Orthopedic surgical instrument, bone surgical robot system and calibration method

Abstract

The invention provides an orthopedic surgical instrument, an orthopedic surgical robot system and a calibration method.The orthopedic surgical instrument comprises an executing mechanism and a guiding instrument, the executing mechanism is provided with a first end and a second end, and the first end of the executing mechanism is connected with a mechanical arm; the guiding instrument is detachably connected to the second end of the executing mechanism, the guiding instrument is provided with a guiding plane and / or a guiding hole, and the guiding plane is used for guiding and limiting the bone saw blade so that the bone saw blade can conduct osteotomy operation while being attached to the guiding plane; the guide hole is used for guiding and limiting the bone drill bit or the grinding workpiece, so that the bone drill bit penetrates through the guide hole in the axial direction and meanwhile bone drilling operation is conducted, or the center shaft of the grinding workpiece penetrates through the guide hole and meanwhile bone grinding operation is conducted. The device can be compatible with bone treatment operations of plane constraint osteotomy, axis constraint drilling and curved surface constraint grinding, reduces and simplifies assembling and disassembling operations and switching of equipment configuration files in an operation, and effectively improves the operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an orthopedic surgical instrument, a bone surgical robot system, and a calibration method. Background Technology

[0002] In the field of orthopedic joint replacement, the following techniques are mainly used to achieve total knee arthroplasty (TKA) and unicompartmental knee arthroplasty (UKA):

[0003] Total knee arthroplasty primarily utilizes planar constraint for osteotomy. A power tool is mounted at the end of a robotic arm, connected to a oscillating saw blade. This constraint allows the oscillating saw blade to perform osteotomy on a pre-defined osteotomy plane. For example, Chinese patents with applications 202110518246.8 and 201921189881.0 connect a grooved osteotomy guide plate to the end of the robotic arm, using the grooves on the guide plate to constrain the oscillating saw blade to perform osteotomy on a pre-defined plane.

[0004] Among these procedures, unicompartmental knee arthroplasty falls under the category of partial knee arthroplasty (PKA). Currently, there are two osteotomy methods for different types of unicompartmental implants: the first is for fixed-platform unicompartmental implants, which requires planar restrained osteotomy and axial restrained drilling for bone preparation; the second is for movable-platform unicompartmental implants, which requires planar restrained osteotomy, axial restrained drilling, and curved-surface restrained grinding for bone preparation. For both types of unicompartmental implants, power tools equipped with different cutting tools (such as connecting the power tool to a drill or a oscillating saw) can be connected to the end effector of a robotic arm to achieve different types of bone preparation (i.e., pre-implantation bone preparation work such as planar osteotomy, axial drilling, and / or axial-feed curved-surface grinding). Specifically, the power tool is connected to the oscillating saw for planar restrained osteotomy, while the power tool is connected to the drill for curved-surface restrained grinding and axial restrained drilling.

[0005] However, in the aforementioned unicompartmental knee arthroplasty (UKA), if the robotic arm's end effector is connected to an (active) powered tool for bone preparation, the cutting tool connected to the powered tool needs to be replaced intraoperatively, and sometimes the entire tool itself needs to be replaced, to meet the requirements of simultaneous planar constraint osteotomy, axial constraint drilling, and curved surface constraint grinding during bone preparation. Changing the end effector cutting tool or even the powered tool is complex, cumbersome, time-consuming, and labor-intensive, and requires altering the tool center point (TCP) of the end effector for precise control. If the robotic arm's end effector is only connected to a (passive) osteotomy guide with a planar groove, as in total knee arthroplasty, it will not support the axial constraint drilling and curved surface constraint grinding required for unicompartmental knee arthroplasty bone preparation, and the installation of the unicompartmental femoral condyle implant cannot be achieved. If other passive end effectors are used to achieve axial constraint drilling and curved surface constraint grinding, the tool change operation is also complex, cumbersome, time-consuming, and labor-intensive, and this operation also requires altering the tool center point (TCP) of the end effector for precise control.

[0006] It is evident that the surgical instruments used in the existing technology (such as power tools) are all relatively heavy, and there is no suitable set of lightweight and simple surgical instruments that can be connected to the end of a robotic arm to meet the needs of bone preparation compatible with two types of unicompartmental implants (i.e., planar constrained osteotomy, axial constrained drilling, and curved surface constrained grinding).

[0007] Therefore, this invention proposes an orthopedic surgical instrument, a bone surgical robot system, and a calibration method to overcome the shortcomings of the prior art. Summary of the Invention

[0008] The purpose of this invention is to provide an orthopedic surgical instrument, a bone surgical robot system, and a calibration method that enables convenient and quick intraoperative replacement of the end effector without altering the calibration configuration file of the surgical instrument or the center point of the tool. This allows for bone treatment compatible with planar constrained osteotomy, axial constrained drilling, and curved surface constrained grinding. It also enables implant installation on both unicompartmental knee fixation platforms and mobile platforms, reducing and simplifying intraoperative assembly and disassembly operations and equipment configuration file switching, thereby improving surgical efficiency.

[0009] The objective of this invention can be achieved through the following methods:

[0010] This invention provides an orthopedic surgical instrument, the orthopedic surgical instrument comprising:

[0011] An actuator having a first end and a second end, the first end being used for connection to a robotic arm;

[0012] A guiding device is detachably connected to the second end of the actuator. The guiding device has a guiding plane and / or a guiding hole. The guiding plane is used to guide and limit the bone saw blade so that the bone saw blade fits against the guiding plane while performing bone cutting operations. The guiding hole is used to guide and limit the bone drill bit or the grinding workpiece so that the bone drill bit passes through the guiding hole axially while performing bone drilling operations, or so that the central axis of the grinding workpiece passes through the guiding hole while performing bone grinding operations.

[0013] In a preferred embodiment of the present invention, the guiding device includes:

[0014] A first type of guiding device, the first type of guiding device having at least a first guiding plane, wherein at least one side wall of the bone saw blade is in contact with the first guiding plane, so that the bone saw blade performs osteotomy along the first guiding plane;

[0015] And / or, a second type of guiding device, the second type of guiding device having at least the guiding hole, at least a portion of the bone drill bit or at least a portion of the central axis of the workpiece being ground being located within the guiding hole, and the end of the bone drill bit or the end of the central axis passing through the guiding hole, so that the end of the bone drill bit performs bone drilling operations along the axial direction of the guiding hole or the central axis of the workpiece being ground is passing through the guiding hole while bone grinding operations are performed.

[0016] In a preferred embodiment of the present invention, the guide device has an interface structure, and the actuator has a device interface that cooperates with the interface structure. By cooperating with the device interface through the interface structure, the guide device is detachably connected to the second end of the actuator.

[0017] In a preferred embodiment of the present invention, the instrument interface includes at least a first interface portion and a second interface portion, wherein the first interface portion and the second interface portion are connected by a connecting portion.

[0018] The interface structure is a protrusion adapted to the instrument interface. The interface structure is simultaneously inserted into the first interface portion and the connecting portion, or the interface structure is simultaneously inserted into the second interface portion and the connecting portion.

[0019] The connecting portion has a different cross-sectional area from the first interface portion and the second interface portion, in order to limit the interface structure.

[0020] In a preferred embodiment of the present invention, the first end and the second end of the actuator are connected by a connecting rod;

[0021] The actuator further includes a target component for optical tracking and positioning, the target component being disposed on the first end or the connecting rod.

[0022] In a preferred embodiment of the present invention, the guiding device includes:

[0023] A first guide member has a first guide plane for femoral osteotomy, and at least one side wall of the bone saw blade is in contact with the first guide plane for femoral osteotomy, and the bone saw blade performs osteotomy along the first guide plane for femoral osteotomy.

[0024] And / or, a second guide member having a guide through hole through which the end of the bone drill bit passes for bone drilling operations;

[0025] And / or, a third guide member having a first guide plane for tibial osteotomy, at least one side wall of the bone saw blade being in contact with the first guide plane for tibial osteotomy, the bone saw blade performing osteotomy along the first guide plane for tibial osteotomy;

[0026] And / or, a fourth guide member and a grinding workpiece, the fourth guide member having a guide hole, the grinding workpiece having a central shaft and a grinding part located at one end of the central shaft, the central shaft being movably inserted into the guide hole, the grinding part being rotated by the central shaft to perform bone grinding operations.

[0027] In a preferred embodiment of the present invention, the first guide member has a plate-like structure and a femoral osteotomy guide plate guide groove. The two opposing inner walls of the femoral osteotomy guide plate guide groove respectively form the femoral osteotomy first guide plane and the femoral osteotomy second guide plane. The bone saw blade passes through the femoral osteotomy guide plate guide groove.

[0028] Alternatively, the first guide member may have a plate-like structure, with one side of the first guide member forming the first guide plane for the femoral osteotomy.

[0029] In a preferred embodiment of the present invention, the second guide includes a guide tube having a guide through hole, and the bone drill bit is movably disposed within the guide through hole along the axial direction of the guide through hole.

[0030] In a preferred embodiment of the present invention, the second guide member includes a guide tube comprising an inner sleeve and an outer sleeve, the outer sleeve being sleeved on the outside of the inner sleeve, the guide through hole being located on the inner sleeve, the inner sleeve having an outwardly protruding shoulder, the end face of the shoulder being able to abut against one end of the outer sleeve, so as to limit the relative position of the inner sleeve and the outer sleeve in the axial direction.

[0031] In a preferred embodiment of the present invention, the third guide member has a plate-like structure and a first guide groove for tibial osteotomy guide plate. The two opposing inner walls of the first guide groove for tibial osteotomy guide plate respectively form the first guide plane for tibial osteotomy and the second guide plane for tibial osteotomy. The bone saw blade passes through the first guide groove for tibial osteotomy guide plate.

[0032] Alternatively, the third guide member may have a plate-like structure, with one side of the plate forming the first guide plane for the tibial osteotomy;

[0033] Alternatively, the third guide member has a plate-like structure and a first guide groove for tibial osteotomy guide plate. The two opposite inner walls of the first guide groove for tibial osteotomy guide plate respectively form the first guide plane and the second guide plane for tibial osteotomy. One side of the first guide groove for tibial osteotomy guide plate is open, and the bone saw blade passes through the first guide groove for tibial osteotomy guide plate.

[0034] Alternatively, the third guide member has a plate-like structure and a first guide groove for tibial osteotomy guide plate. The two opposite inner walls of the first guide groove for tibial osteotomy guide plate respectively form the first guide plane and the second guide plane for tibial osteotomy. One side of the first guide groove for tibial osteotomy guide plate is open and has a protruding baffle at the open position. The bone saw blade passes through the first guide groove for tibial osteotomy guide plate so as to limit the osteotomy depth of the bone saw blade by the baffle.

[0035] Alternatively, the third guide member has a plate-like structure, and has a first guide groove and a second guide groove of the tibial osteotomy guide plate with perpendicular extension directions. The two opposite inner walls of the first guide groove of the tibial osteotomy guide plate respectively form the first guide plane and the second guide plane of the tibial osteotomy, and the two opposite inner walls of the second guide groove of the tibial osteotomy guide plate respectively form the third guide plane and the fourth guide plane of the tibial osteotomy, and the bone saw blade passes through the first guide groove or the second guide groove of the tibial osteotomy guide plate.

[0036] Alternatively, the third guide member has a plate-like structure, with one side of the plate forming the first guide plane for tibial osteotomy. One side of the first guide plane for tibial osteotomy has a vertical plate, and the side of the vertical plate facing the first guide plane for tibial osteotomy forms the third guide plane for tibial osteotomy. The third guide plane for tibial osteotomy is perpendicular to the first guide plane for tibial osteotomy.

[0037] In a preferred embodiment of the present invention, the fourth guide member includes a first guide portion and a second guide portion, with a gap between the first guide portion and the second guide portion, and a first guide hole and a second guide hole respectively on the first guide portion and the second guide portion, wherein the first guide hole and the second guide hole are coaxially arranged.

[0038] The central shaft has an outwardly protruding stop, the central shaft passes through the first guide hole and the second guide hole, and the stop is movably disposed within the interval.

[0039] In a preferred embodiment of the present invention, the grinding part has a curved surface structure adapted to the surface of the bone grinding position, and the grinding part has a cutting edge for grinding away bone.

[0040] This invention provides a bone surgery robot system, the bone surgery robot system comprising:

[0041] A robotic arm and an optical navigation device, wherein the robotic arm and the optical navigation device are respectively mounted on two trolleys;

[0042] The above-mentioned orthopedic surgical instruments are mounted on the movable end of the robotic arm, and the position and orientation of the orthopedic surgical instruments are identified and calibrated by the optical navigation device.

[0043] This invention provides a calibration method for calibrating the position and orientation of the aforementioned orthopedic surgical instruments. The calibration method includes the following steps:

[0044] Pre-defined guide planes or guide axes for different guide instruments in the orthopedic surgical instruments;

[0045] Select a base coordinate system and obtain the first actual coordinates of the guiding device in the guiding plane or guiding axis under the base coordinate system;

[0046] Obtain the unit normal vector of the guide plane or the first unit vector of the guide axis along the axial direction;

[0047] On the guide plane or in a direction perpendicular to the guide axis, arbitrarily select different second and third unit vectors;

[0048] Wherein, the product of the second unit vector and the third unit vector equals the first unit vector, and the second unit vector is perpendicular to the third unit vector;

[0049] The pose parameters of the guiding device in the base coordinate system are obtained based on the origin of the base coordinate system, the first actual coordinates, the first unit vector, the second unit vector, and the third unit vector.

[0050] Based on the above, the features and advantages of the orthopedic surgical instruments, bone surgical robot system, and calibration method of the present invention are as follows:

[0051] The actuator is connected to a robotic arm at its first end, and a guide device is detachably connected to its second end. Depending on the specific bone treatment requirements, a guide device with a guide plane or guide hole can be selected. The guide plane guides and limits the bone saw blade, allowing it to conform to the guide plane while performing osteotomy. The guide hole guides and limits the bone drill bit or grinding workpiece, allowing the bone drill bit to pass axially through the guide hole while performing bone drilling, or allowing the central axis of the grinding workpiece to pass through the guide hole while performing bone grinding. Therefore, this invention allows for convenient and quick replacement of different guide devices as needed during surgery. It is compatible with planar constraint osteotomy, axial constraint drilling, and curved surface constraint grinding bone treatments without altering the calibration configuration files of surgical instruments or the center point of the tools. This enables implant installation on both unicompartmental knee fixation platforms and mobile platforms, reducing and simplifying the installation and removal of surgical instruments during surgery, and effectively improving surgical efficiency. Attached Figure Description

[0052] The following figures are intended only to illustrate and explain the present invention and do not limit the scope of the invention. Wherein:

[0053] Figure 1 This is a schematic diagram of the execution structure in the orthopedic surgical instrument of the present invention;

[0054] Figure 2 for Figure 1 A partial schematic diagram of the second end of the execution structure;

[0055] Figure 3 for Figure 1 A partial cross-sectional view of the second end of the execution structure;

[0056] Figure 4 This is one of the structural schematic diagrams of the first guide component in the orthopedic surgical instrument of the present invention;

[0057] Figure 5 for Figure 4 Front view of the first guide component;

[0058] Figure 6 This is a second schematic diagram of the structure of the first guide component in the orthopedic surgical instrument of the present invention;

[0059] Figure 7 This is one of the schematic diagrams illustrating the use scenario of the first guide component in the orthopedic surgical instrument of the present invention;

[0060] Figure 8 This is a second schematic diagram illustrating the application scenario of the first guide component in the orthopedic surgical instrument of the present invention;

[0061] Figure 9 This is the third schematic diagram of the application scenario of the first guide component in the orthopedic surgical instrument of the present invention;

[0062] Figure 10 This is the fourth schematic diagram of the application scenario of the first guide component in the orthopedic surgical instrument of the present invention;

[0063] Figure 11 This is the fifth schematic diagram illustrating the application scenario of the first guide component in the orthopedic surgical instrument of the present invention;

[0064] Figure 12 This is one of the structural schematic diagrams of the second guide component in the orthopedic surgical instrument of the present invention;

[0065] Figure 13 This is a second schematic diagram of the structure of the second guide component in the orthopedic surgical instrument of the present invention;

[0066] Figure 14 This is one of the schematic diagrams illustrating the use scenario of the second guide component in the orthopedic surgical instrument of the present invention;

[0067] Figure 15 This is a second schematic diagram illustrating the application scenario of the second guide component in the orthopedic surgical instrument of the present invention;

[0068] Figure 16 This is one of the structural schematic diagrams of the third guide component in the orthopedic surgical instrument of the present invention;

[0069] Figure 17 This is a second schematic diagram of the structure of the third guide component in the orthopedic surgical instrument of the present invention;

[0070] Figure 18 This is the third schematic diagram of the structure of the third guide component in the orthopedic surgical instrument of the present invention;

[0071] Figure 19 This is the fourth schematic diagram of the structure of the third guide component in the orthopedic surgical instrument of the present invention;

[0072] Figure 20 This is the fifth schematic diagram of the structure of the third guide component in the orthopedic surgical instrument of the present invention;

[0073] Figure 21 This is the sixth schematic diagram of the structure of the third guide component in the orthopedic surgical instrument of the present invention;

[0074] Figure 22 This is one of the schematic diagrams illustrating the use scenario of the third guide component in the orthopedic surgical instrument of the present invention;

[0075] Figure 23 This is the second schematic diagram of the application scenario of the third guide component in the orthopedic surgical instrument of the present invention;

[0076] Figure 24 This is the third schematic diagram of the application scenario of the third guide component in the orthopedic surgical instrument of the present invention;

[0077] Figure 25 This is the fourth schematic diagram illustrating the application scenario of the third guide component in the orthopedic surgical instrument of the present invention;

[0078] Figure 26 This is the fifth schematic diagram illustrating the application scenario of the third guide component in the orthopedic surgical instrument of the present invention;

[0079] Figure 27 This is the sixth schematic diagram illustrating the application scenario of the third guide component in the orthopedic surgical instrument of the present invention;

[0080] Figure 28 This is the seventh schematic diagram illustrating the application scenario of the third guide component in the orthopedic surgical instrument of the present invention;

[0081] Figure 29 This is one of the structural schematic diagrams of the fourth guide component in the orthopedic surgical instrument of the present invention;

[0082] Figure 30 This is the second schematic diagram of the structure of the fourth guide component in the orthopedic surgical instrument of the present invention;

[0083] Figure 31 This is a schematic diagram of the structure of the grinding workpiece in the orthopedic surgical instrument of the present invention;

[0084] Figure 32 for Figure 31 A schematic diagram of the assembly state of the grinding workpiece and the fourth guide component;

[0085] Figure 33 This is a schematic diagram illustrating the usage scenario of the grinding workpiece and the fourth guide component in the orthopedic surgical instrument of the present invention.

[0086] Figure 34 This is one of the schematic diagrams of the coordinate system calibrated in the calibration method of the present invention;

[0087] Figure 35 This is a second schematic diagram of the coordinate system calibrated in the calibration method of the present invention;

[0088] Figure 36 This is the third schematic diagram of the coordinate system calibrated in the calibration method of the present invention;

[0089] Figure 37 This is the fourth schematic diagram of the coordinate system calibrated in the calibration method of the present invention;

[0090] Figure 38 This is a schematic diagram of the structure of the bone surgery robot system of the present invention;

[0091] Figure 39This is a schematic diagram showing the location of the communication interface on the execution structure of the orthopedic surgical instrument of the present invention;

[0092] Figure 40 This is a schematic diagram showing the location of the communication interface on the third guide component in the orthopedic surgical instrument of the present invention;

[0093] Figure 41 This is one of the flowcharts of the bone preparation method of the present invention;

[0094] Figure 42 This is the second flowchart of the bone preparation method of the present invention;

[0095] Figure 43 This is the third flowchart of the bone preparation method of the present invention.

[0096] The reference numerals in the accompanying drawings of this invention are:

[0097] 1. Actuator; 11. First end; 12. Second end; 121. First clearance recess; 122. Verification point; 123. Nail hole; 124. Instrument interface; 1241. First interface part; 1242. Second interface part; 1243. Connecting part; 125. Resistance component; 13. Target component; 14. Linkage rod; 15. First communication interface; 16. Second communication interface;

[0098] 2. First guide component; 21. Guide groove for femoral osteotomy guide plate; 211. First guide plane for femoral osteotomy; 212. Second guide plane for femoral osteotomy; 22. Interface structure of femoral osteotomy guide plate;

[0099] 3. Second guide component; 31. Femoral drilling catheter interface structure; 32. Guide tube; 321. Guide through hole; 33. Outer sleeve; 34. Inner sleeve;

[0100] 4. Third guide component; 41. First guide groove of tibial osteotomy guide plate; 411. First guide plane of tibial osteotomy; 412. Second guide plane of tibial osteotomy; 42. Interface structure of tibial osteotomy guide plate; 43. Second clearance recess; 44. Bending fitting part; 45. Baffle; 46. Second guide groove of tibial osteotomy guide plate; 461. Third guide plane of tibial osteotomy; 462. Fourth guide plane of tibial osteotomy; 47. Third communication interface;

[0101] 5. Fourth guide component; 511. First guide section; 5111. First guide hole; 512. Second guide section; 5121. Second guide hole; 52. Spacer section; 53. Guide component interface structure;

[0102] 6. Grinding workpiece; 61. Grinding workpiece interface; 62. Grinding section; 63. Cutting edge; 64. Central shaft; 65. Stop block;

[0103] 71. First end base coordinate system; 713. Target base coordinate system; 72. First guide plane coordinate system; 73. First guide axis coordinate system; 74. Second guide plane coordinate system; 75. Second guide axis coordinate system;

[0104] 81. Bone nail; 82. Bone saw blade; 83. Ordinary bone drill bit; 84. Depth-limiting bone drill bit; 85. Robotic arm; 86. Trolley; 87. Optical navigation equipment;

[0105] 911. Left femur; 912. Right femur; 921. Right tibia; 922. Left tibia; 931. Distal femur osteotomy surface; 932. Posterior femur osteotomy surface; 933. Posterior oblique femur osteotomy surface; 934. Tibia horizontal osteotomy surface; 935. Tibia vertical osteotomy surface;

[0106] 10. Interface structure. Detailed Implementation

[0107] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0108] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0109] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0110] Implementation Method 1

[0111] like Figures 1 to 33As shown, the present invention provides an orthopedic surgical instrument, which includes an actuator 1 and a guide device. The actuator 1 has a first end 11 and a second end 12. The first end 11 of the actuator 1 is used to connect to the robotic arm 85 of a surgical robot. The guide device is detachably connected to the second end 12 of the actuator 1. The guide device has a guide plane and / or a guide hole. The guide plane is used to guide and limit the bone saw blade 82 so that the bone saw blade 82 fits against the guide plane while performing osteotomy (such as femoral osteotomy or tibial osteotomy). The guide hole is used to guide and limit the bone drill bit or the grinding workpiece 6 so that the bone drill bit passes through the guide hole axially while performing bone drilling (such as femoral drilling) or the central axis 64 of the grinding workpiece 6 passes through the guide hole while performing bone grinding.

[0112] In this invention, the robotic arm 85 used may be, but is not limited to, existing multi-degree-of-freedom robotic arms, capable of automatically controlling and adjusting the position and orientation of the actuator 1 and the guide device. The specific structure of the robotic arm 85 is not limited here.

[0113] In this invention, the first end 11 of the actuator 1 is connected to the robotic arm 85, and a guide device is detachably connected to the second end 12 of the actuator 1. Depending on different bone treatment requirements, a guide device with a guide plane or guide hole can be selected. The guide plane guides and limits the bone saw blade 82, allowing the bone saw blade 82 to conform to the guide plane while performing osteotomy. The guide hole guides and limits the bone drill bit or grinding workpiece 6, allowing the bone drill bit to pass axially through the guide hole while performing bone drilling, or allowing the central axis 64 of the grinding workpiece 6 to pass through the guide hole while performing bone grinding. Therefore, this invention allows for convenient and quick replacement of different guide devices according to intraoperative needs. It can accommodate bone treatments such as planar constraint osteotomy, axial constraint drilling, and curved surface constraint grinding without changing the calibration configuration file of the surgical instruments or the center point of the tools. This enables the installation of implants on both unicompartmental knee fixation platforms and mobile platforms, reducing and simplifying the installation and removal of surgical instruments during surgery, and effectively improving surgical efficiency.

[0114] Furthermore, the guiding device in this invention includes a first type of guiding device, which has at least a first guiding plane. At least one side wall of the bone saw blade 82 is in contact with the first guiding plane, so that the bone saw blade 82 performs osteotomy along the first guiding plane. Additionally, the guiding device may also include a second type of guiding device, which has at least a guide hole. At least a portion of the bone drill bit or at least a portion of the central shaft 64 of the workpiece 6 is located within the guide hole, and the end of the bone drill bit or the end of the central shaft 64 passes through the guide hole, so that the end of the bone drill bit performs bone drilling along the axial direction of the guide hole, or the central shaft 64 of the workpiece 6 passes through the guide hole while simultaneously performing bone grinding. In actual use, the corresponding guiding device can be configured according to actual needs. The replaced guiding device can be directly assembled with the actuator 1, which is convenient and quick, without requiring changes to other structures or configuration files of the surgical instruments, greatly improving surgical efficiency.

[0115] The structure of the actuator 1 and various guiding devices in this invention will be described in detail below.

[0116] In an optional embodiment of the present invention, such as Figures 1 to 6 , Figures 12 to 13 , Figures 16 to 21 , Figures 29 to 30 As shown, the guide device has an interface structure 10, and the actuator 1 has a device interface 124 that mates with the interface structure 10. The guide device is detachably connected to the second end 12 of the actuator 1 through the mating of the interface structure 10 and the device interface 124. The mating structure between the interface structure 10 and the device interface 124 can be, but is not limited to, a snap-fit ​​structure with a protrusion and a slot. This snap-fit ​​structure not only facilitates disassembly and assembly but also allows for quick disassembly and installation of different guide devices by using the same interface structure 10 on different guide devices.

[0117] In this embodiment, as Figure 2 and Figure 3As shown, there can be several instrument interfaces 124, preferably two, that is, the instrument interface 124 includes a first interface portion 1241 and a second interface portion 1242, and the first interface portion 1241 and the second interface portion 1242 are connected by a connecting portion 1243; correspondingly, the interface structure 10 is located on the protrusion that is adapted to the instrument interface 124, and the interface structure 10 is simultaneously inserted into the first interface portion 1241 and the connecting portion 1243, or the interface structure 10 is simultaneously inserted into the second interface portion 1242 and the connecting portion 1243, so as to realize the snap-fit ​​between the instrument interface 124 and the interface structure 10. The first interface portion 1241 and the second interface portion 1242 are symmetrically arranged on both sides of the connecting portion 1243. The connecting portion 1243 is a shared structural part of the first interface portion 1241 and the second interface portion 1242, which enables the instrument interface 124 to have an anti-multiple connection function. That is, when one of the first interface portion 1241 and the second interface portion 1242 is connected and occupied, the other cannot be connected to other guiding instruments.

[0118] The connecting portion 1243 has a different cross-sectional area from the first interface portion 1241 and the second interface portion 1242. Thus, the interface structure 10 is limited by the cooperation between the connecting portion 1243 and the first interface portion 1241, or by the cooperation between the connecting portion 1243 and the second interface portion 1242, to ensure stable engagement.

[0119] In an optional embodiment of the present invention, such as Figure 2 and Figure 3 As shown, the actuator 1 is provided with a resistance component 125, a portion of which can extend into the instrument interface 124 and press against the interface structure 10. The resistance component 125 provides appropriate resistance (loosening force) to prevent the interface structure 10 from detaching from the instrument interface 124, improving the stability of the connection between the guide instrument and the actuator 1, preventing it from easily loosening or falling off. The resistance component 125 can be, but is not limited to, a ball plunger, a spring plate, or an elastic clip.

[0120] In an optional embodiment of the present invention, such as Figures 1 to 3 As shown, the first end 11 and the second end 12 of the actuator 1 are rigidly connected by a connecting rod 14. The first end 11 of the actuator 1 is also rigidly connected to the robotic arm 85, and they are not disassembled or replaced during the operation.

[0121] Furthermore, such as Figure 1As shown, the actuator 1 also includes a target component 13 for optical tracking and positioning. During use, the position of the target component 13 can be identified and tracked by the optical navigation device 87, thereby accurately determining the pose of the actuator 1. To avoid interference with the normal use of the guiding device, the target component 13 can be positioned on the first end 11 or the connecting rod 14 of the actuator 1, keeping it as far away from the guiding device as possible. The target component 13 can be, but is not limited to, an "X"-shaped structure; other structures are also possible, and no specific limitation is made here.

[0122] Furthermore, such as Figures 1 to 3 As shown, the actuator 1 has a verification point 122, which is used to set a probe to determine the location of the actuator 1. In actual use, the tip of the probe is inserted into the verification point 122, and with the help of the optical navigation device 87, the position of the current verification point 122 can be measured to see if it is within a preset acceptable range compared to the position calibrated in the preset configuration file, thereby determining whether the actuator 1 has deformed relative to the expected pose. For better verification, preferably, the verification point 122 can be set on the actuator 1 near the end of the guide device. For example, the verification point 122 can be set at the second end 12 of the actuator 1.

[0123] In an optional embodiment of the present invention, such as Figure 1 and Figure 3 As shown, the second end 12 of the actuator 1 has a notch to form a first clearance recess 121, which can be used to avoid the patella during use. The shape of the first clearance recess 121 can be the same as the shape of the outer surface of the patella.

[0124] In an optional embodiment of the present invention, such as Figures 1 to 3 As shown, the actuator 1 has at least one pin hole 123, in which a bone pin 81 is inserted to connect the actuator 1 to the bone (femur or tibia) to prevent displacement between the bone and the guide device during bone preparation, thereby ensuring the stable execution of the bone preparation operation.

[0125] In an optional embodiment of the present invention, such as Figures 4 to 6As shown, the guiding device includes a first guide member 2, which has a femoral osteotomy guide plate interface 22. The first guide member 2 can be connected to the instrument interface 124 of the actuator 1 through the femoral osteotomy guide plate interface structure 22. The first guide member 2 has a femoral osteotomy first guiding plane 211. In use, at least one side wall of the bone saw blade 82 is in contact with the femoral osteotomy first guiding plane 211, and the bone saw blade 82 performs osteotomy operations along the femoral osteotomy first guiding plane 211. The first guide member 2 can be used for planar osteotomy of the femur, including the posterior cutting plane of a unicompartmental mobile platform femoral condyle implant and the distal, posterior cutting, or posterior oblique plane of a unicompartmental fixed platform femoral condyle implant.

[0126] In this embodiment, a specific structure of the first guide member 2 is as follows: Figure 4 and Figure 5 As shown, the first guide member 2 has a rectangular plate-like structure. Along its planar direction, the first guide member 2 has a narrow, elongated femoral osteotomy guide groove 21. The two opposing inner walls of the femoral osteotomy guide groove 21 respectively form a first femoral osteotomy guide plane 211 and a second femoral osteotomy guide plane 212. The bone saw blade 82 passes through the femoral osteotomy guide groove 21. In use, the bone saw blade 82 passes through the femoral osteotomy guide groove 21, and one side wall of the bone saw blade 82 is in contact with the first femoral osteotomy guide plane 211. Figure 7 The image shows a scenario where the first guide element 2, in conjunction with the bone saw blade 82, is used for distal femoral osteotomy; as shown... Figure 8 The diagram illustrates a scenario where a femoral osteotomy is performed using the first guide member 2 in conjunction with the bone saw blade 82, with the bone screw 81 present. Figure 10 The image shows a scenario where the first guide component 2, in conjunction with the bone saw blade 82, performs a posterior femoral osteotomy; as shown... Figure 11 The image shows a scenario where the first guide 2, in conjunction with the bone saw blade 82, is used for posterior oblique osteotomy of the femur.

[0127] In this embodiment, another specific structure of the first guide member 2 is as follows: Figure 6 As shown, the first guide member 2 has a rectangular plate-like structure, and one side of the plate of the first guide member 2 forms the first guide plane 211 for femoral osteotomy. Figure 9 The image shows a scenario where the first guide 2 is used in conjunction with the bone saw blade 82 for femoral osteotomy.

[0128] In this embodiment, as Figures 7 to 11The diagrams shown illustrate bone treatment of the right femur (i.e., right femur 912). The actuator 1 is located on the same side of the limb being treated (i.e., the right side of the right knee). In this case, the interface structure 10 on the first guide 2 is installed on the second interface portion 1242 of the actuator 1. When treating the left femur (i.e., left femur 911), the actuator 1 is located on the same side of the limb being treated (i.e., the left side of the left knee). In this case, the interface structure 10 on the first guide 2 is installed on the first interface portion 1241 of the actuator 1. Therefore, through the symmetrical design of the first interface portion 1241 and the second interface portion 1242, the actuator 1 can accommodate the bone treatment needs of both knees and the medial and lateral condyles of each knee joint.

[0129] In an optional embodiment of the present invention, such as Figures 12 to 15 As shown, the guiding device includes a second guide member 3, which has a femoral drilling conduit interface structure 31. The second guide member 3 can be connected to the instrument interface 124 of the actuator 1 through the femoral drilling conduit interface structure 31. The second guide member 3 has a guide through hole 321 through which the end of the bone drill bit passes for bone drilling operations. The guide through hole 321 can constrain the bone drill bit to feed in one axial direction. The bone drill bit is used to pass through the guide through hole 321 and, under the guidance and constraint of the guide through hole 321, drills a hole in the bone along the guide axis to accommodate the column of the femoral condyle prosthesis (unicompartmental fixation platform and movable platform).

[0130] In this embodiment, a specific structure of the second guide member 3 is as follows: Figure 12 As shown, the second guide member 3 includes a guide tube 32, which has a guide through hole 321. The bone drill bit is movably disposed in the guide through hole 321 along the axial direction of the guide through hole 321.

[0131] In this embodiment, another specific structure of the second guide member 3 is as follows: Figure 13As shown, the second guide member 3 includes a guide tube 32 comprising an inner sleeve 34 and an outer sleeve 33. The outer sleeve 33 is sleeved on the outside of the inner sleeve 34, and the outer diameter of the inner sleeve 34 is adapted to the inner diameter of the outer sleeve 33, so that the inner sleeve 34 is only allowed to move axially under the constraint of the outer sleeve 33. A guide hole 321 is located on the inner sleeve 34, and the bone drill bit is movably disposed within the guide hole 321 along the axial direction of the guide hole 321. The inner sleeve 34 has an outwardly protruding annular shoulder, the end face of which abuts against one end of the outer sleeve 33 to limit the relative position of the inner sleeve 34 and the outer sleeve 33 in the axial direction, thereby preventing the inner sleeve 34 from moving further along the drilling feed direction and preventing the inner sleeve 34 from falling off during drilling feed. In this embodiment, the structural design of the second guide member 3 can reduce the control complexity of the robotic arm 85. It eliminates the need for high-precision control of the distance between the robotic arm 85 holding the outer sleeve 33 and the bone surface. The inner sleeve 34 can abut against the bone surface and adjust its position along the axial direction of the outer sleeve 33, thereby realizing the adjustment of the distance between the second guide member 3 and the bone surface, which is more convenient.

[0132] In the embodiments of the second guide member 3 described above, whether it is a single guide tube 32 structure or a structure of inner sleeve 34 and outer sleeve 33, guide tubes 32 or inner sleeves 34 with different apertures and / or lengths can be configured to match bone drill bits of different diameters, so as to meet the different diameter drilling requirements of the unicompartmental femoral implant post; in addition, it can also match bone drill bits with depth limitations to meet the different length drilling requirements of the unicompartmental femoral implant post. Wherein, the length of the bone drill bit with depth limitation is A, the length of the guide tube 32 (or inner sleeve 34) is B, and the maximum drilling depth is AB.

[0133] In this embodiment, the bone drill bit can be a standard bone drill bit 83 or a depth-limiting bone drill bit 84. The standard bone drill bit 83 is a rod-shaped drill bit with a single diameter, which can feed and retract without distance restriction within the guide tube 32. The depth-limiting bone drill bit 84 is a rod-shaped drill bit with a limiting step. When the depth-limiting bone drill bit 84 is located within the guide through hole 321, the limiting step abuts against one end of the guide tube 32, thereby preventing the depth-limiting bone drill bit 84 from further advancing and achieving control of the drilling depth. Figure 14 This refers to the application scenario where the guide tube 32 is used in conjunction with the depth-limiting bone drill bit 84 for drilling; such as... Figure 15 The image shows a scenario where the inner sleeve 34 and outer sleeve 33 are used in conjunction with a standard bone drill bit 83 for drilling.

[0134] In an optional embodiment of the present invention, such as Figures 16 to 28As shown, the guiding device includes a third guide member 4, which has a tibial osteotomy guide plate interface structure 42. The third guide member 4 can be connected to the instrument interface 124 of the actuator 1 through the tibial osteotomy guide plate interface structure 42. The third guide member 4 has a tibial osteotomy first guiding plane 411, and at least one side wall of the bone saw blade is in contact with the tibial osteotomy first guiding plane 411. The bone saw blade 82 performs osteotomy operations along the tibial osteotomy first guiding plane 411.

[0135] In this embodiment, the first specific structure of the third guide member 4 is as follows: Figure 16 As shown, the third guide member 4 has a plate-like structure. Along the plane of the plate-like structure, the third guide member 4 has a narrow, elongated first guide groove 41 for tibial osteotomy. The two opposing inner walls of the first guide groove 41 form a first guide plane 411 and a second guide plane 412 for tibial osteotomy, respectively. The bone saw blade 82 passes through the first guide groove 41. In use, the bone saw blade 82 passes through the first guide groove 41, and one side wall of the bone saw blade 82 is in contact with the first guide plane 411 for tibial osteotomy. Figure 22 The image shows a scenario where the third guide 4 is used in conjunction with the bone saw blade 82 for tibial osteotomy.

[0136] In this embodiment, the second specific structure of the third guide member 4 is as follows: Figure 17 As shown, the third guide member 4 has a plate-like structure, and one side of the plate of the third guide member 4 forms the first guide plane 411 for tibial osteotomy. Figure 23 The image shows a scenario where the third guide element 4 is used in conjunction with the bone saw blade 82 for horizontal femoral osteotomy; as shown... Figure 24 The image shows a scenario where the third guide 4 is used in conjunction with the bone saw blade 82 for vertical osteotomy of the tibia.

[0137] In this embodiment, the third specific structure of the third guide member 4 is as follows: Figure 18As shown, the third guide member 4 has a plate-like structure. The third guide member 4 has a first guide groove 41 for tibial osteotomy guide plate along the plane of the plate-like structure. The two opposite inner walls of the first guide groove 41 for tibial osteotomy guide plate form a first guide plane 411 and a second guide plane 412 for tibial osteotomy, respectively. One side of the first guide groove 41 for tibial osteotomy guide plate is open (that is, the two long sides of the first guide groove 41 for tibial osteotomy guide plate form a first guide plane 411 and a second guide plane 412 for tibial osteotomy, respectively, while one short side of the first guide groove 41 for tibial osteotomy guide plate is closed, and the other short side is open). The bone saw blade 82 passes through the first guide groove 41 for tibial osteotomy guide plate. This design allows the bone saw blade 82 to have a larger osteotomy range when performing horizontal osteotomy. In use, the bone saw blade 82 is inserted into the first guide groove 41 of the tibial osteotomy guide plate, and one side wall of the bone saw blade 82 is in contact with the first guide plane 411 of the tibial osteotomy.

[0138] In this embodiment, the fourth specific structure of the third guide member 4 is as follows: Figure 19 As shown, the third guide member 4 has a plate-like structure. The third guide member 4 has a first guide groove 41 for tibial osteotomy guide plate along the plane of the plate-like structure. The two opposite inner walls of the first guide groove 41 for tibial osteotomy guide plate form a first guide plane 411 and a second guide plane 412 for tibial osteotomy, respectively. One side of the first guide groove 41 for tibial osteotomy guide plate is open (that is, the two long sides of the first guide groove 41 for tibial osteotomy guide plate form a first guide plane 411 and a second guide plane 412 for tibial osteotomy, respectively, while one short side of the first guide groove 41 for tibial osteotomy guide plate is closed, and the other short side is open). The open position has a protruding baffle 45. The bone saw blade 82 passes through the first guide groove 41 for tibial osteotomy guide plate so as to limit the osteotomy depth of the bone saw blade 82 through the baffle 45. The baffle 45 can block the bone saw blade 82 during vertical osteotomy, preventing excessive osteotomy depth and fracture. This structural design better constrains the bone saw blade 82 for transverse osteotomy in the plane, without affecting the vertical osteotomy process, ensuring that the bone is completely severed at the right-angle intersection of transverse and vertical osteotomies, guaranteeing the osteotomy effect. Figure 25 The image shows a scenario where the third guide element 4 is used in conjunction with the bone saw blade 82 for horizontal osteotomy of the tibia; as shown... Figure 26 The image shows a scenario where the third guide 4 is used in conjunction with the bone saw blade 82 for vertical osteotomy of the tibia.

[0139] In this embodiment, the fifth specific structure of the third guide member 4 is as follows: Figure 20As shown, the third guide member 4 has a plate-like structure. It has a first guide groove 41 and a second guide groove 46 of the tibial osteotomy guide plate, extending perpendicularly to each other. The second guide groove 46 is located on one side of the first guide groove 41. The two opposing inner walls of the first guide groove 41 form a first guide plane 411 and a second guide plane 412 for tibial osteotomy, respectively. The two opposing inner walls of the second guide groove 46 form a third guide plane 461 and a fourth guide plane 462 for tibial osteotomy, respectively. The bone saw blade 82 passes through either the first guide groove 41 or the second guide groove 46. In actual use, the bone saw blade 82 can be guided horizontally and vertically through the first guide groove 41 and the second guide groove 46, respectively. Figure 27 The image shows a scenario where the third guide element 4 is used in conjunction with the bone saw blade 82 for horizontal osteotomy of the tibia; as shown... Figure 28 The image shows a scenario where the third guide 4 is used in conjunction with the bone saw blade 82 for vertical osteotomy of the tibia.

[0140] In this embodiment, the sixth specific structure of the third guide member 4 is as follows: Figure 21 As shown, the third guide member 4 has a plate-like structure. One side of the plate of the third guide member 4 forms a first guide plane 411 for tibial osteotomy. A vertical plate is located on one side of the first guide plane 411 for tibial osteotomy. The side of the vertical plate facing the first guide plane 411 for tibial osteotomy forms a third guide plane 461 for tibial osteotomy. The third guide plane 461 for tibial osteotomy is perpendicular to the first guide plane 411 for tibial osteotomy. In actual use, the first guide plane 411 for tibial osteotomy guides the bone saw blade 82 horizontally, and the third guide plane 461 for tibial osteotomy guides the bone saw blade 82 vertically.

[0141] In an optional embodiment of the present invention, such as Figures 16 to 21 As shown, the edge of the third guide 4 has a notch on the side near the middle of the tibia to form a second clearance recess 43. This second clearance recess 43 can avoid the patellar tissue that has been cut and pulled apart by the hook during surgery, allowing the third guide 4 to get closer to the tibia and improve the accuracy of osteotomy.

[0142] In an optional embodiment of the present invention, such as Figures 16 to 21 As shown, the edge of the third guide member 4 near the tibia has a curved structure that matches the surface of the tibia to form a curved fitting portion 44, thereby increasing the area of ​​the guide plane of the third guide member 4 and allowing the third guide member 4 to get closer to the tibia, thereby further improving the osteotomy accuracy.

[0143] In the specific embodiment of the third guide member 4 described above, two mirror-symmetrical structures can be set for the third guide member 4, thereby achieving compatibility in the processing of the left tibia 922 and the right tibia 921, and also achieving compatibility in the medial and lateral condyles of each knee joint. For example... Figures 22 to 28 The diagrams shown illustrate bone treatment of the right medial condyle of the knee. The actuator 1 is always located on the same side of the limb being treated (i.e., the right side of the right knee). In this case, the interface structure 10 on the third guide 4 is installed on the first interface portion 1241 of the actuator 1. When treating the right lateral condyle of the knee, the actuator 1 remains on the right side of the right knee, and a third guide 4, mirror-symmetrical to the one used for the right medial condyle, is installed on the first interface portion 1241 of the actuator 1. For bone treatment of the left medial condyle of the knee, the actuator 1 is always located on the same side of the limb being treated (i.e., the left side of the left knee). In this case, the interface structure 10 on the third guide 4 is installed on the second interface portion 1242 of the actuator 1. When treating the left lateral condyle of the knee, the actuator 1 remains on the left side of the left knee, and a third guide 4, mirror-symmetrical to the one used for the left medial condyle, is installed on the second interface portion 1242 of the actuator 1. Therefore, the present invention, through the symmetrically designed first interface 1241, second interface 1242, and mirror-symmetrically designed third guide member 4, enables the actuator 1 to be compatible with the bone processing requirements of the left and right knees and the medial and lateral condyles of each knee joint.

[0144] In an optional embodiment of the present invention, such as Figures 29 to 33 As shown, the guiding device includes a fourth guide member 5 and a grinding workpiece 6. The fourth guide member 5 has a guide member interface structure 53, which allows it to connect to the instrument interface 124 of the actuator 1. The fourth guide member 5 has a guide hole, and the grinding workpiece 6 has a central shaft 64 and a grinding part 62 located at one end of the central shaft 64. The central shaft 64 is movably inserted into the guide hole, and the other end of the central shaft is connected to a power tool to drive the grinding workpiece 6 to rotate, thereby causing the grinding part 62 to rotate for bone grinding. In actual use, the fourth guide member 5 and the grinding workpiece 6 work together to perform curved grinding of the distal femur along the constrained axis (i.e., the central shaft 64), further controlling the grinding depth (grinding amount), thus preparing the curved bone for the installation of a unicompartmental mobile platform femoral condyle implant.

[0145] Furthermore, the fourth guide member 5 has several coaxial guide portions, preferably, such as... Figure 29As shown, the fourth guide member 5 includes a first guide portion 511 and a second guide portion 512. A spacer portion 52 is provided between the first guide portion 511 and the second guide portion 512. The first guide portion 511 has a first guide hole 5111, and the second guide portion 512 has a second guide hole 5121. The first guide hole 5111 and the second guide hole 5121 are coaxially arranged. The central shaft 64 has an outwardly protruding stop 65. The central shaft 64 passes through the first guide hole 5111 and the second guide hole 5121, and the stop 65 is movably disposed in the spacer portion 52.

[0146] The inner diameters of the first guide hole 5111 and the second guide hole 5121 are adapted to the central shaft 64 to constrain the central shaft 64 to move forward and backward only along the axial direction of the first guide hole 5111 and the second guide hole 5121. The stop 65 is movably disposed in the spacer 52, which neither hinders the rotational movement of the central shaft 64 and the stop 65 around the axis, nor prevents the central shaft 64 and the stop 65 from moving within a certain distance along the axial direction. This distance is the constrained grinding depth (grinding amount). Therefore, the grinding depth can be adjusted by adjusting the length of the spacer 52.

[0147] In this embodiment, a fourth guide member 5 of various specifications (i.e., a spacer 52 of various lengths) can be provided to meet the requirements of different grinding depths. Furthermore, the first guide portion 511 and the second guide portion 512 are disposed on the connecting seat, and the first guide portion 511 and the second guide portion 512 can move relative to each other. This allows for adjusting the length of the spacer 52 between the two by pulling the first guide portion 511 and / or the second guide portion 512, thereby enabling one fourth guide member 5 to meet the requirements of multiple grinding depths and further reducing the number of instruments.

[0148] In addition, such as Figure 30 As shown, it is necessary to ensure that the inner diameter of the spacer 52 is greater than the maximum outer diameter of the stop 65 so as not to obstruct the normal rotational movement of the stop 65. Alternatively, it can be as follows: Figure 29 As shown, the interval 52 is set as an open structure to ensure that it does not obstruct the normal rotational movement of the stop 65.

[0149] In an optional embodiment of the present invention, the stop 65 and the central shaft 64 can be fixedly connected (the two cannot be removed) or detachably connected, for example, by means of pins, screws, etc. Alternatively, the stop 65 can be telescopically mounted on the central shaft 64. When no external force is applied, the stop 65 protrudes from the surface of the central shaft 64, serving as a restraint and blocking mechanism. When the stop 65 is pressed, it retracts completely into the mounting hole (not shown) on the central shaft 64, eliminating any protruding structures on the surface of the central shaft 64, thus facilitating the removal or insertion of the central shaft 64 from the first guide hole 5111 and the second guide hole 5121.

[0150] In an optional embodiment of the present invention, such as Figure 31 and Figure 32 As shown, the grinding section 62 has a curved surface structure adapted to the surface of the bone grinding location. This curved surface structure can be adapted to the curved bone grinding surface of the unicompartmental mobile platform femoral condyle implant. The grinding section 62 has a cutting edge 63 for grinding away bone. Furthermore, since the femoral condyle implant has various sizes, the grinding section 62 on the grinding workpiece 6 also has various sizes to achieve a one-to-one correspondence between the curved surface of the grinding end and the curved surface of the implant. This allows one fourth guide 5 to correspond to multiple grinding workpieces 6, further reducing the number of instruments.

[0151] The features and advantages of the orthopedic surgical instrument of the present invention are as follows:

[0152] This orthopedic surgical instrument allows for convenient and quick replacement of different guide instruments as needed during surgery. It is compatible with bone treatments such as planar constraint osteotomy, axial constraint drilling, and curved surface constraint grinding without changing the calibration configuration file of the surgical instrument or the center point of the tool. This enables the installation of implants on both unicompartmental fixation platforms and mobile platforms of the knee joint, reducing and simplifying the installation and removal of surgical instruments during surgery and effectively improving surgical efficiency.

[0153] Implementation Method 2

[0154] like Figures 1 to 40 As shown, the present invention provides a bone surgery robot system, which includes a robotic arm 85, an optical navigation device 87, and the aforementioned orthopedic surgical instruments. The robotic arm 85 and the optical navigation device 87 are respectively mounted on two trolleys 86. The orthopedic surgical instruments are mounted on the movable end of the robotic arm 85, and the position and orientation of the orthopedic surgical instruments are identified and calibrated by the optical navigation device 87.

[0155] In an optional embodiment of the present invention, the bone surgery robot system further includes a control system, which has a transformation relationship between the guide plane or guide axis corresponding to different guide instruments in orthopedic surgery instruments and the selected base coordinate system (i.e., configuration files corresponding to different guide instruments). The control system can select the corresponding configuration file according to the guide instrument actually used, and obtain the pose parameters of the guide instrument in the base coordinate system according to the configuration file, thereby determining the real-time position and orientation of the selected guide plane or guide axis of the guide instrument.

[0156] During use of this invention, the target component 13 on the actuator 1 is within the field of view of the optical navigation device 87 and can be identified by the optical navigation device 87. For example... Figures 34 to 37 As shown, under this scheme, the selected base coordinate system is preferably the target base coordinate system 713. The optical navigation device 87 can visually identify the target component 13 and determine the target base coordinate system 713. By controlling the pose transformation relationship recorded in the preset surgical instrument configuration file in the system (such as the pose transformation relationship of the selected guide plane or guide axis of the guide instrument relative to the target base coordinate system 713), the real-time position and attitude of the selected guide plane (first guide plane coordinate system 72 or second guide plane coordinate system 74) or guide axis (first guide axis coordinate system 73 or second guide axis coordinate system 75) of the different guide instruments connected to the actuator 1 can be calculated.

[0157] In an optional embodiment of the present invention, if the target component 13 is not provided on the actuator 1, the position and orientation of the actuator 1 can be obtained by using the robotic arm 85 as the base coordinate system and by calculating the parameters of each joint and link of the robotic arm 85. In this scheme, the base coordinate system of the actuator 1 is preferably the first end of the actuator 1 as the origin of the base coordinate system, i.e., the first end base coordinate system 71. Specifically, the real-time pose of the end of the robotic arm 85 is obtained by calculating the parameters of each joint and link of the robotic arm 85, i.e., the first end base coordinate system 71 is obtained. Then, by using the pose transformation relationship recorded in the preset surgical instrument configuration file in the control system (such as the transformation relationship of the pose of the selected guide plane or guide axis relative to the first end base coordinate system 71), the real-time position and orientation of the selected guide plane or guide axis of the different guide instruments connected to the actuator 1 can be calculated.

[0158] In this invention, the control system identifies and calculates the real-time pose of the actuator 1 through the optical navigation device 87 and the configuration file corresponding to the orthopedic surgical instrument, or the control system calculates the real-time pose of the actuator 1 through the robotic arm 85 and the configuration file corresponding to the orthopedic surgical instrument. Then, the control system controls the robotic arm 85 to move the selected guide plane or guide axis of the guide device connected to the actuator 1 to the planned plane / axis to complete the positioning.

[0159] In an optional embodiment of the present invention, such as Figure 39 As shown, the actuator 1 has a first communication interface 15, through which the actuator 1 communicates with the robotic arm 85. A second communication interface 16 can also be provided at the second end 12 of the actuator 1, and each guide device also has a third communication interface 47 corresponding to the second communication interface 16 at its connection position. When a guide device is installed at the second end 12 of the actuator 1, the type of guide device can be determined through the communication connection between the second communication interface 16 and the third communication interface 47. This allows the control system to identify the guide device connected in real time and automatically find the transformation relationship from the guide plane or guide axis to the base coordinate system corresponding to that guide device from a preset configuration file.

[0160] In another optional embodiment of the present invention, the control signal can perform non-contact identification of the guide device connected to the actuator 1 in a non-contact manner (such as using RFID identification or QR code identification). The control system can also identify the guide device connected in real time and automatically find the transformation relationship from the guide plane or guide axis to the base coordinate system corresponding to the guide device from the preset configuration file.

[0161] The features and advantages of the bone surgery robot system of the present invention are as follows:

[0162] The bone surgery robot system of the present invention can simultaneously support bone preparation for both unicompartmental fixed platform prostheses and unicompartmental movable platform prostheses (i.e., simultaneously support bone processing operations such as planar osteotomy, axial drilling, and curved surface grinding) by disassembling and replacing the bone preparation guide device. Moreover, it can simultaneously meet the bone preparation requirements for both knees and the medial and lateral condyles of each knee joint. The entire process does not require a complete replacement of the robotic arm 85 and the actuator 1 at the end of the robotic arm 85. In addition, there is no need to change the background configuration file when replacing the guide device, making the intraoperative operation faster and more efficient.

[0163] Implementation Method 3

[0164] This invention provides a calibration method for calibrating the position and orientation of the aforementioned orthopedic surgical instruments. The calibration method includes the following steps:

[0165] Step S1: Preset the guide plane or guide axis corresponding to different guide instruments in orthopedic surgery;

[0166] Each of the above-mentioned guiding devices corresponds to a preset configuration file. The configuration file contains the selected guiding plane or guiding axis of the different guiding devices connected to the actuator 1 (where the first guiding member 2 and the third guiding member 4 are guiding planes, and the second guiding member 3 and the fourth guiding member 5 are guiding axes), as well as the position and attitude parameters in the base coordinate system (such as the first end base coordinate system 71 or the target part base coordinate system 713) (i.e., the transformation relationship of the selected guiding plane or guiding axis relative to the base coordinate system).

[0167] If the target component 13 is used as the base coordinate system (i.e., the target part base coordinate system 713), then the target component 13 must be set; otherwise, the target component 13 may not be set.

[0168] Step S2: Select a base coordinate system and obtain the first actual coordinates of the guiding device on the guiding plane or guiding axis under the base coordinate system, such as (x0, y0, z0).

[0169] Furthermore, the coordinates of the midpoint of the guide plane or the intersection of the guide axis and the end face of the conduit (or the end face of the outer sleeve) are preferred as the first actual coordinates.

[0170] Step S3: Obtain the unit normal vector (x1, y1, z1) of the guide plane or the first unit vector (x1, y1, z1) along the axis of the guide axis.

[0171] Wherein, when the guiding device has a guiding plane, the unit normal vector of the guiding plane is used as the first unit vector; when the guiding device has a guiding hole, the first unit vector is determined by the axial direction of the guiding hole.

[0172] Step S4: Randomly select a second unit vector (x2, y2, z2) and a third unit vector (x3, y3, z3) that are different on the guide plane or in a direction perpendicular to the guide axis.

[0173] The constraints that need to be satisfied are as follows:

[0174] The product of the second unit vector (x2, y2, z2) and the third unit vector (x3, y3, z3) equals the first unit vector (x1, y1, z1), and the second unit vector (x2, y2, z2) is perpendicular to the third unit vector (x3, y3, z3).

[0175] Step S5: Based on the origin (0,0,0), first actual coordinates (x0, y0, z0), first unit vector (x1, y1, z1), second unit vector (x2, y2, z2), and third unit vector (x3, y3, z3) of the base coordinate system, obtain the pose parameters of the guiding device in the base coordinate system.

[0176] The pose parameters of the guide plane in the base coordinate system are:

[0177]

[0178] In this context, vectors and points can be represented by columns, or by rows (i.e., the inverse of the matrix in expression 1 above).

[0179] The positional relationships of different guiding instruments preset in the configuration file can be obtained by measuring and calibrating them using measuring tools (such as coordinate measuring machines, laser trackers, binocular cameras, etc.) after assembling different guiding instruments. Of course, in some embodiments, when the physical guiding instrument has high precision, the physical guiding instrument and the model have a better matching degree. In this case, the actuator 1 and different navigation instruments can also be three-dimensionally modeled using software (such as CAD), and then the theoretical data of the model can be obtained through model measurement, and the theoretical data of the model can be used as the positional parameters of the guiding instrument.

[0180] The features and advantages of the calibration method of the present invention are:

[0181] This calibration method can be adapted to the position recognition and positioning of different guide instruments. Even if the guide instrument is changed, there is no need to change the configuration file, which realizes simple and fast operation during surgery and effectively improves the efficiency of bone treatment.

[0182] Implementation Method 4

[0183] like Figure 41 As shown, the present invention provides a bone preparation method, which uses the above-mentioned orthopedic surgical instruments to perform bone preparation on the unicompartmental femoral side of the fixation platform. This bone preparation method includes:

[0184] Step S101: Using the first guide 2 in conjunction with the bone saw blade 82, perform distal femoral plane osteotomy (i.e., form distal femoral osteotomy surface 931).

[0185] Step S102: Using the first guide 2 in conjunction with the bone saw blade 82, perform femoral posterior cutting plane osteotomy (i.e., forming femoral posterior cutting osteotomy surface 932) and femoral posterior oblique plane osteotomy (i.e., forming femoral posterior oblique osteotomy surface 933);

[0186] Step S103: The second guide 3 replaces the first guide 2, and the second guide 3 is used in conjunction with the bone drill bit to perform the distal femur drilling operation;

[0187] Of course, in the above bone preparation method, the posterior femoral osteotomy can be performed first, followed by the distal femoral osteotomy, and finally the posterior oblique femoral osteotomy and distal femoral drilling. That is, the distal femoral osteotomy and the posterior femoral osteotomy must be completed before the posterior oblique femoral osteotomy and the distal femoral drilling (because the distal femoral osteotomy and the posterior femoral osteotomy are needed to balance the knee joint gap in extension and flexion. After the balance is appropriate, the subsequent bone preparation steps can be performed).

[0188] like Figure 42 As shown, the present invention provides a bone preparation method, which uses the above-mentioned orthopedic surgical instruments to perform unicompartmental femoral bone preparation on a mobile platform. This bone preparation method includes:

[0189] Step S201: Using the first guide 2 in conjunction with the bone saw blade 82, perform femoral posterior cutting plane osteotomy;

[0190] Step S202: The second guide 3 replaces the first guide 2, and the second guide 3 is used in conjunction with the bone drill bit to perform the distal femur drilling operation;

[0191] Step S203: The fourth guide 5 and the grinding workpiece 6 replace the second guide 3, and the grinding workpiece 6 is used to perform distal femoral grinding.

[0192] Of course, in the above bone preparation methods, the distal femur can be drilled and ground first, and then the femur can be resected in the posterior plane. That is, the gap balance adjustment between the knee joint in extension and flexion is completed through the distal femur drilling and distal femur grinding. After the adjustment is appropriate, the subsequent bone preparation steps can be carried out.

[0193] like Figure 43 As shown, the present invention provides a bone preparation method, which uses the above-mentioned orthopedic surgical instruments to perform bone preparation on the tibial side of the fixed platform and the movable platform. The bone preparation method includes:

[0194] Step S301: Using the third guide 4 in conjunction with the bone saw blade 82, perform tibial horizontal plane osteotomy (i.e., form tibial horizontal osteotomy surface 934);

[0195] Step S302: Using the third guide 4 in conjunction with the bone saw blade 82, perform vertical plane osteotomy of the tibia (i.e., form a vertical osteotomy surface 935 of the tibia).

[0196] This step can use a horizontal osteotomy surface as a reference to avoid the risk of fracture caused by excessively deep vertical osteotomy.

[0197] It should be noted that in the description of this application, the terms "first," "second," etc., are used only for descriptive purposes and to distinguish similar objects; there is no order between them, nor should they be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more.

[0198] The various embodiments described in this specification are presented in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0199] The above are merely a few embodiments of the present invention. Although the embodiments disclosed in the present invention are as described above, the content is only for the purpose of facilitating understanding of the present invention and is not intended to limit the present invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of the present invention should fall within the scope of protection of the present invention.

Claims

1. An orthopedic surgical instrument, characterized in that, The orthopedic surgical instruments include: An actuator having a first end and a second end, the first end being used for connection to a robotic arm; A guiding device is detachably connected to the second end of the actuator. The guiding device has a guiding plane and / or a guiding hole. The guiding plane is used to guide and limit the bone saw blade so that the bone saw blade fits against the guiding plane while performing bone cutting operations. The guiding hole is used to guide and limit the bone drill bit or the grinding workpiece so that the bone drill bit passes through the guiding hole axially while performing bone drilling operations, or so that the central axis of the grinding workpiece passes through the guiding hole while performing bone grinding operations.

2. The orthopedic surgical instrument as described in claim 1, characterized in that, The guiding device includes: A first type of guiding device, the first type of guiding device having at least a first guiding plane, wherein at least one side wall of the bone saw blade is in contact with the first guiding plane, so that the bone saw blade performs osteotomy along the first guiding plane; And / or, a second type of guiding device, the second type of guiding device having at least the guiding hole, at least a portion of the bone drill bit or at least a portion of the central axis of the workpiece being ground being located within the guiding hole, and the end of the bone drill bit or the end of the central axis passing through the guiding hole, so that the end of the bone drill bit performs bone drilling operations along the axial direction of the guiding hole or the central axis of the workpiece being ground is passing through the guiding hole while bone grinding operations are performed.

3. The orthopedic surgical instrument as described in claim 1, characterized in that, The guide device has an interface structure, and the actuator has a device interface that cooperates with the interface structure. By cooperating with the device interface through the interface structure, the guide device is detachably connected to the second end of the actuator.

4. The orthopedic surgical instrument as described in claim 3, characterized in that, The instrument interface includes at least a first interface portion and a second interface portion, and the first interface portion and the second interface portion are connected by a connecting portion. The interface structure is a protrusion adapted to the instrument interface. The interface structure is simultaneously inserted into the first interface portion and the connecting portion, or the interface structure is simultaneously inserted into the second interface portion and the connecting portion. The connecting portion has a different cross-sectional area from the first interface portion and the second interface portion, in order to limit the interface structure.

5. The orthopedic surgical instrument as described in claim 3, characterized in that, The first end and the second end of the actuator are connected by a connecting rod; The actuator further includes a target component for optical tracking and positioning, the target component being disposed on the first end or the connecting rod.

6. The orthopedic surgical instrument as described in any one of claims 1 to 5, characterized in that, The guiding device includes: A first guide member has a first guide plane for femoral osteotomy, and at least one side wall of the bone saw blade is in contact with the first guide plane for femoral osteotomy, and the bone saw blade performs osteotomy along the first guide plane for femoral osteotomy. And / or, a second guide member having a guide through hole through which the end of the bone drill bit passes for bone drilling operations; And / or, a third guide member having a first guide plane for tibial osteotomy, at least one side wall of the bone saw blade being in contact with the first guide plane for tibial osteotomy, the bone saw blade performing osteotomy along the first guide plane for tibial osteotomy; And / or, a fourth guide member and a grinding workpiece, the fourth guide member having a guide hole, the grinding workpiece having a central shaft and a grinding part located at one end of the central shaft, the central shaft being movably inserted into the guide hole, the grinding part being rotated by the central shaft to perform bone grinding operations.

7. The orthopedic surgical instrument as described in claim 6, characterized in that, The first guide member has a plate-like structure and a guide groove for femoral osteotomy guide plate. The two opposite inner walls of the guide groove for femoral osteotomy guide plate respectively form the first guide plane and the second guide plane for femoral osteotomy. The bone saw blade passes through the guide groove for femoral osteotomy guide plate. Alternatively, the first guide member may have a plate-like structure, with one side of the first guide member forming the first guide plane for the femoral osteotomy.

8. The orthopedic surgical instrument as described in claim 6, characterized in that, The second guide includes a guide tube with a guide through hole, and the bone drill bit is movably disposed within the guide through hole along the axial direction of the guide through hole.

9. The orthopedic surgical instrument as described in claim 8, characterized in that, The second guide member includes a guide tube comprising an inner sleeve and an outer sleeve. The outer sleeve is sleeved on the outside of the inner sleeve. The guide through hole is located on the inner sleeve. The inner sleeve has an outwardly protruding shoulder. The end face of the shoulder can abut against one end of the outer sleeve to limit the relative position of the inner sleeve and the outer sleeve in the axial direction.

10. The orthopedic surgical instrument as described in claim 6, characterized in that, The third guide member has a plate-like structure and a first guide groove for tibial osteotomy guide plate. The two opposite inner walls of the first guide groove for tibial osteotomy guide plate respectively form the first guide plane for tibial osteotomy and the second guide plane for tibial osteotomy. The bone saw blade passes through the first guide groove for tibial osteotomy guide plate. Alternatively, the third guide member may have a plate-like structure, with one side of the plate forming the first guide plane for the tibial osteotomy; Alternatively, the third guide member has a plate-like structure and a first guide groove for tibial osteotomy guide plate. The two opposite inner walls of the first guide groove for tibial osteotomy guide plate respectively form the first guide plane and the second guide plane for tibial osteotomy. One side of the first guide groove for tibial osteotomy guide plate is open, and the bone saw blade passes through the first guide groove for tibial osteotomy guide plate. Alternatively, the third guide member has a plate-like structure and a first guide groove for tibial osteotomy guide plate. The two opposite inner walls of the first guide groove for tibial osteotomy guide plate respectively form the first guide plane and the second guide plane for tibial osteotomy. One side of the first guide groove for tibial osteotomy guide plate is open and has a protruding baffle at the open position. The bone saw blade passes through the first guide groove for tibial osteotomy guide plate so as to limit the osteotomy depth of the bone saw blade by the baffle. Alternatively, the third guide member has a plate-like structure, and has a first guide groove and a second guide groove of the tibial osteotomy guide plate with perpendicular extension directions. The two opposite inner walls of the first guide groove of the tibial osteotomy guide plate respectively form the first guide plane and the second guide plane of the tibial osteotomy, and the two opposite inner walls of the second guide groove of the tibial osteotomy guide plate respectively form the third guide plane and the fourth guide plane of the tibial osteotomy, and the bone saw blade passes through the first guide groove or the second guide groove of the tibial osteotomy guide plate. Alternatively, the third guide member has a plate-like structure, with one side of the plate forming the first guide plane for tibial osteotomy. One side of the first guide plane for tibial osteotomy has a vertical plate, and the side of the vertical plate facing the first guide plane for tibial osteotomy forms the third guide plane for tibial osteotomy. The third guide plane for tibial osteotomy is perpendicular to the first guide plane for tibial osteotomy.

11. The orthopedic surgical instrument as described in claim 6, characterized in that, The fourth guide member includes a first guide portion and a second guide portion, with a gap between the first guide portion and the second guide portion, and a first guide hole and a second guide hole respectively on the first guide portion and the second guide portion, with the first guide hole and the second guide hole being coaxially arranged. The central shaft has an outwardly protruding stop, the central shaft passes through the first guide hole and the second guide hole, and the stop is movably disposed within the interval.

12. The orthopedic surgical instrument as described in claim 6, characterized in that, The grinding section has a curved surface structure adapted to the surface of the bone grinding position, and the grinding section has a cutting edge for grinding away bone.

13. A bone surgery robot system, characterized in that, The bone surgery robot system includes: A robotic arm and an optical navigation device, wherein the robotic arm and the optical navigation device are respectively mounted on two trolleys; The orthopedic surgical instrument according to any one of claims 1 to 12, wherein the orthopedic surgical instrument is disposed at the movable end of the robotic arm, and the position and orientation of the orthopedic surgical instrument are identified and calibrated by the optical navigation device.

14. A calibration method for calibrating the position of orthopedic surgical instruments according to any one of claims 1 to 12, characterized in that, The calibration method includes the following steps: Pre-defined guide planes or guide axes for different guide instruments in the orthopedic surgical instruments; Select a base coordinate system and obtain the first actual coordinates of the guiding device in the guiding plane or guiding axis under the base coordinate system; Obtain the unit normal vector of the guide plane or the first unit vector of the guide axis along the axial direction; On the guide plane or in a direction perpendicular to the guide axis, arbitrarily select different second and third unit vectors; Wherein, the product of the second unit vector and the third unit vector equals the first unit vector, and the second unit vector is perpendicular to the third unit vector; The pose parameters of the guiding device in the base coordinate system are obtained based on the origin of the base coordinate system, the first actual coordinates, the first unit vector, the second unit vector, and the third unit vector.

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