WO2024051571A1

WO2024051571A1 - Connecting apparatus, joint surgical apparatus and surgical operation system

Info

Publication number: WO2024051571A1
Application number: PCT/CN2023/116190
Authority: WO
Inventors: 张晓峰; 张春; 李卫; 张钊; 马舜尧; 杜可斌; 赵宇; 江标; 刘鹏春; 郑小中; 王超
Original assignee: 北京和华瑞博医疗科技有限公司
Priority date: 2022-09-06
Filing date: 2023-08-31
Publication date: 2024-03-14

Abstract

A connecting apparatus, a joint surgical apparatus and a surgical operation system. The joint surgical apparatus is used for selectively executing a knee joint surgery or a hip joint replacement surgery. The joint surgery apparatus comprises a knee joint actuator (9400), a hip joint actuator (9300) and a robot arm (9100). The knee actuator (9400) is used for connecting to a saw blade (36) to cut a predetermined shape on a bone. The hip joint actuator (9300) is used for connecting to an execution tool so as to prepare a prosthesis-mounting space and implant a prosthesis on the bone. The robot arm (9100) is used for connecting to the knee joint actuator (9400) or the hip joint actuator (9300). The knee joint actuator (9400) and the hip joint actuator (9300) are configured to have the same first port (30). The first port (30) is used for detachably connecting the knee joint actuator (9400) or the hip joint actuator (9300) to the robot arm (9100).

Description

Connecting devices, joint surgical devices and surgical systems

Technical field

This application relates to the technical field of orthopedic surgical robots, and specifically to a connecting device, a joint surgical device and a surgical system.

Background technique

At present, lower limb joint diseases include knee osteoarthrosis, hip osteoarthrosis, femoral neck fracture, femoral head necrosis, etc. These diseases seriously affect patients' normal walking and lower limb activities. Artificial joint replacement surgery can treat the above conditions. For severely diseased joints, joint replacement can relieve joint pain, maintain joint mobility, maintain joint stability, or improve lower limb deformity.

Joint replacement surgery mainly includes knee replacement and hip replacement. In Total Knee Arthroplasty (TKA), the distal femur and proximal tibia that make up the knee joint need to be processed to form a suitable shape and size for prosthetic implantation. The processing of the femur and tibia mainly involves cutting and processing multiple planes with a saw. The shape of the processed bone basically determines the accuracy of knee prosthesis implantation, so the processing accuracy of each plane determines the accuracy of prosthesis implantation. In Total Hip Arthroplasty (THA), the acetabulum and proximal femur that make up the hip joint need to be processed to form a suitable shape and size for prosthesis implantation. Hip arthroplasty involves grinding and shaping of the acetabular socket and osteotomy and reaming of the proximal femoral head. The accuracy of hip replacement involves the accuracy of prosthesis implantation on the acetabular side and the accuracy of prosthesis implantation on the femoral side. The implantation accuracy of the acetabular prosthesis depends on the processing accuracy of the acetabular socket and the control accuracy of the implantation angle and depth of the acetabular prosthesis during the implantation process. The accuracy of prosthesis implantation on the femoral side depends on the accuracy of the reaming on the femoral side.

Traditional joint replacement surgery usually relies on the doctor's experience. The joints are processed and the prostheses are installed manually through skilled and rich experience. Such joint replacement surgery has a long learning curve and requires years of experience accumulation to ensure a joint replacement with good surgical accuracy. .

In recent years, with the development of computer-assisted surgery technology, computer-generated graphics and images can be used to navigate the surgical process during surgery. Computers are used to complete the collection and three-dimensional reconstruction of the patient's original data, and the three-dimensional model is used to guide the doctor's surgical ideas, so that the doctor can understand the surgical process and guide the surgery by observing the images on the computer. Surgery can even be planned by computer, and the surgery can be completed fully or semi-automatically after confirmation by the doctor. This new surgical method based on image navigation allows doctors to use medical data to complete operations quickly, safely and effectively.

Such as the knee surgery robot sold by MAKO Surgical. Generally, a robot system includes a robot arm, a navigation and positioning system, and a control system. The robotic arm is equivalent to the surgeon's arm and can hold the execution tool and position the execution tool with high accuracy. The navigation positioning system is equivalent to the surgeon's eyes and can measure the position of the execution tool and the patient's tissue in real time. The control system is equivalent to the surgeon's brain, which stores surgical plans internally. The control system calculates the route and/or position of the robot arm based on the information obtained through the navigation and positioning system during the operation. It can actively control the movement of the robot arm, or manually push the robot arm along the edge after setting the virtual boundary of the robot arm through force feedback mode. Movement of a route, surface, or volume defined by virtual boundaries. In Marco Surgical's robotic system, an electric oscillating saw is suspended from the end of the robot arm. During the operation, the robot arm positions the oscillating saw near the knee joint, and the surgeon starts and drives the electric oscillating saw to cut the bone, thereby preparing the installation position for prosthesis implantation. Robot-assisted knee replacement surgery has many advantages over traditional knee replacement surgery. For example, the reliance on the surgeon's experience is reduced; the iatrogenic injuries caused by the use of traditional mechanical positioning structures are reduced.

However, the above-mentioned robotic system may not be suitable for types of surgeries such as hip replacement surgery, because as mentioned earlier, hip surgery requires multiple operations (such as reaming the acetabulum, tapping the acetabular cup, and reaming the femoral marrow), corresponding to Different configurations of execution tools are required. Systems designed to accommodate multiple tools require multiple end effectors, and removing and installing different types of actuators onto the robotic arm during a surgical procedure can increase surgical time. In addition, the process of knocking the acetabular cup to the acetabular socket will produce high impact force, which may damage the delicate robot arm.

Marco Surgical Company also provides a surgical robot specially used for hip replacement, and the Chinese invention patent CN102612350B discloses its composition. When using this surgical robot for acetabular grinding, it is necessary to first install the grinding tool to the holding structure at the end of the robot arm, and then connect the power unit to the grinding tool. The holding structure is also used to connect the cup holder for the installation of the acetabular prosthesis. Therefore, after completing the acetabular grinding operation, the power unit must be removed first, then the grinding tool, and finally the cup holder must be removed. The device is mounted to the holding structure.

The above-mentioned knee surgery robot and hip replacement surgery robot are two separate sets of devices, and each set of surgical robots can only complete knee surgery or hip surgery alone.

In addition, in robot-assisted surgery, the end of the robot arm is connected to an actuator equipped with surgical tools. The robot arm can move autonomously or under the guidance of the doctor to move the surgical tools to the target position. During surgery, the end effector is rigidly connected to the end arm of the robotic arm, and this connection needs to be stable and reliable. On the one hand, the stable and reliable rigid connection between the end effector and the robot arm ensures that the robot arm can move or position the surgical tool to the target position more accurately. On the other hand, based on the reliable and stable rigid connection, when the surgical tool cuts hard bone tissue, the connection between the end effector and the robot arm is not easily loosened due to vibration, which ensures the cutting accuracy of the surgical tool to a certain extent.

In traditional robot systems, the end effector is usually fixed at the end of the robot arm through screw tightening, and the tightening effect is ensured by the pre-tightening force of the screw. This fastening method requires manual application of large enough external force to the screw to generate the predetermined pre-tightening force, which is laborious to operate. In addition, a long enough thread mating section can ensure that there are enough threads to share the pre-tightening force, so when tightening the screw, Tightening the screw requires many turns of the drive screw. If the number of screws is large, the tightening process will be more time-consuming.

Contents of the invention

The present disclosure provides a joint surgical device and a surgical system, which solves the problem that a surgical robot cannot perform both hip replacement surgery and knee joint surgery.

A first aspect of the present disclosure provides a joint surgery device for selectively performing knee surgery or hip replacement surgery, including a knee joint actuator, a hip joint actuator and a robotic arm. The knee joint actuator is used to connect the saw blade to cut on the bone to prepare a predetermined shape; the hip joint actuator is used to connect the execution tool to prepare the prosthesis installation space on the bone and implant the prosthesis; the robot arm is used to connect the knee joint actuator Or a hip actuator; the knee actuator and the hip actuator are configured to have the same first interface, and the first interface is used to detachably connect the knee actuator or the hip actuator to the robot arm.

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

In conjunction with the above possible implementation manner, in a second possible implementation manner, the first interface includes a locking mechanism, and the locking mechanism is used to connect the knee joint actuator or the hip joint actuator to the end arm of the robot arm.

In combination with the above possible implementation, in a third possible implementation, the hip joint actuator includes a first actuator and a second actuator; the first actuator is used to connect a cutting tool to process the acetabulum and/or medullary cavity, The first actuator has a first interface and a second interface; the second actuator is used to connect to the second interface of the first actuator when performing a prosthesis implantation operation. port, the second actuator is used to connect the prosthesis and receive the impact of installing the prosthesis; wherein, the first actuator is used to install to the robot arm through the first interface.

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

Combined with the above possible implementation manners, in a fifth possible implementation manner, the first interface and the second interface are distributed at both ends of the first actuator.

In combination with the above possible implementations, in a sixth possible implementation, the first actuator is provided with a first handle, and the first handle is 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 are distributed on both sides of the first actuator.

Combined with the above possible implementation manners, in a seventh possible implementation manner, the first actuator includes a power device and a tool assembly, the tool assembly and the power device are detachably connected, and the first interface is provided on the power device.

In combination with the above possible implementation manners, in an eighth possible implementation manner, the power device includes a built-in power assembly, the power assembly includes a power source and an output shaft, the output shaft is connected to the power source; the tool assembly includes a connecting part and a surgical tool , the surgical tool is rotatably disposed on the connecting part, and the tool assembly is detachably disposed on the power device through the connecting part; wherein, when the tool assembly is connected to the power device through the connecting part, the surgical tool is engaged with the output shaft to receive the output of the output shaft. Rotational movement.

In combination with the above possible implementation manners, in a ninth possible implementation manner, the surgical tool is engaged relative to the output shaft by an axial insertion or sleeve action.

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

Combined with the above possible implementation manners, in an eleventh possible implementation manner, the radial positioning structure is provided 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 above possible implementation manners, in a twelfth possible implementation manner, a positioning module is provided between the connection part and the power device, and the positioning module causes a predetermined force to be formed between the connection part and the power device.

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

In combination with the above possible implementation manners, in a fourteenth possible implementation manner, the second actuator is a prosthetic installation actuator, including a sliding rod, a support assembly and a sliding rod tracer; one end of the sliding rod is used for connection The prosthesis, the other end of the sliding rod is used to receive the impact force when installing the prosthesis; the support assembly includes a coupling part, the coupling part accommodates part of the rod section of the sliding rod, the sliding rod is axially movable relative to the support assembly; the support assembly is used to The second actuator is connected to the robot arm of the robot system; the slide rod tracer is disposed on the slide rod to indicate the orientation of the slide rod.

Combined with the above possible implementation manners, in a fifteenth possible implementation manner, the second actuator further includes an axial buffering mechanism. When the sliding rod is subjected to an axial impact, the axial buffering mechanism forms an axis between the sliding rod and the support assembly. towards the buffer.

Combined with the above possible implementation manners, in a sixteenth possible implementation manner, an axial limiting structure is provided between the sliding rod and the supporting component, and the axial buffering mechanism is provided between the supporting component and the axial limiting structure.

Combined with the above possible implementation manners, in a seventeenth possible implementation manner, the coupling part is a channel that runs through the support assembly, and the axial buffering mechanism includes two buffer members, and the two buffer members are located at both ends of the channel.

Combined with the above possible implementation manners, in an eighteenth possible implementation manner, the knee joint actuator includes a main body and a tracer; the main body has a first interface, a third interface and a power mechanism, and the first interface is used to connect the robot arm , the third interface is used to connect the saw blade, the power mechanism is arranged inside the main body, and the power mechanism is used to provide power to the third interface; the tracer is arranged on the main body and is used to indicate the orientation of the saw blade; wherein the third interface is configured as It can form a first connection relationship or a second connection relationship with the saw blade. Under the first connection relationship, the saw blade and the main body have a first relative orientation relationship, and under the second connection relationship, the saw blade and the main body have a third connection relationship. Two relative orientation relationships.

Combined with the above possible implementation manners, in a nineteenth possible implementation manner, the first relative orientation relationship is that the saw blade and the main body have a first included angle value, and the second relative orientation relationship is that the saw blade and the main body have a second included angle value. value.

Combined with the above possible implementation manners, 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.

Combined with the above possible implementation manners, in a twenty-first possible implementation manner, the first interface is located at the first end of the body, and the third interface is located at the first side of the body.

Combined with the above possible implementation manners, in a twenty-second possible implementation manner, the third interface is located on the first side of the main body close to the second end, and the second end and the first end are the two ends of the main body.

Combined with the above possible implementation manners, in a twenty-third possible implementation manner, in the 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 the second connection relationship, the saw blade The cutting end of the body is oriented opposite to the first end of the body.

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

Combined with the above possible implementation manners, in a twenty-fifth possible implementation manner, when the main body is connected to the robot arm, it is arranged coaxially with the end arm of the robot arm, and the virtual longitudinal section is parallel to the axis of the end arm.

A second aspect of the present disclosure is a surgical system, including a joint surgery device, a navigation system and a control system. The joint surgery device is a joint surgery device of the first aspect; the navigation system is used to detect the position of the knee joint actuator or the hip joint actuator; the control system is used to drive the robot arm to move the knee joint actuator or hip joint actuator according to the surgical plan. to the target location.

The joint surgery device proposed in the first aspect of the present disclosure includes a knee joint actuator, a hip joint actuator and a robot arm. The knee joint actuator is used to connect the saw blade to cut on the bone to prepare a predetermined shape; the hip joint actuator is used to connect the execution tool to prepare the prosthesis installation space on the bone and implant the prosthesis; the robot arm is used to connect the knee joint actuator or hip joint actuator, and can control the movement and orientation of the saw blade or execution tool; the knee joint actuator and the hip joint actuator are configured to have the same first interface, and the first interface is used to connect the knee joint actuator or the hip joint actuator The joint actuator is removably connected to the robot arm. A knee actuator or hip actuator can be selectively mounted to the robot arm. This enables a set of surgical devices to perform both knee and hip surgeries.

A third aspect of the present disclosure provides a connecting device, including a first connecting piece, a second connecting piece and a locking piece. One end of the first connecting piece is used to connect the first device, and the other end has a receiving part and a first limiting part. ; One end of the second connecting piece is used to connect the second device, and the other end is sleeved on the receiving part from the outside. The second connecting piece has a second limiting part, and the first limiting part and the second limiting part are configured to When the two connecting parts are sleeved on the receiving part, they abut against each other to limit the sleeved depth; the locking piece is movably provided on the second connecting piece, and the locking piece is configured to move when relative to the second connecting piece. Squeeze the first connecting piece and the second connecting piece to compress the first limiting part and the second limiting part.

In a first possible implementation, the locking member is configured such that the locking member moves relative to the second connecting member. The second connector is sleeved transversely to the sleeve sleeve direction of the first connector.

In combination with the above possible implementation, in a second possible implementation, the locking piece and the second connecting piece are configured such that the locking piece is radially movable relative to the second connecting piece, and the locking piece is radially movable along the locking piece. The first connecting piece and the second connecting piece can be squeezed during radial movement.

In combination with the above possible implementations, in a third possible implementation, a through hole leading to the receiving portion is provided on the wall of the second connecting member, and the locking member is located in the through hole and connects the second connecting member and the first connecting member. The connecting piece can abut against the receiving portion when being sleeved.

In combination with the above possible implementations, in a fourth possible implementation, the receiving portion of the first connecting member is provided with a locking surface, and the locking surface is used to receive the extrusion of the locking member.

In combination with the above possible implementation, in a fifth possible implementation, the orientation of the locking surface is consistent with the insertion direction of the second connecting member when it is sleeved on the receiving portion.

In combination with the above possible embodiments, in a sixth possible embodiment, the locking surface is an inclined surface, used to convert the extrusion of the locking member into the axial direction of the first limiting part and the second limiting part. force.

In combination with the above possible implementation, in a seventh possible implementation, the locking member is a ball, and the plurality of locking members are distributed circumferentially along the second connecting member.

Combined with the above possible implementation manner, in an eighth possible implementation manner, a force applying component is further included. The force applying component is movably provided on the second connecting member. When the force applying component moves relative to the second connecting member, it can drive the lock. The tightening piece presses the first connecting piece.

In combination with the above possible implementations, in a ninth possible implementation, the force-applying component is provided with a constant force component, and the constant-force component is used to make the force with which the force-applying component drives the locking component to squeeze the first connecting component constant.

In combination with the above possible implementations, in a tenth possible implementation, a locking force adjustment mechanism is provided in the force application component, and the locking force adjustment mechanism is configured to change the force application component to apply to the locking member when the state changes. Magnitude of the force.

In combination with the above possible embodiments, in an eleventh possible embodiment, the force-applying assembly includes a shaft sleeve. At least part of the inner wall surface of the shaft sleeve is an inclined plane. The inclined plane is used to apply force to the locking piece when the shaft sleeve moves axially. .

In combination with the above possible implementations, in a twelfth possible implementation, the force application assembly further includes a nut screwing mechanism, the nut screwing mechanism includes a nut piece and a rotating groove, and the nut piece is configured to move along the rotating groove, And push the shaft sleeve to move axially when moving.

In combination with the above possible implementation, in a thirteenth possible implementation, a first elastic member is further included, and the first elastic member is disposed between the nut member and the shaft sleeve.

Combined with the above possible implementation manner, in a fourteenth possible implementation manner, a locking force adjustment mechanism is provided between the nut member and the first elastic member or between the shaft sleeve and the first elastic member, and the locking force adjustment mechanism is configured as The predetermined compression stroke of the first elastic member can be adjusted.

In conjunction with the above possible implementation, in a fifteenth possible implementation, a second elastic member is further included, and the second elastic member is disposed on a side of the sleeve away from the first elastic member.

In combination with the above possible implementation manner, in a sixteenth possible implementation manner, the force application assembly further includes a cam pushing structure. The cam pushing structure includes a cam and a handle piece. The cam pushing mechanism is configured to push the sleeve when the handle piece rotates. Axial movement.

Combined with the above possible implementation manners, in a seventeenth possible implementation manner, the shaft sleeve is threadedly connected to the second connecting member. When the shaft sleeve is precessed relative to the second connecting member, the slope of the inner wall surface of the shaft sleeve faces the locking member. Apply force.

A fourth aspect of the present disclosure proposes a connecting device for robots, used to connect an end effector to an end arm of a robot arm, including a first connecting piece, a second connecting piece and a locking piece. One end of the first connecting piece is used for connecting. The end arm of the robot arm has a receiving part and a first limiting part at the other end; one end of the second connecting piece is used to connect the end effector, and the other end is sleeved on the receiving part from the outside, and the second connecting piece has a second limiting part , the first limiting part and the second limiting part are configured to abut against each other during the process of the second connecting member being sleeved on the receiving part to limit the sleeved depth; the locking member is movably provided on the second connecting member , the locking piece is configured to squeeze the first connecting piece and the second connecting piece when moving relative to the second connecting piece, so as to compress the first limiting part and the second limiting part.

The fifth aspect of the present disclosure proposes a surgical robot, including an end effector, a robot arm and a connecting device. The end effector is used to carry surgical tools; the robot arm is used to hold the end effector to position or move it; the connecting device is a first An aspect or second aspect connection means for connecting an end effector to an end arm of a robotic arm.

In the connection device proposed in the third aspect of the present disclosure, the locking member is movably provided on the second connection member, and the locking member is configured to squeeze the first connection member when moving relative to the second connection member, so that The first limiting part and the second limiting part are pressed together. After the locking piece comes into contact with the first connecting piece, it only needs a small movement stroke to generate enough stress to compress the first connecting piece, so no more operations are needed to drive the locking piece to move.

Description of the drawings

The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and are used together with the description to explain the principles of the present application, and do not constitute undue limitations on the present application.

Figure 1 is a schematic diagram of a surgical system for performing hip joint surgery according to an embodiment of the present disclosure;

Figure 2 is a schematic diagram of a hip joint actuator according to an embodiment of the present disclosure;

Figure 3 is a schematic diagram of the use of the first actuator according to the embodiment of the present disclosure;

Figure 4 is a schematic structural diagram of a power device according to an embodiment of the present disclosure;

Figure 5 is a cross-sectional view of the internal structure of the power device according to the embodiment of the present disclosure;

Figure 6 is a schematic structural diagram of the output shaft of the power device in Figure 3 according to an embodiment of the present disclosure;

Figure 7 is a schematic structural diagram of an output shaft according to an embodiment of the present disclosure;

Figure 8 is a schematic structural diagram of a coupling according to an embodiment of the present disclosure;

Figure 9 is a schematic structural diagram of the joint and output shaft according to the embodiment of the present disclosure;

Figure 10 is a cross-sectional view showing the structure of the joint and the output shaft according to the embodiment of the present disclosure;

Figure 11 is a schematic diagram of a first tool assembly according to an embodiment of the present disclosure;

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

Figure 13 is a schematic structural diagram of the connection part according to the embodiment of the present disclosure;

Figure 14 is a schematic diagram of the screwing structure and spline connection of the embodiment of the present disclosure;

Figure 15 is a schematic cross-sectional view of the structure of the power device and the first tool assembly according to the embodiment of the present disclosure;

Figure 16 is a schematic structural diagram of the connection between the first tool assembly and the power device according to the embodiment of the present disclosure;

Figure 17 is a schematic diagram of another connection structure between the output shaft and the adapter shaft according to the embodiment of the present disclosure;

Figure 18 is a schematic diagram of another connection structure between the output shaft and the adapter shaft according to the embodiment of the present disclosure;

Figure 19 is a schematic structural diagram of the first actuator connected to the second tool assembly according to the embodiment of the present disclosure;

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

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

Figure 22 is a schematic structural diagram of the connection between the support assembly and the sliding rod according to the embodiment of the present disclosure;

Figure 23 is a schematic diagram of components at the coupling part according to the embodiment of the present disclosure;

Figure 24 is a schematic diagram of the installation of the second actuator through the first actuator according to the embodiment of the present disclosure;

Figure 25 is a schematic diagram of the support assembly and the second interface structure of the embodiment of the present disclosure;

Figure 26 is a schematic diagram 2 of the support assembly and the second interface structure of the embodiment of the present disclosure;

Figure 27 is a schematic diagram 3 of the support assembly and the second interface structure of the embodiment of the present disclosure;

Figure 28 is a schematic structural diagram of a sliding rod equipped with an adjustment member according to an embodiment of the present disclosure;

Figure 29 is a schematic diagram of the adjusting member according to the embodiment of the present disclosure;

Figure 30 is a second schematic view of the adjusting member according to the embodiment of the present disclosure;

Figure 31 is a schematic diagram three of the adjusting member according to the embodiment of the present disclosure;

Figure 32 is a schematic structural diagram of a nut according to an embodiment of the present disclosure;

Figure 33 is a schematic structural diagram of a nut according to an embodiment of the present disclosure;

Figure 34 is a schematic structural diagram of a surgical system for performing knee surgery according to an embodiment of the present disclosure;

Figure 35 is a schematic diagram of a knee joint actuator configured to perform total knee replacement according to an embodiment of the present disclosure;

Figure 36 is a schematic diagram of a knee joint actuator configured to perform high tibial osteotomy according to an embodiment of the present disclosure;

Figure 37 is a front view of the knee joint actuator shown in Figure 2;

Figure 38 is a right view of the knee joint actuator shown in Figure 2;

Figure 39 is a schematic diagram of the internal power mechanism of the knee joint actuator shown in Figure 5;

Figure 40 is a right view of the knee joint actuator shown in Figure 3;

Figure 41 is a schematic diagram of total knee replacement of the right leg according to an embodiment of the present disclosure;

Figure 42 is a schematic diagram of the knee joint actuator adjusting the saw blade angle according to the embodiment of the present disclosure;

Figure 43 is a schematic diagram of the alignment state of the saw blade and the target osteotomy surface b of the distal femur according to an embodiment of the present disclosure;

Figure 44 is a schematic diagram of high medial tibial osteotomy of the left leg according to an embodiment of the present disclosure;

Figure 45 is a schematic diagram of the saw blade aligned with the high position of the tibia according to an embodiment of the present disclosure;

Figure 46 is a second schematic diagram of the saw blade aligned with the high position of the tibia according to the embodiment of the present disclosure;

Figure 47 is a schematic diagram of the first saw blade and clamping mechanism according to the embodiment of the present disclosure;

Figure 48 is a schematic diagram of the second saw blade and clamping mechanism according to the embodiment of the present disclosure;

Figure 49 is a second schematic diagram of the second saw blade and clamping mechanism according to the embodiment of the present disclosure;

Figure 50 is a schematic diagram of the connection method between the second tracer and the main body according to the embodiment of the present disclosure;

Figure 51 is a schematic structural diagram of a second tracer according to an embodiment of the present disclosure.

Explanation of reference signs in Figures 1 to 51:

1-sliding rod, 2-sliding rod tracer, 3-grip part, 4-body, 5-coupling part, 6-insulation sleeve, 7-sliding sleeve, 8-first buffer piece, 9-retaining ring, 10-Insulation piece, 11-Second buffer piece, 12-Insert block, 13-Second interface, 14-Mounting hole, 15-Latch, 16-First elastic piece, 17-Cushion block, 18-Latch pull bolt, 21-Adapter shaft, 22-Nut, 23-Adapter sleeve, 24-Spline, 25-Retainer, 26-Nut, 27-Adjustment piece, 28-First position, 29-Second position, 30- The first interface, 40-first handle, 50-insulation cover, 60-grip sleeve, 70-ring groove, 80-axial buffer mechanism, 90-axial limiting structure;

100-casing, 101-baffle, 121-limit groove, 131-bottom plate, 132-limit buckle, 1321-first section, 1322-second section, 133-pin hole, 140-quick release mechanism, 141 -First limiting mechanism, 142-Second limiting mechanism, 150-Tracing component, 151-Tracing element;

200, 200a-motor, 210-spindle section, 211-connecting hole, 212-block, 213-flange, 214-limiting section, 215-limiting step, 221-outer wall, 222-clamping slot, 223-flower Keyway, 261-stress plate, 262-connecting section;

300, 300a-reducer;

400-output shaft, 401-input section, 402-middle section, 403-output section, 4031-coupling spline, 404-positioning hole, 4011-keyway;

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

600-joint, 601-hole, 602-rotating groove, 6020-limiting part, 6021-screwing section, 6022-positioning section, 603-hole, 610-screwing structure;

700-Extension spindle, 701-spline joint, 702-joint hole; 703-positioning shaft, 710-spline connection, 720-radial positioning structure;

800-Post lock, 801-Locating pin;

900-Positioning module, 901-Cat holder, 902-Elastic member, 903-Sliding sleeve;

1000a, 1000b-surgical tools, 1001-reamer rod, 1002-reamer blade, 1003-prosthesis, 1004a, 1004b-cutting tools;

2000-Power device, 2100-Power component, 2200-Power source, 3000-Tool component, 4000-Support component, 5000-Adjustment component, 6000-First actuator, 7000-Second actuator, 8000-Connection part, 9000 -Navigation system, 9001-binocular vision camera, 9100-robot 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-shaft, 3713-power mechanism, 37133-transmission mechanism, 3721- The first tracer, 3722-the second tracer, 3723-the tracer element, 3724-the tracer frame, 373-the second handle;

38-clamping mechanism, 381-clamping part;

391, 391a-Protrusion, 392, 392a-Groove, 3921-accommodating space;

3101-Latch, 3102-Kit, 3103-Latch;

W - axis, P - virtual longitudinal section, a - target osteotomy surface of tibia, b - target osteotomy surface of distal femur, c - target osteotomy surface of front end of femur, d - target osteotomy surface of posterior end of femur, e - femur Posterior oblique target osteotomy surface, g-anterior oblique femoral target osteotomy surface, h-high tibial target osteotomy surface, A-first posture, B-second posture, C-third posture, D-fourth posture, E-fifth posture, G-sixth posture, M-axis of the first interface, N-axis of the second interface, O-axis of the second handle, F-femur, T-tibia.

Figure 52 is a schematic diagram of a surgical robot system according to an embodiment of the present disclosure;

Figure 53 is a schematic diagram of an end effector connected to a robot arm through a connecting device according to an embodiment of the present disclosure;

Figure 54 is a schematic diagram of the external structure of the connection device according to the embodiment of the present disclosure;

Figure 55 is a schematic diagram of the internal structure of the connection device according to the embodiment of the present disclosure;

Figure 56 is a schematic diagram of the external structure of the second connecting member and the force-applying assembly according to the embodiment of the present disclosure;

Figure 57 is a schematic diagram of the internal structure of the second connecting member and the force-applying assembly according to the embodiment of the present disclosure;

Figure 58 is a schematic structural diagram of the contact position between the locking member and the first connecting member and the second connecting member according to the embodiment of the present disclosure;

Figure 59 is a schematic structural diagram of the second connector according to the embodiment of the present disclosure;

Figure 60 is an exploded view of the connection device according to the embodiment of the present disclosure;

Figure 61 is a schematic diagram of a lock nut according to an embodiment of the present disclosure;

Figure 62 is a schematic diagram of a guide member according to an embodiment of the present disclosure;

Figure 63 is a perspective view of the shaft sleeve structure of the embodiment of the present disclosure;

Figure 64 is a cross-sectional view of the shaft sleeve structure of the embodiment of the present disclosure;

Figure 65 is a schematic structural diagram of the locking force adjustment mechanism according to the embodiment of the present disclosure;

Figure 66 is a schematic diagram 2 of the structure of the locking force adjustment mechanism according to the embodiment of the present disclosure;

Figure 67 is a schematic structural diagram of another force-applying component according to an embodiment of the present disclosure;

Figure 68 is a schematic structural diagram of another force application component according to an embodiment of the present disclosure.

Explanation of reference numbers in Figures 52 to 68:

1-robot arm, 11-end arm;

2-cart, 3-surgical tools, 4-end effector, 5-connection device;

51-first connecting piece, A-first connecting end, B-first locking end, 511-receiving part, 5111-ring groove, locking surface-5111a, 512-first limiting part, 5121-positioning pin;

52-second connecting piece, C-second connecting end, D-second locking end, 521-second limiting part, 5211-positioning hole, 522-accommodating groove, 523-mounting hole;

53-locking piece, P1-first point, P2-second point, P3-third point;

54-force application component, 541-shaft sleeve, 5411-first barrel section, 5412-second barrel section, 5413-interval space, 5421-lock Mother, 5422-guide, 543-rotating groove, a-first lead section, b-second lead section, c-third lead section, d-fourth lead section, 544-first elastic member , 545 second elastic member, 546-locking force adjustment mechanism, 5461-inner ring, 5462-outer ring, 547-thrust bearing;

55-force application component, 551-axle sleeve, 551-cam handle, 5511-cam, 553-movable plate;

O, Q-virtual vertex, W-arrow, α, β-tilt angle, M, N-squeezing force, F-locking force, F0-thrust force.

Detailed ways

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

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. Furthermore, the terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "including..." does not exclude the presence of additional identical elements in the process, method, article, or device that includes the element.

It should be noted that, as long as there is no conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other. The embodiments will be described in detail below with reference to the accompanying drawings.

The present disclosure proposes a surgical device for selectively performing knee surgery or hip replacement surgery, including a knee actuator, a hip actuator and a robotic arm. The knee actuator is used to connect the saw blade to cut into the bone to prepare a predetermined shape. The hip actuator is used to connect the execution tool to prepare the space for the prosthesis installation on the bone and implant the prosthesis. The robot arm is used to connect the knee actuator or hip actuator and can control the movement and orientation of the saw blade or execution tool. Wherein, the knee joint actuator and the hip joint actuator are configured to have the same first interface, and the first interface is used to detachably connect the knee joint actuator or the hip joint actuator to the robot arm.

Specifically, when either the knee joint actuator or the hip joint actuator is connected to the robot arm, surgical treatment can be performed on the knee joint and hip joint respectively. When performing knee surgery, the knee actuator is equipped with a saw blade to cut the bone on the femur or tibia to prepare the target osteotomy surface. For example, in total knee arthroplasty (TKA), the knee joint actuator carries a saw blade to prepare five target osteotomy surfaces at the distal end of the femur and one target osteotomy surface at the proximal tibia. When performing hip surgery, the hip actuator carries an execution tool to prepare a space for the prosthesis installation on the femur or hip bone, and installs the acetabular prosthesis in the prepared space on the hip bone. Among them, the execution tools include medullary reamers, acetabular files, and acetabular prostheses. A medullary reamer can ream the medullary bone of the proximal femur for installation of a femoral stem component. Acetabular files can cut the acetabular socket of the hip bone to fit the acetabular cup prosthesis. The acetabular prosthesis can be installed into the prepared acetabular socket under the action of impact force.

As shown in Figure 1, the robot system for performing hip joint surgery provided by the present disclosure includes a robot arm 9100, a navigation system 9000, a hip joint actuator 9300, and a control system 9200. The robotic arm 9100 is equivalent to the surgeon's arm and can hold the execution tool and position the execution tool with high accuracy. The navigation system 9000 acts as the surgeon's eyes and can measure the position of the execution tool and patient tissue in real time. The control system 9200 is equivalent to the surgeon's brain and stores surgical plans internally. The control system 9200 calculates the route and/or the position to be reached by the robot arm based on the information obtained through the navigation system 9000 during the operation, and can actively control the movement of the robot arm 9100, or set the robot through force feedback mode. After the virtual boundary of the arm 9100 is reached, the robot arm 9100 is manually pushed to move along the route or surface defined by the virtual boundary or within a defined volume. Implementation tools include acetabular files, the reamer portion of the medullary reamer, and the acetabular component. The acetabular file and the reamer part of the medullary reamer are used as cutting tools to prepare an installation space for installing the acetabular prosthesis or femoral stem prosthesis on the bone.

The hip actuator 9300 is used to prepare a prosthesis installation space on the bone and implant the prosthesis. The hip joint actuator includes a first actuator and a second actuator. The first actuator is used to connect a cutting tool to machine the acetabulum and/or medullary cavity. The first actuator has a first interface and a second interface. The second actuator is used to connect to the second interface of the first actuator when performing a prosthesis implantation operation. The second actuator is used to connect the prosthesis and receive the impact of installing the prosthesis. Wherein, the hip joint actuator is used to be installed to the robot arm 9100 through the first interface. When performing acetabulum preparation and medullary cavity preparation in hip joint surgery, the first actuator is connected to the robot arm 9100; when prosthesis installation is required, the second actuator is connected to the first actuator. Through the above settings, the operation of replacing the actuator can be reduced.

Specifically, in hip replacement surgery, after exposing the affected hip joint, the acetabular socket is usually prepared first. During this process, a rotating acetabular file is used to grind the acetabular socket in the affected area into a shape suitable for installing the prosthesis. Figure 1 shows a schematic diagram of the use of the first actuator for preparing the acetabular socket. The first actuator 6000 is connected to the robot arm 9100 through the first interface 30. The first actuator 6000 is detachably connected to an acetabular file tool assembly/acetabular rasp rod (ie, the surgical tool 1000a). The end of the acetabular file rod is used to connect the acetabular file (ie, the cutting tool 1004a). In this state, the acetabular file tool assembly/acetabular grinding rod can be driven by the first actuator 6000 to drive the acetabular file to grind the acetabulum. After the acetabulum is prepared, the acetabular prosthesis needs to be placed in the acetabulum. Figure 2 shows the state in which the second actuator 7000 is connected to the second interface 13 of the first actuator 6000 (at this time, the acetabular file 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 through the first actuator 6000, and the prosthesis can be installed under the control of the robot arm 9100. Further, as shown in Figure 19, to perform medullary reaming of the proximal femur, the second actuator 7000 needs to be removed from the second interface 13, and a medullary cavity for medullary reaming is installed on the first actuator 6000. Reamer assembly. The medullary reamer assembly includes a reamer shaft portion (ie, surgical tool 1000b) and a reamer portion (ie, cutting tool 1004b).

The first actuator 6000 will be described below, as shown in Figures 1 to 19.

The first actuator 6000 is a joint shaping actuator, which is used to prepare a shaped acetabular socket or medullary cavity on the hip joint. The first actuator 6000 includes a power unit 2000 and a tool assembly 3000. The power device 2000 includes a housing 100 and a built-in power assembly 2100 . The first actuator 6000 is connected to the end of the robot arm 9100 of the robot. The power assembly 2100 includes a power source 2200 and an output shaft 400. The output shaft 400 is connected to the power source 2200. The tool assembly 3000 includes a connecting part 8000 and a surgical tool 1000a. The surgical tool 1000a is rotatably disposed on the connecting part 8000. The tool assembly 3000 is detachably provided on the power device 2000 through the connecting portion 8000. When the tool assembly 3000 is connected to the power device 2000 through the connecting portion 8000, the surgical tool 1000a is engaged with the output shaft 400 to receive the rotational motion output by the 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 is coupled with one end of the tool assembly 3000 to drive the grinding file connecting rod. There is no need to use a long guide barrel to guide the connecting rod, making the actuator structure more compact. This reduces the interference of the external power source on the surgical space and the impact on safety; it also reduces the operation of assembling the external power source during surgery, making the surgical process smoother.

Specifically, as shown in Figure 2, Figure 4 to Figure 6. Figure 2 is a schematic diagram of the hip joint actuator. Figure 4 is a schematic diagram of the power plant structure. Figure 5 is a cross-sectional view of the internal structure of the power unit. Figure 6 is a schematic structural diagram of the output shaft of the power unit in Figure 3. The first actuator 6000 includes a power unit 2000 and a tool assembly 3000. The power device 2000 includes a housing 100 and a power assembly 2100. The casing 100 is an internally hollow component and is approximately in the shape of a square prism. A first interface 30 and a second interface 13 are respectively provided at both ends of the housing 100 . The first interface 30 includes a locking mechanism for locking the first actuator The robot 6000 is connected to the robot arm 9100. The second interface 13 serves as a prosthesis installation actuator interface and is used to detachably connect the prosthesis installation actuator (ie, the second actuator 7000). The housing 100 is also provided with a first handle 40. The first handle 40 is hollow inside, and the first handle 40 is detachably connected to the housing 100. The structure used by the power device 2000 to connect the tool assembly 3000 is a quick-installation interface, which is provided on the other side of the housing 100 opposite to the first handle 40 . When the tool assembly 3000 is installed on the quick-installation interface, the axes of the first handle 40 and the acetabular rasp rod assembly are basically in a straight line, and they are distributed on both sides of the power device 2000 . Various surfaces of housing 100 are used to connect tracer assemblies 150 to indicate the position of the actuator.

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

As shown in Figure 7, Figure 7 is a schematic diagram of the output shaft structure. 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 the rotational motion from the power source 2200. The middle section 402 is mounted in a bearing in the power plant 2000 . The output section 403 is provided with a coupling spline 4031. The coupling spline 4031 includes a plurality of protrusions distributed at circumferential intervals for outputting torque. The length of the coupling spline 4031 is less than the length of the output section 403, that is, the end section of the output section 403 is an optical axis.

As shown in Figure 8, Figure 8 is a schematic diagram of the coupling structure. The coupling 500 is a plum blossom coupling. The coupling 500 includes a first part 501 and a second part 502. The first part 501 and the second part 502 are both provided with locking screws for fixing the shaft, and an insulating sleeve is provided between the first part 501 and the second part 502. The shaft at the output end of the reducer 300 is connected to the first part 501 through a coupling key and a locking screw, and the output shaft 400 is also connected to the second part 502 through a key connection and a locking screw. The key connection between the coupling 500 and the shaft at the output end of the reducer 300 and the output shaft 400 increases the reliability of the transmission based on the locking screw on the one hand, and on the other hand the key connection increases the maximum torque that can be transmitted.

Referring to FIGS. 5 and 6 , inside the first actuator 6000 , an insulating cover 50 is provided around the coupling 500 . The insulation cover 50 can isolate the housing 100 and the reducer 300 to prevent the leakage of the motor 200 from being transmitted to the housing 100 through the reducer 300 . The insulating cover 50 has the function of isolating the wires/conductors and preventing the wires/conductors inside the housing 100 from rubbing or entangled with the rotating coupling 500 .

Refer to Figures 5 to 7 and Figures 9 to 10 together. Figure 9 is a schematic diagram of the joint and output shaft structure. Figure 10 is a cross-sectional view showing the structure of the joint and output shaft. The housing 100 is also provided with a joint 600 , and the joint 600 is fixed to the housing 100 .

The joint 600 is used to connect the tool assembly 3000 and install the output shaft 400 . The main body of the joint 600 is cylindrical, with a hole 601 inside, and four rotating grooves 602 on the outer periphery. The rotating grooves 602 are used to guide the pin member and include circumferential and axial limits for the pin member. Part 6020. One end of the joint 600 is provided with two wing plates in the radial direction. The hole 601 is used to install the 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 extends spirally in the first axial direction, and the positioning section 6022 extends toward the second axial direction at the end of the precession section 6021, wherein the first axial direction and The second axis is in the opposite direction. The side wall of the positioning section 6022 forms the limiting portion 6020. The positioning section 6022 is used to form a second axial limit and a circumferential limit for the contents in the groove. The wing plate is used to fix the joint 600 and the housing 100 . When the output shaft 400 is installed on the joint 600, the coupling spline 4031 protrudes from the hole 601 and is located outside the housing 100.

As shown in Figure 11 to Figure 13. Figure 11 is a schematic diagram of the first tool assembly. Figure 12 is a cross-sectional view of the first tool assembly. Figure 13 is a schematic structural diagram of the connection part. Tool assembly 3000 includes connector 8000 and surgical tool 1000a. The surgical tool 1000a is rotatably mounted on the connecting portion 8000 through one end thereof. The surgical tool 1000a is an acetabular rasp rod. assembly, and the other end is connected to the acetabular rasp. The acetabular rasp rod assembly includes a connecting rod spindle 700 , an acetabular rasp connecting part and a holding sleeve 60 . One end of the connecting rod spindle 700 is rotatably connected to the connecting portion 8000, and the other end is provided with a mortar file connecting component. The control sleeve 60 is fitted on the connecting rod spindle 700 . A spline joint 701 and a coupling hole 702 are provided at one end of the post spindle 700 connected to the connecting portion 8000 . The spline joint 701 and the coupling spline 4031 can be fitted and matched to realize the transmission of rotational motion. However, 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 part 8000 includes a post lock 800 and a post connection module. The post lock 800 is cup-shaped with a hollow interior, and is provided with a round hole at the bottom. Four positioning pins 801 distributed along the circumferential direction are provided on the inner circumferential surface of the post lock head 800 close to the opening. The post connection module is disposed inside the post lock 800 and is used to rotatably connect the acetabular rasp rod assembly to the post lock 800 .

The post connection module includes a card holder 901, a positioning module 900 and a pair of sliding sleeves 903, all of which are coaxially held in the post lock 800. The card holder 901 is annular and is disposed on the outermost side (the opening side of the post lock 800). The positioning module 900 includes an elastic member 902 for forming a predetermined force between the connecting part 8000 and the power device 2000. In this embodiment, the elastic member 902 is a thrust spring. The two sliding sleeves 903 are annular and are axially located between the card holder 901 and the bottom of the post lock head 800 . The outer circumferential surface of the sliding sleeve 903 matches the inner circumferential surface of the post lock head 800, and the inner hole has the same diameter as the post spindle 700. The thrust spring is arranged between the two sliding sleeves 903.

The connecting rod spindle 700 is sleeved in the card holder 901, the thrust spring and the sliding sleeve 903. The outer circumferential surface of the post spindle 700 is also provided with two annular grooves 70 with a predetermined distance, and the annular grooves 70 are used for installing retaining rings. In the assembly relationship, the card holder 901, the thrust spring, the sliding sleeve 903 and the post lock head 800 are all located between the two retaining rings, so the post lock head 800 and the post spindle 700 form a whole. The thrust spring is compressible, so the post lock head 800 has a certain amount of movement along the axial direction of the post spindle.

As shown in Figure 14, Figure 14 is a schematic diagram of the screwing structure and spline connection. The connecting part and the power device 2000 will be connected through a screwing structure 610 to form an axial and circumferential limit to the connecting part. The screwing structure 610 is composed of a positioning pin 801 and a rotation groove 602 , that is, the tool assembly 3000 passes through the positioning pin 801 The rotating groove 602 is screw-fitted and connected to the housing 100 .

As shown in Figure 15 and Figure 16. Figure 15 is a schematic cross-sectional view of the structure of the power unit and the first tool assembly. Figure 16 is a schematic structural diagram of the connection between the first tool assembly and the power device. Referring to Figures 7 to 14 together, in the assembled relationship, the positioning pin 801 is inserted into the positioning section 6022 of the rotation groove 602. The two side walls extending in the axial direction of the positioning section 6022 form circumferential limits for the positioning pin 801, and the end walls form axial limits for the positioning pin 801. Therefore, the post lock head 800 will not fall in the axial direction or rotate in the circumferential direction without external force. The connection part 8000 is radially positioned between the post spindle 700 and the housing 100 , which is equivalent to the radial positioning between the post spindle 700 and the output shaft 400 (which is positioned on the housing 100 ). Specifically referring to Figures 14 and 16, the optical axis portion of the output shaft 400 and the engagement hole 702 of the post spindle 700 form a radial positioning structure 720. The radial positioning structure 720 is an equal-diameter shaft hole matching structure, that is, the output shaft 400 and Direct radial positioning is established between the engagement holes 702 . Limited by the length and fitting accuracy of the mating section forming the radial positioning between the connecting portion 8000 and the post spindle 700 , the post spindle 700 may have a certain amount of radial movement. The radial positioning between the optical axis portion of the output shaft 400 and the engagement hole 702 of the post spindle 700 can improve the radial positioning accuracy.

The spline joint 701 of the post spindle 700 is aligned and engaged with the coupling spline 4031 of the output shaft 400 to receive rotational motion. The axial force of the thrust spring butt rod lock head 800 causes the positioning pin 801 to be pressed against the end wall of the positioning section 6022 along the axial direction. Since the thrust spring is compressed, there is internal stress in the connection between the connecting part 8000 and the power device 2000. This internal stress enables a stable axial positioning between the tool assembly 3000 and the power device, and does not increase the need to ensure the axial positioning accuracy. It is difficult to design or install, and the connection is more stable and less likely to loosen due to vibration and other reasons. Furthermore, in the axial direction, the connecting rod spindle 700 is pushed by the thrust spring to abut against the output shaft 400 to form an axial positioning.

Compared with the threaded screw connection, the cooperation between the positioning pin 801 and the rotating groove 602 is more labor-saving and facilitates rapid disassembly and assembly during surgery; the direct physical limitation of the positioning pin 801 by the positioning section 6022 is also more reliable than friction locking. In some optional embodiments, the positioning pin 801 can be provided on the outer circumferential surface of the post lock head 800 , and the rotating groove 602 can be provided on the inner circumferential surface of the joint 600 . In other optional embodiments, the positioning pin 801 can be provided on the inner/outer circumferential surface of the joint 600, and the rotating groove 602 can be provided on the outer/inner circumferential surface of the post lock head 800. This arrangement also ensures that The positioning pin 801 can be rotated when mated with the rotating groove 602, and further realizes the axial and circumferential positioning of the joint 600 and the post lock head 800.

The joint between the output shaft 400 and the connecting rod spindle 700 is a spline connection 710. During the jointing process of the spline connection 710, it is only necessary that the connecting rod spindle 700 is aligned with the output shaft 400 in the axial direction, which is easy to operate. In some optional embodiments, the output shaft 400 and the connecting rod spindle 700 can also form a torque-transmissible connection through mutual fitting of the end faces.

As shown in Figure 17, Figure 17 is a schematic diagram of another connection structure between the output shaft and the adapter shaft. In some optional embodiments, other radial positioning structures may be used to replace the radial positioning between the optical axis portion of the output shaft 400 and the engagement hole 702 of the post spindle 700 . For example, a positioning shaft 703 is provided at the end of the connecting rod spindle 700, and a positioning hole 404 is provided on the output shaft 400, and the shaft holes of the two cooperate to form radial positioning. Or, as shown in Figure 18, Figure 18 is a schematic diagram of another connection structure between the output shaft and the adapter shaft. A shaft-hole matching structure is provided between the joint 600 and the adapter spindle 700. For example, a hole 603 with a diameter larger than the diameter of the spline part of the output shaft 400 is provided at the end of the joint 600, and the corresponding end of the adapter spindle 700 is set to have an equal diameter. , a shaft hole fit is formed between the two.

In some optional embodiments, springs serving as the elastic members 902 in the positioning module 900 may also be provided at other locations to form internal stress between the tool assembly 3000 and the power device 2000 . For example, a compression spring is fixed on the power device 2000. When the tool assembly 3000 is installed on the power unit 2000, the post lock head 800 compresses the compression spring, and the reaction force of the compression spring presses the positioning pin 801 of the post lock head 800 into the rotating groove 602, so that the post lock head 800 is in contact with the power unit. Pre-pressure is maintained between the devices 2000 to form a more stable connection. In the final use state, the adapter spindle 700 will be pressed against the output shaft in the axial direction by the reaction force of the patient's tissue. The compression spring can be an ordinary spiral spring, a disc spring, a corrugated spring, etc. Of course, the elastic member 902 is not limited to the form of a spring, and can also be an elastic spring piece.

The following is a detailed description of the use process of the hip molder.

When in use, the first actuator 6000 is connected to the robot arm 9100 through the first interface 30 , and at this time, the tool assembly 3000 is not installed on the first actuator 6000 . First, the robot arm 9100 enters the preparation position according to the predetermined surgical plan. The doctor installs the acetabular rasp rod assembly equipped with the acetabular file (ie, the cutting tool 1004a) to the first actuator 6000 through the joint 600. Specifically, the doctor holds the post lock 800 to axially sleeve the engagement hole of the post spindle 700 on the output section 403 of the output shaft 400, and aligns the coupling spline 4031 with the spline joint 701. After completing the circumferential joint between the output shaft 400 and the adapter spindle 700, the adapter spindle 700 contacts the output shaft 400, and the doctor pulls and rotates the adapter lock 800 in the direction close to the actuator, so that the post lock 800 The positioning pin 801 moves along the precession section 6021 in the rotation groove 602 and finally enters the positioning section 6022.

In this way, the engagement between the coupling spline 4031 and the spline joint 701 realizes the circumferential engagement between the output shaft 400 and the connecting rod spindle 700. The cooperation between the output section 403 and the engagement hole 702 improves the coaxiality of the connection and is also consistent with the connection. The rod lock head 800 also increases the radial positioning length of the docking rod spindle 700 and improves the coaxiality between the output shaft 400 and the connecting rod spindle 700 when transmitting rotation. When the positioning pin 801 is located in the positioning section 6022, the positioning pin 801 is limited by the two axially extending side walls of the positioning section 6022 and cannot rotate circumferentially relative to the joint 600. The thrust spring causes the post lock head 800 to have a tendency to move toward the post spindle 700 relative to the joint 600. This movement tendency prevents the positioning pin 801 from axially escaping from the positioning section 6022 and reaching the precession section 6021. The thrust spring causes the post spindle 700 to axially abut against the output shaft 400 , that is, the thrust spring pushes the post spindle 700 to maintain axial engagement with the output shaft 400 . During the above operation process, the radially positioned part of the adapter spindle 700 is the top end, and the stroke of the acetabular rasp rod assembly in the axial direction is small, and the required operating space is correspondingly small.

At this point, the acetabular rasp rod assembly is connected to the housing 100. Under the guidance of the predetermined surgical plan, the first actuator 6000 moves to the predetermined target position under the control of the robot arm 9100 and the doctor. The motor 200 is started, and the rotation of the motor 200 is transmitted to the output shaft 400 through the reducer 300 and the coupling 500 in sequence. Since the output shaft 400 and the post spindle 700 are connected through the coupling spline 4031 and the spline joint 701, the post spindle 700 is driven by the output shaft 400 to rotate. During the rotation, the post lock head 800 is fixedly connected to the joint 600. , the post lock head 800 will not rotate. The rotating adapter spindle 700 drives the acetabular file (cutting tool 1004a) to rotate to grind and shape the acetabular socket.

After completing the grinding and shaping of the acetabular socket according to the predetermined surgical plan, the robot arm 9100 enters a position in which the acetabular grinding and filing rod assembly can be disassembled. The doctor overcomes the elastic force of the thrust spring and lifts the connecting rod lock 800, and the positioning pin 801 comes out of position. Restricted by the section 6022, the post lock head 800 is rotated, the positioning pin 801 is separated from the rotation groove 602 after passing through the precessed section 6021, and the post lock head 800 is separated from the joint 600. Move the acetabular rasp rod assembly away from the joint 600 along the axial direction of the rod spindle 700 to complete the disassembly.

To sum up, the motor 200, reducer 300, coupling and output shaft 400 are integrated inside the housing 100, and the power cord of the motor 200 can be introduced through the interface between the housing 100 and the robot arm 9100. The first actuator 6000 has a compact structure and does not require an external power source. It also avoids the interference of the external power source and its power cord on the surgical space and the safety hazards of exposed power cords. There is no need to assemble an external power source during surgery, which also reduces the number of surgical steps. The tool assembly 3000 is composed of a connecting portion 8000 and an acetabular rasp rod assembly. As a pre-assembled modular part, the tool assembly 3000 can conveniently realize the detachable connection between the surgical tool 1000a and the output shaft 400.

As shown in Figure 19, Figure 19 is a schematic structural diagram of the first actuator connected to the second tool assembly. In an optional embodiment, the surgical tool 1000b is the reamer rod part of the medullary cavity reamer (ie, the reamer rod 1001), and the execution tool 1004b is the reamer part of the medullary cavity reamer. Tool assembly 3000 includes a connecting portion 8000 and a reamer shaft 1001 of a medullary reamer. The reamer rod 1001 and the reamer part for medullary expansion connected to the reamer rod 1001 constitute a medullary cavity reamer. The end of the reamer rod 1001 is provided with a spline joint 701 for connection with the coupling spline 4031; the reamer is provided with a reamer blade 1002 for expanding the medullary cavity of the femoral medullary cavity under rotation. The connecting portion 8000 has the same structure as the connecting portion 8000 for connecting the acetabular rasp rod assembly. The connecting rod connection module connects the reamer rod 1001 and the connecting rod lock head 800 . Moreover, the connection between the tool assembly 3000 connected to the reamer rod 1001, the joint 600 and the output shaft 400 is the same as above. After the connecting rod lock 800 is connected to the joint 600, the medullary cavity reamer is connected to the coupling spline through the spline joint 701. The key 4031 is coupled to the output shaft 400. The output shaft 400 is driven by the motor 200 to drive the medullary cavity reamer to rotate and perform the task of expanding the medullary reamer of the proximal femur.

In an optional implementation, the first actuator 6000 is provided with three sets of tracking assemblies 150 . Three groups of tracking assemblies 150 are respectively arranged on three surfaces of the housing 100, and each group includes four tracking elements 151 located on the same plane. As shown in FIGS. 2 to 4 , the housing 100 is provided with three planes, and the three sets of tracking elements 151 are respectively provided on the three planes. The tracking element 151 may be a passive reflective ball or sheet, or an active electromagnetic generator or sensor.

It can be understood that during hip joint plastic surgery, the tracer component 150 sends the position information of the first actuator 6000 to the locator, and the locator is usually fixedly installed in the surgical space. The locator is the one in the navigation system 9000 that receives the position information. The device, through the arrangement of three sets of tracking elements 151, enables the position information of the first actuator 6000 to be recognized by the locator in various postures. Corresponding to the tracking element 151, the locator may be an optical navigator that identifies reflected light, or it may be a receiver that identifies electromagnetic signals.

The second actuator 7000 will be introduced in detail below, as shown in Figures 20 to 33.

The second actuator 7000 is a prosthesis installation actuator, used for installing the prosthesis 1003 during hip replacement surgery. The second actuator includes a slide rod 1, a support assembly 4000 and a slide rod tracer 2. One end of the sliding rod 1 is used to connect the prosthesis 1003 (ie, the execution tool), and the other end of the sliding rod 1 is used to receive the impact force when installing the prosthesis. Support assembly 4000 includes a coupling portion 5. The coupling part 5 accommodates part of the rod section of the slide rod 1, and the slide rod 1 is axially movable relative to the support assembly 4000. The support assembly 4000 is used to connect the second actuator 7000 to the robot arm 9100 of the robot system. A tracer is provided on the slider 1 to indicate the orientation of the slider 1 . In the second actuator 7000, the sliding rod 1 is axially movable relative to the support assembly 4000. When in use, the axial gap between the sliding rod 1 and the supporting assembly 4000 can be larger than the stroke of the sliding rod 1 when it is struck, thereby preventing slippage. The rod 1 collides with the support assembly 4000 and damages the robot arm 9100 connected to the actuator. The sliding rod 1 and the support assembly 4000 are configured as a whole. When using this actuator, there is no need to assemble or disassemble the slide rod 1 and the support assembly 4000. The entire actuator only needs to be connected to or separated from the robot arm 9100 through the support assembly.

Specifically, in the embodiment shown in Figures 3 and 20 to 27, the second actuator 7000 includes a sliding rod 1, a support assembly 4000, a sliding rod tracer 2, an axial buffering mechanism 80 and an axial limiting structure. 90. The second actuator 7000 is connected to the first actuator 6000 through the support assembly 4000. When the two are connected, the sliding rod 1 of the second actuator 7000 is parallel to the structure of the first actuator 6000 for connecting the cutting tool 1004a. The structures of the first actuator 6000 used to connect the cutting tool 1004a are the output shaft 400 and the joint 600, the axes of which are parallel to the slide rod 1. Acetabular fossa/femoral medullary cavity molding and prosthesis implantation both involve the angle accuracy of the tool axis, and the axis angle accuracy is related. The structure used to connect the cutting tool 1004a and the structure used to connect the prosthesis 1003 are set to Parallelism is more advantageous.

As shown in Figures 20 to 21. Figure 20 is a schematic diagram of the overall structure of the second actuator. Figure 21 is a cross-sectional view of the overall structure of the second actuator. The sliding rod 1 is a metal rod with a smooth surface. One end of the sliding rod 1 is used to receive the doctor's hammering, and the other end is used to connect the prosthesis 1003 . A gripping portion 3 is provided in the middle of the sliding rod 1 . The gripping portion 3 is sleeve-like and is fitted on the sliding rod 1 and fixed with the sliding rod 1 , so that the doctor can hold the sliding rod 1 through the gripping portion 3 . The holding part 3 is an insulating plastic sleeve. Among them, the sliding rod 1 as a metal rod ensures high strength when transmitting impact force, but the instruments used for surgery are not expected to be bulky, so the diameter of the sliding rod 1 is generally small, making it inconvenient for doctors to hold. The plastic holding part 3 not only increases the diameter of the holding part of the sliding rod 1, but also provides favorable holding conditions for the doctor without adding a greater weight to the surgical tool. Of course, in some embodiments, the holding part 3 may also be an insulating rubber sleeve or a non-insulating metal sleeve. In other embodiments, the sleeve-shaped holding part 3 may not be provided, but the holding part 3 may be provided as a part of the sliding rod 1 itself, and this part may be enlarged relative to the diameter of the sliding rod 1 itself for convenience. Hold.

The sliding rod tracer 2 includes a tracing part and a connecting part. The tracer part is provided with multiple positioning marks to provide location information. The positioning mark can be a reflective ball or sheet that can reflect infrared light, or it can be an infrared light source or electromagnetic generator that can actively send out signals to achieve positioning. The connecting part is used to fix the slide rod tracer 2 to the slide rod 1.

The support assembly 4000 includes a body 4 , a coupling part 5 , an insulating sleeve 6 and a sliding sleeve 7 . The body 4 is roughly in the shape of a hexahedron, and one end (the right end as shown in Figure 21) is used to connect the robot arm 9100. The coupling part 5 is a hole penetrating the body 4 . Both the insulating sleeve 6 and the sliding sleeve 7 are cylindrical. The insulating sleeve 6 is fitted in the coupling part 5 and is axially fixed with the coupling part 5 . The insulating sleeve 6 is used to prevent the formation of a conductive path between the patient and the robotic arm 9100 device through the contact between the support assembly 4000 and the sliding rod 1 . The sliding sleeve 7 is fitted in the insulating sleeve 6 and is axially fixed with the insulating sleeve 6 . The material of the sliding sleeve 7 is metal. The sliding rod 1 and the sliding sleeve 7 form a shaft hole fit, and there is a gap between the sliding rod 1 and the sliding sleeve 7 that allows the sliding rod 1 to slide freely relative to the sliding sleeve 7 . The sliding sleeve 7 disposed between the insulating sleeve 6 and the sliding rod 1 in this way can not only reduce the wear of the insulating sleeve 6 but also increase the smoothness of the sliding rod 1 .

The axial limiting structure 90 includes a retaining ring 9 and a first end of the holding portion 3 away from the prosthesis 1003 . The retaining ring 9 and the first end of the holding portion 3 are both fixed to the sliding rod 1, and two steps with a larger diameter than the sliding rod 1 are formed on the sliding rod 1. When the sliding rod 1 moves along the sliding sleeve 7 , interference occurs between the two steps and the support assembly to form an axial limit for the sliding rod 1 . In this embodiment, an insulating member 10 is disposed between the retaining ring 9 and the supporting component 4000, and between the holding part 3 and the supporting component 4000. Therefore, the retaining ring 9 and the holding part 3 actually directly form an axis with the insulating component 10. to interfere. The insulating member 10 is a sleeve with openings at both ends. The diameter of the internal space of the insulating member 10 is larger than the diameter of the sliding rod 1, and the diameter of the opening at one end of the insulating member 10 is larger than the diameter of the sliding rod 1. The opening diameter of the other end is the same as the diameter of the sliding rod 1, and a baffle 101 is provided at this end to form an opening with the same diameter as the sliding rod 1. When the sliding rod 1 is assembled with the support assembly 4000, the retaining ring 9 and the first end of the holding portion 3 are respectively located on both sides of the support assembly 4000. The two insulating members 10 are both fitted on the sliding rod 1 and are also located on both sides of the support assembly 4000. The side of the insulating member 10 with the baffle 101 is connected to the body 4. In this way, the retaining ring 9 and the first end of the holding part 3 form two limiting points on the sliding rod. When the sliding rod 1 slides relative to the support assembly 4000, the retaining ring 9 and the first end of the holding part 3 limit The maximum sliding stroke of the slide rod 1 relative to the support assembly 4000 is determined.

In an optional embodiment, the first end of the holding portion 3 in the axial limiting structure 90 can also be replaced by an independently provided retaining ring 9. In another optional embodiment, the retaining ring 9 9 or the first end of the gripping part 3 may be a step or shoulder provided on the sliding rod 1 .

Specifically refer to Figures 21 and 22. Figure 22 is a schematic structural diagram of the connection between the support component and the sliding rod. The present disclosure is also provided with an axial buffer mechanism 80 so that the sliding rod 1 and the support assembly 4000 form at least one buffer in the axial direction. In this embodiment, the axial buffering mechanism 80 includes two buffering members, specifically a first buffering member 8 and a second buffering member 11. The first buffering member 8 and the second buffering member 11 are distributed on both sides of the support assembly. The two buffer members are springs. The first buffer member 8 is disposed between the retaining ring 9 and the insulating member 10 , and the second buffer member 11 is disposed between the first end of the holding portion 3 and the baffle edge 101 of the insulating member 10 . The first buffer member 8 and the second buffer member 11 are both fitted on the slide rod 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 generate buffers when the slide bar 1 slides relative to the support assembly 4000. Part of the impact of the slide bar 1 on the support assembly 4000 when it slides is absorbed by the buffer members. In this way, when the sliding rod 1 slides along the axis to install the prosthesis 1003, the sliding rod 1 will not produce a rigid impact on the robot arm 9100, thereby reducing locking or posture deviation of the robot arm 9100.

Driven by the robot arm 9100, the second actuator 7000 reaches the target alignment position for installing the acetabular prosthesis, and the prosthesis 1003 is aligned with the prepared acetabular socket of the patient's affected area. During the movement and positioning of the robot arm 9100, the first buffer member 8 and the second buffer member 11 are both in a compressed state, and the slide rod 1 is maintained with the body 4 under the action of the first buffer member 8 and the second buffer member 11. With a certain axial positioning relationship, that is, the slide rod 1 is roughly maintained at the middle position of the sliding stroke, and the slide rod 1 will not move freely along the coupling portion 5 .

After the doctor confirms that the posture and surgical path of the prosthesis 1003 are correct, the robot arm 9100 is set to the linear spring arm mode, that is, by controlling the output torque of the motor at the joint of the robot arm 9100, the robot arm 9100 is set to have its end arm/rod along the edge. The damping in the axial direction of slide rod 1 is very small, while the damping in other directions is large. In this mode, the second actuator 7000 connected to the robot arm 9100 can move along the axial direction of the slide rod 1 under the action of external force, but it is difficult to move in the radial direction or rotate around the radial direction. The doctor holds the grip 3 and applies an impact force to the first end of the slide rod 1 . Impact force can be applied by hammer blows or slide hammer strikes. The impact force causes the sliding rod 1 to drive the prosthesis 1003 into the acetabulum. At the moment of impact, the support component 4000 does not move instantaneously due to inertia. During the movement of the sliding rod 1, the retaining ring 9 compresses the first buffer member 8, and the first buffer member 8 acts on the support assembly, causing the support assembly 4000 to move along the axial direction with the sliding rod 1 with a delay. The first buffer member 8 prevents the spring retaining ring 9 from being in rigid contact with the body 4 . After the sliding rod 1 completes an impact on the prosthesis 1003, under the action of the first buffer member 8, the relative relationship between the sliding rod 1 and the support assembly is automatically reset to a state where no hammer impact has been received. In some cases, it is also necessary to apply a force in the opposite direction to the hammering force when implanting the prosthesis to the second actuator 7000 to dislodge the prosthesis 1003 or the prosthesis trial model from the acetabulum. In this case, the second buffer member 11 can prevent rigid contact between the sliding rod 1 and the support assembly 4000 . The setting of the above-mentioned buffer mechanism allows the robot arm 9100 to automatically move with the sliding rod 1 during the impact of the sliding rod 1, without the need to manually hold the actuator. The operator can hold the slider 1 and feel the impact vibration just like traditional surgery.

The axial movement stroke of the slide rod 1 is limited by the first end of the holding portion 3 of the limiting structure and the retaining ring 9 . The arrangement of the first buffer member 8 and the second buffer member 11 prevents the limiting structure of the slide rod 1 from being in rigid contact with the body 4 at all times. No impact is received on slider 1 When the force is applied, the sliding rod 1 remains in the neutral position relative to the coupling part 5, and the sliding rod 1 will not move freely relative to the support assembly. Instead, a certain force is required to overcome the first buffer member 8 or the second buffer member 11 in order to move the sliding rod 1 1 moves to prevent the sliding rod 1 from moving freely when the robot arm 9100 moves.

In an optional implementation, the support assembly 4000 is provided with a quick release mechanism 140 for connecting the second actuator 7000 with the robot arm 9100 or the first actuator 6000 . As shown in Figures 25 to 27, Figures 25 to 27 are schematic structural diagrams of the support assembly and the second interface. The quick release mechanism 140 includes a first limiting mechanism 141 and a second limiting mechanism 142. The first limiting mechanism 141 is a plug-in block 12, and the second limiting mechanism 142 is a plug assembly. The plug-in block 12 is used for plugging. Connected to the robot arm 9100 or the first actuator 6000, the plug-in limiting direction of the plug assembly is perpendicular to the plug-in direction of the plug block 12. The plug-in block 12 is fixedly connected to or integrally formed with the body 4. Two limiting slots 121 are provided on one end of the plug-in block 12 extending in the plug-in direction. The limit slots 121 are used to limit the degree of freedom in the plug-in direction.

The body 4 is provided with a mounting hole 14 for accommodating the plug assembly, and the mounting hole 14 is connected with the coupling part 5 . The latch assembly includes a latch 15, a first elastic member 16, a pad 17 and a latch pull bolt 18. The pad 17, the first elastic member 16 and the latch 15 are arranged in the installation hole 14 in sequence. The first elastic member 16 is a spring. The pad 17 is in contact with the sliding rod 1 . The latch 15 is in the mounting hole 14 and passes vertically through the plug 12 along the thickness direction of the plug 12 . The first elastic member 16 is arranged in a compressed state. between pin 15 and spacer 17. The middle section of the mounting hole 14 is connected to the outside of the body 4, forming an active area where the latch 15 can be manually moved. The latch pull bolt 18 radially passes through the latch 15 and is fixed to the latch 15. The latch 15 is limited to the active area by the latch pull bolt 18. Inside. Under the push of the first elastic member 16, the latch pull bolt 18 is in contact with one end of the active area, and the head of the latch penetrates the surface of the plug block 12, and the head of the latch is a bevel.

In order to install the second actuator 7000 to the first actuator 6000 through the quick release mechanism 140, the first actuator 6000 is provided with a second interface 13 in the form of a slot. Specifically, the second interface 13 includes a bottom plate 131, a latch hole 133, and a limiting buckle 132, where the bottom plate 131 is rectangular. The latch holes 133 are provided along the thickness direction of the bottom plate 131; the number of limiting buckles 132 is four and they are respectively provided at the four corners of the bottom plate 131. The limiting buckles 132 and the bottom plate 131 form the second interface 13. The limiting buckle 132 specifically includes a connected first section 1321 and a second section 1322. The first section 1321 is connected to the bottom plate 131 and is perpendicular to the bottom plate 131. The second section 1322 is parallel to the bottom plate 131 and extends toward the inside of the bottom plate 131. The limiting buckle 132 and the bottom plate 131 form a space for accommodating the plug-in block 12 . Moreover, when the plug-in block 12 is plugged into the second interface 13, the limiting groove 121 is engaged with the limiting buckle 132, and the plug-in block 12 cannot come out along the plugging direction under the restriction of the limiting buckle 132.

Through the arrangement of the quick release mechanism 140, the second actuator 7000 can be easily disassembled and assembled. As shown in Figures 25 to 27, when the plug 12 is connected to the second interface 13 from top to bottom, the plane of the bottom plate 131 first fits the plane of the plug, the bevel of the plug head contacts the bottom plate 131, and the plug 15 moves toward Body 4 retracts. Move the body 4 downward relative to the second interface, the limiting groove 121 engages with the limiting buckle 132, the latch head enters the latch hole 133, and the plug block 12 fully fits the second interface 13. In the space rectangular coordinate system, the thickness and width of the plug-in block 12 and the second interface 13 are consistent to define the five degrees of freedom of the plug-in block 12 except the z-axis (which can also be the x-axis or the y-axis). The engagement of the groove 121 and the limit buckle 132 limits the degree of freedom of the second actuator 7000 to slide in the first direction along the z-axis. The cooperation between the latch 15 and the latch hole 133 enables the second actuator 7000 to slide in the second direction along the z-axis. Regarding the degree of freedom of directional sliding, in Figures 25 to 27, the first direction is the axial downward direction of the coupling part 5, and the second direction is the upward direction of the coupling part 5. At this point, the second actuator 7000 is fixedly connected to the first actuator 6000 through the arrangement of the plug block 12, the second interface 13 and the plug assembly. When disassembling, you only need to turn the latch pull bolt 18 (turn it to the left in Figure 25) to make the head of the latch come out of the latch hole 133, and then pull out the plug block 12 from the second interface 13 (opposite in Figure 25). Pull it out upward from the second interface 13). The setting of the quick-release mechanism 140 of the second actuator 7000 allows the doctor to quickly complete the installation and disassembly of the second actuator 7000 during surgery, saving surgery time.

As shown in Figure 28, Figure 28 is a schematic structural diagram of the sliding rod equipped with an adjustment member. In an optional embodiment, the second actuator 7000 also includes an adjustment assembly 5000, which connects the prosthesis 1003 to the slide rod 1 and can The circumferential position of the prosthesis 1003 relative to the slide rod can be adjusted. The adjustment assembly 5000 includes the adapter shaft 21 and the adjustment member 27 . One end of the adapter shaft 21 is connected to the sliding rod 1, and the other end is connected to the hip joint prosthesis 1003. The adjusting member 27 is fitted at the connection between the adapter shaft 21 and the sliding rod 1. Under the action of external force, the adjusting member 27 can move between the first position 28 and the second position 29 of the adapter shaft 21. The adjusting member 27 is in The circumferential position between the first position 28 and the sliding rod 1 is fixed, and the adjusting member 27 is adjustable in its circumferential position relative to the sliding rod 1 at the second position 29 .

As shown in Figure 29, Figure 29 is a schematic diagram of the adjusting member. The adapter shaft 21 includes a sliding rod joint, a main shaft section 210 and an acetabular prosthesis joint. The sliding rod joint and the acetabular prosthetic joint are provided at both ends of the main shaft section 210. The sliding rod joint is used to connect to the sliding rod 1, and the acetabular prosthesis joint. The prosthetic joint is used to connect the prosthesis 1003.

There is a connecting hole 211 at the top of the sliding rod joint. The connecting hole 211 is a light hole. There are two clamping blocks 212 symmetrical about the axis of the adapter shaft 21 on the periphery of the connecting hole 211. The two clamping blocks 212 are in the shape of a "-" and move along the radial direction. extend. A flange 213 with the same maximum radius as the blocking block 212 is provided below the blocking block 212. A limiting section 214 is provided below the flange 213. The radius of the limiting section 214 is larger than the radius of the main shaft section 210, and between the limiting section 214 and the main shaft section A limiting step 215 is formed at the connection 210 .

Refer to Figures 29 to 32. Figure 30 is the second schematic diagram of the adjusting member. Figure 31 is the third schematic diagram of the adjusting member. Figure 32 is a schematic structural diagram of a nut according to an embodiment of the present disclosure. The adjusting member 27 includes a detachably connected nut 22 and an adapter sleeve 23 , a spline 24 and a retaining member 25 . Specifically referring to FIG. 32 , the nut 22 is in the shape of a shell with an opening downward. An external thread is provided on the outer wall 221 of the opening, and two slots 222 are symmetrically provided on the outer wall 221 . The slots 222 extend to the inside of the nut 22 . , a spline groove 223 is provided inside the nut 22 near the bottom. The adapter sleeve 23 is cup-shaped with an opening, and the inner wall of the opening of the adapter sleeve 23 is provided with internal threads. The spline 24 is fixed on the sliding rod 1 and is provided with tooth-shaped protrusions on its outer periphery. The retaining member 25 is an elastic spring.

In the connected state, the nut 22 is fitted above the spline 24 on the sliding rod 1, and the adapter sleeve 23 is fitted on the adapter shaft 21. The adapter sleeve 23 and the nut 22 are connected through the matching of the internal thread and the external thread to maintain The member 25 is disposed in the adapter sleeve 23 , with one end in contact with the bottom of the adapter sleeve 23 and the other end in contact with the flange 213 .

During use, the end of the sliding rod 1 is inserted into the connecting hole 211, and the nut 22 and the adapter sleeve 23 are threaded to form an integral body. For ease of understanding, the following description will be made in conjunction with the working state and adjustment process of the adjusting member 27 .

In the working state, the adjusting member 27 is located at the first position 28. As shown in Figure 30, the retaining member 25 is in a compressed state and abuts the flange 213 and the bottom of the adapter sleeve 23. The retainer 25 pulls the nut through the adapter sleeve 23. 22. Connect the spline groove 223 of the nut 22 with the spline 24, and the clamping block 212 is fitted into the clamping groove 222. In this way, the sliding rod 1 and the adjusting device are circumferentially fixed through the connection between the spline 24 and the spline groove 223, and the adapter shaft 21 and the adjusting device are circumferentially fixed through the cooperation of the clamping block and the clamping groove 222. Based on the above process and principle, under working conditions, through the connection of the adjusting components, the sliding rod 1 and the adapter shaft 21 are fixed in the axial, radial and circumferential directions.

In order to meet clinical needs, it is necessary to ensure that the prosthesis 1003 has the correct installation direction when implanting the prosthesis 1003 into the prepared acetabular socket of the patient's affected area. For example, the prosthesis 1003 with wings needs to be in contact with the hip. The socket is fixed to strengthen the structure at the socket, and the wings need to connect to the socket in the correct direction. Therefore, the direction of the prosthesis 1003 needs to be adjusted before sliding the rod 1 each time. Based on the second actuator 7000 described in this embodiment, when adjusting the direction of the prosthesis 1003, as shown in Figure 31, the doctor lifts the adjustment device upward to overcome the elastic force of the retainer 25 to the bottom of the adapter sleeve 23 and the limiter. The step 215 abuts, and the adjusting member 27 is located at the second position 29. At this time, the spline 24 is separated from the spline groove 223, the clamping block 212 does not come out of the clamping slot 222, the adjusting member 27 can rotate circumferentially relative to the sliding rod 1, and the adapter shaft 21 rotates following the rotation of the adjusting member 27. In this way, the direction of the prosthesis 1003 relative to the sliding rod 1 can be adjusted only by rotating the adjusting member 27 without rotating the sliding rod 1. Further, since the slider 1 is connected to provide the slider 1 bit in real time The slider tracker 2 needs to be aligned with the locator that receives the position information. Therefore, the setting of the above-mentioned adjustment component also ensures that the slide rod tracer 2 fixedly connected to the slide rod 1 will not lose alignment with the locator due to the rotation of the slide rod 1 when the prosthesis 1003 is adjusted, ensuring that the slide rod tracer Device 2 can be recognized by the locator in real time.

Moreover, based on the adjustment component, by changing the acetabular prosthesis joint of the adapter shaft 21, the adapter shaft 21 can connect different models of prostheses 1003 from different manufacturers. There is no need to replace the entire slide rod 1 to adapt to different prostheses 1003, which improves the adaptability and application range of the second actuator 7000.

In an optional implementation, the buffer member may retain only the first buffer member 8 without providing the second buffer member 11 .

In some optional embodiments, a buffer member may be provided, such as the first buffer member 8 . And the two ends of the buffer member 8 are connected to the retaining ring 9 and the support assembly 4000 respectively. When the sliding rod moves in two directions, it will be pulled or supported by the buffer member 8, thereby forming a buffer and driving the support assembly 4000 to move with the sliding rod.

In some alternative embodiments, the two buffer members of the axial buffer mechanism 80 may not be pre-compressed. For example, the first buffer member 8 can be compressed only by the gravity of the sliding rod. The length of the two buffer members can also be smaller than the stroke of the sliding rod 1, and the buffer members can move between the limiting structures, as long as they can prevent rigid collision.

In an optional implementation, refer to Fig. 20 and Fig. 33. Fig. 33 is a schematic diagram of the nut structure. The end of the sliding rod 1 that receives the impact force is provided with a nut 26. The nut 26 includes a force-bearing plate 261 and a connecting section 262. The connecting section 262 is fixedly connected to the sliding rod 1 through threads. Of course, the connection method is not limited to threaded connection, and can also be It is a pin connection or other connection methods; the area of the force-bearing plate 261 is larger than the area of the end of the sliding rod 1, and the force-bearing plate 261 provides a larger force target for the doctor's hammering when applying impact force to avoid the end of the sliding rod 1 The part is small and the phenomenon of hammering out appears.

Figure 34 is a schematic structural diagram of a surgical system for performing knee surgery, involving computer-assisted surgery (CAS) technology. The surgical system involving this technology includes a robot arm 9100, a navigation system 9000, a knee joint actuator 9400 equipped with a saw blade 36, and a control system 9200. The robot arm 9100 is equivalent to a surgeon's arm and can hold the saw blade 36 and position and move the saw blade 36 with high accuracy. The navigation system 9000 is equivalent to the surgeon's eyes and can measure the position of the saw blade 36 and the patient's tissue in real time. The control system 9200 is equivalent to the surgeon's brain and stores surgical plans internally. The control system 9200 calculates the route and/or the position to be reached of the robot arm 9100 based on the position information obtained through the navigation system 9000 during the operation, and can control the movement of the robot arm 9100, or set the virtual boundary of the robot arm 9100 through force feedback mode, manually The knee joint actuator 9400 that pushes the robot arm 9100 moves within the virtual boundary/along the route and surface defined by the virtual boundary.

Refer to Figure 35 and Figure 36. FIG. 35 is a schematic diagram of the knee joint actuator 9400 configured to perform total knee replacement surgery, which shows the first connection relationship between the saw blade 36 and the main body 371 of the knee joint actuator 9400. Under this connection relationship, the saw blade 36 is disposed on one side of the main body (the lower side of the main body 371 in Figure 35), and the end of the saw blade 36 used for cutting bone tissue is oriented perpendicular to the length direction of the main body 371, that is, in Figure 35 Saw blade 36 points downward relative to body 371 . In the first connection relationship, the knee actuator 9400 is adapted to perform an osteotomy operation in a total knee replacement. 36 is a schematic diagram of the knee joint actuator 9400 configured to perform high tibial osteotomy, which shows the second connection relationship between the saw blade 36 and the main body 371 of the knee joint actuator 9400. Under this connection relationship, the saw blade 36 is also disposed on one side of the main body (the lower side of the main body 371 in Figure 36), and the end of the saw blade 36 used for cutting bone tissue is directed parallel to the length direction of the main body 371, that is, Figure 36 The middle saw blade 36 points to the left of the main body 371 . In the second connection relationship, the knee actuator 9400 is adapted to perform a high tibial osteotomy, a distal femoral osteotomy, or a proximal fibula osteotomy.

Continue to refer to Figures 35 to 40. Figure 37 is a front view of the knee actuator 9400 shown in Figure 35. Figure 38 is a right side view of the knee actuator 9400 shown in Figure 35. Figure 39 is a schematic diagram of the internal structure of the knee joint actuator 9400 shown in Figure 5. Figure 40 is a right side view of the knee joint actuator 9400 shown in Figure 36. Specifically, knee joint actuator 9400 includes a body 371 and a tracer. The tracers include a first tracer 3721 and a second tracer 3722. The main body 371 is generally a cone, and the rotation center line W of the cone is coaxial with the rotation center line of the end arm 9101 of the robot arm 9100 . On this basis, the direction reference and coordinate system CS of the body 371 are defined. The rotation center line W of the cone is the Z axis of the coordinate system CS, and the two mutually perpendicular directions perpendicular to the Z axis are the Y axis and the X axis. The extension direction of the rotation center line W is the length direction of the main body 371 . The two ends in the length direction of the main body 371 are the first end 3701 and the second end 3702 respectively. The radial direction of the main body 371 is the lateral direction, specifically including the upper side, lower side, front side and rear side. The upper side, lower side, front side and back side correspond to the Y-axis forward direction, Y-axis reverse direction, X-axis forward direction and X-axis reverse direction of the coordinate system CS.

When the main body 371 is connected to the end arm 9101 of the robot arm 9100, it is coaxially fixed with the end arm 9101, which is equivalent to becoming an extension of the end arm 9101 of the robot arm 9100. In other embodiments, the shape of the main body 371 is not limited to a cone, and can be a regular or irregular shape as long as it has a predetermined length and can be coaxial with the end arm 9101 when connected to the robot arm 9100 . "Coaxial" here is not strictly limited to the literal meaning, as long as the two rod-shaped structures are connected in a substantially collinear manner. Of course, the definition of the length direction of the main body 371 of other shapes can also refer to the rotation center line W of the end arm 9101 (when the main body 371 is connected to the robot arm 9100), because the main body 371 rotates with the end arm 9101, and the rotation center lines of the two are the same.

The main 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 the first end 3701 of the main body 371 . The third interface 3712 is located on the first side 3703 of the body 371 and closer to the second end 3702 in the length direction. The second handle 373 is located on the second side 3704 of the main body 371 and is used to provide a force portion for the doctor to push and pull the knee joint actuator 9400. The first side 3703 of the main body 371 corresponds to the aforementioned lower side, that is, the reverse direction of the Y-axis; the second side 3704 corresponds to the aforementioned upper side, that is, the forward direction of the Y-axis. The first interface 30 includes a locking mechanism for connecting the main body 371 to the robot arm 9100. The third interface 3712 is used to connect the saw blade 36 . As shown in Figure 39, the third interface 3712 is specifically a mechanical connection structure and has a rotating shaft 37121 that can rotate back and forth. The saw blade 36 is fixed on the rotating shaft 37121 and swings back and forth driven by the rotating shaft 7012. The power mechanism 3713 is disposed inside the main body 371 , and is used to provide power to the third interface 3712 . The power mechanism 3713 mainly includes a motor 200a, a reducer 300a and a transmission mechanism 37133. The motor 200a and the reducer 300a are used to provide initial power. One end of the transmission mechanism 37133 is connected to the reducer, and the other end is provided 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 from 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 in the shape of a long strip, and its two ends are respectively a cutting end 361 and a connecting end 362. The cutting end 361 is provided with saw teeth for cutting bone tissue. The connecting end 362 is used to connect with the third interface 3712 and receive the power to drive the saw blade 36 to swing.

The tracer is disposed on the second end 3702 of the main 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 on the second end 3702 of the main body 371, and the tracer element 3723 on the first tracer 3721 is detachable. The navigation system 9000 can orient the tracer, and thereby the saw blade 36, in the surgical space. The tracer is an optical tracer, and a tracer element 3723 is installed on it. The tracer element 3723 is a reflective sheet or reflective ball. The navigation system 9000 includes a binocular vision camera 9001 capable of identifying reflective sheets or reflective balls. The tracer enables the navigation system 9000 to clearly and accurately understand the position of the saw blade 36 during the movement of the knee joint actuator 9400 holding the saw blade 36 . For example, when cutting bone tissue, the degree of cutting of the bone tissue by the saw blade 36 and the condition of the remaining bone tissue to be cut can be determined by the position of the saw blade 36 reflected by the tracer. In an optional embodiment, the tracer may also be an electromagnetic transmitter or a position sensor, and a corresponding navigation system 9000 capable of identifying the position of the electromagnetic transmit signal or position sensor may determine the orientation of the saw blade 36 .

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

35, 37 and 38 are schematic diagrams of the saw blade 36 and the third interface 3712 in the first connection relationship. Under the first connection relationship, the saw blade 36 and the main body 371 have a first included angle, and the first included angle is a right angle, that is, the length direction of the saw blade 36 and the length direction of the main body 371 (the direction of the rotation center line W) are 90 degrees. angle. The plane of the saw blade 36 is parallel to the virtual longitudinal section P of the main body 371 . The virtual longitudinal section P is a cross-sectional plane in the length direction of the main body 371 , and the virtual longitudinal section P is parallel to the axis of the end arm 9101 of the robot arm 9100 . As specifically shown in Figure 35, the length direction of the saw blade 36 points in the opposite direction of the Y-axis; the plane of the saw blade 36 is parallel to the plane determined by the Y-axis and the Z-axis. Continuing to refer to Figure 35, the axis M of the first interface and the axis N of the second interface are both on the virtual longitudinal section P. The axis M of the first interface coincides with the rotation center line W, that is, the axis M coincides with Z in the CS coordinate system. Axis coaxial. The axis N of the second interface coincides with the line connecting the main body 371 to the first side 3703, that is, the axis N is parallel to the Y-axis in the CS coordinate system. Taking the virtual longitudinal section P as a mirror plane, the main body 371 is symmetrical with respect to the virtual longitudinal section P. The axis O of the second handle generally coincides with the axis N of the second interface.

As shown in Figures 41 to 43, Figure 41 is a schematic diagram of total knee replacement of the right leg. Figure 42 is a schematic diagram of the knee joint actuator 9400 adjusting the angle of the saw blade 36. Figure 43 is a schematic diagram of the knee joint actuator 9400 adjusting the angle to align the saw blade with the target osteotomy surface b of the distal femur 6. When the saw blade 36 and the main body 371 have a first orientation relationship, the knee joint actuator 9400 facilitates knee replacement surgery, such as total knee replacement or unicondylar replacement. Under this type of surgery, taking total knee replacement of the right leg as an example, the patient is in a supine position with the knees bent, the robot arm 9100 and the trolley 9102 carrying it are located on the affected side of the patient (the patient's right side), and the navigation system 9000 is located on the opposite side of the affected side. side (patient's left side). The robot arm 9100 points from the affected side to the opposite side. The end arm 9101 of the robot arm 9100 is connected to the knee joint actuator 9400. The robot arm 9100 keeps the knee joint actuator 9400 substantially above the knee joint and transverse to the patient. During the operation, the saw blade 36 will enter from the front of the patient, and the cutting end 361 of the saw blade 36 points to the knee joint. When the saw blade 36 performs osteotomy, the saw blade plane only needs the knee joint actuator 9400 to be roughly parallel to the human body's coronal plane and transverse direction. By adjusting the angle of the axis W of the plane intersection, the positioning of the six planes for knee replacement surgery planning can be achieved.

Referring specifically to Figure 42, when the knee joint actuator 9400 is equipped with the saw blade 36 to position different osteotomy surfaces, in order to adapt to the angles of different target osteotomy surfaces, the plane of the saw blade 36 is adjusted at a position away from the affected area. The rotation of the end arm 9101 of the robot arm around its own axis causes the knee joint actuator 9400 to rotate around the axis W, and the saw blade 36 rotates at a certain angle in the plane. 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 after adjustment. The 6 angles of the saw blade in the first posture A of the knee joint actuator 9400 correspond to the angle of the target osteotomy surface a of the tibia; the 6 angles of the saw blade in the second posture B correspond to the angle of the target osteotomy surface b of the distal femur. ; The 6 angles of the saw blade in the third posture C correspond to the angle of the target osteotomy surface c at the front end of the femur; the 6 angles of the saw blade in the fourth posture D correspond to the angle of the target osteotomy surface d at the rear end of the femur, and the fifth posture E The 6 angles of the middle saw blade correspond to the angle of the femoral posterior oblique target osteotomy surface e, and the 6 angles of the saw blade in the sixth posture G correspond to the angle of the femoral anterior oblique target osteotomy surface g. After completing the angular positioning of the saw blade 36 and the six corresponding target osteotomy planes, the robot arm 9100 can achieve alignment between each plane and the target osteotomy plane by translating a certain distance within a certain range according to a predetermined path, such as Figure 43 shows a schematic diagram of the saw blade 36 aligned with the target osteotomy plane b of the distal femur and about to perform osteotomy. After the saw blade 36 is positioned in this state, the robot arm 9100 moves the saw blade 36 under the control of the control system 9200 The movement range is limited to this plane, and the doctor pushes the knee joint actuator 9400 to move in this plane and completes the corresponding osteotomy.

Continuing to refer to Figure 42, without considering the translational position of the saw blade 36, during the angle adjustment process of the saw blade 36, in order to adapt to different target osteotomy planes, the knee joint actuator 9400 rotates around the axis W to drive the saw. Use piece 36 to adjust the angle. In this way, the robot arm 9100 itself does not need to adjust its posture at a large angle or greatly, only the machine The end arm 9101 of the human arm 9100 rotates the knee joint actuator 9400 around the axis W to adjust the angle of the saw blade 36 . It can be understood that unicondylar knee replacement is similar to total knee replacement. Also, with the patient in the supine position with the knees bent, the saw blade 36 performs osteotomy through the patient's anterior approach. The specific positioning principle of the osteotomy plane is the same as that of the total knee joint replacement. The relevant positioning principles in knee replacement are the same and will not be repeated here.

44 to 46 are schematic diagrams of the operating space in the second connection relationship between the saw blade 36 and the third interface 3712. Figure 44 is a schematic diagram of high medial tibial osteotomy of the left leg. Figure 45 and Figure 46 show the schematic diagram of the saw blade aligned with the high position of the tibia. Under the second connection relationship, the saw blade 36 and the main body 371 have a second included angle, and the second included angle is a zero angle, that is, the length direction of the saw blade 36 is parallel to the length direction of the main body 371 (the direction of the axis W). The plane of the saw blade 36 is parallel to the virtual longitudinal section P of the main body 371 , and the virtual longitudinal section P is the cross-section plane in the length direction of the main body 371 . Specifically, the virtual longitudinal section P of the main body 371 is the plane determined by the axis M of the first interface and the 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 the axis N of the main body 371 The lines pointing to the first side 3703 coincide. Taking the virtual longitudinal section P as a mirror plane, the main body 371 is symmetrical with respect to the virtual longitudinal section P.

When the saw blade 36 and the main body 371 have the second orientation relationship, the knee joint actuator 9400 facilitates high tibial osteotomy and distal femoral osteotomy. This type of surgery uses open wedge osteotomy or closed osteotomy on the lateral side of the femur F or tibia T to protect the integrity of the physiological structure of the knee joint. It is the main surgical method for the treatment of early knee joint lesions. Unlike knee replacement surgery, a high tibial osteotomy or distal femoral osteotomy will be performed through a medial or lateral approach to the affected side. As shown in Figure 44, taking high osteotomy of the medial tibia of the left leg as an example, the patient is in the supine position with knees bent, the robot arm 9100 and the trolley 9102 carrying it are located on the opposite side of the patient's affected side (right side of the patient), and the navigation system 9000 Located on the affected area (patient's left side). The robot arm 9100 points from the affected side to the opposite side. The end arm 9101 of the robot arm is connected to a knee joint actuator 9400. The robot arm 9100 keeps the actuator roughly transverse to the patient and above the middle of the left leg and the right leg and closer to the left leg. . As shown in Figures 45 and 46, during the operation, the saw blade 36 will be introduced from the inside of the proximal end of the tibia T of the patient's left leg, and the cutting end 361 of the saw blade 36 points toward the proximal end of the tibia T in a horizontal direction transverse to the patient. During osteotomy, the plane of the saw blade 36 is adapted to the planned osteotomy plane of the predetermined surgical plan, and the knee joint actuator 9400 is required to adjust the angle of the plane of the saw blade 36 approximately around an axis W parallel to the intersection of the human body's coronal plane and the transverse plane. During the angle adjustment process, the rotation of the end arm 9101 of the robot arm around its own axis causes the knee joint actuator 9400 to rotate around the axis W, and the saw blade 36 rotates in a certain plane to be parallel to the high target osteotomy surface h of the tibia. In addition, the robot arm 9100 can achieve alignment of each plane with the high tibial target osteotomy surface h by translating a certain distance within a certain range according to a predetermined path.

Without considering the translation of the saw blade 36, during the angle adjustment process of the saw blade 36, in order to adapt to the corresponding high target osteotomy surface h of the tibia, the robot arm 9100 itself does not need to adjust its posture at a large angle or greatly. The angle of the saw blade 36 can be adjusted by rotating the end arm of the robot arm 9100. It can be understood that the distal femoral osteotomy is similar to the high tibial osteotomy. The patient is in a supine position with the knees bent, and the knee joint actuator 9400 equipped with the saw blade 36 is introduced from the medial or lateral side of the corresponding femur. Furthermore, the proximal fibular osteotomy is similar to the high tibial osteotomy. The patient is usually in the supine position, and the knee joint actuator 9400 equipped with the saw blade 36 enters through the posterolateral approach of the corresponding fibula, and the cutting position is 6 to 10 cm below the fibular head. During the operation, the knee joint actuator 9400 is equipped with a saw blade 36 to cut off the fibula by about 2cm, and seal the cut end with bone wax to prevent the broken end of the fibula from healing. During the distal femur osteotomy and the proximal fibula osteotomy, based on the similar approach and the osteotomy posture of the saw blade 36 , the cutting of the saw blade 36 when the saw blade 36 has a second connection relationship with the knee joint actuator 9400 End 361 may be directed laterally from the bone toward the surgical site. The robot arm 9100 can be equipped with the knee joint actuator 9400 to flexibly and conveniently perform distal femur osteotomy surgery or proximal fibula osteotomy surgery.

In this way, through the setting of the first connection relationship and the second connection relationship between the saw blade 36 and the main body 371, when the saw blade 36 and the main body 371 have the first orientation relationship, the cutting end 361 of the saw blade 36 can be better pointed on the front side of the patient. The area of the knee joint to be operated on. When the saw blade 36 and the main body 371 have the second orientation relationship, the cutting end 361 of the saw blade 36 can be better directed from the inside or outside of the patient's lower limb to the femur F, tibia T or fibula. The saw blade 36 obtains the second connection relationship through the first connection relationship. Connected to the main body 371, the knee actuator 9400 can adapt to different surgical approaches and types of surgery. The robot arm 9100 carrying the knee actuator 9400 does not need to position the saw blade to the target osteotomy plane in a complicated or difficult-to-reach posture. The doctor's operation is convenient and the operating space is sufficient, and the robot equipped with the knee actuator 9400 is flexible enough to complete a variety of surgeries. The equipment purchase cost and the doctor's learning time cost will be greatly reduced.

As shown in FIGS. 47 to 49 , in this embodiment, the third interface 3712 is a clamping mechanism 38 , and the saw blade 36 is connected to the knee joint actuator 9400 through the clamping mechanism 38 . The clamping mechanism 38 includes two opposite clamping parts 381 . The two clamping parts 381 approach each other under the action of external force to clamp the connecting end 362 of the saw blade 36 .

Figure 47 shows a schematic diagram of the first saw blade 36 and the clamping mechanism 38. A reversing structure is provided between the two clamping parts 381 and the saw blade 36. The reversing structure enables the saw blade 36 to form a first connection relationship or a second connection relationship when the saw blade 36 is connected to the main body 371 through the third interface 3712. The reversing structure includes a protrusion 391 and a groove 392. The protrusion 391 and the groove 392 are respectively provided on the clamping part 381 and the saw blade 36. The groove 392 includes at least two accommodation spaces 3921, and the two accommodation spaces 3921 are connected with the described When the protrusions 391 cooperate, the saw blade 36 and the rotating shaft 37121 are circumferentially fixed respectively.

Continuing to refer to FIG. 47 , the protrusion 391 is provided on one of the clamping parts 381 , and the groove 392 is provided on the connecting end 362 of the saw blade 36 . Both the protrusion 391 and the groove 392 include strip-shaped units evenly distributed in the circumferential direction. When the saw blade 36 is clamped by the clamping portion 381, the saw blade 36 will have multiple angular connection methods relative to the main body 371, two of which respectively correspond to the first connection relationship and the second connection relationship between the saw blade 36 and the main body 371. . In this way, when knee replacement surgery is required, adjusting the matching relationship between the protrusion 391 and the groove 392 can allow the saw blade 36 and the main body 371 to have a first orientation relationship. When high tibial osteotomy or distal femoral osteotomy is required, adjusting the matching relationship between the protrusion 391 and the groove 392 allows the saw blade 36 and the main body 371 to have a second orientation relationship. In an optional implementation, the protrusion 391 is provided on the connecting end 362 of the saw blade 36 , and the groove 392 is provided on the clamping portion 381 . In an optional implementation, FIG. 48 and FIG. 49 are schematic diagrams of the second saw blade 36 and the clamping structure 8 . The shapes of the protrusion 391a and the groove 392a are different from those described above (the embodiment shown in FIG. 37). The protrusion 391a is in the shape of a strip, and the groove 392a has two accommodation spaces 3921 spaced 90 degrees apart. The strip-shaped protrusion 391a corresponds to the first connection relationship between the saw blade 36 and the main body 371 in the two accommodation spaces 3921. Second connection relationship. The state shown in FIG. 48 allows the saw blade 36 and the main body 371 to have a first connection relationship; the state shown in FIG. 49 allows the saw blade 36 and the main body 371 to have a second connection relationship.

As shown in Figures 39, 40 and 50, in this embodiment, the tracer includes a first tracer 3721 and a second tracer 3722. The first tracer 3721 is fixedly disposed on the second end 3702 of the main body 371. The tracer element 3723 on the first tracer 3721 is detachable. When the saw blade 36 and the main body 371 have a first connection relationship, the first tracer 3721 indicates the direction. The second tracer 3722 is detachably connected to the second end 3702 of the main body 371. When the saw blade 36 and the main body 371 have a second connection relationship, the second tracer 3722 indicates the orientation.

During the clinical operation, when the saw blade 36 and the main body 371 have the first connection relationship, the saw blade 36 points from the front side of the patient (above the knee joint of the patient's bent knee) to the knee joint. At this time, the knee joint actuator 9400 is higher than the knee joint actuator 9400 in the bent knee state. The heights of the patient's legs, the first tracer 3721 and the main body 371 relative to the patient are substantially consistent. 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. The control system 9200 obtains the position information of the saw blade based on the position information of the first tracer 3721 to control the knee joint actuator 9400. Saw blade 36 is positioned to the target osteotomy plane.

When the saw blade 36 and the main body 371 have a second connection relationship, the tracking 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 a side of the first tracer 3721 away from the third interface 3712 . In this way, in the operating space, when the knee joint actuator 9400 is located at the proximal end of the tibia T in the knee flexion state, the second tracer 3722 can be higher than the patient's lower limb in the knee flexion state and on the opposite side of the second tracer 3722 The navigation system 9000 can recognize the position information of the second tracer 3722 without obstruction. When verifying the plane of the saw blade 36, the verification frame also needs to face the navigation system 9000, the saw blade 36 and the main body 371 is closer, the verification frame may block the first tracer 3721 when installed on the saw blade 36. The setting of the second tracer 3722 also prevents the second tracer 3722 from being blocked when the verification frame is installed on the saw blade 36. The navigation system 9000 recognizes the line of sight.

In an optional implementation, the tracer may only include the first tracer 3721. When performing total knee replacement, high tibial osteotomy or distal femoral osteotomy, the saw blade 36 has a first connection relationship or a second connection relationship with the main body, and the positioning system determines the saw blade through the position and posture of the first tracer 3721 Position and posture of film 36 in the surgical space. When only the first tracer 3721 is provided, it is only necessary to ensure that when the saw blade 36 and the actuator have the second connection relationship, the patient's legs or the verification stand in the kneeled state will not block the navigation system 9000 from identifying the first tracer. 3721 line of sight is enough. For example, the height of the first tracer 3721 along the positive direction of the Y-axis can be increased based on the first tracer 3721 shown in FIG. 35 .

As shown in Figures 39, 40, 50 and 51, Figure 50 is a schematic diagram of the second tracer 3722 and the main body 371. Figure 51 is a schematic structural diagram of the second tracer. In this embodiment, the second tracer 3722 is connected to the second end 3702 of the main body 371 through a detachable fixing structure. The detachable fixing structure includes a plug-in component and a locking component 3103. The plug-in component includes a plug component 3101 and a locking component 3103. Kit 3102, when the plug member 3101 is plugged into the kit 3102, the second tracer 3722 has the remaining degree of freedom to move in the direction opposite to the plugging direction relative to the main body 371. The locking member 3103 is used to advance in a direction perpendicular to the insertion direction to limit the remaining degree of freedom of the second tracer 3722 relative to the main body 371 .

Continuing to refer to Figures 50 and 51, specifically, the plug member 3101 is provided on the main body 371 and is a dovetail-type plug block. The set 3102 is provided on 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 an unfixed remaining degree of freedom in the plugging direction relative to the main body 371. The locking piece 3103 has a jackscrew structure. When the locking piece 3103 fixes the remaining degree of freedom, the locking piece 3103 penetrates the bottom surface of the slot and is in tight contact with the surface of the latch piece 3101, restricting the second tracer 3722 in the opposite direction of the plugging direction. Detachment from subject371.

As shown in Figures 35 to 40, Figure 50 and Figure 51, the tracer includes a tracer frame 3724 and a tracer part. The tracer frame 3724 is connected to the actuator body 371. The tracer part includes a plurality of tracer frames 3724. The connected tracking elements 3723 and multiple tracking elements 3723 are arranged along a plane, and the multiple tracking elements 3723 arranged along the plane define a plane, which is recognized by the navigation system 9000 and reflects the orientation of the saw blade 36 accordingly.

In an optional implementation, the second handle 373 is not provided on the main body 371 of the knee joint actuator 9400. In this way, the operator can hold the second side 3704 of the main body 371 to control the posture change or movement of the knee joint actuator.

Continuing to refer to FIG. 1 and FIG. 34 , in a second aspect, the present disclosure proposes a surgical system, including a joint surgical device, a navigation system 9000 and a control system 9200 . The joint surgical device is the knee surgical device of the first aspect. In the joint surgery device, the robot arm 9100 is used to carry the hip actuator 9300 or the knee actuator 9400 and provide power for the hip actuator 9300 or the knee actuator 9400; the navigation system 9000 is used to identify the position of the tracer To obtain the position information of the saw blade or execution tool; the control system 9200 is used to control the hip actuator 9300 or the knee actuator 9400 to operate according to the predetermined surgical plan.

Specifically, the control system 9200 can control the robot arm 9100 so that the robot arm 9100 moves completely autonomously according to the surgical plan, or by providing tactile feedback or force feedback to limit the surgeon's manual movement of the surgical tool 3 beyond the predetermined virtual boundary, or by providing virtual guidance. to guide the surgeon's movement along a certain degree of freedom. Virtual boundaries and virtual guides can come from the surgical plan or can be set intraoperatively via input devices. The hip joint actuator 9300 or the knee joint actuator 9400 is detachably connected to the robot arm 9100; the navigation system 9000 is used to learn the positions of the saw blade 36, the execution tool, and the patient's bones. The navigation system 9000 generally includes a positioner (such as a binocular camera 21) to measure the orientation of the above-mentioned tracer through 3D measurement technology. The control system 9200 is used to drive the robot arm to move the hip joint actuator 9300 or the knee joint actuator 9400 according to the surgical plan to position the saw blade 36 or the execution tool to the target position. The surgical plan can include the robot arm movement path, movement boundaries, etc.

In a surgical system, with the assistance of a robotic arm 9100, a control system 9200, and a navigation system 9000. Acetabular socket preparation, medullary cavity preparation, or installation of the prosthesis 1003 can be performed only with the robot arm 9100 connected to the hip joint actuator 9300. Knee surgery is performed with the robotic arm connected to the knee actuator 9400. One system can adapt to a variety of surgeries and operations, which not only reduces the time for doctors to adapt to the surgical system, but also eliminates the need to purchase corresponding special equipment for various surgeries.

52 to 68 illustrate a connecting device and a surgical robot system having the connecting device.

Refer to Figure 52 and Figure 53. Figure 52 is a schematic diagram of the surgical robot system. Figure 53 is a schematic diagram of the end effector being connected to the robot arm through a connecting device. The robot system mainly includes a robot arm 1, a trolley 2, an end effector 4 equipped with a surgical tool 3, and a connection device 5. The robot arm 1 is equivalent to the doctor's arm, and uses the end effector 4 to hold the surgical tool 3 for positioning or movement. The trolley 2 serves as the base of the robot arm 1, and a driver and a power device for driving the movement of the robot arm 1 are provided inside. The surgical tool 3 may be a guide, a bone drill, a bone saw, a rasp, a milling cutter and other tools for performing predetermined actions. The end effector 4 is detachably connected to the end arm 11 of the robot arm 1 through the connecting device 5 , and the end effector 4 provides power for the surgical tool 3 to perform predetermined actions. The connecting device 5 serves as an adapter connecting the end effector 4 and the end arm 11 of the robot arm 1, allowing the end effector 4 to be easily disassembled and assembled, thereby saving surgical preparation time. With the assistance of the surgical robot, the doctor can accurately control the movement of the surgical tool 3 to complete operations such as osteotomy, drilling, cutting or grinding.

Refer to Figure 54, Figure 55 and Figure 60. Figure 54 is a schematic diagram of the external structure of the connecting device 5. Figure 55 is a schematic diagram of the internal structure of the connecting device 5. FIG. 60 is an exploded view of the connecting device 5 . The connection device 5 includes a plug-in first connection part 51 , a second connection part 52 , a locking part 53 and a force applying component 54 .

The first connecting member 51 is generally cylindrical, and its two axial ends are a first connecting end A and a first locking end B respectively. The first connection end A is used for fixed connection with the end arm 11 of the robot arm 1 . The first locking end B includes a receiving portion 511, a first limiting portion 512 and a locking surface 5111a. The receiving portion 511 is shaft-shaped and is located on the first side of the first locking end B. The first limiting portion 512 is a flange that protrudes radially from the receiving portion 511 and is located on the second side of the first locking end B, where the second side and the first side are two opposite sides of the first locking end B. An annular groove 5111 with an inverted trapezoidal cross-section is circumferentially formed on the outer surface of the receiving portion 511 . The width of the annular groove 5111 gradually decreases along the radial direction of the first connecting member 51 . The tapered surface on the second side of the ring groove 5111 close to the first locking end B is the locking surface 5111a. In Figure 55, the direction of the line connecting the cone surface and its virtual vertex O points to the first connection end A. That is, the locking surface 5111a is an inclined slope compared to the cylindrical surface, and the locking surface 5111a is disposed face to face with the end surface of the first limiting part 512 (the end surface on the right side of the first limiting part in the figure).

As shown in Figures 55 and 59, Figure 59 is a schematic structural diagram of the second connecting member 52. The second connecting member 52 is a cylindrical sleeve, and its two axial ends are the second connecting end C and the second locking end D respectively. The second connection end C is a flange connection end, and the flange connection end is used for fixed connection with the end effector 4 . The second locking end D has a second limiting portion 521 , and the second limiting portion 521 is the end surface of the first side of the second locking end D. An annular receiving groove 522 is provided on the outer periphery of the second locking end D side of the second connecting member 52 , and the opening of the receiving groove 522 faces the second connecting end C. A plurality of mounting holes 523 are evenly distributed around the outer periphery of the second locking end D. The mounting hole 523 is a circular through hole, and a stop ring is provided at one end of the mounting hole 523 close to the axis of the second connector 52 . The diameter of the stop ring is smaller than the diameter of the circular through hole.

The locking parts 53 are balls, and there are multiple locking parts. The plurality of locking members 53 are located in the mounting holes 523 and at least part of the balls can pass through the inner wall of the second connecting member 52 .

Continuing to refer to FIG. 55 , when the first connecting member 51 is connected to the second connecting member 52 , the first locking end B and the second locking end D are opposite and inserted. The receiving portion 511 enters the second locking end D, and the outer peripheral surface of the receiving portion 511 fits the inner peripheral surface of the second locking end D; the first connecting end A and the second connecting end C are separated from each other. The receiving portion 511 and the second locking end D It is inserted axially until the first limiting part 512 contacts the second limiting part 521, and the locking member 53 is substantially aligned with the locking surface 5111a. For the convenience of description, based on the above definition, the direction of the arrow W in the figure is the positive direction of the axial direction, and the direction opposite to the direction of the arrow W is the reverse direction of the axial direction. When the first connecting member 51 and the second connecting member 52 are connected, the locking member 53, the locking surface 5111a, the first limiting portion 512 and the second limiting portion 521 lock the first connecting member 51 and the second connecting member 52. tight. The locking piece 53 moves along the radial direction of the second connecting piece 52 under the action of force, and the part of the locking piece 53 (the side of the locking piece shown in the figure close to the axis of the second connecting piece) passes through the second connecting piece 52 The inner wall presses the locking surface 5111a. When the locking member 53 receives the above-mentioned force causing it to move radially, the locking member 53 applies a force perpendicular to the locking surface 5111a to the locking surface 5111a. The force exerted on the locking member 53 causes the locking member 53 to squeeze the side wall of the mounting hole 523 , thereby driving the second connecting member 52 to press the first connecting member 51 , that is, causing the second limiting portion 521 to press the first connecting member 52 . Limiting part 512. The radial component of the force perpendicular to the locking surface 5111a causes internal stress in the radial direction between the first connecting member 51 and the second connecting member 52, and there will be corresponding internal stress on the contact surface where the two shaft holes fit. stress. When the first connecting member 51 tends to rotate relative to the second connecting member 52 , the static friction force caused by the internal stress and the static friction force between the first limiting portion 512 and the second limiting portion 521 will prevent the first connection. The member 51 has a tendency to rotate relative to the second connecting member 52 . To sum up, the locking member 53 moves radially under the action of force and squeezes the first connecting member 51, so that the first connecting member 51 and the second connecting member 52 are locked in the axial, radial and circumferential directions.

In this embodiment, the first limiting part 512 is also provided with a positioning pin 5121, and the second limiting part 521 is provided with a positioning hole 5211. When the first connecting member 51 and the second connecting member 52 are plugged in, the positioning pin 5121 is inserted into the positioning hole 5211. The cooperation between the positioning pin 5121 and the positioning hole 5211 not only ensures that the end effector 4 can be connected to the end arm 11 of the robot arm 1 in a correct circumferential posture, but also further ensures that the first connecting member 51 and the second connecting member 52 Circumferential locking effect when locking and fixing. In an optional implementation, the positions of the positioning pin 5121 and the positioning hole 5211 are interchangeable, that is, the positioning hole 5211 is provided in the first limiting part 512 and the positioning pin 5121 is provided in the second limiting part 521 . In some other optional implementations, the cooperation between the positioning pin 5121 and the positioning hole 5211 can be replaced by key connection.

In this embodiment, a force-applying component 54 is provided outside the second connecting member 52. The force-applying component 54 is used to apply force to the locking member 53. Under the action of this force, the locking member 53 moves radially and squeezes the first The connecting piece 51 compresses the first limiting part 512 and the second limiting part 521 .

Specifically, refer to Figures 55 to 57. Figure 56 is a schematic structural diagram of the second connecting member and the force-applying component. Figure 57 is a schematic diagram of the internal structure of the second connecting member and the force-applying component. The force-applying assembly 54 includes a sleeve 541, a nut screwing mechanism, a first elastic member 544, a second elastic member 545, a locking force adjustment mechanism 546 and a thrust bearing 547. Combine Figure 63 and Figure 64. Figure 63 is a perspective view of the shaft sleeve structure. Figure 64 is a cross-sectional view of the shaft sleeve structure. The sleeve 541 is generally a rotating body and includes a first cylinder section 5411 and a second cylinder section 5412 with different radii. The radius of the first cylinder section 5411 is larger than the radius of the second cylinder section 5412 and there is a certain distance between them. The inner and outer peripheral surfaces of the first barrel section 5411 are both cylindrical surfaces. The outer circumferential surface of the second barrel section 5412 is a cylindrical surface, and the inner circumferential surface is a conical surface, that is, the inner circumferential surface is an inclined surface compared to the cylindrical surface. The inner circumferential surface of the second barrel section is used to exert force on the locking member 53 when the shaft sleeve 541 is pushed axially. The inclination direction of the inner peripheral surface of the second barrel section 5412 is opposite to the inclination direction of the locking surface 5111a. In Figure 55, the line connecting the tapered surface of the inner peripheral surface of the second barrel section 5412 and its virtual vertex Q points to the second connecting end C. The inner peripheral surface of the first cylinder section 5411 and the outer peripheral surface of the second cylinder section 5412 form a separation space 5413.

The nut threading mechanism includes a nut piece and a rotating groove 543. The nut piece rotates along the rotating groove 543 to push the shaft sleeve 541 to move axially. The nut component includes a lock nut 5421 and a guide component 5422. Refer to Figure 61 and Figure 62. Figure 61 is a schematic diagram of the nut assembly. Figure 62 is a schematic diagram of the guide member. Lock mother 5421 is annular. The guide members 5422 protrude from the inner ring of the lock mother 5421 along the radial direction of the lock mother 5421. There are two guide members 5422, which are symmetrically arranged on the inner circumference of the lock mother 5421. In this embodiment, the guide member 5422 is a guide wheel assembly. The guide wheel assembly includes a shaft fixed to the inner ring of the lock nut 5421 and a guide wheel fitted at the end of the shaft for mating with the rotating groove 543. The guide wheel rotates with the shaft. connect. There are two rotating grooves 543 , which are provided on the peripheral surface of the second connecting member 52 and located between the second connecting end C and the second locking end D. And, the second connector shown in Figure 59. The spiral groove 543 includes four sections, namely the first lead section a, the second lead section b, the third lead section c and the fourth lead section d. The first three lead segments are the lift of the clockwise spiral. Based on the lift, the direction of the axial increment generated by the clockwise spiral of the first three lead segments is the direction in which the second connecting end C points to the second locking end D (the opposite of the axial direction). direction), that is, the first three leads gradually approach the second locking end D during the spiral process. And the leads of the first lead section a, the second lead section b and the third lead section c decrease in sequence. The fourth lead section d is the descending stroke of the clockwise spiral. Based on the descending stroke, the direction of the axial increment produced by the clockwise spiral in the fourth lead section d is opposite to the direction of the axial increment in the lift.

As shown in Figure 55 and Figure 60. The first elastic member 544 and the second elastic member 545 are both springs. The first elastic member 544 serves as a force-fixing member to make the force applied by the force-applying component 54 to the locking member 53 a constant force.

The locking force adjustment mechanism 546 is an annular component with adjustable axial thickness, and is used to adjust the predetermined compression stroke of the first elastic member 544 when its axial thickness changes, so as to adjust the force applied by the force-applying component 54 to the locking member 53 . The amount of afterburner. Refer to Figures 65 and 66, which are schematic structural diagrams of the locking force adjustment mechanism. In this embodiment, the locking force adjustment mechanism 546 includes an inner ring 5461 and an outer ring 5462. The inner peripheral surface of the inner ring 5461 is provided with a circumferential positioning surface. The circumferential positioning surface is used to circumferentially fix the inner ring 5461 and the connected part (the connected part is the second connecting part 52 in this embodiment). The outer peripheral surface of the inner ring 5461 and the inner peripheral surface of the outer ring 5462 are provided with threads. The outer ring 5462 and the inner ring 5461 are connected through threads. The axial thickness of the locking force adjustment mechanism 546 can be adjusted by adjusting the screwing depth of the inner ring 5461 and the outer ring 5462.

The thrust bearing 547 is used to reduce the internal resistance of the force applying component 54.

Continuing to refer to FIG. 55 , the force applying component 54 is sleeved outside the second connecting member 52 . The lock nut 5421 of the force-applying assembly 54 is disposed at the position of the rotating groove 543 , and the guide wheel of the guide wheel assembly is located in the rotating groove 543 . The side of the lock mother 5421 close to the second locking end D is provided with a thrust bearing 547, a locking force adjustment mechanism 546, a first elastic member 544, a shaft sleeve 541 and a second elastic member 545, and the above components are all set on the second locking end D. Outside the connector 52.

One side of the thrust bearing 547 is in contact with the lock nut 5421, and the other end is in contact with the side surface of the inner ring 5461. The inner ring 5461 of the locking force adjustment mechanism 546 is circumferentially fixed to the second connecting member 52 through a circumferential positioning surface. The first elastic member 544 is a disc spring, one end is in contact with the outer ring 5462 of the locking force adjustment mechanism 546, and the other end is in contact with the shaft sleeve 541. The first cylinder section 5411 of the sleeve 541 is partially inserted into the accommodating groove 522, and the outer peripheral surface of the first cylinder part fits the wall surface with a larger radius of the accommodating groove 522, so that the axle sleeve 541 can be pushed by the first elastic member 544. The receiving groove 522 moves axially under the guidance of the wall surface. The second elastic member 545 is disposed between the sleeve 541 and the receiving groove 522. One end of the second elastic member 545 is in contact with the bottom surface of the receiving groove 522, and the other end is in contact with the bottom surface of the separation space 5413. When the force-applying assembly 54 is assembled to the second connecting member 52 , the sleeve 541 is generally located above the locking member 53 .

Next, the connection principle of the connection device 5 will be comprehensively described in conjunction with the connection device 5 that is integrally composed of the first connection part 51 , the second connection part 52 , the locking part 53 and the force-applying component 54 .

Before connecting the end effector 4 to the end arm 11 of the robot arm 1 , the first connection end A of the first connection member 51 is fixed on the end arm 11 , and the second connection end C of the second connection member 52 is connected to the end effector 4 . 4 are fixedly connected, and the first locking end B and the second locking end D are in a mutually separated state.

When installing the end effector 4, place the first locking end B and the second locking end D at approximately aligned positions. Taking the positioning pin 5121 and the positioning hole 5211 as a positioning reference, move the end effector 4 so that the positioning pin 5121 is inserted into the positioning hole 5211, and the second locking end D is inserted outside the first locking end B until the first limiting part 512 and the The two limiting parts 521 are in contact. At this time, hold the lock nut 5421 and rotate the lock nut 5421 clockwise. During the rotation of the lock nut 5421, the guide wheel of the guide wheel assembly rolls along the side wall of the rotating groove 543, and causes the lock nut 5421 to axially feed in the direction close to the second locking end D (the left direction in Figure 55). , that is, the lock nut 5421 is axially fed in the opposite direction of the axial direction.

The lock nut 5421 pushes the shaft sleeve 541 to move axially (in the left direction in Figure 55) through the thrust bearing 547, the locking force adjustment mechanism 546 and the first elastic member 544, that is, the shaft sleeve 541 also moves in the opposite direction of the axial direction. Feed towards. Referring to Figure 58, Figure 58 is a schematic diagram of the contact position between the locking member and the first connecting member and the second connecting member. During the axial movement of the sleeve 541, the inner circumferential surface of the second cylinder section 5412 presses the locking member 53 at the first point P1 on the top of the locking member 53. Under the restriction of the mounting hole 523, the locking member 53 moves in the radial direction, the second point P2 at the bottom of the locking member 53 presses the locking surface 5111a, and the third point P3 on the side of the locking member 53 axially presses the mounting hole 523. Wall surface. When the locking member 53 presses the locking surface 5111a through the second point P2, it generates a first axial force on the first connecting member 51, and the direction of the first axial force points to the positive axial direction. When the locking member 53 presses the wall surface of the mounting hole 523 through the third point P3, it generates a second axial force on the second connecting member 52, and the direction of the second axial force points in the opposite direction of the axial direction. The first axial force and the second force in opposite directions compress the first limiting part 512 and the second limiting part 521 in the axial direction.

In this way, through the pressing of the locking surface 5111a by the locking member 53 and the pressing of the first limiting part 512 and the second limiting part 521, the first connecting member 51 and the second connecting member 52 are axially fixedly connected. . In addition, the pressure of the locking member 53 on the locking surface 5111a and the pressing force of the first limiting portion 512 and the second limiting portion 521 cause the first connecting member 51 and the second connecting member to rotate respectively when they have a tendency to rotate relative to each other. Static friction is generated at two places to prevent this tendency, thereby achieving circumferential fixation of the first connecting member 51 and the second connecting member 52 . Of course, in the presence of the positioning pins 5121 and the positioning holes 5211, the positioning pins 5121 and the positioning holes 5211 circumferentially fix the first connecting member 51 and the second connecting member 52 in a more rigid manner. Moreover, the outer peripheral surface of the receiving portion 511 of the first connecting member 51 and the inner peripheral surface of the second connecting member 52 fit together to form a shaft hole fit, and the radial component of the pressing force of the locking member 53 on the locking surface 5111a The first connecting piece 51 and the second connecting piece 52 are fixed radially. At this point, through the connection of the connecting device 5 and the axial, circumferential and radial fixation of the first connecting part 51 and the second connecting part 52, the end effector 4 is stably and reliably locked on the end arm 11 of the robot arm 1 .

It is easy to understand that since the spiral groove 543 has four consecutive sections, the first lead section a, the second lead section b and the third lead section c are lifts and the leads gradually decrease, the fourth lead section Section d is the descending distance. When the lock mother 5421 is rotated to cause the guide wheel assembly to slide from the first lead section a to the third lead section c in the rotating groove 543, the lock mother 5421 continues to overcome the elastic force of the first elastic member 544 and the second elastic member 545. Keep squeezing the locking piece 53. The compression amount of the first elastic member 544 and the second elastic member 545 gradually increases, and the torque required to rotate the lock nut 5421 will also continue to increase. Rotate the lock mother 5421 at a relatively uniform speed. When the lock mother 5421 axially feeds the same distance in the three lead sections with continuously decreasing lead, the first elastic member 544 and the second elastic member 545 feed back to the lock. The resistance of the mother 5421 is about the same. When the operator rotates the lock nut 5421 at a constant speed, the feedback force will not suddenly increase, making it difficult for the lock nut 5421 to continue to advance, ensuring a smooth feel during operation. Moreover, the drop setting of the fourth lead section d prevents the guide wheel assembly from automatically returning to the first three lead sections after entering the fourth lead section d. When the nut is screwed into the fourth lead section d, the sleeve 541 squeezes the locking member 53 so that the first limiting part 512 and the second limiting part 521 are not automatically relaxed, and the connecting device 5 The locking of the connecting piece 51 and the second connecting piece 52 is reliable and stable.

In this embodiment, the inclination angle α of the locking surface 5111a relative to the positive axial direction is 45 degrees, and the inclination angle β of the tapered surface of the inner surface of the second barrel section 5412 in the sleeve 541 relative to the opposite axial direction is 15 degrees. . Continuing to refer to Figure 58, it is set that when the sleeve 541 is pushed, it receives an axial thrust F0. At the first point P1 where the conical surface of the second barrel section 5412 contacts the locking member 53 , the sleeve 541 exerts a pressing force N perpendicular to the conical surface on the locking member 53 . Under the action of the extrusion force N, the locking member 53 generates an extrusion force M that extrudes the locking surface 5111a at the second point P2, and creates an extrusion mounting hole in the opposite axial direction at the third point P3. The locking force F of 523 is an axial force, and the magnitude of this force is the locking force that presses the first limiting part 512 and the second limiting part 521 axially. The above three extrusion forces have corresponding relationships, that is, N=F0/sin15°; F=Nx+Mx=N*sin15°+N*cos15°≈4.7F0. Among them, Nx is the axial component of the extrusion force N; Mx is the axial component of the extrusion force M. In this way, the locking force that finally presses the first limiting part 512 and the second limiting part 521 is about 4.7 times the initial force F0, that is, the locking member 53, the locking surface 5111a and the shaft sleeve 541 The structural setting has a force-increasing function. By applying a small force to the shaft sleeve 541 through the lock nut 5421, the first connecting member 51 and the second connecting member 52 can be locked with a large locking force.

In the force-applying assembly 54, the lock nut 5421 reaches the end of the fourth lead section d along the first lead section a of the rotating groove 543. During the process, the stroke of the lock nut 5421 moving in the positive axial direction is fixed. When the fixed stroke is completed, the compression amounts of the first elastic member 544 and the second elastic member 545 are both fixed. In this way, the force F0 and even the locking force F applied by the first elastic member 544 to the sleeve 541 are also constant. That is, the first elastic member 544 serves as a positioning member to make the locking force between the first connecting member 51 and the second connecting member 52 constant. . The second elastic member 545 plays a reset role and is used to rebound when the lock nut 5421 is rotated counterclockwise to help the sleeve 541 reset in the positive axial direction.

The locking force adjustment mechanism 546 provided in the force application component 54 can adjust the size of the locking force F. Combining the relationship between the above-mentioned locking force F and the initial force F0 exerted on the shaft sleeve 541: F≈4.7F0, the locking force F can be adjusted by changing the size of F0. The initial force F0 is applied to the sleeve 541 by the first elastic member 544, and the magnitude of this force is the product of the predetermined compression amount x and the elastic coefficient k produced by the first elastic member 544, that is, F0=k*x. It can further be concluded that the relationship between the locking force and the compression amount of the first elastic member 544 is: F≈4.7k*x. Therefore, adjusting the compression amount x of the first elastic member 544 can adjust the locking force. And the compression amount of the first elastic member 544 includes the pre-compression amount x1 of the first elastic member 544 and the stroke of the lock nut 5421 in the rotating groove 543 from the first lead section a to the fourth lead section d. The stroke compression amount of piece 544 is x2. The stroke compression amount x2 is the amount of feed of the lock nut 5421 in the opposite direction of the axial direction, which is a fixed amount.

Therefore, the size of the locking force F can be adjusted by changing the pre-compression amount x1 of the first elastic member 544 . The specific principle is that the axial length of the space between the bottom of the receiving groove 522 and the rotating groove 543 is fixed for the installation space of the force applying component 54 . The degree of rotation of the inner ring 5461 and the outer ring 5462 of the locking force adjustment mechanism 546 can change the overall thickness of the locking force adjustment mechanism 546, thereby changing the pre-compression amount of the first elastic member 544. For example, if you want the locking force F to become larger, you can increase the thickness of the locking force adjustment mechanism 546 and increase the pre-compression amount x1 of the first elastic member 544. When the lock nut 5421 travels a stroke, it will continue to compress the first elastic member 544. The stroke compression amount x2 is generated. In this way, since the first elastic member 544 is compressed more, the initial force F0 transmitted to the sleeve 541 will become larger, and the final locking force will also increase. On the contrary, reducing the thickness of the locking force adjustment mechanism 546 can reduce the size of the locking force F.

In an optional implementation, the locking force adjustment mechanism 546 is a plurality of washers whose number can be increased or decreased. In this way, increasing the number of washers can increase the pre-compression amount x1 of the spring, thereby increasing the locking force F. On the contrary, reducing the number of shims can reduce the locking force. The specific principle is the same as adjusting the degree of rotation of the inner ring 5461 and the outer ring 5462 to adjust the size of the locking force F, which will not be described again here.

In an optional embodiment, the thrust bearing 547 can be replaced with any structure that can reduce circumferential rotational friction, for example, with a material with a smaller friction coefficient (such as polytetrafluoroethylene, polyetheretherketone, polyoxymethylene). , copper alloy, powder metallurgy, etc.). The purpose is to enable the lock nut 5421 to rotate smoothly while pushing the shaft sleeve 541.

In an optional implementation, the force applying component 54 is a sleeve 541 . The shaft sleeve 541 is threadedly connected to the second connecting piece 52. The shaft sleeve 541 rotates relative to the second connecting piece 52, and the shaft sleeve 541 can move in the forward or reverse direction of the axial direction. When the sleeve 541 moves in the opposite direction of the axial direction, the tapered surface of the inner circumferential surface of the second cylinder section 5412 presses the locking member 53, and the locking member 53 further presses the locking surface 5111a of the first connecting member 51, and the first The limiting part 512 and the second limiting part 521 are pressed together to achieve a rigid connection between the end effector 4 and the robot arm 1 . And through the rotation of the shaft sleeve 541, the first device and the second device can be easily disassembled and assembled.

In an optional implementation, refer to Figures 67 and 68, which are schematic structural diagrams of another force-applying assembly. The force-applying assembly 55 includes a sleeve 551 and a cam assembly for pushing the sleeve 551 to move axially. The cam assembly includes a cam handle 551 and a movable disc 553 . The cam handle 551 is hingedly connected to the second connecting member 52. The movable disk 553 is sleeved on the second connecting member 52, and one side (the right side in the illustration) is in contact with the cam 5511 of the cam handle 551, and the other side (the right side in the illustration) is in contact with the cam 5511 of the cam handle 551. Left side) is fixed with bushing 541. When the cam handle 551 is pulled, the movable disk 553 moves in the axial direction under the action of the cam 5511. When the movable disk 553 moves in the opposite direction of the axial direction, the pushing sleeve 541 presses the locking member 53 , and the locking member 53 presses the first connecting member 51 . Then the first limiting part 512 and the second limiting part 521 are pressed tightly to realize the first connection. The connection between the member 51 and the second connecting member 52 is convenient, and the cam handle 551 is easy to control, and a simple pulling action can realize quick disassembly and assembly of the first device and the second device.

In an optional implementation, the force-applying component 54 may not be provided, and the locking member 53 is a screw, and the wall surface of the mounting hole 523 is provided with threads. When the screw moves radially along the mounting hole 523 relative to the second connecting member, its top end can press the locking surface 5111a of the first connecting member 51 . The reaction force generated by the extrusion causes the screw to drive the second connecting member to be close to the first limiting part 512 , causing the second limiting part 521 to press the first limiting part 512 . In this way, the first connecting member 51 and the second connecting member 52 fix the end effector 4 to the robot arm through the pressing contact between the screw and the locking surface 5111a and the pressing of the first limiting part 512 and the second limiting part 521 1 end.

In an optional implementation, the first limiting part 512 and the second limiting part 521 can also be provided at other positions. For example, a flange is provided in the inner hole of the second connecting member 52 as an axial limiting structure (second limiting portion). Correspondingly, the end surface of the first locking end B of the first connecting member 51 forms a first limiting portion. When the second connector 52 is connected to the first connector 51, the end surface of the first locking end B can abut against the flange to limit the insertion depth. When the locking member 53 presses the first connecting member 51, the reaction force causes the end surface of the first locking end B to further press the flange.

In an optional implementation, the locking force adjustment mechanism 546 may not be provided. That is, a locking force value is fixedly set in the force-applying component 54, and the locking force cannot be adjusted. The fixed locking force can also achieve a fixed connection between the first device and the second device.

In an optional implementation, the fixed force member (first elastic member 544) may not be provided, and the locking force is controlled only by the movement distance of the sleeve 541. The more the sleeve 541 moves in the opposite radial direction, the greater the pressure exerted by the sleeve 541 on the locking member 53 , and the force of the locking member 53 squeezing the first connecting member 51 and the greater the locking force F. On the contrary, the locking force is smaller.

In an optional implementation, the first device and the second device may be other structures that require rigid fixed connection except the end effector 4 and the robot arm 1 . For example, the first device may be a binocular vision camera used in the navigation system to identify the position of the tracer, and the second device may be a bracket used to support the binocular vision camera.

On the other hand, a surgical robot is proposed. Continuing to refer to Figures 52 and 53, the surgical robot includes an end effector 4, a robot arm 1 and a connecting device 5. The end effector 4 is used to carry the surgical tool 3; the robot arm 1 is used to The end effector 4 is held to position or move it; the connecting device 5 is the connecting device 5 of the previous embodiment, and is used to connect the end effector 4 to the end arm 11 of the robot arm 1 . In this way, when the surgical robot is used to assist the doctor in the operation, through the arrangement of the connecting device 5, the end effector 4 can be easily installed or detached from the end arm 11 of the robot arm 1, thereby saving operation preparation time.

The above are only specific implementations of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described systems, modules and units can be referred to the foregoing method embodiments. The corresponding process will not be described again here. It should be understood that the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be covered. within the protection scope of the present invention.

Claims

A joint surgery device for selectively performing knee surgery or hip replacement surgery, characterized by including:

Knee joint actuator, used to connect the saw blade to cut on the bone to prepare a predetermined shape;

Hip joint actuator, used to connect the execution tool to prepare the space for prosthesis installation on the bone and implant the prosthesis;

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

The knee actuator and the hip actuator are configured to have the same first interface for detachably connecting the knee actuator or the hip actuator to the robot arm.
The joint surgery device according to claim 1, wherein when the first interface is connected to the end arm of the robot arm, the knee joint actuator or hip joint actuator is coaxial with the end arm.
The joint surgical device according to claim 1, wherein the first interface includes a locking mechanism for connecting the knee joint actuator or hip joint actuator to the The end arm of the robot arm.
The joint surgery device according to claim 1, wherein the hip joint actuator includes:

a first actuator for connecting a cutting tool to machine the acetabulum and/or medullary cavity, the first actuator having a first interface and a second interface; and

The second actuator is used to connect to the second interface of the first actuator when performing a prosthesis implantation operation, and the second actuator is used to connect the prosthesis and accept the impact of installing the prosthesis; wherein,

The first actuator is configured to be mounted to the robot arm through the first interface.
The joint surgical device according to claim 4, wherein when the second actuator is connected to the first actuator, the structure for connecting the prosthesis is parallel to the structure for connecting the cutting tool.
The joint surgery device according to claim 4, wherein the first interface and the second interface are distributed at both ends of the first actuator.
The joint surgical device of claim 4, wherein the first actuator is provided with a first handle configured to interact with the cutting tool when the cutting tool is connected to the first actuator. The cutting tool is parallel or coaxial, and the first handle and the cutting tool are distributed on both sides of the first actuator.
The joint surgery device according to claim 4, wherein the first actuator includes a power device and a tool assembly, the tool assembly and the power device are detachably connected, and the first interface is provided on The power plant.
The joint surgery device according to claim 8, wherein the power device includes a built-in power assembly, the power assembly includes a power source and an output shaft, and the output shaft is connected to the power source;

The tool assembly includes a connecting portion and a surgical tool, the surgical tool is rotatably provided at the connecting portion, and the tool assembly is detachably provided at the power device through the connecting portion; wherein,

When the tool assembly is connected to the power device through the connecting portion, the surgical tool is engaged with the output shaft to receive the rotational motion output by the output shaft.
The joint surgical device according to claim 9, wherein the surgical tool is The insertion or sleeve action of the output shaft in the axial direction forms the joint.
The joint surgical device according to claim 9, characterized in that a radial positioning structure is further provided between the surgical tool and the power device.
The joint surgery device according to claim 11, wherein the radial positioning structure is provided between the surgical tool and the output shaft, and the radial positioning structure is a connection between the output shaft and the surgical tool. Shaft hole fit between tools.
The joint surgery device according to claim 9, characterized in that a positioning module is provided between the connecting part and the power device, and the positioning module causes a predetermined force to be formed between the connecting part and the power device. .
The joint surgery device according to claim 13, wherein the positioning module includes an elastic member, and the elastic member is extruded by the power device and the tool assembly to generate the predetermined force, and the predetermined force is generated by the elastic member. The direction of the force is the axial direction of the output shaft.
The joint surgery device according to claim 4, wherein the second actuator is a prosthesis installation actuator, including:

A sliding rod, one end of the sliding rod is used to connect the prosthesis, and the other end of the sliding rod is used to receive the impact force when installing the prosthesis;

A support assembly, including a coupling portion that accommodates a partial rod section of the slide rod, and the slide rod is axially movable relative to the support assembly; the support assembly is used to connect the second actuator Robot arms for robotic systems; and

A slide bar tracer is provided on the slide bar to indicate the orientation of the slide bar.
The joint surgery device according to claim 15, wherein the second actuator further includes an axial buffering mechanism, and when the sliding rod is subjected to an axial impact, the axial buffering mechanism forms a connection between the sliding rod and the sliding rod. axial buffering between the support components.
The joint surgery device according to claim 16, wherein an axial limiting structure is provided between the sliding rod and the support component, and the axial buffering mechanism is provided between the support component and the shaft. between the limiting structures.
The joint surgery device according to claim 17, wherein the coupling part is a channel that runs through the support assembly, and the axial buffering mechanism includes two buffering members, and the two buffering members are respectively located on the both ends of the channel.
The joint surgery device according to claim 1, wherein the knee joint actuator includes:

The main body has a first interface, a third interface and a power mechanism. The first interface is used to connect the robot arm. The third interface is used to connect the saw blade. The power mechanism is arranged inside the main body. The power mechanism A mechanism is used to provide power to the third interface;

A tracer is provided on the main body and is used to indicate the orientation 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. Under the first connection relationship, there is a first relative relationship between the saw blade and the main body. Orientation relationship: under the second connection relationship, there is a second relative orientation relationship between the saw blade and the main body.
The joint surgery device according to claim 19, wherein the first relative orientation relationship is The saw blade and the main body have a first included angle value, and the second relative orientation relationship is that the saw blade and the main body have a second included angle value.
The joint surgery device according to claim 20, wherein 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. .
The joint surgery device according to claim 19, wherein the first interface is located at the first end of the main body, and the third interface is located at the first side of the main body.
The joint surgery device according to claim 22, wherein the third interface is located on the first side of the main body close to the second end, and the second end and the first end are the describe the two ends of the body.
The joint surgical device according to claim 22, wherein in the 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 the In the second connection relationship, the cutting end of the saw blade is oriented opposite to the first end of the body.
The joint surgery device according to claim 19, wherein the plane of the saw blade is arranged parallel to the virtual longitudinal section of the main body.
The joint surgery device according to claim 25, wherein when the main body is connected to the robot arm, it is arranged coaxially with the end arm of the robot arm, and the virtual longitudinal section is parallel to the axis of the end arm. .
A surgical system is characterized by including:

A joint surgery device, the joint surgery device is the joint surgery device according to any one of claims 1 to 26;

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

The control system is used to drive the robot arm to move the knee actuator or hip actuator to the target position according to the surgical plan.
A connecting device for connecting a first device and a second device, characterized in that it includes:

A first connecting piece, one end is used to connect the first device, and the other end has a receiving part and a first limiting part;

The second connecting piece has one end for connecting to the second device and the other end is sleeved on the receiving part from the outside. The second connecting piece has a second limiting part. The first limiting part and the The second limiting portion is configured to abut against each other during the process of the second connecting member being sleeved on the receiving portion to limit the sleeve depth;

a locking piece movably provided on the second connecting piece, the locking piece being configured to squeeze the first connecting piece and the second connecting piece when moving relative to the second connecting piece , so that the first limiting part and the second limiting part are pressed tightly.
The connection device according to claim 28, wherein the locking member is configured such that the direction of movement of the locking member relative to the second connecting member is transverse to the second connecting member. To the laying direction of the first connecting piece.
The connection device according to claim 28, wherein the locking member and the second connection member are configured such that the locking member is radially movable relative to the second connection member, and The first connecting piece and the second connecting piece can be squeezed when the locking piece moves in the radial direction.
The connection device according to claim 30, wherein a through hole leading to the receiving portion is provided on the wall of the second connecting member, and the locking member is located in the through hole and in the The second connecting piece can abut against the receiving portion when sleeved with the first connecting piece.
The connection device according to claim 28, wherein the receiving portion of the first connection member is provided with a locking surface, and the locking surface is used to receive the extrusion of the locking member.
The connection device according to claim 32, wherein the orientation of the locking surface is consistent with the sleeve direction of the second connector when sleeved on the receiving portion.
The connection device according to claim 32, wherein the locking surface is an inclined surface for converting the extrusion of the locking member into the first limiting part and the second limiting part. Compression axial force.
The connection device according to claim 28, wherein the locking member is a ball, and a plurality of the locking members are distributed circumferentially along the second connecting member.
The connection device according to claim 28, further comprising a force applying component, the force applying component is movably disposed on the second connecting member, and the force applying component is relative to the second connecting member. When moving, the locking piece can be driven to squeeze the first connecting piece.
The connection device according to claim 36, wherein the force-applying component is provided with a fixed force component, and the fixed-force component is used to cause the force-applying component to drive the locking component to squeeze the third The force on a connection is constant.
The connection device according to claim 36, wherein the force-applying component is provided with a locking force adjustment mechanism, and the locking force adjustment mechanism is configured to change the force-applying force of the force-applying component when the state changes. The amount of force exerted by the locking piece.
The connection device according to claim 36, wherein the force-applying component includes a shaft sleeve, and at least part of the inner wall surface of the shaft sleeve is an inclined plane, and the inclined plane is used to move the shaft sleeve to the desired position when the shaft sleeve moves axially. The locking piece exerts force.
The connection device according to claim 39, wherein the force-applying assembly further includes a nut screw-in mechanism, the nut screw-in mechanism includes a nut piece and a screw groove, and the nut piece is configured to be able to move along the The rotating groove moves, and when moving, pushes the bushing to move axially.
The connection device according to claim 40, further comprising a first elastic member disposed between the nut member and the shaft sleeve.
The connection device according to claim 41, characterized in that a locking force adjustment mechanism is provided between the nut member and the first elastic member or between the shaft sleeve and the first elastic member. The force adjustment mechanism is configured to adjust a predetermined compression stroke of the first elastic member.
The connection device according to claim 42, further comprising a second elastic member, the second elastic member being disposed on a side of the sleeve away from the first elastic member.
The connection device according to claim 39, wherein the force-applying assembly further includes a cam pushing structure, the cam pushing structure includes a cam and a handle piece, and the cam pushing mechanism is configured to rotate when the handle piece rotates. The cam pushes the sleeve to move axially.
The connection device according to claim 39, wherein the shaft sleeve is threadedly connected to the second connecting piece, and when the shaft sleeve is precessed relative to the second connecting piece, the inner wall surface of the shaft sleeve The slope exerts force on the locking piece.
A connecting device for robots, used to connect an end effector to an end arm of a robot arm, which is characterized in that it includes:

A first connecting piece, one end is used to connect the end arm of the robot arm, and the other end has a receiving part and a first limiting part;

The second connecting piece has one end used to connect the end effector and the other end is sleeved on the receiving part from the outside. The second connecting piece has a second limiting part. The first limiting part and the The second limiting portion is configured to abut against each other during the process of the second connecting member being sleeved on the receiving portion to limit the sleeve depth;

A locking piece is movably provided on the second connecting piece, and the locking piece is configured to squeeze the first connecting piece and the second connecting piece when moving relative to the second connecting piece. Connector to compress the first limiting part and the second limiting part.
A surgical robot is characterized by including:

End effector, used to carry surgical tools;

A robot arm used to hold the end effector to position or move it;

A connection device, the connection device being the connection device according to any one of claims 28 to 46, used for connecting the end effector to the end arm of the robot arm.