CN116370014A - Joint forming actuator and surgical system - Google Patents

Abstract

The present disclosure discloses a joint forming actuator including a power device and a tool assembly. The power device comprises a robot connecting end and a built-in power component. The robot connection end is used for being connected to the tail end of a mechanical arm of the robot. The tool assembly is detachably arranged on the power device. When the tool assembly is connected with the power device, the surgical tool is driven by the power device to rotate. The power component is arranged inside the shell and outputs power through the output shaft. The output shaft is engaged with one end of the tool assembly to drive the surgical tool without the use of a long guide barrel to guide the surgical tool, resulting in a more compact actuator structure. Thus, the interference influence of an external power source on the operation space and the safety influence are reduced; the operation of assembling an external power source in the operation is reduced, so that the operation flow is smoother.

Description

Joint forming actuator and surgical system

Technical Field

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

Background

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

When the acetabular fossa is machined, the acetabular fossa needs to be ground by a grinding tool. The grinding tool generally comprises a hemispherical file head, a connecting rod with a certain length, a holding sleeve sleeved outside the connecting rod and a pistol-shaped power tool. One end of the connecting rod is connected with the file head, and the other end is connected with the power output end of the pistol-shaped tool. In use, a surgeon holds the handle of the pistol-shaped power tool in one hand and the grip sleeve in the other hand, inserts the rasp head into the acetabulum and applies force in the axial direction of the extension rod to grind bone tissue on the acetabular surface. During the grinding process, the surgeon controls the angle of the extension rod with the pelvis and the depth of grinding through experience to control the machining accuracy.

After the acetabular fossa is machined, a cup holder is required to implant the prosthetic cup into the acetabulum. The cup holding device comprises a straight connecting rod or a connecting rod with an elbow and a hammer. One end of the connecting rod is connected with the prosthesis cup, the other end of the connecting rod is used for receiving the striking of a hammer, and the middle of the connecting rod is used for being held by a surgeon. In use, the surgeon grasps the middle of the extension rod to grasp the angle of the extension rod relative to the pelvis and hammers the other end with a hammer to press the prosthetic cup into the acetabular fossa. During implantation, the cup holder as a whole is displaced axially with each hammer as the prosthetic cup enters the acetabular cup.

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

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

There is therefore a need for an actuator suitable for use in a robotic system for hip surgery.

The equine surgical company also provided a surgical robot for hip replacement, whose constitution was disclosed in chinese patent No. CN 102612350B. In performing acetabular reaming using the surgical robot, it is necessary to mount a reaming tool to a gripping structure at the distal end of the mechanical arm and then connect a power unit to the reaming tool. The holding structure (sleeve) is also used for connecting the cup holder for the operation of installing the acetabular prosthesis, so that after the acetabular grinding operation is completed, the power device is required to be detached, then the grinding tool is detached, and finally the cup holder is installed on the holding structure. And during installation, the rod connected with the grinding tool needs to penetrate the sleeve, the upper end is connected with the power device, and the lower end is connected with the grinding tool (such as an acetabular file). During the mounting or dismounting process, one end of the rod needs to be inserted into or pulled out from one end of the sleeve, and the serial connection length of the rod and the sleeve is large, so that a large operation space is needed. The process is complex in operation, and a large operation space is needed in the installation process or the disassembly process.

Disclosure of Invention

The present disclosure provides an arthroplasty actuator and surgical system that solves the problem of inconvenience in performing hip arthroplasty procedures in the prior art.

A first aspect of the present disclosure provides a joint forming actuator, including a power device and a tool assembly, the power device including a robot connection end and an internally provided power assembly, the robot connection end being configured to be connected to a robot arm end of a robot, the power assembly including a power source and an output shaft, the output shaft being connected to the power source; the tool assembly comprises a connecting part and a surgical tool, the surgical tool is rotatably arranged on the connecting part, the tool assembly is detachably arranged on the power device through the connecting part, and when the tool assembly is connected with the power device through the connecting part, the surgical tool is engaged with the output shaft to receive the rotary motion output by the output shaft.

In a first possible embodiment, the surgical tool is engaged by an insertion or socket action in the axial direction with respect to the output shaft.

In combination with the above possible implementation, in a second possible implementation, the surgical tool and the output shaft are configured as a spline connection.

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

In combination with the above possible implementation manner, in a fourth possible implementation manner, the radial positioning structure is disposed between the surgical tool and the output shaft.

In combination with the foregoing possible implementation manner, in a fifth possible implementation manner, the radial positioning structure is a shaft hole matching between the output shaft and the surgical tool.

In combination with the above possible implementation manner, in a sixth possible implementation manner, the connecting portion and the power device are connected by a screwing structure so as to form axial and circumferential limits on the connecting portion.

In combination with the foregoing possible implementation manner, in a seventh possible implementation manner, the screwing structure includes a screwing groove and a positioning pin that are disposed on a circumferential surface, and the screwing groove is used for guiding the positioning pin and includes a limiting portion that limits the circumferential direction and the axial direction of the positioning pin.

In combination with the foregoing possible implementation manner, in an eighth possible implementation manner, the rotary groove is disposed in the power device, and the positioning pin is disposed in the connection portion.

In combination with the foregoing possible implementation manner, in a ninth possible implementation manner, the rotary groove includes a screwing section and a positioning section that are connected, and the positioning pin enters the positioning section along the screwing section to enable the connection portion and the power device to have a circumferential positioning relationship and an axial positioning relationship.

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

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

In combination with the foregoing possible implementation manner, in a twelfth possible implementation manner, an elastic member is disposed between the surgical tool and the connecting portion in the tool assembly, and the elastic member presses the surgical tool to axially compress the surgical tool and the output shaft.

In combination with the above possible implementation, in a thirteenth possible implementation, the surgical tool is an acetabular rasp bar assembly or a intramedullary reamer.

In combination with the foregoing possible implementation manner, in a fourteenth possible implementation manner, the device further includes a tracer component, where the tracer component is disposed on a surface of the power device.

In combination with the above possible implementation, in a fifteenth possible implementation, the power means form an extension of the end section when connected to the end section of the mechanical arm, the output shaft being transverse to the end section.

In combination with the above possible implementation, in a sixteenth possible implementation, the powered device further includes a prosthesis mounting actuator interface.

In combination with the above possible implementation manner, in a seventeenth possible implementation manner, the robot connection end and the prosthesis mounting actuator interface are distributed at two ends of the power device.

In combination with the foregoing possible implementation, in an eighteenth possible implementation, the power device further includes a handle configured to be substantially parallel to a shaft to which the surgical tool is attached.

In combination with the above possible implementation, in a nineteenth possible implementation, the handle and the surgical tool are distributed on both sides of the power device.

A second aspect of the present disclosure proposes a surgical system comprising an actuator, a robotic arm, a navigation system and a control system, the actuator being the arthroplasty actuator of the first aspect of the present disclosure; the mechanical arm is used for carrying an actuator; the navigation system is used for measuring the position of the actuator; the control system is used for driving the mechanical arm to move the actuator to the target position according to the operation plan.

The joint forming actuator provided by the present disclosure includes a power device and a tool assembly; the power device comprises a robot connecting end and a built-in power component, the robot connecting end is used for being connected to the tail end of a mechanical arm of the robot, the tool component is detachably arranged on the power device, and when the tool component is connected with the power device, the surgical tool rotates and moves under the driving of the power device. The power component is arranged in the shell and outputs power through the output shaft, the output shaft is connected with one end of the tool component to drive the surgical tool, and the surgical tool is guided without using a long guide cylinder, so that the structure of the actuator is more compact. Thus, the interference influence of an external power source on the operation space and the safety influence are reduced; the operation of assembling an external power source in the operation is reduced, so that the operation flow is smoother.

Drawings

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

FIG. 2 is a schematic illustration of an articulation molding actuator in accordance with an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a robotic connection and a second interfacing prosthetic installation actuator of an embodiment of the present disclosure;

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

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

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

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

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

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

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

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

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

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

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

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

fig. 16 is a schematic view of a connection between a first tool assembly and a power unit according to an embodiment of the disclosure.

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

FIG. 18 is a schematic view of another connection structure between an output shaft and a transfer shaft according to an embodiment of the disclosure;

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

reference numerals: 100-shell, 150-tracer component, 151-tracer element, 200-motor, 300-speed reducer, 400-output shaft, 401-input section, 402-middle section, 403-output section, 4031-coupling spline, 404-locating hole, 500-coupling, 501-first part, 502-second part, 600-joint, 601-hole, 602-spin groove, 6020-limit part, 6021-precession section, 6022-locating section, 603-hole, 610-spin structure, 700-extension rod main shaft, 701-spline joint, 702-joint hole, 703-locating shaft, 710-spline connection, 720-radial locating structure; 800-connecting rod lock head, 801-locating pin, 900-locating module, 901-clamping bracket, 902-elastic piece, 903-sliding sleeve, 1000a, 1000 b-operation tool, 1001-reamer bar, 1002-reamer edge, 30-robot connecting end, 13-second interface, 40-handle, 50-insulating cover, 60-handle sleeve, 70-ring groove, 1004-acetabular file, 2000-power device, 2100-power component, 2200-power source, 3000-tool component, 4000-support component, 5000-adjusting component, 6000-joint forming actuator, 7000-prosthesis mounting actuator, 8000-connecting part, 9000-navigation system, 9100-mechanical arm, 9200-control system.

Detailed Description

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

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

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

Hip replacement surgery involves grinding of the acetabular fossa and reaming of the femoral medullary cavity. The surgeon may use a navigation system and a robotic arm system to assist in hip replacement surgery. A surgical system for hip replacement surgery is disclosed in chinese patent No. CN102612350B, which describes the basic construction of the navigation system and the robotic arm system and the specific roles and implementation of each in surgery, and this disclosure is not repeated here.

As shown in fig. 1, the robotic system proposed by the present disclosure includes arobotic arm 9100, anavigation system 9000, anarticulation actuator 6000, and acontrol system 9200. Themechanical arm 9100 corresponds to an arm of a surgeon, and can hold and position a surgical tool with high accuracy. Thenavigation system 9000 corresponds to the surgeon's eye and can measure the position of surgical tools and patient tissue in real time.Control system 9200 corresponds to the surgeon's brain, storing the surgical plan internally. Thecontrol system 9200 may actively control the movement of themechanical arm 9100 according to the route and/or the position of the mechanical arm according to the information obtained by thenavigation system 9000 during the operation, or set the virtual boundary of themechanical arm 9100 through a force feedback mode, and then manually push themechanical arm 9100 to move along the route, the plane or the body defined by the virtual boundary.

Taking the acetabular milling of an arthroplasty actuator as an example, thesurgical tool 1000a is an acetabular milling rasp bar assembly.

Thearthroplasty actuator 6000 may be used to prepare a molded acetabular fossa or intramedullary canal over a hip joint. Thearthroplasty actuator 6000 may include apower device 2000 and atool assembly 3000. Thepower plant 2000 includes arobot link 30 and aninternal power assembly 2100. Thearthroplasty actuator 6000 is coupled to the distal end of therobotic arm 9100 via arobotic coupling end 30, and thepower assembly 2100 includes apower source 2200 and anoutput shaft 400, theoutput shaft 400 coupled to thepower source 2200. Thetool assembly 3000 includes a connectingportion 8000 and asurgical tool 1000a, thesurgical tool 1000a being rotatably disposed at the connectingportion 8000. Thetool assembly 3000 is detachably mounted to thepower unit 2000 via theconnection 8000. Whentool assembly 3000 is coupled topower device 2000 viacoupling 8000,surgical tool 1000a is engaged withoutput shaft 400 to receive rotational movement output byoutput shaft 400. Thepower assembly 2100 is disposed inside thepower plant 2000 and outputs power through theoutput shaft 400. Theoutput shaft 400 engages an end of thetool assembly 3000 to drive the acetabular rasp bar assembly without the use of a long guide barrel to guide the bar, resulting in a more compact actuator structure. Thus, the interference influence of an external power source on the operation space and the safety influence are reduced; the operation of assembling an external power source in the operation is reduced, so that the operation flow is smoother.

Specifically, as shown in fig. 2, 4-6, thearthroplasty actuator 6000 includes apower device 2000 and atool assembly 3000.Power plant 2000 includes ahousing 100 and apower assembly 2100. Thehousing 100 is a hollow interior member and has a substantially quadrangular prism shape. Thehousing 100 is provided at both ends thereof with arobot connecting end 30 and asecond interface 13, respectively. Therobot link 30 is used to connect thearthroplasty actuator 6000 to therobotic arm 9100. Thesecond interface 13 serves as a prosthesis mounting actuator interface for detachably connecting theprosthesis mounting actuator 7000 for prosthesis mounting by theprosthesis mounting actuator 7000 after the acetabular socket has been formed. Theshell 100 is also provided with ahandle 40, the interior of thehandle 40 is hollow, and thehandle 40 is detachably connected with theshell 100. Thepower device 2000 is configured for coupling to thetool assembly 3000 as a quick-fit interface disposed on the opposite side of thehousing 100 from the position of thehandle 40. When thetool assembly 3000 is mounted to the quick-fit interface, thehandle 40 is substantially aligned with the axis of the acetabular rasp bar assembly, which are disposed on either side of thepower device 2000. Various surfaces of thehousing 100 are used to connect thetracer assemblies 150 to indicate the position of the actuators.

As shown in fig. 5,power assembly 2100 includesmotor 200,reducer 300,output shaft 400, andcoupling 500. Themotor 200 and thedecelerator 300 constitute apower source 2200, and thepower source 2200 is integrated inside thehandle 40 and fixedly connected with thehousing 100. The shaft of thespeed reducer 300 is connected to theoutput shaft 400 through acoupling 500. Thepower source 2200 and theoutput shaft 400 are both coaxially disposed, with the axis perpendicular to thehousing 100.

As shown in fig. 7, theoutput shaft 400 includes aninput section 401, amiddle section 402, and anoutput section 403, which are disposed in this order. Theinput section 401 is provided with akeyway 4011 for receiving rotational movement from thepower source 2200. Themiddle section 402 is mounted in bearings in thepower plant 2000. Theoutput section 403 is provided with acoupling spline 4031, thecoupling spline 4031 comprising a plurality of circumferentially spaced apart protrusions for outputting torque. The length of thecoupling spline 4031 is less than the length of theoutput section 403, i.e., the end section of theoutput section 403 is an optical axis.

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

Referring to fig. 5 and 6, inside the joint formingactuator 6000, an insulatingcover 50 is provided at the outer periphery of thecoupling 500. The insulatingcover 50 can isolate thehousing 100 from thespeed reducer 300, so as to prevent the electric leakage of themotor 200 from being conducted to thehousing 100 through thespeed reducer 300. Theinsulation cover 50 has a function of isolating wires/leads, preventing the wires/leads inside thehousing 100 from rubbing or winding with therotating coupling 500.

Referring to fig. 5 to 7 and 9 to 10, thehousing 100 is further provided with a joint 600, and the joint 600 is fixed to thehousing 100.

The joint 600 is used to connect thetool assembly 3000 and mount theoutput shaft 400. The main body of theconnector 600 is columnar, ahole 601 is formed in the main body, fourrotary grooves 602 are formed in the periphery of the main body, therotary grooves 602 are used for guiding the pin shaft piece and comprise limitingparts 6020 for limiting the circumferential direction and the axial direction of the pin shaft piece, and two wing plates are radially arranged at one end of theconnector 600. Thebore 601 is configured to receive a bearing and receive themiddle section 402 of theoutput shaft 400. Thespiral groove 602 includes aprecession section 6021 and apositioning section 6022, theprecession section 6021 extending helically in a first axial direction, thepositioning section 6022 extending in a second axial direction at an end of theprecession section 6021 extending, wherein the first axial direction and the second axial direction are opposite. The side wall of thepositioning section 6022 forms a limitingpart 6020 the side wall of thepositioning section 6022 is used for limiting the content in the groove in the second axial direction and the circumferential direction. The wings are used to secure theconnector 600 to thehousing 100. When theoutput shaft 400 is mounted to the joint 600, thecoupling splines 4031 extend out of thebore 601 and are located outside of thehousing 100.

As shown in fig. 11-13,tool assembly 3000 includes a connectingportion 8000 and asurgical tool 1000a. Thesurgical tool 1000a is rotatably provided at one end thereof to theconnection portion 8000. Thesurgical tool 1000a is an acetabular milling rasp bar assembly and the other end is connected to an acetabular rasp. The acetabular milling rasp bar assembly includes a connectingbar spindle 700, an acetabular rasp connecting member, and ahandle sleeve 60. One end of the connecting rodmain shaft 700 is rotatably connected with the connectingpart 8000, and the other end is provided with a file connecting part. Thehandle sleeve 60 is sleeved outside themain shaft 700 of the extension rod. The end of the extension rodmain shaft 700 connected to theconnection portion 8000 is provided with a spline joint 701 and ajoint hole 702. The spline joint 701 can be fitted with thecoupling spline 4031 to achieve transmission of rotational motion. But the two are not a tight fit and can be separated in the axial direction. The diameter of theengagement hole 702 is the same as the diameter of the optical axis portion on theoutput section 403.

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

The extension rod connection module includes acatch 901, a positioning module 900, and a pair of slidingsleeves 903, all coaxially retained within theextension rod lock 800. Theclip 901 is ring-shaped and is provided at the outermost side (the opening side of the link lock 800). The positioning module 900 includes anelastic member 902 for providing a predetermined force between theconnection portion 8000 and thepower device 2000, and in this embodiment, theelastic member 902 is a thrust spring. The two slidingsleeves 903 are annular and are axially positioned between the clampingsupport 901 and the bottom of the extensionrod lock head 800. The outer circumference of the slidingsleeve 903 is matched with the inner circumference of the extensionrod lock head 800, and the inner hole is equal in diameter with the extension rodmain shaft 700. The thrust spring is disposed between two slidingsleeves 903.

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

As shown in fig. 14, the connection and thepower device 2000 will be connected by a snap-fit structure 610 to form axial and circumferential limits for the connection, wherein the snap-fit structure 610 is comprised of adowel 801 and a snap-fit groove 602, i.e. thetool assembly 3000 is connected to thehousing 100 by a snap-fit of thedowel 801 and the snap-fit groove 602.

Fig. 15 and 16 are schematic views of the acetabular rasp bar assembly mounted to apower device 2000. In assembled relationship, the locatingpin 801 is inserted into thelocating section 6022 of thespin slot 602. The two axially extending side walls of thelocating section 6022 form a circumferential limit to the locatingpin 801 and the end walls form an axial limit to the locatingpin 801. Therefore, theextension bar lock 800 does not drop in the axial direction or rotate in the circumferential direction without external force. The radial positioning is formed between theconnection 8000 and both the extension rodmain shaft 700 and thehousing 100, which is equivalent to the radial positioning formed between the extension rodmain shaft 700 and the output shaft 400 (which is positioned on the housing 100). Referring specifically to fig. 14 and 16, the optical axis portion of theoutput shaft 400 and theengagement hole 702 of themain shaft 700 of the extension rod form aradial positioning structure 710, and theradial positioning structure 710 is an equal-diameter shaft hole mating structure, i.e. direct radial positioning is formed between theoutput shaft 400 and theengagement hole 702. Limited by the length and mating accuracy of the mating segments that form the radial positioning between theconnection 8000 and the extension rodmain shaft 700, there may be some radial play of the extension rodmain shaft 700. And radial positioning between the optical axis portion of theoutput shaft 400 and theengagement hole 702 of the linkmain shaft 700 can improve radial positioning accuracy.

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

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

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

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

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

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

In use, thearthroplasty actuator 6000 is coupled to therobotic arm 9100 via therobotic coupling end 30, and thetool assembly 3000 is not mounted to thearthroplasty actuator 6000. First, therobot arm 9100 enters a preparation position according to a predetermined surgical plan. The surgeon attaches the acetabular rasp bar assembly carrying theacetabular rasp 1004 to thearthroplasty actuator 6000 via theadapter 600. Specifically, the doctor holds the extensionrod lock head 800 to axially sleeve the engagement hole of the extension rodmain shaft 700 on theoutput section 403 of theoutput shaft 400, and makes thecoupling spline 4031 aligned with the spline joint 701 for engagement. After the circumferential engagement of theoutput shaft 400 and the extension rodmain shaft 700 is completed, the extension rodmain shaft 700 is abutted against theoutput shaft 400, and a doctor pulls and rotates the extensionrod lock head 800 in a direction approaching to the actuator, so that thepositioning pin 801 of the extensionrod lock head 800 finally enters thepositioning section 6022 along the screwingsection 6021 in therotary groove 602.

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

To this end, the acetabular rasp bar assembly is fully coupled to theshell 100 and thearthroplasty actuator 6000 is moved to a predetermined target location under the control of therobotic arm 9100 and a physician under the direction of a predetermined surgical plan. Themotor 200 is started, and the rotation of themotor 200 is transmitted to theoutput shaft 400 through thedecelerator 300 and thecoupling 500 in order. Since theoutput shaft 400 is connected with the extension rodmain shaft 700 through thecoupling spline 4031 and the spline joint 701, the extension rodmain shaft 700 is driven by theoutput shaft 400 to rotate, and in the rotating process, the extensionrod lock head 800 is fixedly connected with the joint 600, so that the extensionrod lock head 800 cannot rotate. The rotatingextension rod spindle 700 rotates theacetabular file 1004 for grinding and shaping of the acetabular fossa.

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

In summary, themotor 200, thereducer 300, the coupling, and theoutput shaft 400 are integrated inside thehousing 100, and the power cord of themotor 200 may be introduced through the interface between thehousing 100 and themechanical arm 9100. The joint formingactuator 6000 is compact in structure, an external power source is not required to be arranged, and interference influence of the external power source and a power wire thereof on a surgical space and potential safety hazards caused by exposure of the power wire are avoided. The operation steps of the operation are reduced without assembling an external power source in the operation. Thetool assembly 3000 is comprised of aconnection 8000 and acetabular rasp bar assembly as a preloaded modular component that facilitates the detachable connection of thesurgical tool 1000a to theoutput shaft 400.

In an alternative embodiment, as shown in fig. 19, thesurgical tool 1000b is a intramedullary reamer and thetool assembly 3000 includes acoupling 8000 and a intramedullary reamer. The reamer comprises areamer rod 1001 and a reamer connected with thereamer rod 1001 and used for reaming marrow, wherein a spline joint 701 is arranged at the end part of thereamer rod 1001 and used for being connected with acoupling spline 4031; the reamer is provided with areamer blade 1002 for reaming the femoral medullary cavity in a rotational motion. The connectingportion 8000 has the same structure as the connectingportion 8000 for connecting the acetabular milling file rod assembly, and the connecting rod connecting module connects thereamer rod 1001 with the connectingrod lock 800. And, thetool assembly 3000 connected with the intramedullary reamer is connected with the joint 600 and theoutput shaft 400 in the same way as the above, after theextension rod lock 800 is connected with the joint 600, the intramedullary reamer is connected to theoutput shaft 400 through the spline joint 701 and thecoupling spline 4031, and theoutput shaft 400 drives the intramedullary reamer to rotate under the drive of themotor 200 and performs the reaming task of the proximal femur.

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

It will be appreciated that in hip arthroplasty, thetracer devices 150 send positional information of thearthroplasty actuator 6000 to the locator, which is typically a device for receiving positional information in thenavigation system 9000 fixedly disposed in the operative space, such that thearthroplasty actuator 6000 can be identified to the locator in a variety of poses by the arrangement of the three sets oftracer elements 151. The locator may be an optical navigator for identifying reflected light or a receiver for identifying electromagnetic signals, corresponding to thetrace element 151.

With continued reference to fig. 1, a second aspect of the present disclosure proposes a surgical system for performing a hip arthroplasty procedure. Comprises an actuator, amechanical arm 9100, anavigation system 9000 and acontrol system 9200, wherein the actuator is the joint formingactuator 6000 of the first aspect of the disclosure; therobotic arm 9100 is used to mount thearthroplasty actuator 6000 and control the orientation of the actuator. Therobotic arm 9100 can either fully actively control the orientation of the actuators or cooperatively limit a portion of the degrees of freedom or range of motion of the actuators. Specifically, therobotic arm 9100 can be controlled via programming of thecontrol system 9200 such that therobotic arm 9100 moves entirely autonomously in accordance with a surgical plan, or by providing tactile or force feedback to limit manual movement of thesurgical tool 1000a or 1000b by a surgeon beyond a predetermined virtual boundary, or to provide virtual guidance to guide the surgeon along a certain degree of freedom. The virtual boundaries and virtual guides may be derived from a surgical plan or may be intraoperatively set by an input device. The actuator is detachably connected with themechanical arm 9100; thenavigation system 9000 is used to measure the position of thearthroplasty actuator 6000 and the patient. Thenavigation system 9000 generally includes a locator and a tracer. The tracer is mounted on the actuator, surgical tool and patient body. Tracers are typically arrays of a plurality of tracer elements, each of which may emit optical or electromagnetic signals in an active or passive manner. A locator (e.g. a binocular camera) measures the orientation of the tracer as described above by 3D measurement techniques. Thecontrol system 9200 is used to drive therobotic arm 9100 to move the arthroplasty actuator to a target location according to a surgical plan. The manipulator movement path, movement boundary, etc. may be included in the surgical plan.

Specifically, in the surgical system, after the arthroplasty actuator to which thetool assembly 3000 is not mounted is coupled to themechanical arm 9100 via therobot coupling end 30, themechanical arm 9100 is brought into a ready position according to a predetermined surgical plan under the control of thecontrol system 9200, and in the ready position, the doctor mounts thetool assembly 3000 to thepower device 2000. The actuator then moves according to the predetermined surgical plan. The built-in power source, i.e., themotor 200 and thedecelerator 300, thesurgical tool 1000a or 1000b is rotated by themotor 200 and thedecelerator 300, and the control system controls themechanical arm 9100 to limit the movement space of thesurgical tool 1000a or 1000 b. The surgeon advances 6000surgical tools 1000a or 1000b through thehandle 40 on thehousing 100 to advance the arthroplasty actuator within the allowed space of motion. In clinical surgery, grinding of the acetabular fossa is first performed and then reaming of the proximal femur is performed in the usual surgical sequence. The convenient replacement of surgical tools can be accomplished by replacing thepreloaded tool assemblies 3000 during both procedures, wherein thesurgical tool 1000a mounted in the first set oftool assemblies 3000 is an acetabular rasp bar assembly and thesurgical tool 1000b mounted in the second set oftool assemblies 3000 is a intramedullary reamer. The installation principle and process of thetool assembly 3000 are embodied in the above embodiments, and are not described herein.

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

Claims (21)

1. A joint forming actuator, comprising:

the power device comprises a robot connecting end and an internally arranged power assembly, wherein the robot connecting end is used for being connected to the tail end of a mechanical arm of the robot, the power assembly comprises a power source and an output shaft, and the output shaft is connected with the power source;

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

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

2. The arthroplasty actuator of claim 1, wherein the engagement is formed by an insertion or socket action of the surgical tool in an axial direction relative to the output shaft.

3. The arthroplasty actuator of claim 2, wherein the surgical tool and the output shaft are configured as a spline connection.

4. The arthroplasty actuator of claim 1, wherein a radial positioning structure is further provided between the surgical tool and the power device.

5. The arthroplasty actuator of claim 4, wherein the radial positioning structure is disposed between the surgical tool and the output shaft.

6. The arthroplasty actuator of claim 4, wherein the radial positioning feature is a shaft hole fit between the output shaft and the surgical tool.

7. The arthroplasty actuator of claim 1, wherein the coupling portion and the power device are coupled by a snap-in structure to form axial and circumferential limits for the coupling portion.

8. The arthroplasty actuator of claim 7, wherein the snap-fit feature comprises a groove and a detent disposed on the circumferential surface, the groove being configured to guide the detent and comprising a stop portion to stop the detent in both the circumferential and axial directions.

9. The arthroplasty actuator of claim 8, wherein the socket is provided to the power device and the dowel pin is provided to the connection portion.

10. The arthroplasty actuator of claim 8, wherein the helical groove comprises a threaded section and a locating section in communication, the locating pin providing circumferential and axial positioning relationship between the coupling portion and the power device after entering the locating section along the threaded section.

11. The arthroplasty actuator of claim 10, wherein a positioning module is disposed between the coupling portion and the power plant, the positioning module providing a predetermined force between the coupling portion and the power plant.

12. The arthroplasty actuator of claim 11, wherein the positioning module comprises a resilient member compressed by the power device and the tool assembly to generate the predetermined force, the predetermined force being in a direction axial to the output shaft.

13. The arthroplasty actuator of claim 12, wherein the resilient member is disposed between a surgical tool and the coupling portion in the tool assembly, the resilient member compressing the surgical tool to axially compress the surgical tool and the output shaft.

14. The arthroplasty actuator of claim 1, wherein the surgical tool is an acetabular rasp bar assembly or a intramedullary reamer.

15. The arthroplasty actuator of claim 1, further comprising a tracer assembly disposed on a surface of the power plant.

16. The arthroplasty actuator of claim 1, wherein the power device is configured to form an extension of an end segment of the robotic arm when coupled thereto, the output shaft being transverse to the end segment.

17. The arthroplasty actuator of claim 1 wherein the power plant further comprises a prosthetic mounting actuator interface.

18. The arthroplasty actuator of claim 17, wherein the robotic connection end and the prosthetic mounting actuator interface are distributed at both ends of the power plant.

19. The arthroplasty actuator of claim 1, wherein the power device further comprises a handle configured to be substantially parallel to a rod to which the surgical tool is attached.

20. The arthroplasty actuator of claim 19, wherein the handle and the surgical tool are distributed on opposite sides of the power device.

21. A surgical system, comprising:

an actuator, which is the arthroplasty actuator of any one of claims 1 to 21;

the mechanical arm is detachably connected with the robot connecting end of the actuator;

a navigation system for measuring the position of the actuator; and

and the control system is used for driving the mechanical arm to move the actuator to the target position according to the operation plan.

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