CN116370163A - Surgical system - Google Patents

Abstract

The present disclosure discloses a surgical system for installing an acetabular prosthesis on a hip joint, comprising a slide bar, a mechanical arm, and a controller, the slide bar being for carrying the acetabular prosthesis; the mechanical arm is used for holding a sliding rod, and the sliding rod can linearly slide relative to the tail end of the mechanical arm; the controller is used for generating a control signal which allows the mechanical arm to move under the traction of external force when receiving the first signal; and generating a control signal for locking the position of the mechanical arm when the first control signal is not detected; wherein the controller is further configured to generate a control signal to control the robotic arm to adjust the acetabular prosthesis to an alignment pose associated with the target pose when the second signal is received when the robotic arm is locked. The surgical operation system can safely and controllably and accurately mount the acetabular prosthesis.

Description

Surgical system

Technical Field

The present disclosure relates to the field of computer-assisted surgery, and in particular to surgical systems.

Background

Traditional hip replacements, although having been performed for over half a century, have been performed manually by doctors to install prostheses in ways that may result in less than ideal prosthesis installation sites due to different doctors or different conditions of the same doctor, and other factors. The non-ideal installation of the prosthesis position can directly influence the operation effect, and the situations of dislocation after replacement, prosthesis impact, reduced hip joint mobility, increased prosthesis abrasion and the like can be caused.

In robot-assisted total hip replacement surgery (THA), a bone model of a patient is generated through three-dimensional reconstruction of CT data, an operation planning procedure selects an appropriate prosthesis model according to the actual condition of the patient and plans the installation position of the prosthesis, and the predetermined shape and the position of the predetermined shape to be prepared of the hip joint are determined according to the installation position of the prosthesis.

In clinical surgery, there is a lot of blood flesh tissue and soft tissue around the affected part of the patient, and the doctor is directly affected by these tissues and needs to avoid them when the affected part applies an impact force of installation to the acetabular prosthesis. For this purpose, it is necessary to hold the acetabular cup prosthesis by a prosthesis stem and transmit impact forces thereto for installation. In combination with the existing computer-aided navigation surgery system, the prosthesis rod can align the acetabular prosthesis with the affected part of a patient under the assistance of a mechanical arm and other types of directional holding devices, and a doctor can install the acetabular prosthesis by applying striking to the prosthesis rod. During the implantation of the prosthesis, the implantation depth and angle of the prosthesis are key indicators. The depth of the prosthesis changes with each strike and the system needs to measure the depth change and output it to the surgeon. The surgeon needs to install the acetabular prosthesis according to the cues of the system. An accurate and reliable prosthesis mounting system is therefore an important prerequisite for ensuring the ideal prosthesis mounting position.

In clinical surgery, hip replacements include installation replacements for acetabular prostheses and femoral prostheses (including femoral stems and femoral head prostheses). Wherein the acetabular prosthesis is impacted under the grip of the prosthesis installation actuator to install the acetabular prosthesis into the prepared acetabular socket.

With the aid of the mechanical arm, the prosthesis installation actuator on which the acetabular prosthesis is mounted is required to move to the target pose in strict accordance with the surgical plan. In the process, the motion trail control of the acetabular prosthesis is important, on one hand, accurate motion control can ensure accurate matching installation with an acetabular fossa, and incorrect installation orientation of the acetabular prosthesis can lead to the acetabular cup not being installed at a correct angle; on the other hand, reasonable motion control can ensure that the acetabular prosthesis and a rod piece for holding the acetabular prosthesis can not cause iatrogenic injury to a patient when going deep into an affected part wound, and incorrect motion control can possibly cause safety accidents.

Currently, there are already more mature Surgical systems for the installation of prostheses, such as the hip Surgical robot system of the MAKO Surgical company, whose disclosure is given in chinese patent No. 102612350B, which limits the range of motion of the acetabular prosthesis held by the mechanical arm by force feedback control, enabling the prosthesis to be installed in a desired pose. However, the motion control is only based on the tactile feedback and the limitation of the moving range of the surgical tool, the safety consideration is lacking when the mechanical arm automatically moves, the prosthesis mounting path and mode are not disclosed in detail, and the accuracy of the prosthesis mounting is difficult to ensure.

Disclosure of Invention

The present disclosure provides a surgical system that solves the problem of how to accurately and reliably perform acetabular prosthesis installation in hip replacement surgery.

The present disclosure proposes a surgical system for installing an acetabular prosthesis on a hip joint, comprising a slide bar for mounting the acetabular prosthesis, a mechanical arm, and a controller; the mechanical arm is used for holding a sliding rod, and the sliding rod can linearly slide relative to the tail end of the mechanical arm; the controller is used for generating a control signal which allows the mechanical arm to move under the traction of external force when receiving the first signal; and generating a control signal for locking the position of the mechanical arm when the first control signal is not detected; wherein the controller is further configured to generate a control signal to control the robotic arm to adjust the acetabular prosthesis to an alignment pose associated with the target pose when the second signal is received when the robotic arm is locked.

In a first possible embodiment, the mechanical arm, when locked, is further: the robotic arm is locked in a position that places the acetabular prosthesis within a pre-alignment range associated with the target pose.

In combination with the above possible implementation manner, in a second possible implementation manner, the controller is further programmed to: and determining a prealignment range and an alignment pose according to the target pose.

In combination with the above possible implementation manner, in a third possible implementation manner, the controller is further programmed to: deviations of the axis of the acetabular prosthesis from the axis of the target pose within the pre-alignment range are allowed.

In combination with the foregoing possible implementation manner, in a fourth possible implementation manner, the controller is further configured to: when the acetabular prosthesis is in an aligned position and the controller receives the third signal, a control signal for enabling the mechanical arm to enter a linear mode is generated, and in the linear mode, the tail end of the mechanical arm can move along a straight line under the action of external force.

In combination with the foregoing possible implementation manner, in a fifth possible implementation manner, a path of the linear motion of the end of the mechanical arm coincides with the axis of the slide rod.

In combination with the above possible implementation manner, in a sixth possible implementation manner, during the rectilinear motion, the axis of the acetabular prosthesis coincides with the axis of the target pose.

In combination with the foregoing possible implementation manner, in a seventh possible implementation manner, the range of linear motion is a range determined by the alignment pose and the target pose.

With reference to the foregoing possible implementation manner, in an eighth possible implementation manner, the system includes an input device for inputting the first signal, the second signal, and the third signal.

In combination with the foregoing possible implementation manner, in a ninth possible implementation manner, the axis of the alignment pose and the axis of the target pose coincide.

In combination with the foregoing possible implementation manner, in a tenth possible implementation manner, the system includes a prosthesis installation actuator, one end of which is connected to the end of the mechanical arm, and the other end of which carries the sliding rod.

With reference to the foregoing possible implementation manner, in an eleventh possible implementation manner, the prosthesis installation executor includes:

the sliding rod is provided with a sliding rod,

the support assembly comprises a coupling part, wherein the coupling part accommodates part of a rod section of the sliding rod, and the sliding rod is axially movable relative to the support assembly; the support assembly is used for connecting the prosthesis installation actuator to a mechanical arm of the robot system; and

the tracer is arranged on the sliding rod to indicate the direction of the sliding rod.

In combination with the foregoing possible implementation manner, in a twelfth possible implementation manner, the sliding rod further includes an axial buffering mechanism, and the axial buffering mechanism forms axial buffering between the sliding rod and the supporting component when the sliding rod is subjected to axial impact.

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

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

In combination with the foregoing possible implementation manner, in a fifteenth possible implementation manner, the axial limiting structure includes a retaining ring disposed on the sliding rod, and the buffer member is disposed between the retaining ring and the supporting component.

In combination with the foregoing possible implementation manner, in a sixteenth possible implementation manner, a quick-disassembly mechanism is disposed between the support assembly and the mechanical arm, and the prosthesis installation actuator is connected to the mechanical arm through the quick-disassembly mechanism.

In combination with the foregoing possible implementation manner, in a seventeenth possible implementation manner, the quick-disassembly mechanism includes a first limiting mechanism and a second limiting mechanism, where the second limiting mechanism is a mechanism for manually releasing the limiting mechanism.

In combination with the foregoing possible implementation manner, in an eighteenth possible implementation manner, the device further includes an adjusting assembly, configured to adjust a circumferential position of the prosthesis relative to the sliding rod, where the adjusting assembly includes:

one end of the switching shaft is connected with the prosthesis;

the adjusting piece is used for connecting the switching shaft to the sliding rod, the circumferential position between the adjusting piece and the sliding rod is adjustable, and the circumferential position between the adjusting piece and the switching shaft is fixed.

In combination with the above possible implementation manner, in a nineteenth possible implementation manner, the adjusting member is movable between a first position and a second position of the adapter shaft, the circumferential position of the adjusting member between the first position and the slide bar is fixed, and the circumferential position of the adjusting member relative to the slide bar is adjustable at the second position.

In combination with the above possible implementation manner, in a twentieth possible implementation manner, the device further includes a retaining member configured to retain the adjusting member in the first position when the adjusting member is not subjected to an external force.

The surgical system comprises a sliding rod, a mechanical arm and a controller, wherein the sliding rod is used for carrying an acetabular prosthesis; the mechanical arm is used for holding a sliding rod, and the sliding rod can linearly slide relative to the tail end of the mechanical arm; the controller is used for generating a control signal which allows the mechanical arm to move under the traction of external force when receiving the first signal; and generating a control signal for locking the position of the mechanical arm when the first control signal is not detected; wherein the controller is further configured to generate a control signal to control the robotic arm to adjust the acetabular prosthesis to an alignment pose associated with the target pose when the second signal is received when the robotic arm is locked. Thus, the acetabular prosthesis in the aligned pose has a position and a pose associated with the target pose, and when the acetabular prosthesis is installed, a doctor can accurately install the acetabular prosthesis by controlling the acetabular prosthesis to move from the aligned pose to the target pose, and the control process is short and labor-saving. The surgical operation system can safely and controllably and accurately mount the acetabular prosthesis.

Drawings

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

FIG. 2 is a schematic illustration of a prosthetic installation actuator and acetabular prosthesis configuration according to an embodiment of the disclosure;

FIG. 3 is a schematic diagram of a registry and acetabular prosthesis configuration according to an embodiment of the disclosure;

FIG. 4 is a schematic illustration of a robotic arm and acetabular prosthesis in a ready position according to an embodiment of the disclosure;

fig. 5 is a schematic view of an acetabular prosthesis according to an embodiment of the disclosure within a pre-alignment range P;

FIG. 6 is a schematic illustration of alignment pose in accordance with an embodiment of the present disclosure;

FIG. 7 is a second alignment pose schematic diagram of an embodiment of the present disclosure;

FIG. 8 is a third alignment pose schematic diagram of an embodiment of the present disclosure;

FIG. 9 is a schematic view of an acetabular prosthesis reaching an alignment pose B according to an embodiment of the disclosure;

FIG. 10 is a schematic illustration of an acetabular prosthesis reaching a target pose A according to an embodiment of the disclosure;

FIG. 11 is a schematic illustration of the overall structure of a prosthetic mounting actuator according to an embodiment of the present disclosure;

FIG. 12 is a schematic diagram of the overall structure of a prosthetic mounting actuator according to an embodiment of the present disclosure;

FIG. 13 is a schematic view of the structure of the connection between the support assembly and the slide bar according to an embodiment of the present disclosure;

FIG. 14 is a schematic view of components at a slide rail according to an embodiment of the present disclosure;

FIG. 15 is a schematic view of the installation of a prosthetic installation actuator according to an embodiment of the present disclosure;

FIG. 16 is a schematic view of a support assembly and a second interface structure in accordance with an embodiment of the present disclosure;

FIG. 17 is a second schematic illustration of a support assembly and a second interface structure according to an embodiment of the present disclosure;

FIG. 18 is a third schematic illustration of a support assembly and a second interface structure according to an embodiment of the present disclosure;

FIG. 19 is a schematic view of a slide bar structure provided with an adjustment module according to an embodiment of the present disclosure;

FIG. 20 is a schematic diagram of a conditioning module in accordance with an embodiment of the present disclosure;

FIG. 21 is a second schematic illustration of a conditioning module according to an embodiment of the disclosure;

FIG. 22 is a third schematic illustration of an adjustment module according to an embodiment of the present disclosure;

FIG. 23 is a schematic view of a nut structure of an embodiment of the present disclosure;

FIG. 24 is a schematic diagram of a nut structure according to an embodiment of the present disclosure;

reference numerals:

100-surgical system;

10-prosthesis mounting actuators, 20-arthroplasty actuators;

11-a slide bar, 111-a holding part, 112-a nut, 1121-a stress plate and 1122-a connecting section;

13-acetabular prosthesis;

14-supporting components, 141-coupling parts, 142-main bodies, 143-insulating sleeves and 144-sliding sleeves;

15 axial buffer mechanism, 151-first buffer, 152-second buffer;

16-an axial limiting structure, 161-a retainer ring, 162-an insulating part and 1621-a blocking edge;

17-quick-dismantling mechanism, 171-first limit mechanism, 171 a-plug block, 1711-limit groove, 172-second limit mechanism, 1721-mounting hole, 1722-bolt, 1723-first elastic piece, 1724-cushion block, 1725-bolt pulling bolt;

18-second interface, 181-bottom plate, 182-limit button, 1821-first section, 1822-second section, 183-bolt hole;

19-adjusting components, 191-switching shafts, 1911-main shaft sections, 1912-connecting holes, 1913-clamping blocks, 1914-flanges, 1915-limiting sections, 1916-limiting steps, 192-adjusting pieces, 1921-nuts, 1922-switching sleeves, 1923-outer walls, 1924-clamping grooves, 1925-spline grooves, 1926-splines, 1927-retaining pieces, M-first positions and N-second positions;

30-mechanical arm, 31-mechanical arm tail end;

a 40 controller;

50-input device, 51-pedal;

60-navigation system, 61-locator, 62-tracer, 621-bone tracer, 622-end tracer, 623-probe, 624-registrar;

70-a display;

a-target pose, B-alignment pose, P-pre-alignment range, axis of U-target pose, axis of V-alignment pose, axis of W-acetabular prosthesis;

Detailed Description

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

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

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

The present disclosure proposes a surgical system for installing an acetabular prosthesis on a hip joint, comprising a slide bar for mounting the acetabular prosthesis, a mechanical arm, and a controller; the mechanical arm is used for holding a sliding rod, and the sliding rod can linearly slide relative to the tail end of the mechanical arm; the controller is used for generating a control signal which allows the mechanical arm to move under the traction of external force when receiving the first signal; and generating a control signal for locking the position of the mechanical arm when the first control signal is not detected; wherein the controller is further configured to generate a control signal to control the robotic arm to adjust the acetabular prosthesis to an alignment pose associated with the target pose when the second signal is received when the robotic arm is locked. Thus, the acetabular prosthesis in the aligned pose has a position and a pose associated with the target pose, and when the acetabular prosthesis is installed, a doctor can accurately install the acetabular prosthesis by controlling the acetabular prosthesis to move from the aligned pose to the target pose, and the control process is short and labor-saving. The surgical operation system can safely and controllably and accurately mount the acetabular prosthesis.

Specifically, as shown in fig. 1,surgical system 100 includes aprosthesis mounting actuator 10, arobotic arm 30, and acontroller 40.

One end of theprosthesis installation actuator 10 is connected with themechanical arm 30, the other end of the prosthesis installation actuator is connected with the slidingrod 11, the slidingrod 11 can slide along a straight line relative to thetail end 31 of the mechanical arm, one end of the slidingrod 11 is provided with theacetabular prosthesis 13, and the other end of the sliding rod is used for receiving impact force for installing the acetabular prosthesis, and the impact force can be applied by doctors. A schematic structural view of the prosthesis mounting actuator is shown in fig. 2.

Therobot arm 30 is a cooperative robot arm having a plurality of sensors therein, and each joint is independently controllable. Therobotic arm 30, with theprosthetic mounting actuator 10 removably attached to thearm end 31, is capable of operating in a traction mode, an active mode, a rest mode, and a spring arm mode. In the traction mode, themechanical arm 30 balances the self gravity, themechanical arm 30 can maintain the self posture under the condition of not receiving external force, and themechanical arm 30 can move with multiple degrees of freedom under the action of the external force (except the gravity); in the active mode, each joint is applied with active control for performing various actions, and themechanical arm 30 can be controlled by thecontroller 40 to perform autonomous movement; in the stationary mode, the joints of themechanical arm 30 cannot move relatively, and the posture of themechanical arm 30 is locked; in the spring arm mode, themechanical arm 30 has a part of functions of both the traction mode and the active mode, thecontroller 40 can limit the movement range of themechanical arm end 31 by applying different controls to each mechanical arm joint, themechanical arm end 31 can move within a predetermined range under the pushing of a user, such as a linear mode, and the mechanical arm is limited by the applied part so that the mechanical arm end can only move within a linear range.

Thecontroller 40 is electrically connected to themechanical arm 30, and is used for controlling the movement mode of themechanical arm 30.

With continued reference to fig. 1, in this embodiment, anavigation system 60 is also provided, thenavigation system 60 comprising alocator 61 and atracer 62 for assisting thecontroller 40 in obtaining a target pose a of theacetabular prosthesis 13 and a real-time pose of theacetabular prosthesis 13. Wherein thelocator 61 includes a binocular vision camera and an infrared light source, thetracer 62 is provided with a reflective ball/reflective sheet capable of reflecting infrared light and the reflective ball/reflective sheet reflecting infrared light can be recognized by the binocular vision camera. In an alternative embodiment, no infrared light source is provided in thepositioner 61, and thetracer 62 is provided with a device with active light emitting capability, such as a led light source, an infrared light source, etc., which can be recognized and positioned by the binocular vision camera. In other alternative embodiments, thepositioner 61 is not limited to a binocular vision camera, but may be an electromagnetic receiving device, and an electromagnetic transmitting device is disposed on thetracer 62, where the electromagnetic transmitting device transmits an electromagnetic signal to be recognized by the electromagnetic receiving device and obtains the position information thereof.

Referring to fig. 1 and 3, thetracer 62 includes abone tracer 621, anend tracer 622, aprobe 623, aregistrar 624, with thebone tracer 621 being connected to the patient's hip bone by a bracket for locating the patient's hip bone. Theend tracer 622 is disposed on theslide bar 11 and is fixedly connected to theslide bar 11, theend tracer 622 disposed on theprosthetic mounting actuator 10 having a first relative relationship to thearm end 31. Theprobe 623 is used to harvest a point on the hip bone and thelocator 61 is able to learn positional information of the point harvested by theprobe 623. Theregister 624 is detachably connected to theacetabular prosthesis 13 in a predetermined relative relationship and the pose of theacetabular prosthesis 13 is obtained when connected, and fig. 3 shows a manner of connecting theregister 624 to theacetabular prosthesis 13, specifically by connecting theregister 624 to theslide rod 11 and causing a portion of theregister 624 to abut theacetabular prosthesis 13. Of course, the connection of theregistrar 624 to theacetabular prosthesis 13 is not limited to the manner shown in fig. 3.

Further, with continued reference to fig. 1, the present embodiment further includes adisplay 70 and aninput device 50, and theinput device 50 includes a mouse, a keyboard, and apedal 51. Thedisplay 70, mouse, keyboard andfoot rest 51 are all electrically connected to the controller 40 (not shown). Thedisplay 70 is used to display various prompt information in surgery and operation live information in surgery. The prompt information is used for assisting the operation to be accurately performed according to an operation plan, and the prompt information can be, for example, prompt information that theacetabular prosthesis 13 is not installed,mechanical arm 30 fault alarm information, or grinding and contusion depth information of theacetabular prosthesis 13, and the operation live information can be relative position information of theacetabular prosthesis 13 and the hip bone of the patient, which is displayed through images, and the like. The keyboard and mouse are used to interact with the surgical system, which can be operated by the assisting physician. Thepedal 51 is used for providing control right for a doctor who pulls themechanical arm 30, so that the doctor can interact with the operation system through thepedal 51 under the condition that the doctor is far away from the keyboard and the mouse, the operation progress is confirmed and controlled, and the operation safety and controllability are improved.

The following describes the complete procedure for preparing an acetabulum with a surgical system:

S100, three-dimensional reconstruction and operation planning; and before the operation is performed by using the operation system, three-dimensional reconstruction is performed by combining the CT data of the affected bone which is shot/acquired, and a three-dimensional model of the hip joint is obtained. An ideal installation position of the prosthesis model is planned on the reconstructed three-dimensional model of the hip joint.

It can be understood that on the three-dimensional model of the hip joint, a doctor can intuitively observe the condition of the affected part of the hip joint, and the doctor can select the model of theacetabular prosthesis 13 to be installed and the installation position of theacetabular prosthesis 13 by adjusting the simulated placement condition of the acetabular prosthesis model on the three-dimensional model of the hip joint, so that the process of operation planning is more intuitive.

S200, spatial registration; after exposing the hip joint of the patient, theprobe 623 is used for collecting the surface characteristic point data of the hip bone and the point and surface data of the appointed area, thelocator 61 is used for obtaining the space position of the collecting point through a reflecting ball/reflecting sheet on theprobe 623, and the three-dimensional model of the hip joint generated by three-dimensional reconstruction is used for completing the registration of the hip bone and the three-dimensional model of the hip joint of the patient through a space registration algorithm, so that the actual position of the hip bone of the patient in the operation space is determined.

It will be appreciated that the processes of S100 and S200 described above are preparations prior to preparation of the predetermined shape using the surgical system of the present disclosure, by which the surgical system can acquire relevant information and smoothly perform subsequent installation of theacetabular prosthesis 13. Moreover, the specific techniques of three-dimensional reconstruction and surgical planning and spatial registration described above are well known to those skilled in the art and will not be described in detail herein.

S300, acquiring a target pose A of theacetabular prosthesis 13; the three-dimensional reconstruction and operation planning processes determine the ideal position of the acetabular prosthesis model on the three-dimensional model of the hip joint, and the spatial registration processes determine the corresponding relationship between the hip bone of the patient in the operation space and the hip bone of the patient on the three-dimensional model of the hip joint. Based on this correspondence and the known ideal position of the acetabular prosthesis model on the three-dimensional model of the hip joint, thecontroller 40 may obtain a planned position of theacetabular prosthesis 13 in the surgical space. From the planned position, thecontroller 40 knows the target pose a of theacetabular prosthesis 13 in the surgical space, wherein the target pose a is the theoretical pose of theacetabular prosthesis 13 that needs to be installed.

S400, registering theacetabular prosthesis 13 and acquiring the real-time pose of theacetabular prosthesis 13;

registration of theacetabular prosthesis 13 requires one-time installation of theregistrar 624 with theacetabular prosthesis 13 and removal after registration is complete. The specific registration process is as follows: theregister 624 is connected to theacetabular prosthesis 13 in a predetermined relative relationship, i.e., one end of theregister 624 abuts theacetabular prosthesis 13 and the other end is connected to theslide rod 11, as shown in fig. 3. Thelocator 61 recognizes the pose information of theregistrar 624 and the pose information of the end-tracer 622 on theslide bar 11, and thecontroller 40 obtains a second relative relationship of theacetabular prosthesis 13 with respect to the end-tracer 622 based on the pose information of the end-tracer 622, the pose information of theregistrar 624, and a predetermined relative relationship, and then removes theregistrar 624 from theslide bar 11.

The process of acquiring real-time pose information of theacetabular prosthesis 13 is: with theregistrar 624 removed, thecontroller 40 may indirectly obtain the real-time pose of theacetabular prosthesis 13 based on the second relative relationship and the real-time pose of the end-tracer 622.

The real-time pose of theacetabular prosthesis 13 includes real-time position information and real-time pose information of theacetabular prosthesis 13. When installing theacetabular prosthesis 13, it is necessary to acquire pose information of theacetabular prosthesis 13 in real time because thecontroller 40 can precisely guide the depth and angle of installation of theacetabular prosthesis 13 based on the pose information of theacetabular prosthesis 13 in real time. But theacetabular prosthesis 13 actually used for the acetabular prosthesis installation operation has various models of different sizes or different forms, and there may be installation or machining errors in connection between theacetabular prosthesis 13 and theslide rod 11, and the pose of theacetabular prosthesis 13 and the pose of theend tracer 622 in the operation do not have an accurately determined relationship. It is even less possible to accurately obtain the real-time pose of theacetabular prosthesis 13 based on the relationship between theacetabular prosthesis 13 and theend tracer 622. In this embodiment, when theregistrar 624 is removed, thelocator 61 can obtain the real-time pose of theacetabular prosthesis 13 in the surgical space in real-time based on the real-time pose of the end-tracer 622 and the second relative relationship. The real-time pose of theacetabular prosthesis 13 obtained by such a method is relatively accurate, and the accuracy of the installation of theacetabular prosthesis 13 can be improved by the real-time pose of theacetabular prosthesis 13 being relatively accurate.

S500, thecontroller 40 receives an input signal that a doctor steps on thepedal 51; the input signal of the stepping on thepedal 51 is a confirmation signal generated by the control of the doctor, and by stepping on thepedal 51, the doctor can confirm the progress of the installation of theacetabular prosthesis 13, thereby improving the controllability of the installation of theacetabular prosthesis 13 by using the surgical system.

S600, judging and controlling the corresponding operation process according to the real-time pose of theacetabular prosthesis 13 and external input signals, wherein the judging process is specifically described in S700-S900.

S700 when the distance between theacetabular prosthesis 13 and the target pose a is greater than the first threshold and thecontroller 40 receives the first signal that the doctor steps on thefoot pedal 51, thecontroller 40 controls themechanical arm 30 to enter a traction mode in which themechanical arm 30 can passively bring the real-time pose of theacetabular prosthesis 13 to the target pose a of theacetabular prosthesis 13 under the traction of the doctor to a specific extent of movement that places theacetabular prosthesis 13 within the pre-alignment range P and after theacetabular prosthesis 13 reaches the pre-alignment range, the doctor releases the foot pedal, thecontroller 40 does not receive the first signal and enters a stationary mode in which themechanical arm 30 is locked, thereby maintaining theacetabular prosthesis 13 in a fixed pose. The first signal is a continuous signal. Of course in an alternative embodiment the first signal may be a momentary signal.

The target pose a includes target position information and target posture information of theacetabular prosthesis 13. The first threshold is a preset determination value, and it is determined whether theacetabular prosthesis 13 is farther from the target pose a based on the first threshold, and if so (greater than the first threshold), theacetabular prosthesis 13 should be allowed to approach the target pose a later. Typically, as shown in fig. 4, in the initial state of the operation, themechanical arm 30 is kept at a preparation position under the control of thecontroller 40, and when theacetabular prosthesis 13 is mounted on themechanical arm 30 at the preparation position, the distance from theacetabular prosthesis 13 to the target pose a is greater than the first threshold.

The pre-alignment range P is a region with boundaries determined from the position information in the target pose a, and may be, for example, spherical, ellipsoidal, cylindrical or prismatic. Illustratively, as shown in fig. 5, the pre-alignment range P is ellipsoidal. This region is a region located in a small range close to the target pose a, and is provided for the purpose of enabling theacetabular prosthesis 13 to be brought close to the target pose a in the case where the doctor manually pulls themechanical arm 30. Also, within the pre-alignment range P, there may be a deviation of the axis W of the acetabular prosthesis from the axis U of the target pose. It will be appreciated that the purpose of pulling theacetabular prosthesis 13 into the pre-alignment range P by therobotic arm 30 is to bring theacetabular prosthesis 13 closer to the target pose a and that the procedure is manual and therefore the axis of theacetabular prosthesis 13 is not required to be exactly coincident with the axis of the target pose a, nor is the surgeon required to perform cumbersome angular precise alignment during the procedure. In an alternative embodiment, the allowable deviation of the axis W of the acetabular prosthesis from the axis U of the target pose within the pre-alignment range P ranges from 0 ° -30 °.

At the time of surgery, thepositioner 61 acquires the pose of the end-tracer 622, and thecontroller 40 acquires the real-time pose of theacetabular prosthesis 13 in the surgical space by the pose of the end-tracer 622 and the determined second relative relationship. Based on the real-time pose of theacetabular prosthesis 13 at the prepared location, thecontroller 40 determines that theacetabular prosthesis 13 is greater than a first threshold distance from the target pose a and the system generates a corresponding alert, e.g., a text alert "surgical ready" on thedisplay 70 or a corresponding audible alert. After receiving the prompt information, the doctor who operates themechanical arm 30 depresses the pedal 51 to make themechanical arm 30 enter a traction mode, themechanical arm 30 can be changed in position at will within a movable range, and theacetabular prosthesis 13 at this time makes theacetabular prosthesis 13 reach a prealignment range P by the doctor pulling themechanical arm 30. Thecontroller 40 judges whether theacetabular prosthesis 13 is within the pre-alignment range P through real-time pose information of theacetabular prosthesis 13, and when theacetabular prosthesis 13 is within the pre-alignment range P, as shown in fig. 5, the doctor may judge whether theacetabular prosthesis 13 is within the pre-alignment range P according to the displayed parameters, or the system may give a notice to the doctor that theacetabular prosthesis 13 has been within the pre-alignment range P. The prompt may be a visual prompt or an audible prompt. The doctor releases the foot pedal after judging that theacetabular prosthesis 13 reaches the prealignment range P according to the judgment or referring to the prompt, thecontroller 40 controls themechanical arm 30 to enter a static mode, the pose of themechanical arm 30 is locked, and theacetabular prosthesis 13 is also held by theslide bar 11 and fixed in pose.

It will be appreciated that the movement of theacetabular prosthesis 13 in S700 is generally performed by exposing the wound into the affected area, through some body tissue, and into the body. Since this movement is manually operated by the surgeon, the surgeon may be autonomously controlled to reduce collisions of theacetabular prosthesis 13 and/or the slidingrod 11 with the human body, greatly reducing the risk of direct control of therobotic arm 30 by thecontroller 40 to reach the pre-alignment range P for theacetabular prosthesis 13 and reducing the likelihood of iatrogenic injury to the patient by the surgical system.

S800 when theacetabular prosthesis 13 is located in the pre-alignment range P and thecontroller 40 receives a second signal that the doctor steps on thepedal 51, thecontroller 40 controls themechanical arm 30 to automatically position theacetabular prosthesis 13 to an alignment pose B, wherein the alignment pose B includes alignment position information and alignment pose information; the second signal of stepping on thepedal 51 is an instantaneous signal, and of course, the second signal may also be a continuous signal of stepping on thepedal 51 for a long time.

Note that, the alignment pose B is associated with the target pose a, and in this embodiment, as shown in fig. 6, the axis V of the alignment pose coincides with the axis U of the target pose, that is, the alignment pose and the target pose are the same. And a first distance is arranged between the alignment position and the target position, wherein the first distance is a preset value, for example, the first distance can be 2mm, 3mm or 5mm, and the target pose A can be simply translated to obtain the alignment pose B based on the associated alignment pose B and the target pose A. Of course, the first distance is set to take into account the prepared acetabular fossa at the patient's hip bone, the first distance when the alignment position is in contact with the patient's acetabulum being the minimum allowed setting. Wherein, as shown in fig. 8, in an alternative embodiment, when the first distance is at a minimum, it means that the alignment pose B "is in contact with the prepared acetabular fossa surface, and the path for subsequently delivering theacetabular prosthesis 13 from the alignment pose B" to the target pose a is shorter, reducing the likelihood of route deviation that may occur during the process, and facilitating more accurate installation of theacetabular prosthesis 13.

As shown in fig. 6, the alignment pose B of the present embodiment is within the pre-alignment range P, so that when theacetabular prosthesis 13 is automatically delivered from the pre-alignment range P to the alignment pose B by therobotic arm 30, the path traveled by theacetabular prosthesis 13 is shorter, and the automatic alignment with the shorter path greatly reduces the possibility of uncontrolled collision of theacetabular prosthesis 13 with human tissue. And, in order to satisfy the above first distance as short as possible to ensure the accuracy of the acetabular preparation in the straight mode, the pre-alignment range P is set at a position close to the target pose a. In some alternative embodiments, as shown in fig. 8, the alignment pose B "may also be outside the pre-alignment range P. In other alternative embodiments, as shown in FIG. 7, the alignment pose B' portion is outside of the pre-alignment range P.

In the process that themechanical arm 30 automatically positions theacetabular prosthesis 13 to the alignment pose B, themechanical arm 30 automatically delivers theacetabular prosthesis 13 to the alignment pose B according to alignment under the control of thecontroller 40.

The process of obtaining the alignment path is as follows:

s801, acquiring position and posture information of theacetabular prosthesis 13 relative to theend tracer 622;

this positional posture information is already saved at the time of registering theacetabular prosthesis 13, i.e., a second relative relationship calculated at the time of registering theacetabular prosthesis 13 by theregistrar 624.

S802, calculating the real-time pose of the current acetabular prosthesis;

the real-time pose of thecurrent acetabular prosthesis 13 is calculated from the second relative relationship of theacetabular prosthesis 13 and theend tracer 622 and the pose of theend tracer 622 acquired by thepositioner 61.

S803 calculates the posture of the alignment posture in the acetabular prosthesis coordinate system (wherein the alignment posture is posture information in the alignment posture B);

an alignment pose of theacetabular prosthesis 13 is acquired, and a pose qua of the pose information in an acetabular prosthesis coordinate system is calculated.

S804, calculating the conversion relation between the acetabular prosthesis coordinate system and the manipulator tcp coordinate system;

and calculating a conversion relation qua1 between the acetabular prosthesis coordinate system and the mechanical arm tcp coordinate system through the attitudes of the acetabular prosthesis coordinate system and the mechanical arm tcp coordinate system.

S805, converting the posture of the alignment posture under the acetabular prosthesis coordinate system to a mechanical arm tcp coordinate system;

and converting the posture qua of the alignment posture obtained by S803 under the acetabular prosthesis coordinate system into the mechanical arm tcp coordinate system through qua1 to obtain the posture qua2 of the alignment posture under the mechanical arm tcp coordinate system.

And S806, calculating the Euler angle information required to rotate the mechanical arm through the gesture qua2 obtained in the S705, and calculating the Euler angle information, and Roll, pitch, yaw.

S807 calculates the relative position pos of the alignment position (the alignment position is the position information in the alignment pose B) under the acetabular prosthesis coordinate system, calculates the relative positional relationship pos1 of theend tracer 622 under the acetabular prosthesis coordinate system;

s808, converting pos and pos1 into a tcp coordinate system to obtain new position relations rotpos and rotpos1;

s809, calculating a position transfer to be moved by the manipulator tcp through rotpos and rotpos1;

at this time, the calculation of euler angle and position movement information of the posture of the manipulator tcp to be adjusted is completed, the transmissions and Roll, pitch, yaw are sent to thecontroller 40, and thecontroller 40 plans an alignment path reaching the alignment pose B according to the transmissions and Roll, pitch, yaw.

S900 when the real-time pose of theacetabular prosthesis 13 coincides with the alignment pose B, as shown in fig. 9, and thecontroller 40 receives a third signal from the doctor to step on thepedal 51, thecontroller 40 controls themechanical arm 30 to limit the linear motion of theacetabular prosthesis 13 within a predetermined range. Wherein the third signal to depress thefoot pedal 51 is an instant signal. Of course, in an alternative embodiment, the third signal may be a continuous signal that continues to pedal 51 for a period of time.

In this process, themechanical arm 30 is in a linear mode, and the movement of each joint of themechanical arm 30 is controlled so that themechanical arm end 31 can only move in a linear direction, the direction of the linear movement is the same as the direction of the axis U of the target pose, and in the process of the linear movement, the direction of the axis W of the acetabular prosthesis is always consistent with the direction of the axis U of the target pose under the holding of themechanical arm end 31, and the predetermined range of the linear movement is the range determined by the alignment pose B and the target pose a. In this way, the movement of theacetabular prosthesis 13 from the alignment pose B to the target pose a is a translation of theacetabular prosthesis 13 along its own axis, the movement of theacetabular prosthesis 13 being severely limited to the target pose a, the specific control principle being that no or less active control is exerted in the linear direction of the desired movement. In this way, the movement of theacetabular prosthesis 13 from the alignment pose B to the target pose a is actually a translation process of theacetabular prosthesis 13 along its axis, by which theacetabular prosthesis 13 can reach the target pose a in the simplest path, and the linear displacement path and pose of theacetabular prosthesis 13 are severely limited so that the installation of theacetabular prosthesis 13 can be accurately completed as planned by the linear movement.

During operation, thecontroller 40 compares the real-time pose of theacetabular prosthesis 13 with the alignment pose B, and if the two are coincident and the doctor operating themechanical arm 30 steps on thefoot pedal 51, themechanical arm 30 enters a linear mode, and themechanical arm tip 31 can move in a straight line. Meanwhile, since theslide rod 11 can also move linearly relative to theprosthesis mounting actuator 10, the doctor applies an impact force to one end of theslide rod 11, for example, by striking a sliding hammer or a hammer, theacetabular prosthesis 13 can reach the target pose a from the alignment pose B along a straight line under the restriction of themechanical arm 30, theprosthesis mounting actuator 10 and theslide rod 11, and fig. 10 shows a state in which theacetabular prosthesis 13 reaches the target pose a. In this way, theacetabular prosthesis 13 is installed with precision following a limited path of theacetabular prosthesis 13. During the gradual arrival of theacetabular prosthesis 13 along a straight line at the target pose a, thelocator 61 detects the position of theend tracer 622 in real time and prompts the surgeon in real time via thedisplay 70 as to the condition of the prosthesis installation.

Theacetabular prosthesis 13 is linearly movable with respect to theprosthesis mounting actuator 10, that is, theacetabular prosthesis 13 is linearly movable with respect to thearm tip 31, and thearm tip 31 itself is linearly movable with respect to the operation space in a linear mode. In this way, when theslide bar 11 receives the impact force of the hammering, and when the redundant impact force is transmitted to thearm end 31, the redundant impact force promotes thearm end 31 to move in a straight line, and the straight line movement does not affect the straight line movement of theacetabular prosthesis 13. Themechanical arm 30 is provided with theacetabular prosthesis 13 in a straight mode, so that damage to mechanical arm joints caused by impact force of hammering can be reduced to a certain extent. Because the installation of theacetabular prosthesis 13 is achieved by only linear movement of theslide rod 11 relative to theprosthesis installation actuator 10 if therobot arm 30 is locked, the impact force received by theslide rod 11 may be transmitted to the respective robot arm joints, which remain fixed, through therobot arm tip 31, and the impact force may impact and damage the robot arm joints, which apply active torque.

In an alternative embodiment, the first signal, the second signal and the third signal may be different. In an alternative embodiment, the external input signal may be not a signal that the doctor steps on thepedal 51, but may be a button signal or a voice signal. In an alternative embodiment, the external input signal is a confirmation signal input through a keyboard and a mouse, preferably, the information input through the mouse and the keyboard is input by an auxiliary doctor (a doctor who does not control themechanical arm 30 to perform the operation), so that the relevant confirmation information is input after the doctor who controls themechanical arm 30 to perform the operation confirms with the auxiliary doctor, thereby reducing the burden of the doctor who performs the operation and enabling the operation to be performed more intensively.

In an alternative embodiment, theprosthetic mounting actuator 10 includes aslide bar 11, asupport assembly 14, and anend tracer 622. The first end of the slidingrod 11 is used for connecting anacetabular prosthesis 13, and the second end of the slidingrod 11 is used for receiving impact force when the prosthesis is installed; thesupport assembly 14 comprises acoupling portion 141, thecoupling portion 141 accommodating a portion of theslide bar 11, theslide bar 11 being axially movable relative to thesupport assembly 14; thesupport assembly 14 is used to connect theprosthesis mounting actuator 10 to arobotic arm 30 of a robotic system; anend tracer 622 is provided to theslide bar 11 to indicate the orientation of theslide bar 11. Theprosthesis installation actuator 10 provided by the disclosure has the advantages that the slidingrod 11 is axially movable relative to the supportingcomponent 14, so that the gap between the slidingrod 11 and the supportingcomponent 14 in the axial direction can be larger than the stroke of the slidingrod 11 when being hit, and the slidingrod 11 and the supportingcomponent 14 are prevented from being collided to damage themechanical arm 30 connected with the actuator. Theslide bar 11 is configured integrally with thesupport assembly 14. The actuator is used without assembling or disassembling theslide rod 11 and the supportingcomponent 14, and is only connected to themechanical arm 30 or separated from themechanical arm 30 through the supportingcomponent 14.

In particular, as in the embodiment shown in fig. 11-15, theprosthetic mounting actuator 10 includes aslide bar 11, asupport assembly 14, anend tracer 622, anaxial buffer mechanism 15, and anaxial restraint structure 16. Theprosthetic mounting actuator 10 is indirectly connected to therobotic arm 30 via thearthroplasty actuator 20, as shown in fig. 6, which is a schematic diagram of the connection of theprosthetic mounting actuator 10 to thearthroplasty actuator 20.

As shown in fig. 11 to 12, theslide bar 11 is a metal bar with a smooth surface, and one end of theslide bar 11 is used for receiving hammering of a doctor, and the other end is used for connecting with theacetabular prosthesis 13. The middle part of theslide bar 11 is provided with a holdingpart 111, and the holdingpart 111 is sleeved on theslide bar 11 in a sleeve shape and is fixed with theslide bar 11, so that a doctor can hold theslide bar 11 through the holdingpart 111. Thegrip 111 is an insulating plastic sleeve. The slidingrod 11 is used as a metal rod to ensure high strength when transmitting impact force, but instruments for operation are not expected to be heavy, so that the diameter of the slidingrod 11 is generally small, and the sliding rod is inconvenient for a doctor to hold. Theplastic grip 111 increases the diameter of the grip of theslide bar 11, providing the surgeon with favorable grip conditions without adding significant weight to the surgical tool. Of course, in some embodiments, thegrip 111 may also be an insulated rubber sleeve or a non-insulated metal sleeve. In other embodiments, the sleeve-shapedholding portion 111 may be omitted, and the holdingportion 111 may be provided as a portion of theslide bar 11 itself, and the portion may be enlarged relative to the diameter of theslide bar 11 itself to facilitate holding.

Theend tracer 622 includes a tracer portion and a connection portion. The tracer portion is provided with a plurality of positioning marks for providing position information. The positioning mark may be a reflective ball or a reflective sheet capable of reflecting infrared light, or may be an infrared light source or an electromagnetic generator capable of actively sending out a signal to realize positioning. The connection portion is used to fix theend tracer 622 to theslide bar 11.

As shown in fig. 12 to 14, thesupport assembly 14 includes amain body 142, acoupling portion 141, an insulatingsleeve 143, and a slidingsleeve 144. Thebody 142 has a substantially hexahedral shape, and one end (right end as viewed in fig. 12) is used to connect therobot arm 30. Thecoupling portion 141 is a hole penetrating thebody 142. The insulatingsleeve 143 and the slidingsleeve 144 are both cylindrical. The insulatingsleeve 143 is fitted in thecoupling portion 141 and is axially fixed to thecoupling portion 141. The insulatingsleeve 143 serves to prevent the patient from making a conductive path with the equipment of therobotic arm 30 through contact between thesupport assembly 14 and theslide bar 11. The slidingsleeve 144 is sleeved in the insulatingsleeve 143 and is axially fixed with the insulatingsleeve 143. The slidingsleeve 144 is made of metal. The slidingrod 11 is matched with the slidingsleeve 144 through a shaft hole, and a gap allowing the slidingrod 11 to freely slide relative to the slidingsleeve 144 exists between the slidingrod 11 and the slidingsleeve 144. The slidingsleeve 144 arranged between the insulatingsleeve 143 and the slidingrod 11 can reduce abrasion of the insulatingsleeve 143 and can increase smoothness of sliding of the slidingrod 11.

Theaxial stop 16 includes acollar 161, a first end of thegrip 111 distal from theacetabular prosthesis 13. Theretainer 161 and the first end of thegrip 111 are both fixed to theslide bar 11, and two steps having a diameter larger than that of theslide bar 11 are formed on theslide bar 11. As theslide bar 11 moves along theslide sleeve 144, interference occurs between the two steps and thesupport assembly 14 to form an axial stop for theslide bar 11. In this embodiment, the insulatingmember 162 is further disposed between theretainer ring 161 and the supportingcomponent 14, and between the holdingportion 111 and the supportingcomponent 14, so that theretainer ring 161 and the holdingportion 111 directly form axial interference with the insulatingmember 162. Theinsulator 162 is a sleeve open at both ends. The diameter of the inner space of the insulatingmember 162 is larger than the diameter of theslide bar 11, the diameter of the opening at one end of the insulatingmember 162 is larger than the diameter of theslide bar 11, the diameter of the opening at the other end is the same as the diameter of theslide bar 11, and the end is provided with ablocking edge 1621 to form an opening the same as the diameter of theslide bar 11. When theslide bar 11 is assembled with thesupport assembly 14, theretainer ring 161 and the first end of thegrip 111 are located on both sides of thesupport assembly 14, respectively. The twoinsulators 162 are respectively sleeved on the slidingrod 11 and also respectively positioned at two sides of the supportingcomponent 14, and one side of theinsulator 162 with ablocking edge 1621 is connected with themain body 142. Thus, theretainer ring 161 and the first end of thegrip 111 form two limit points on the slide bar, and theretainer ring 161 and the first end of thegrip 111 limit the maximum sliding travel of theslide bar 11 relative to thesupport assembly 14 when theslide bar 11 slides relative to thesupport assembly 14.

In an alternative embodiment, the first end of thegripping portion 111 in the axial limitingstructure 16 may be replaced by a separately providedcollar 161, and in an alternative embodiment, the first end of thecollar 161 or thegripping portion 111 may be a step or shoulder provided on theslide rod 11.

Referring specifically to fig. 12 and 13, an axial dampingmechanism 15 is also provided in the present disclosure to axially damp theslide bar 11 and thesupport assembly 14 at least one point. Theaxial buffering mechanism 15 in this embodiment includes two buffering members, specifically afirst buffering member 151 and asecond buffering member 152, where thefirst buffering member 151 and thesecond buffering member 152 are distributed on two sides of the supporting assembly. The two cushioning members are springs. Thefirst buffer 151 is disposed between theretainer 161 and theinsulator 162, and thesecond buffer 152 is disposed between the first end of thegrip 111 and theflange 1621 of theinsulator 162. Thefirst buffer member 151 and thesecond buffer member 152 are both sleeved on theslide rod 11, and are disposed in the insulatingmember 162 in a pre-compressed state. Thefirst buffer 151 and thesecond buffer 152 buffer the slidingrod 11 sliding with respect to the supportingmember 14, and the impact portion of the slidingrod 11 to the supportingmember 14 is absorbed by the buffers when sliding. Thus, when the slidingrod 11 slides along the axis to install theacetabular prosthesis 13, the slidingrod 11 does not generate rigid impact on themechanical arm 30, and locking or pose deviation of themechanical arm 30 is reduced.

Driven by therobotic arm 30, theprosthesis installation actuator 10 reaches a target alignment position for installing the acetabular prosthesis, and theacetabular prosthesis 13 is aligned with the prepared acetabular fossa of the patient. During the movement and positioning process of themechanical arm 30, thefirst buffer member 151 and thesecond buffer member 152 are both in a compressed state, and the slidingrod 11 maintains a certain axial positioning relationship with themain body 142 under the action of thefirst buffer member 151 and thesecond buffer member 152, that is, the slidingrod 11 is approximately kept in the middle position of the sliding stroke, and the slidingrod 11 cannot freely move along thecoupling portion 141.

After the doctor confirms that the posture and the operation path of theacetabular prosthesis 13 are correct, themechanical arm 30 is set to a straight line mode, that is, themechanical arm 30 is set to have a tip arm/rod thereof with little damping in the axial direction along theslide bar 11 and with great damping in other directions by controlling the output torque of the motor at the joint of themechanical arm 30. Theprosthetic mounting actuator 10 connected to therobot arm 30 in this mode can be moved in the axial direction of theslide bar 11 by an external force, but is difficult to be moved in the radial direction or rotated about the radial direction. The doctor holds thegrip 111 and applies an impact force to the first end on theslide bar 11. The impact force may be applied by a hammer strike or a slide hammer strike. The impact force causes theslide rod 11 to drive theacetabular prosthesis 13 into the acetabulum. At the moment of impact, thesupport assembly 14 does not move instantaneously due to inertia. During movement of theslide bar 11, theretainer 161 compresses thefirst dampener 151, and adampener 151 acts on the support member to cause thesupport member 14 to move axially with theslide bar 11 with hysteresis. Thefirst dampener 151 prevents thespring collar 161 from making rigid contact with themain body 142. After theslide bar 11 completes one impact on theacetabular prosthesis 13, the relative relationship between theslide bar 11 and the support component is automatically reset to a state of not receiving hammering under the action of thefirst buffer 151. In some cases, it may also be desirable to apply a force to theprosthetic mounting actuator 10 in a direction opposite to the hammering force when the prosthesis is implanted to dislodge theacetabular prosthesis 13 or prosthetic trial from the acetabulum. In this case, thesecond buffer 152 may prevent rigid contact between theslide bar 11 and thesupport assembly 14. The buffer mechanism can enable themechanical arm 30 to automatically move along with theslide rod 11 in the process of impacting theslide rod 11, and an actuator is not required to be held manually. The operator can grasp theslide bar 11 and feel the striking shock as in the conventional operation.

The axial travel of theslide bar 11 is defined by the first end of thelimit structure grip 111 and theretainer ring 161. Thefirst buffer 151 and thesecond buffer 152 are arranged so that the limit structure of theslide bar 11 is not in rigid contact with themain body 142 all the time. When the slidingrod 11 does not receive the impact force, the slidingrod 11 is kept in the middle position relative to thecoupling part 141, and the slidingrod 11 does not move freely relative to the supporting component, but a certain force is needed to overcome thefirst buffer piece 151 or thesecond buffer piece 152 so as to move the slidingrod 11, so that the slidingrod 11 is prevented from freely moving when themechanical arm 30 moves.

In an alternative embodiment, thesupport assembly 14 is provided with aquick release mechanism 17 for connecting theprosthetic mounting actuator 10 to therobotic arm 30 orarthroplasty actuator 20. As shown in fig. 16 to 18, thequick release mechanism 17 includes a first limitingmechanism 171 and a second limitingmechanism 172, the first limitingmechanism 171 is aplug 171a, the second limitingmechanism 172 is a plug assembly, theplug 171a is used for being connected with themechanical arm 30 or the joint formingactuator 20 in a plug-in manner, and the plug-in limiting direction of the plug assembly is perpendicular to the plug-in direction of theplug 171 a. Theplug 171a is fixedly connected with themain body 142 or integrally formed, and two limitinggrooves 1711 are formed in one end of theplug 171a along the plugging direction, wherein the limitinggrooves 1711 are used for limiting the degree of freedom in the plugging direction.

Thebody 142 is provided with a mountinghole 1721 for receiving the latch assembly, and the mountinghole 1721 communicates with thecoupling portion 141. The latch assembly includes alatch 1722, a firstelastic member 1723, apad 1724, and alatch pull 1725, where thepad 1724, the firstelastic member 1723, and thelatch 1722 are sequentially disposed in the mountinghole 1721. The firstelastic member 1723 is a spring, thecushion block 1724 is abutted against theslide rod 11, theplug 1722 vertically passes through theplug 171a in the mountinghole 1721 along the thickness direction of theplug 171a, and the firstelastic member 1723 is arranged between theplug 1722 and thecushion block 1724 in a compressed state. The middle section of the mountinghole 1721 communicates with the exterior of themain body 142 to form a movable region in which thelatch 1722 can be manually pulled, and thelatch 1725 radially passes through thelatch 1722 and is fixed to thelatch 1722, and thelatch 1722 is restricted in the movable region by thelatch 1725. Under the pushing of the firstelastic member 1723, thelatch pull 1725 abuts against one end of the active area, and the latch head portion penetrates out of the surface of theplug 171a and is an inclined surface.

To mount theprosthesis mounting actuator 10 to thearthroplasty actuator 20 by means of thequick release mechanism 17, thearthroplasty actuator 20 is provided with asecond interface 18 in the form of a socket. Specifically, thesecond interface 18 includes abase plate 181, alatch hole 183, and a retainingbuckle 182, where thebase plate 181 is rectangular. Thelatch hole 183 is provided in the thickness direction of thebottom plate 181; the number of the limit buckles 182 is four and the limit buckles are respectively arranged at four corners of thebottom plate 181, and the limit buckles 182 and thebottom plate 181 form thesecond interface 18. Thestop button 182 specifically includes afirst section 1821 and asecond section 1822 that are connected, thefirst section 1821 is connected with thebase plate 181 and perpendicular to thebase plate 181, and thesecond section 1822 is parallel to thebase plate 181 and extends toward the inside of thebase plate 181. Thestopper 182 forms a space with thebottom plate 181 to accommodate theplug 171 a. When theplug 171a is inserted into thesecond interface 18, the limitinggroove 1711 is engaged with the limitingbutton 182, and theplug 171a cannot be pulled out along the insertion direction under the limitation of the limitingbutton 182.

By providing thequick release mechanism 17, theprosthesis mounting actuator 10 can be easily removed. As shown in fig. 16 to 18, when theplug 171a is connected to thesecond connector 18 from top to bottom, the plane of thebottom plate 181 is first attached to the plane of theplug 171a, the inclined surface of the plug head contacts thebottom plate 181, and theplug 1722 is retracted toward themain body 142. Thebody 142 is moved downward relative to the second interface, thestopper groove 1711 engages with thestopper 182, the plug head enters into theplug hole 183, and theplug block 171a completely engages with thesecond interface 18. In the rectangular space coordinate system, the engagement of theinsert 171a and thesecond interface 18 in thickness and width define 5 degrees of freedom of theinsert 171a except for the z-axis (which may be the x-axis or the y-axis), the engagement of thelimit groove 1711 and thelimit button 182 define a degree of freedom of theprosthesis mounting actuator 10 sliding along the first direction of the z-axis, and the engagement of thelatch 1722 and thelatch hole 183 realizes a degree of freedom of theprosthesis mounting actuator 10 sliding along the second direction of the z-axis, the first direction being the direction of thecoupling portion 141 axially downward and the second direction being the direction of thecoupling portion 141 upward in fig. 16 to 18. To this end, theprosthetic mounting actuator 10 is fixedly coupled to thearthroplasty actuator 20 via the arrangement of theplug 171a, thesecond interface 18 and the latch assembly. When the plug is detached, the plug pulling plug 1725 (left pulling in fig. 16) is pulled to release the plug head from theplug hole 183, and then theplug block 171a is pulled out from the second connector 18 (upward pulling in fig. 16 relative to the second connector 18). The quick-release mechanism 17 of theprosthesis installation executor 10 is arranged, so that a doctor can quickly complete the installation and the disassembly of theprosthesis installation executor 10 during operation, and the operation time is saved.

In an alternative embodiment, as shown in fig. 19, theprosthesis mounting actuator 10 further comprises anadjustment assembly 19, theadjustment assembly 19 connecting theacetabular prosthesis 13 to the slidingrod 11 and being capable of adjusting the circumferential position of theacetabular prosthesis 13 relative to the slidingrod 11. Theadjustment assembly 19 includes anadapter shaft 191 and anadjustment member 192. One end of theadapter shaft 191 is connected with theslide bar 11, and the other end is connected with the hipjoint acetabular prosthesis 13. The adjustingmember 192 is sleeved at the connection between theadapter shaft 191 and theslide bar 11, the adjustingmember 192 can move between a first position M and a second position N of theadapter shaft 191 under the action of external force, the circumferential position between the adjustingmember 192 and theslide bar 11 is fixed at the first position M, and the circumferential position of the adjustingmember 192 relative to theslide bar 11 is adjustable at the second position N.

As shown in fig. 20, theadapter shaft 191 includes a slide bar joint, amain shaft section 1911, and an acetabular prosthesis joint, the slide bar joint and the acetabular prosthesis joint being disposed at both ends of themain shaft section 1911, the slide bar joint being for connection with theslide bar 11, the acetabular prosthesis joint being for connection with theacetabular prosthesis 13.

The connectinghole 1912 is formed in the top end of the sliding rod joint, the connectinghole 1912 is a smooth hole, two clampingblocks 1913 symmetrical to the axis of the switchingshaft 191 are arranged on the periphery of the connectinghole 1912, and the twoclamping blocks 1913 extend in a straight shape along the radial direction. Thefixture block 1913 below is provided with theflange 1914 the same as the biggest radius offixture block 1913, and theflange 1914 below is provided withspacing section 1915, and the radius ofspacing section 1915 is greater than the radius ofmain shaft section 1911 to formspacing step 1916 inspacing section 1915 andmain shaft section 1911 junction.

Referring to fig. 20-23, theadjustment member 192 includes a removably couplednut 1921 andadapter sleeve 1922,splines 1926, and aretainer 1927. With specific reference to fig. 23, thenut 1921 is a shell with a downward opening, an external thread is provided on anexternal wall 1923 at the opening, two clampinggrooves 1924 are symmetrically provided on theexternal wall 1923, the clampinggrooves 1924 extend into thenut 1921, andspline grooves 1925 are provided at positions, close to the bottom, inside thenut 1921. Theadapter sleeve 1922 is cup-shaped with an opening, and an inner wall of the opening of theadapter sleeve 1922 is provided with an inner thread. Thespline 1926 is fixed to theslide bar 11 and is provided with tooth-like projections on the outer periphery. Theholder 1927 is a spring having elasticity.

In the connected state, thenut 1921 is sleeved above thespline 1926 on theslide rod 11, theadapter sleeve 1922 is sleeved on theadapter shaft 191, theadapter sleeve 1922 and thenut 1921 are connected through matching of internal threads and external threads, theretainer 1927 is arranged in theadapter sleeve 1922, one end of theretainer 1927 is abutted against the bottom of theadapter sleeve 1922, and the other end of theretainer 1927 is abutted against theflange 1914.

In use, the end of theslide rod 11 is inserted into the connectinghole 1912, and thenut 1921 and theadapter sleeve 1922 are integrally connected by threads. For ease of understanding, the following description is provided in connection with the operating state and adjustment process of theadjustment member 192.

In the operating state, theadjuster 192 is positioned at the first position M, and as shown in fig. 21, theretainer 1927 is in a compressed state and abuts against theflange 1914 and the bottom of theadapter sleeve 1922, and theretainer 1927 pulls thenut 1921 through theadapter sleeve 1922, so that thespline groove 1925 of thenut 1921 is connected to thespline 1926, and theclamp block 1913 is fitted into theclamp groove 1924. In this way, the slidingrod 11 and the adjusting device are circumferentially fixed through the connection of thespline 1926 and thespline groove 1925, and theadapter shaft 191 and the adjusting device are circumferentially fixed through the matching of the clamping block and theclamping groove 1924. Based on the above process and principle, in the working state, through the connection of the adjustingcomponent 19, the slidingrod 11 and the adaptingshaft 191 are fixed axially, radially and circumferentially.

To meet clinical demands, it is necessary to ensure that theacetabular prosthesis 13 has a correct installation orientation, for example, theacetabular prosthesis 13 having wings, when theacetabular prosthesis 13 is implanted into an acetabular socket prepared in a patient, theacetabular prosthesis 13 needs to be fixed with the acetabular socket to strengthen the structure at the acetabular socket, and the wings need to be connected with the acetabular socket in the correct orientation. It is therefore necessary to adjust the orientation of theacetabular prosthesis 13 each time before the slidingrod 11. Based on theprosthesis installation actuator 10 of the present embodiment, when adjusting the direction of theacetabular prosthesis 13, as shown in fig. 22, the doctor pulls up the adjusting device to overcome the elastic force of theretainer 1927 until the bottom of theadapter sleeve 1922 abuts against the limitingstep 1916, and the adjustingmember 192 is located at the second position N. At this time, thespline 1926 is disengaged from thespline groove 1925, theclamping block 1913 is not disengaged from the clampinggroove 1924, theadjuster 192 can be rotated circumferentially with respect to theslide rod 11, and theadapter shaft 191 rotates following the rotation of theadjuster 192. In this way, the adjustment of theacetabular prosthesis 13 relative to theslide bar 11 can be achieved without rotating theslide bar 11 by merely rotating theadjustment member 192. Further, since theslide bar 11 is connected with theend tracer 622 for providing the position information of theslide bar 11 in real time, theend tracer 622 needs to be aligned with the positioner for receiving the position information. The arrangement of the adjustment assembly described above also ensures that theend tracer 622 fixedly connected to theslide bar 11 does not lose alignment with the positioner due to rotation of theslide bar 11 as theacetabular prosthesis 13 is adjusted, ensuring that theend tracer 622 can be identified by the positioner in real time.

And, based on theadjustment assembly 19, theadapter shaft 191 can be connected with different models ofacetabular prostheses 13 of different manufacturers by changing the acetabular prosthetic connector of theadapter shaft 191. Theentire slide bar 11 does not need to be replaced for adapting to differentacetabular prostheses 13, and the adaptation and application range of theprosthesis installation executor 10 are improved.

In an alternative embodiment, the buffer may retain only thefirst buffer 151 without providing thesecond buffer 152.

In some alternative embodiments, a buffer, such asfirst buffer 151, may be provided. And both ends of thebuffer 151 are connected with theretainer 161 and thesupport assembly 14, respectively. The slidingrod 11 is pulled or supported by thebuffer member 151 when moving along both directions, so as to form a buffer and drive the supportingcomponent 14 to move along with the slidingrod 11.

In some alternative embodiments, the two bumpers of theaxial bumpers 15 may not be pre-compressed. Such as thefirst buffer 151, may be compressed only by the gravity of the slide bar. The length of the two cushioning members can also be smaller than the stroke of theslide bar 11, and the cushioning members can move between the limiting structures, so long as the rigid collision can be prevented.

In an alternative embodiment, referring to fig. 11 and 24, anut 112 is disposed at an end of the slidingrod 11 that receives the impact force, where thenut 112 includes a force-bearingplate 1121 and a connectingsection 1122, and the connectingsection 1122 is fixedly connected with the slidingrod 11 through threads, and of course, the connection manner is not limited to threaded connection, but may be other connection manners such as pin connection; the area of thestress plate 1121 is larger than that of the end part of theslide rod 11, thestress plate 1121 provides a larger stress target for hammering when a doctor applies impact force, and the phenomenon of empty hammer caused by smaller end part of theslide rod 11 is avoided.

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 surgical system for installing an acetabular prosthesis on a hip joint, comprising:

the sliding rod is used for carrying an acetabular prosthesis;

the mechanical arm is used for holding the sliding rod, and the sliding rod can slide linearly relative to the tail end of the mechanical arm;

the controller is used for generating a control signal allowing the mechanical arm to move under the traction of external force when receiving the first signal; and generating a control signal to lock the position of the mechanical arm when the first control signal is not detected; wherein,,

the controller is further configured to generate a control signal to control the robotic arm to adjust the acetabular prosthesis to an alignment pose associated with a target pose when the robotic arm is locked upon receiving a second signal.

2. The surgical system of claim 1, wherein the robotic arm, when locked, is further to: the robotic arm is locked in a position that positions the acetabular prosthesis within a pre-alignment range associated with a target pose.

3. The surgical system of claim 2, wherein the controller is further programmed to: and determining the prealignment range and the alignment pose according to the target pose.

4. The surgical system of claim 2, wherein the controller is further programmed to: deviations of the axis of the acetabular prosthesis from the axis of the target pose within the pre-alignment range are allowed.

5. The surgical system of claim 1, wherein the controller is further configured to: when the acetabular prosthesis is in an aligned position and the controller receives a third signal, a control signal is generated to enable the mechanical arm to enter a linear mode, and in the linear mode, the tail end of the mechanical arm can move along a straight line under the action of external force.

6. The surgical system of claim 5, wherein the path of the linear motion of the distal end of the robotic arm coincides with the axis of the slide bar.

7. A surgical system according to claim 5, wherein during the linear motion, an axis of the acetabular prosthesis coincides with an axis of the target pose.

8. The surgical system of claim 5, wherein the range of linear motion is a range determined by the alignment pose and the target pose.

9. A surgical system according to claim 5, wherein the system comprises input means for inputting the first signal, the second signal and the third signal.

10. The surgical system of claim 1, wherein the axis of the alignment pose and the axis of the target pose coincide.

11. A surgical system according to claim 1, wherein the system comprises a prosthetic mounting actuator having one end connected to the end of the mechanical arm and the other end carrying the slide bar.

12. The surgical system of claim 1, wherein the prosthesis mounting actuator comprises:

the sliding rod is provided with a sliding rod,

a support assembly including a coupling portion that accommodates a portion of a rod segment of the slide rod, the slide rod being axially movable relative to the support assembly; the support assembly is used for connecting the prosthesis installation actuator to a mechanical arm of a robot system; and

the tracer is arranged on the sliding rod to indicate the azimuth of the sliding rod.

13. The prosthetic mounting actuator of claim 12, further comprising an axial damping mechanism, the axial damping mechanism forming an axial damping between the slide bar and the support assembly when the slide bar is axially impacted.

14. The surgical system of claim 13, wherein an axial stop structure is disposed between the slide bar and the support assembly, the axial buffer mechanism being disposed between the support assembly and the axial stop structure.

15. The surgical system of claim 14, wherein the coupling is a channel extending through the buttress assembly, and the axial cushioning mechanism includes 2 cushioning members, the 2 cushioning members being located at opposite ends of the channel.

16. The surgical system of claim 15, wherein the axial stop structure comprises a collar disposed on the slide bar, the bumper being disposed between the collar and the support assembly.

17. A surgical system according to claim 12, wherein a quick release mechanism is provided between the support assembly and the robotic arm, the prosthesis mounting actuator being coupled to the robotic arm by the quick release mechanism.

18. The surgical system of claim 17, wherein the quick release mechanism comprises a first limit mechanism and a second limit mechanism, the second limit mechanism being a manual release limit mechanism.

19. The surgical system of claim 12, further comprising an adjustment assembly for adjusting a circumferential position of a prosthesis relative to the slide bar, the adjustment assembly comprising:

one end of the switching shaft is connected with the prosthesis;

the adjusting piece is used for connecting the switching shaft to the sliding rod, the circumferential position between the adjusting piece and the sliding rod is adjustable, and the circumferential position between the adjusting piece and the switching shaft is fixed.

20. A surgical system according to claim 19, wherein the adjustment member is movable between a first position and a second position of the adapter shaft, the adjustment member being fixed in position circumferentially between the first position and the slide bar, the adjustment member being adjustable in position circumferentially relative to the slide bar at the second position.

21. The surgical system of claim 19, further comprising a retaining member configured to retain the adjustment member in the first position when the adjustment member is not acted upon by an external force.

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