Double-gantry surgical robot used for joint replacement based on bone surface coordinate mapping

Abstract

The invention relates to a double-gantry surgical robot used for joint replacement based on bone surface coordinate mapping. The robot includes an operation table, and primary and auxiliary gantry mechanical arms and a laser ranging sensor are installed on the operation table. At the same time, a joint fixing device is installed on a cross beam corresponding to the auxiliary gantry mechanical arm.The joint fixing device includes a fixation plate, a gradienter is installed on the fixation plate, and the fixation plate is connected with a primary coordinate collection needle and a secondary coordinate collection needle at the same time. Therefore, high-precision collaborative operation is achieved through the primary coordinate collection needle and the secondary coordinate collection needle which are mutually independent, a bone surface coordinate can be 'mapped' to the outside of the body, the influence of periosteum coverage, bleeding, body fluid and the like on bone coordinate pointacquisition during joint replacement is avoided, more accurate position reference is provided, and high-precision joint replacement is completed.

Description

technical field [0001] The invention relates to a surgical robot, in particular to a double-gantry surgical robot used for bone surface coordinate mapping acquisition of joint replacement. Background technique [0002] In recent years, a variety of models and functional characteristics of joint replacement surgery robots have been put into clinical practice, covering the fields of total hip replacement, total knee replacement and unicompartmental joint replacement, such as Robodoc system, Rio system, iBlock system and Navio systems, etc., they have their own advantages, but they also face the following problems: 1. The acquisition of bone surface coordinates is invasive or has low accuracy. The equipment completes the positioning of marker points on the articular surface; another example is the Rio system and iBlock system, which need to implant positioning components in the femur and tibia during surgery. At the same time, the registration is completed with the help of ana...

AI Technical Summary

Problems solved by technology

[0002] In recent years, a variety of models and functional characteristics of joint replacement surgery robots have been put into clinical practice, covering the fields of total hip replacement, total knee replacement and unicompartmental joint replacement, such as Robodoc system, Rio system, iBlock system and Navio systems, etc., they have their own advantages, but they also face the following problems: 1. The acquisition of bone surface coordinates is invasive or has low accuracy. The equipment completes the positioning of marker points on the articular surface; another example is the Rio system and iBlock system, which need to implant positioning components in the femur and tibia during surgery

The Navio system needs to be positioned with the help of anatomical landmarks on the body surface and joint surface of the lower limbs, and at the same time, the marker components are implanted. This method is difficult to obtain the coordinates of the bone surface with high precision, and is easily interfered by factors such as bleeding and periosteum coverage; 2. The mechanical arm of the above-mentioned surgical robot is generally a very long cantilever structure. If the end of the mechanical arm needs to carry a heavy instrument, it is prone to deformation; 3. Some robotic instruments are hand-held and have poor maneuverability; 4 volume Huge, patients are likely to be "daunted" Some joint replacement surgery robots are bulky, which can easily cause fear in patients and cause certain psychological pressure; 5. Occupies a lot of space in the operating room, affecting the convenience of operation

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