodiment, the specific shape of the curved surface in the curved surface matching is not unique, so long as the switching between the first matching state and the second matching state can be achieved.

In some alternative embodiments, the curved surface in the curved surface engagement is a spherical surface. The first matching surface is a convex surface, and the second matching surface is a concave surface.

In some alternative embodiments, the curved surface in the curved surface engagement is a spherical surface. The second matching surface is a convex surface, and the first matching surface is a concave surface.

In some alternative embodiments, the curved surface in the curved surface engagement is a conical surface. The first matching surface is a convex surface, and the second matching surface is a concave surface.

In some alternative embodiments, the curved surface in the curved surface engagement is a conical surface. The second matching surface is a convex surface, and the first matching surface is a concave surface.

In some alternative embodiments, the cushion assembly 3 includes a contact portion, an air bag portion connected to the contact portion, and a connection portion connected to the air bag portion while being connected to the slide bar 6. One end of the contact part is a curved surface (namely a second matching surface). The connecting portion comprises a ring body and bolts in threaded connection with the ring body. The annular body is provided with a through hole which can be used for part of the structure of the slide bar 6 to pass through. Screw holes matched with the bolts are formed in the side face of the ring body. The bolt can penetrate into the through hole through the threaded hole and is abutted with the slide rod 6. The air bag part has the functions of elastic deformation and buffering. The contact portion is provided with a through-hole structure for passing through part of the structure of the slide bar 6. When the second matching surface of the contact part is matched with the first matching surface, the first matching surface is changed into the second matching surface, and the contact part converts radial impact into axial deformation of the air bag part to be absorbed. After the air bag part absorbs the impact, the matching state of the first matching surface is changed from the second state to the first state.

As a specific implementation manner of the embodiment of the present utility model, referring to fig. 1 to 5, the buffer assembly 3 includes a guide member 31 and an elastic member 32, wherein the guide member 31 is sleeved on the slide rod 6, and one end of the guide member is a curved surface (i.e. a second mating surface) and is mated with the actuator body 5 at one end of the channel 51, and the other end of the guide member is elastically connected with the slide rod 6 through the elastic member 32.

In some alternative embodiments, the guide 31 is an electromagnetic structure. The electromagnetic structure comprises a structural body and an electromagnetic generating piece connected with the structural body. The structural main body is provided with a through hole for the sliding rod 6 to pass through. The upper end face of the structural main body is a second matching surface, and the same second matching surface is also an electromagnetic magnetic generating end. The first mating surface is also an electromagnetic magnetic surface. The second mating surface and the first mating surface are not electrified and contact in the non-electrified state. In the energized state, the first mating surface is repelled from the second mating surface, allowing the mating state of the first mating surface and the second mating surface to change from the first state to the second state. In the present embodiment, the guide 31 is an elastic structural member. The elastic structural member is provided with a through hole for the sliding rod 6 to pass through in part of the structure. The elastic structural member is connected with the elastic member 32 and the sliding rod 6 at the same time.

Specifically, the guide 31 includes a first guide 311 and a second guide 312. The first guide 311 includes: the first contact block 3111 and the first limiting member 3112, the first contact block 3111 is provided with a second through hole for passing through a part of the structure of the slide bar 6, and a curved end (i.e., a second mating surface) of the first contact block 3111 is adapted to any end surface of the actuator body 5. The first stopper 3112 is rigidly connected to the slide rod 6. The second guide 312 includes: the second contact block 3121 and the second stopper 3122, the second contact block 3121 is provided with a third through hole through which a part of the structure of the slide bar 6 passes, and a curved end (second mating surface) of the second contact block 3121 is adapted to the other end surface of the actuator body 5. The first contact block 3111 and the first stopper 3112 are provided at one end of the actuator body 5. The second contact block 3121 and the second stopper 3122 are provided at the other end of the actuator body 5.

More specifically, the first contact block 3111 is provided with a groove for accommodating the first elastic member 321. The groove is communicated with the second through hole. The second contact block 3121 is provided with a groove for accommodating the second elastic member 322, and the groove communicates with the third through hole.

The actuator body 5, the first contact block 3111 and the second contact block 3121 are made of polymer wear-resistant materials, and have the advantages of small weight, high strength, wear resistance, smooth surface after processing and small friction coefficient.

In the present embodiment, the structure of the elastic member 32 is not unique, and is one or more of a spring, an elastic strip, an elastic pad, etc., as long as the elastic member 32 can absorb the impact of the conversion of the guide member 31.

In the present embodiment, the elastic member 32 is a spring provided in the axial direction of the slide bar 6.

Specifically, the elastic member 32 includes a first elastic member 321 and a second elastic member 322. The first elastic member 321 has one end connected to the first contact block 3111 and the other end connected to the first stopper 3112. The second elastic member 322 has one end connected to the second contact block 3121 and the other end connected to the second limiting member 3122.

In the working state, the first limiting piece 3112 and the second limiting piece 3122 are rigidly connected with the slide bar 6, and no sliding and rotation occurs. The first elastic member 321 and the second elastic member 322 are both in a compressed state. The first contact block 3111 and the second contact block 3121 are respectively pressed against the actuator body 5 by a spring force, and the contact surfaces are curved. The first contact block 3111 and the second contact block 3121 are engaged with the shaft hole of the slide bar 6 with a very small gap, and can slide up and down in the stroke range of 2 springs, and can also rotate circumferentially. The actuator body 5 and the slide bar 6 are provided with gaps with set sizes, so that a cavity structure is formed.

In this embodiment, the slide bar 6 is provided with a striking cap 4 at one end and an acetabular cup connecting device 7 at the other end. The striking cap 4 is a stressed part of the acetabular prosthesis installation actuator which is hammered by external force in the process of implanting the acetabular cup in the operation and is also a generating position of vibration. The slide bar 6 and the striking cap 4 are rigidly connected into a whole, and the vibration generated by hammering is directly transmitted to the slide bar 6. An acetabular cup connecting device 7 is mounted on the slide bar 6 to rigidly connect the acetabular cup and the acetabular prosthesis installation actuator into a whole.

The actuator body 5 and the buffer assembly 3 are sleeved on the slide rod 6. When the slide bar 6 receives a radial impact, the first contact block 3111, the second contact block 3121, the first elastic member 321 and the second elastic member 322 are entirely inclined radially, providing a certain radial shock absorbing function.

The damping assembly 3 is capable of damping radial impact between the slide bar 6 and the actuator body 5 and absorbing part of the radial impact between the slide bar and the connecting mechanism by means of a curved surface adaptive deflection. Specifically, when an external force is applied to the striking cap 4, since the direction of the external force hammering is not necessarily along the axial direction of the slide bar 6, there is a possibility that the external force direction is obliquely downward. At this time, a component force Fx is generated in a direction perpendicular to the slide bar 6, and under the action of this component force, the slide bar 6 drives all components except the actuator body 5 to skew and twist inside the cavity formed by the actuator body 5 and the slide bar 6. At this time, the actuator body 5 is in line contact with both the first contact block 3111 and the second contact block 3121. After the external force hammering is finished, the state of the acetabular beater after being skewed and twisted cannot be continued. Under the action of the first elastic member 321 and the second elastic member 322, the acetabular beater can recover to a pre-striking state, i.e. the actuator body 5 is pressed against the first contact block 3111 and the second contact block 3121 by the spring force, so as to form curved surface contact. The process is that after the acetabulum beater is hammered by external force, the acetabulum beater slides out of the mounting groove to generate shock absorption and self-adaptively restores the original state. By changing the state of use of the guide 31 and the actuator body 5, the force Fx received by the slide bar 6 is converted into a force that can be absorbed by the axial deformation of the elastic member 32. This process can greatly reduce the shock transmitted by the slide bar 6 to the actuator body 5 and thus to the mechanical arm through the connection mechanism. Therefore, the problem that the operation cannot be normally performed due to the fact that the robot arm 1 is locked due to excessive vibration can be effectively solved.

The present utility model also provides a surgical system, referring to fig. 1 to 6, comprising: a prosthesis installation actuator, a robotic arm 1, a control system 2, the prosthesis installation actuator being any of the prosthesis installation actuators described above. The robotic arm 1 is used to carry a prosthesis mounting actuator. The control system 2 is used to control the robotic arm 1 and/or the prosthesis installation executor to perform a predetermined surgical plan.

In the present embodiment, the prosthesis mounting actuator is integrally connected to the robot arm 1 by a connection mechanism. The connecting mechanism is fixedly arranged on the actuator body 5 through threaded connection.

In the operation, the connecting mechanism fixedly connected with the actuator body 5 is rigidly connected with the robot arm 1, so that the actuator body 5 can be regarded as being fixed.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. What is not described in detail in the embodiments of the present utility model belongs to the prior art known to those skilled in the art.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An acetabular prosthesis installation actuator comprising:

2. The acetabular prosthesis installation actuator of claim 1 wherein the damper assembly includes a damper configured to elastically deform to switch the damper assembly and the actuator body between a first mated state and the second mated state.

3. The acetabular prosthesis installation actuator of claim 1 wherein the first mated state is a curved mating.

4. An acetabular prosthesis installation actuator according to claim 3 wherein the curved surface is one or more of spherical and conical.

5. An acetabular prosthesis installation actuator according to claim 3 wherein the actuator body at one end of the channel is provided with a first mating surface and wherein one end of the cushioning assembly is provided with a second mating surface, the first mating surface being in engagement with the second mating surface in the first mated condition.

6. The acetabular prosthesis installation actuator of claim 5 wherein the first mating surface and the second mating surface are configured such that upon radial impact of the slide bar, the first mating surface is misaligned with the second mating surface and the damper assembly is shifted from the actuator body to a second mated state.

7. The acetabular prosthesis installation actuator of claim 5 wherein the first mating surface is convex and the second mating surface is concave.

8. The acetabular prosthesis installation actuator of claim 1, wherein the buffer assembly comprises a guide member and an elastic member, wherein the guide member is sleeved on the sliding rod, one end of the guide member is curved and is matched with the actuator body at one end of the channel, and the other end of the guide member is elastically connected with the sliding rod through the elastic member.

9. The acetabular prosthesis installation actuator of claim 8 wherein the resilient member is a spring disposed along the axial direction of the slide rod.

10. A surgical system, comprising:

a prosthetic mounting actuator according to any one of claims 1-9;

a robot arm for carrying the prosthesis mounting actuator;