KR100921407B1 - Clamp for Registration of Bone Position and Surgical Robot by using the Same - Google Patents

Abstract

In the surface replacement surgery using a robot, a gripping portion for holding a predetermined region of the bone; And a clamp connected to the gripping part and including at least three or more measurement points on one side thereof, which is not complicated and has high bone processing accuracy, and can shorten the operation time. Provide equipment.

Artificial joint, hip joint, femur, robot, registration, clamp, surface replacement

Description

Clamp for Registration of Bone Position and Surgical Robot by using the Same}

The present invention relates to a clamp for artificial joint surgery and surgical equipment by a robot using the same, and more particularly to a surgical equipment by a clamp and a robot used for hip replacement surface surgery.

Increasingly, patients are suffering from joint damage caused by illness or accidents. Such joint damage may be cured by the natural healing ability of the human body, but if it is irreparable, or when the pain due to the damage of the joint is severe, a joint replacement surgery should be performed.

Various articulation methods and articulation products have been used, but basically, arthritis replacement surgery is performed by surgically cutting the damaged bone and cartilage from both sides of the joint and precisely cutting the artificial art to replace the role of the joint. The process of fixing.

Currently, about half of all artificial joint replacement surgeries are hip joint replacement surgeries, most of which are knee joints, and others are known as shoulder joints or finger joints.

Referring to Figures 1 and 2, the brief description of the hip replacement surgery as follows.

The acetabular 1210 portion of the pelvis 1200 is provided with a hemispherical metal or plastic artificial acetabular (Acetabular cup: 2200), the femoral head (1100) in the side after removing the femoral head (1110) of about 15 to 25cm in length The artificial joint 2100 is inserted, and the head 21110 of the artificial joint 2100 is inserted into the socket 2210 of the artificial acetabular 2200 so that they can function as one joint.

In particular, artificial hip surgery techniques and products called artificial hip surface replacement have recently emerged and are used clinically. Birmingham Hip resurfacing (Smith & Nephew, UK) and Durom (Zimmer, USA) products are used. Currently, less than 10% of total hip replacement surgery is being used, but the frequency of its use is increasing.

Referring to FIG. 3, the artificial hip surface replacement technique will be described below.

After exposing the affected part of the patient to the outside, the pelvis 1200 and the femur 1100 are separated, and the acetabular 1210 of the pelvis 1200 is made using a surgical equipment to create a space for inserting the artificial acetabular 2200. Afterwards, the artificial acetabular 2210 is bonded to the acetabular 1210 of the pelvis 1200 using cement.

In addition, after deriving the femoral head 1110 for processing the surface to the outside and then processed to correspond to the inner groove of the joint cap 2300 to be covered on the surface through the surgical instrument insertion shaft 2320 of the joint cap (2300) ) Is inserted into the penetrating portion 1111 of the femoral head 1110 and installed.

Then, the joint cap 2300 is inserted into the socket 2210 of the artificial acetabular 2200, and then the incision is closed to complete the surgery.

Total hip arthroplasty is basically similar to general hip arthroplasty. There is a difference in covering the surface of the head 1110 of the damaged femur 1130 with the joint cap 2300 made of hollow metal balls instead of putting a metal rod on the femur 1130. This procedure has the advantage of eliminating less bone and having a general hip joint procedure in case of problems later.

4A to 4E will be described in more detail the method for manual hip surface replacement by hand as follows.

First, the joint cap 2300 is inserted into the femoral head 1110 drawn to the outside, or the drill hole 1111 corresponding to the central axis for processing the surface of the femoral head 1110 is used, such as drilling equipment. To form.

Next, as shown in (a) of FIG. 4A, the central axis 3110 of the head circumferential cutter 3100 is inserted into the through hole 1111 formed in the femoral head 1110, and is shown in (b). As described above, the outer circumferential surface 1112 of the femoral head 1110 is processed by using the cutter portion 3120 by rotating the outer circumferential surface cutter 3100.

When the processing of the outer circumferential surface 1112 of the femoral head 1110 is completed, the outer circumferential surface 1112 is gripped with a head guard 3200 as shown in FIG. 4B to prevent the movement of the femur 1100, and the head guard ( The upper surface of the femoral ball head 1110 derived as the upper surface of the 3200 is first processed by the first upper surface cutter 3300.

When the upper surface of the femoral head 1110 is first processed, the central axis 3410 of the second upper surface cutter 3400 is inserted into the through hole 1111 formed in the femoral head 1110 as shown in FIG. 4C. The second upper surface cutter 3400 is rotated to process the upper surface of the femoral ball head 1110 into the desired upper head surface 1114 using the cutter portion 3420.

Since the edges formed by the outer circumferential surface 1112 and the upper head surface 1114 of the femoral ball head 1110 processed in the above procedure may be concentrated, the inclined surface 1113 with the edge removed using the inclined surface cutter 3500 as shown in FIG. 4D. ).

When using the inclined surface cutter 3500, the central axis 3510 of the inclined surface cutter is inserted into the through hole 1111 of the femoral head 1110, which is used as the central axis of the surgery, and the inclined surface cutter 3500 is rotated to rotate the cutter unit ( 3520 is used to form an inclined surface 1113 on the femoral head 1110.

When the surface processing of the femoral head 1110 is completed, the insertion shaft 2320 of the joint cap 2300 is inserted into the through hole 1111 of the femoral head 1110 and the hammer 2700 as shown in FIG. 4E. Insert using.

In the meantime, clinical experience and biomechanics analysis suggests that the shape of the femoral ball head in the hip arthroplasty should be processed as described above, and the post-operative daily activities if the installation direction is not desirable or if it is installed too deeply or too shallowly. It is known that the femoral head of the patient is likely to break.

Therefore, in actual surgery, the doctor has the inconvenience of having to process the femoral head through several steps of manual work.

In addition, since the clinical results are excellent only when it is processed to the correct position, the doctor must check the position and direction again for each manual processing step. Although the operation time varies greatly depending on the experience of the doctor, at least 10 ~ There is a problem that takes as much time as 15 minutes.

In addition, since the surface of the femoral ball head is processed by hand, the precision is reduced, and thus, there is a possibility that concentration of the load may occur at a certain point after the completion of the operation. Concentration of the load may be more serious if the direction of the through hole is undesirably formed due to a very important part used as a central axis, but due to manual processing by a doctor.

Electronic anatomical positioning aids that enable physicians to easily identify through hole and femoral head surface processing locations are already commercially available and are commonly referred to as surgical navigation systems. Products such as Orthopilot (Aesculap, USA) and BrainLab (Germany) are well known. US Patent Nos. 6470207, 6430434, and 6205411 and the like describe the technology of such a device.

When using a navigation system, the appropriate surgical position can be identified in real time. However, this is a hassle to accurately measure the bone position at least once during surgery. In addition, since the processing itself is performed by hand, the processed shape still has the disadvantage that it may be inaccurate. It is known that the use of a navigation system increases accuracy, but is not completely accurate, compared to a completely manual operation.

In addition, a robot for artificial joint surgery, which uses a robot to process bone after measuring the position of a bone to be operated, is also commercially used. U.S. Patent Nos. 5806518 and 6033415 and the like disclose the technology of such a device.

When using a robot, as with the navigation system, the bone location must be measured before the bone is processed during surgery. However, in navigation systems, processing is done manually, while surgical robots need to measure bones with much higher precision because the robot processes bones. For example, for certain products (ROBODOC surgical robot system), the bone position should be measured with a precision of 0.3 mm. However, a considerable amount of time (10-20 minutes) is required to measure bone with this high precision. It is also inconvenient for the doctor to be nervous to avoid making mistakes during the measurement.

In navigation systems and surgical robots, the process of measuring the anatomical location of bones and calculating the desired surgical location is called registration. There are various matching methods, which are briefly described as follows.

FIG. 5 is a schematic view for explaining the registration. Referring to (a), in the surgery for a robot, the coordinate system is largely a reference coordinate system {F}, a robot coordinate system {R} for a path programmed in the robot, And a bone coordinate system {B} for the femur of the patient in actual surgery.

The robot coordinate system {R} and the bone coordinate system {B} are primarily converted by converting the robot coordinate system {R} into a relative coordinate system relative to the reference coordinate system {F} and the bone coordinate system {B} into a relative coordinate system relative to the reference coordinate system {F}. Is transformed into the same reference coordinate system {F}, then the transformation matrix T between the transformed robot coordinate system {R} and the transformed bone coordinate system {B} is obtained and applied to the transformed coordinate system {R}, thereby You can adapt it to the actual bone location.

Here, as a matching method for obtaining the transformation matrix T, a pin based registration and an image based registration method are proposed.

For pin reference registration, the CT image is taken while a plurality of pins inserted into the thigh part of the patient are inserted in the thigh before surgery, and then the machining path of the robot is set based on the CT image.

At this time, the reference coordinate system on the machining path of the robot is set by a plurality of pins in the CT image.

 When the design of the machining path is completed, the matching is performed by matching the pins embedded in the surgical part of the patient with the pins in the CT image, that is, the reference pins of the robot's machining path.

However, since the pin reference registration requires inserting a plurality of pins into the affected part of the patient before surgery, pain and discomfort occurs in the patient, and there is an inconvenience that the pins must be inserted into the affected part until the surgery.

In image-based registration, a CT image of a patient's femur is obtained before surgery and a processing path is set based on this image. The registration is performed by matching the 3D image obtained from the CT image with the 2D x-ray image of the patient's femur during the actual operation.

However, this image reference registration involves a lot of errors in the segmentation of the femur 1100 with other parts such as the pelvis 1200 and ligaments to obtain three-dimensional surface modeling of the femur from the CT image. In the two-dimensional x-ray image obtained at the time, the edge detection process also involves a lot of errors.

In addition, due to the problems of the methods described above, the technique for performing matching by matching a specific point of a CT image obtained with a digitizer at the time of surgery is used in the total joint arthroplasty equipment by a commercialized robot.

However, during surgery, the surgeon must press the tip of the measuring pin with a constant load on the surface of the femur in order to measure a plurality of specific points of the femur with the measuring pin of the digitizer. If the pressing load is small, an error of the measuring point occurs due to the flesh and the epidermal layer on the surface of the femur. If the pressing load is too large, there is a problem in that a groove is formed on the surface of the femur.

In addition, in order to reduce the error there is a lot of uncomfortable measurement points to be measured by the doctor during surgery, there is a problem that the doctor is difficult to accurately match the measuring pin to the measurement point guided through the monitor attached to the surgical equipment.

In addition, since a measurement point for a large area of the femur is required, a large amount of femur should be drawn out during surgery, and accordingly, there is a problem in that a large number of thighs of the patient are needlessly incised.

An object of the present invention is to remove the inconvenience caused by a complicated procedure using a number of surgical cutters in artificial joint surface replacement surgery.

Another object of the present invention is to prevent the processing error by manual operation in the artificial joint surface replacement surgery, and to solve the problem that the concentration of load to a specific point after the completion of the operation using a robot.

Still another object of the present invention is to provide a method for performing artificial joint surface replacement surgery using a robot without going through a complicated process.

Clamp in the joint surface replacement surgery using a robot according to an embodiment of the present invention for achieving the above object, a gripping portion for holding a predetermined area of the bone; And a body connected to the gripping portion and including at least three measurement points on one side thereof.

In addition, the body includes a first body and a second body, the second body is coupled to the first body, it is preferable to make a relative movement with respect to the first body.

In addition, the first body preferably includes at least three measurement points.

In addition, the second body preferably includes at least one or more of the measurement points.

In addition, the measuring point is preferably composed of grooves.

Clamp in the joint surface replacement surgery using a robot according to another embodiment of the present invention for achieving the above object, the first body including at least three or more measurement points on one side; A second body coupled to the first body and performing relative movement with respect to the first body; And a gripping control unit connected to the first body or the second body and gripping the femur by relative movement of the first body and the second body.

In addition, the second body preferably includes at least one measurement point on one side of the second body.

In addition, the measuring point is preferably composed of grooves.

In addition, the front end portion of the first body includes a hook-shaped first grip portion bent in the first direction, the front end portion of the second body includes a hook-shaped second grip portion bent in the opposite direction of the first direction Therefore, it is preferable to hold the thigh bone by pairing the first gripping portion and the second gripping portion.

In addition, the first gripping portion and the second gripping portion preferably grips the femoral neck of the femur.

In addition, the second body is preferably sliding with respect to the first body.

Surgical equipment according to an embodiment of the present invention for achieving the above object, a clamp including a gripping portion for holding a predetermined area of the bone, and a body including at least three or more measurement points on one side; A coordinate measuring device measuring the measuring point to recognize a first coordinate system corresponding to the position and the direction of the clamp; And a robot that cuts the bone along a pre-programmed machining path based on the first coordinate system.

In addition, the bone is the femur, and the part cut by the robot is preferably the femoral head of the femur.

In addition, it is preferable to further include a jig for fixing the clamp to the support base.

In addition, the robot preferably further comprises a cutting machine for cutting the bone and a load sensor for measuring the load transmitted from the cutting machine.

The control device for controlling the robot recognizes a second coordinate system corresponding to the position and direction of the bone based on a signal received from the load sensor when the tip of the cutting machine contacts a predetermined region of the bone. It is desirable to.

In addition, it is preferable that the control device corrects the processing path of the robot using the second coordinate system.

According to the present invention, there is an effect that the artificial joint replacement surgery, which is not complicated as compared with the manual surgical method using a robot, and has high bone processing accuracy, is possible.

In addition, according to the present invention, there is an effect that can reduce the operation time.

Moreover, according to this invention, there exists an effect which prevents the processing error by manual labor.

In addition, there is an effect of minimizing the concentration of the load to a specific point after the surgery is completed.

Although described above with reference to a preferred embodiment of the present invention, those skilled in the art will be variously modified and changed within the scope of the invention without departing from the spirit and scope of the invention described in the claims below I can understand that you can.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

6 is a perspective view of a clamp for artificial joint surgery according to an embodiment of the present invention, the holding portions (4120, 4220) for gripping the bone to be surgery, and the measuring point for registration (registration) The body 4100 and 4200 are largely included.

The bodies 4100 and 4200 are divided into a first body 4100 and a second body 4200, and the second body 4200 is coupled to the first body 4100 to perform relative motion, preferably relative sliding motion. It is configured to.

At this time, the gripping control unit 4300 for controlling the diameter or thickness of the gripping portions 4120 and 4200 through the sliding movement of the second body 4200 with respect to the first body 4100, the second body 4200 Is coupled to.

In the preferred structure of the body (4100, 4200) and the structure of the gripping control unit 4300, the first body (4100) has a hook-shaped first gripping portion 4120 extending from the tip, the interruption of the first body (4100) Is extended from the coupled to the second body 4200 and sliding guide 4130 for the sliding movement of the second body, and extending from the rear end of the first body 4100 female screw to guide the movement of the gripping control unit 4300 It includes a grip control guide 4140 configured in the form.

In addition, the second body 4200 includes a hook-shaped second gripping portion 4220 extending from the front end of the second body so as to correspond to the first gripping portion 4120 extending from the first body. It is connected to the control unit 4300.

In this case, the grip control unit 4300 has a male screw type body having a pitch corresponding to the female screw of the grip control guide 4140 of the first body 4100, and includes a handle at the rear end thereof to allow the user to rotate.

In this way, by rotating the grip control unit 4300 coupled to the body (4100, 4200), the second body (4200) has a relative sliding movement with respect to the first body (4100) and accordingly the first gripper (4120) The second gripping portion 4220 may grip the bone to prevent the movement of the bone.

In addition, at least three measuring points are formed on one side of the first body 4100 to measure the coordinate system of the first body, and preferably the center of the gripping area formed by the gripping parts 4120 and 4220 for gripping the bone. It includes a measuring point consisting of a groove on the surface corresponding to the axis.

Measurement of the measuring points 4110 and 4210 is possible by using a predetermined coordinate measuring device 5000, and a multi-articulated digitizer having a tip 5100 of the peak shape corresponding to the groove which is the shape of the measuring points 4110 and 4210. Preference is given to using.

The position and direction of the first body can be known by forming three or more measuring points in the first body, which is formed of a rigid body, and measuring the coordinate values of a predetermined reference coordinate system of the measuring points. .

Here, the reference coordinate system of the first body 4100 corresponds to the coordinate system of the coordinate measuring apparatus 5000 which is a coordinate system to measure.

Therefore, the coordinates of the bone gripped by the first gripper 4120 formed at the tip of the first body can be predicted, and the area of the bone gripped by the gripper 4120 and 4220 is the femoral alley 1120. Although the shape and size of each person is slightly different, it is possible to know the position and direction of the rough femoral head 1110.

In order to know more precisely the position and direction of the bone, at least one measuring point is formed on one side of the second body 4200 to know the position of the second gripping portion 4220 formed at the tip of the second body 4200. In this way, the size and direction of the femoral alley 1120 can be accurately known.

Here, the position of the bone with respect to the coordinate measuring device 5000 coordinate system by performing a matrix operation on the transformation matrix of the clamp coordinate system with respect to the coordinate system of the coordinate measuring device 5000, in the position and direction of the bone with respect to the coordinate system of the clamp 4000. And directions are obtained.

7 is a block diagram of the surgical equipment for joint surface replacement surgery according to an embodiment of the present invention.

After holding the femoral alley 1120 of the femur 1100 to be operated using the clamp 4000 described with reference to FIG. 6, a predetermined area of the clamp 4000, preferably a predetermined area of the first body 4100. It is gripped using the jig 7000.

The jig 7000 is a multi-joint so that the cutting machine 6100, which is a robot's processing tool, is convenient to process the femoral head 1120, which is the processing area of the femur 1100, or to easily grip the femur 1100 of the patient. It is preferable.

The jig 7000 and the clamp 4000 may be integrally formed. That is, the grip 7100 of the jig 7000 may be configured by the clamp 4000.

A coordinate measuring device 5000 for measuring a measuring point formed on one side of the clamp 4000 holding the fixed femur 1100 as described above, including a multi-joint digitizer, and when measuring the measuring point of the clamp 4000 It is desirable to measure the digitizer by moving it.

At this time, the measuring point of the clamp 4000 may be measured using the tip of the cutting machine 6100, which is a tool tip of the robot 6000, but since the user is inconvenient to move the robot 6000 by hand, the measuring point of the clamp may be measured. It is preferable to use a digitizer.

Through the position of the clamp 4000 measured by the digitizer, the position and the direction of the femoral head 1110 of the femur 1100 held by the clamp 4000 can be secured, through which the robot 6000 is programmed. The femoral head 1110 is cut with a cutting machine 6100 along a machining path.

At this time, since the coordinate system of the jig 7000, the coordinate system of the digitizer, and the coordinate system of the robot 6000 are fixed to the base of the operating table or the like, the transformation matrix between the mutual coordinate systems is known, and thus, the robot coordinate system of the femur 1100 The position and direction may be matched through a matrix product between the femur 1100 and the clamp coordinate system and the measured values of the clamp.

That is, by matching the processing path of the cutting machine 6100 of the robot 6000 designed based on the coordinate system of the robot 6000 with the coordinate system of the actual femur 1100, the cutting machine 6100 of the robot 6000 is the femur 1100. The desired area of can be machined.

Here, to measure and match only the measuring points 4110 and 4210 of the clamp 4000, the femoral alley 1120 and the femoral head 1110 are different in shape and size from person to person, but are not intended to be used within a non-lethal range. It is possible.

However, for more accurate registration, after the registration of the clamp coordinate system obtained by measuring the measuring points 4110 and 4210 of the clamp 4000, the approximate position and direction of the femoral ball head 1110 is determined and the tool tip of the robot 6000 is used. It is preferable to measure a predetermined area of the actual femoral head 1110 through the tip of the cutting machine 6100.

To this end, the cutting machine 6100 of the robot 6000 preferably includes a load cell for sensing a load, and the cutting machine 6100 of the robot 6000 is in contact with the surface of the femoral head 1110 by the reaction force measured. The position at that time is determined as the position of the predetermined point of the femoral head 1110.

After measuring 3 to 5 points on the surface of the femoral head 1110 as described above, the position and direction of the femoral head 1110 modeled as a circle are calculated based on the measured coordinates. For more accurate position and orientation of the femoral ball head 1110, the other points of the femoral ball head 1110 are repeatedly measured based on the first measured and calculated values to increase the accuracy of the position and direction of the femoral head 1110. .

Based on the actual position of the femoral head 1110 measured by the cutting machine 6100 of the robot 6000, after matching the processing path programmed in the robot 6000, the surface of the femoral head 1110 is processed.

Here, the robot 6000 should have a joint of at least three degrees of freedom, and preferably a joint of five degrees of freedom or more. In the embodiment of the present invention, a robot having six degrees of freedom joints was used.

When the surface processing of the femoral head 1110 is completed, and then the surgical process such as covering the joint cap and inserting into the acetabular is the same as the process by hand.

By doing so, the surgeon grips the femur 1100 to be operated using the clamp 4000 and then only measures the measurement points displayed on the clamp 4000 by using the coordinate recognition device 5000. Compared to the conventional surgery, and also, compared to the matching method applied to the conventional arthroplasty using a robot has the advantage that can be matched through a simple equipment.

8A through 8C are flowcharts of joint surface replacement surgery according to various embodiments of the present disclosure.

Figure 8a is to take the image of the patient before the operation through a CT, etc. after setting the robot's processing path based on the image (step S1100), during the operation exposing the patient's femur (1100) to the outside after the clamp ( Holding by the 4000 and the measuring points (4110, 4210) formed on one side of the clamp 4000 is measured through the coordinate recognition device 5000 (S1200).

The coordinate value of the femur 1100 is matched to the robot coordinate system which is a reference of the robot's machining path by using the coordinate value of the clamp 4000 measured by the coordinate recognition device 5000 (step S1300).

When the matching is completed, the robot 6000 processes the surface of the femoral head 1110 according to the coordinate value converted by the matching (step S1400), and when the processing is completed, inserts the joint cap into the processed femoral head 1110 ( S1500 step). The subsequent steps are the same as the manual steps.

FIG. 8B shows the femoral head 1110 for the more accurate position and orientation of the femoral ball 1110 between the step of measuring the clamp measurement point (step S1200) and the matching step of matching the coordinate system (step S1300). The step of measuring the bone surface is added (step S1250).

In order to measure the bone surface of the femoral head 1110, it is preferable to use a cutting machine 6100, which is a tool tip of the robot 6000, using a measurement path pre-programmed in the robot 6000.

The robot 6000 calculates the coordinate values of the clamp obtained by measuring the measurement points 4110 and 4210 of the clamp 4000 and the expected coordinate values of the femoral head 1110 which are predicted through them, and predicts the femoral head 1110. After moving the cutting machine 6100 to the vicinity of the coordinate value, the cutting machine 6100 comes into contact with the surface of the femoral head 1110 and is thus measured by a load measuring instrument included in the predetermined region of the cutting machine 6100. The coordinate value at that time is recognized as the position coordinate of the surface of the femoral ball 1110 by the load.

After measuring 3 to 5 points on the surface of the femoral head 1110, the position and direction of the surface of the femoral head 1110 are corrected, and the femoral head 1110 is again based on the estimated coordinate values of the corrected femoral head 1110. Repeat the measurement of the surface of) about 3 to 5 points.

Repetition of the measurement point is performed at least two or more preferably three times to determine the surface position coordinates of the femoral head 1110.

The surface of the femoral head 1110 is processed more precisely using the robot 6000 through a matching process (step S1300) in which the surface position coordinates of the femoral head 1110 are thus matched with the machining path coordinate system of the robot 6000. do.

In the above description, as an embodiment of the present invention, only the description of the femur, which is a hip surgery region, may be used for the knee joint and the cervical joint.

In addition, the above description as an embodiment of the present invention, but described only for the surface replacement of the femoral head, it is applied to facilitate the registration in general orthopedic surgery using the clamp and matching method of the present invention This will be possible.

In other words, by using the anatomical shape of the bone, a device that can be fixed near the affected part is installed next to the affected part during surgery and the location of the device is measured immediately to measure the location of the affected part, or indirectly estimated through the device. Based on the location of the affected part, it is possible to perform automatic registration using a robot.

In addition, in the above description, as an embodiment of the present invention, the coordinate measuring apparatus has been described using the digitizer as an example, but a method using a non-contact sensor may be used.

That is, the measuring points 4110 and 4210 of the clamp 4000 may be formed by an infrared reflecting marker, and the coordinate measuring apparatus may include an infrared transmitting unit and an infrared receiving unit, and the measuring points 4110 and 4210 of the clamp 4000. ) May be formed as a light emitting marker that emits light at a predetermined frequency, and the coordinate measuring apparatus may be configured as a recognition device that recognizes the corresponding frequency.

1 is an anatomical perspective view of a human hip joint.

2 is a perspective view of the hip and artificial joint by total hip arthroplasty.

Figure 3 is a perspective view of the hip and artificial joint by artificial hip surface replacement.

4A to 4E are procedural diagrams for artificial hip arthroplasty according to the prior art.

5 is a conceptual diagram illustrating a registration process.

6 is a perspective view of a clamp for artificial joint surgery according to an embodiment of the present invention.

Figure 7 is a block diagram of a surgical equipment for artificial joint surgery according to an embodiment of the present invention.

8A through 8B are flowcharts illustrating artificial joint surgery according to various embodiments of the present disclosure.

<Explanation of symbols for the main parts of the drawings>

1100: femur, 1110: femoral head,

1120: femoral neck, 1130 femoral shaft,

1200: pelvis, 1210: acetabulum,

2200: artificial acetabular, 2210: acetabular groove,

2300: joint cap, 2310: outer cap surface,

2320: insertion shaft, 4000: clamp,

4100: first body, 4110: first measuring point,

4120, 4220: holding part, 4130: sliding guide,

4140: grip control guide, 4200: second body,

4210: second measuring point, 4300: gripping control unit,

5000: coordinate measuring device, 5100: measuring pin,

6000: robot, 6100: cutting machine,

7000: jig, 7100: grip.

Claims (17)

In the clamp used for robot surface replacement surgery, Gripping portion for holding a predetermined area of the bone; And And a body connected to the gripping portion, the body including at least three measurement points on one side thereof. The clamp of claim 1, wherein the body includes a first body and a second body, wherein the second body is coupled to the first body and has relative motion with respect to the first body. 3. The clamp of claim 2 wherein said first body comprises at least three said measuring points. 3. The clamp of claim 2 wherein said second body comprises at least one said measuring point. The clamp as claimed in claim 1, wherein the measuring point comprises a recess. A first body including at least three measurement points on one side; A second body coupled to the first body and performing relative movement with respect to the first body; And And a gripping control unit connected to the first body or the second body and gripping the femur by relative movement of the first body and the second body. The clamp of claim 6, wherein the second body includes at least one measurement point on one side of the second body. 8. A clamp as claimed in claim 6 or 7, wherein the measuring point is composed of a recess. 7. The method of claim 6, wherein the distal end portion of the first body includes a first gripping portion curved in a first direction, and the distal end portion of the second body curved second portion in a direction opposite to the first direction. And a gripping portion, wherein the first gripping portion and the second gripping portion are paired to hold the femur. 10. The clamp as claimed in claim 9, wherein the first gripping portion and the second gripping portion grip a femoral neck of the femur. 7. The clamp of claim 6 wherein said second body is sliding with respect to said first body. A clamp including a gripping portion for gripping a predetermined region of the bone and a body including at least three measurement points on one side thereof; A coordinate measuring device measuring the measuring point to recognize a first coordinate system corresponding to the position and the direction of the clamp; And And a robot that cuts the bone along a pre-programmed machining path based on the first coordinate system. 13. The surgical equipment according to claim 12, wherein the bone is the femur and the portion cut by the robot is the femoral head of the femur. The surgical equipment of claim 13, further comprising a jig for securing the clamp to the support base. The surgical equipment of claim 12, wherein the robot further comprises a cutting machine for cutting the bone and a load sensor for measuring a load transmitted from the cutting machine. The control apparatus for controlling the robot according to claim 15, wherein the control device for controlling the robot is configured to correspond to a position and a direction of the bone based on a signal received from the load sensor when the tip of the cutting machine contacts a predetermined region of the bone. Surgical equipment that recognizes two coordinate systems. The surgical equipment according to claim 16, wherein the control device corrects the processing path of the robot by using the second coordinate system.

Images