A retractor fixation device for robot-assisted hip replacement surgery

Abstract

The present invention provides a retractor fixing device for robot-assisted hip replacement surgery, comprising a fixing device, a gripper, and a connecting buckle. The fixing device comprises a bedside locking buckle and a bedside extension rod connected thereto. The bedside locking buckle can fix the bedside extension rod connected thereto to the crossbar of the operating bed through a simple locking mechanism during surgery to keep the bedside extension rod in a vertical state with the operating bed. The bedside extension rod is a metal cylinder to ensure that the connecting buckle fixed on the bedside extension rod can move up and down in the vertical direction and rotate in the horizontal direction. The present invention uses a retractor fixing device connected to the bedside to simply and quickly solve the problem of difficulty in holding the retractor caused by the assistant leaving the table, insufficient manpower, etc. during robot-assisted THA surgery, solves the technical problem that the existing retractor can only pull backwards but cannot press down, assists in completing acetabulum exposure, and the fixing device is more convenient.

Description

Technical Field

[0001] The invention relates to the technical field of medical equipment, and in particular to a retractor fixing device in robot-assisted hip replacement surgery. Background Art

[0002] Total hip arthroplasty (THA) is currently the best treatment option for end-stage hip disease. It can effectively solve patients' pain, limited mobility, functional impairment and other problems, and improve the quality of life after surgery. Robot-assisted surgery is a major development in the field of surgery in recent years. At present, robots that can be used to assist total hip replacement are increasingly widely used in China, such as the Mako robot. The robot assists doctors in developing a three-dimensional surgical plan with the help of the patient's preoperative hip CT scan, and determines the patient's prosthesis model and position in a personalized manner. During the operation, the robot uses the navigation function of the robotic arm and the intraoperative feedback mechanism to achieve perfect reproduction of the preoperative plan.

[0003] The smooth implementation of a robot-assisted THA surgery requires good acetabular exposure to facilitate acetabular grinding, prosthesis placement, and protection of surrounding vascular and nerve tissues. Taking the posterior lateral approach as an example, under normal circumstances, three assistants are required to hold the retractors at the anterior superior edge, posterior superior edge, and inferior edge of the acetabulum to assist in exposing the acetabulum. When the robot assists in acetabular grinding, the robotic arm enters the surgical area from the front of the patient. In order to make room for the robotic arm and ensure aseptic operation, the assistant holding the front retractor often needs to temporarily leave the operating table. At this time, it is difficult for the remaining two assistants to assist in completing the surgical field exposure, which brings difficulties to the smooth and smooth progress of the robot-assisted THA surgery. The working characteristic of the above-mentioned front retractor is that the tip of the retractor is fixed on the anterior edge of the acetabulum. According to the principle of leverage, it is necessary to rely on the assistant to apply a large downward force to the retractor handle to achieve acetabular exposure. The current automatic retractor and other devices can only pull backwards and cannot achieve downward pressure.

[0004] Chinese patent CN208031237U discloses a hip distractor, which relates to an orthopedic surgical fixation device. The base plate is fixed to the base through a base support. A mortise is provided on the base, and a steering ball is provided in the mortise. The steering ball is connected to a central screw. The other end of the central screw is fixed to the middle of a bridge plate. A curved screw is fixed at each end of the bridge plate. The distractor is flexibly adjustable in direction, suitable for different individuals, and convenient for position selection and fixation. The fixing pins are three-dimensionally positioned and firmly fixed. The gap between the femoral head joint can be effectively adjusted, which conforms to the physiological structure characteristics of the human body, so that the gap between the femoral head and the acetabulum is uniform, which is convenient for patient activities. However, the problem of how to facilitate the operation of the front distractor during THA surgery is not considered. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a retractor fixation device in robot-assisted hip replacement surgery to provide support for the smooth implementation of robot-assisted THA surgery.

[0006] The invention comprises a fixing device, a holder and a connecting buckle. The fixing device comprises a bedside locking buckle and a bedside extension rod connected thereto. The bedside extension rod is cylindrical. The connecting buckle is provided with a first circular ring and a second circular ring. The connecting buckle is sleeved on the bedside extension rod through the first circular ring. The connecting buckle cooperates with the bedside extension rod so that the connecting buckle on the bedside extension rod can move up and down in the vertical direction and rotate in the horizontal direction. The first circular ring is provided with a T-bolt, and the connecting buckle and the bedside extension rod can be fixed and locked by the T-bolt. The holder is inserted into the second circular ring of the connecting buckle, and two fixing claws are provided at the end of the holder.

[0007] Furthermore, the distance between the two fixing claws of the holder is 5-10 cm, each fixing claw is 1 cm wide and 4-5 cm long, the fixing claw is composed of an upper branch and a lower branch, and the distance between the upper branch and the lower branch is 0.6-1 cm.

[0008] Furthermore, the two fixing claws include a distal fixing claw and a proximal fixing claw, and the lower branch of the distal fixing claw and the upper branch of the proximal fixing claw are respectively provided with a fixer with a height of 0.2 cm protruding toward the center at the end.

[0009] Furthermore, a connection point is provided in the middle of the holder, which is adjustable in the horizontal direction and locked in the vertical direction.

[0010] Furthermore, the holder includes a first holder rod and a second holder rod, the first holder rod is connected to the connecting buckle, and the cross-section of the first holder rod is square or hexagonal.

[0011] Further, the cross-sectional shape of the bedside extension rod is consistent with the cross-sectional shape of the first gripper rod.

[0012] Furthermore, the connection between the first and second circular rings is rotatable, thereby ensuring that the two sides can rotate relative to each other.

[0013] Furthermore, in the rotatable embodiment, pins are used to fix the first ring and the second ring.

[0014] Compared with the prior art, the beneficial effect of the present invention is that the present invention uses a retractor fixing device connected to the bedside to simply and quickly solve the problem of difficulty in holding the front retractor caused by the assistant leaving the table, insufficient manpower, etc. during robot-assisted THA surgery, and assist in completing acetabulum exposure. The present invention does not design a new retractor. On the basis of the existing acetabulum exposure and retractor commonly used in clinical practice, a retractor handle is connected through a holder; the fixing device is easy to operate. Before locking, the direction and angle of the retractor can be freely adjusted according to the needs of the surgeon. Finally, only a T-bolt needs to be tightened to achieve the locking of the fixing device. The design of the holder can not only quickly install and remove the retractor, but also can be lowered with the help of the holding device so that the front tip of the retractor abuts against the front edge of the acetabulum. Using the principle of leverage, the arc-shaped part of the retractor blocks soft tissues such as muscles and skin, making it convenient to expose the acetabulum. At the same time, with the help of the protrusion at the end of the claw, the retractor is clamped to ensure that the retractor cannot be disengaged from the sides of the two fixed claws of the holder, so that the retractor is fixed to a predetermined position in the vertical direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a structural schematic diagram of the first viewing angle of the present invention;

[0017] Figure 2 It is a schematic diagram of the structure of the fixing device of the present invention;

[0018] Figure 3 This is a schematic diagram of the connecting buckle structure of the present invention;

[0019] Figure 4 It is a schematic diagram of the structure of the holder of the present invention;

[0020] Figure 5 for Figure 4 Enlarged view of point A along the middle.

[0021] Figure numerals: fixing device 1, holder 2, connecting buckle 3, bedside locking buckle 11, bedside extension rod 12, first holder rod 21, second holder rod 22, proximal fixing claw 23, distal fixing claw 24, fixer 25, connecting point 26, first ring 31, second ring 32, pin 33, T-bolt 34. DETAILED DESCRIPTION

[0022] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0023] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention.

[0024] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] Combine the following Figures 1 to 5As shown, an embodiment of the present invention provides a retractor fixing device for robot-assisted hip replacement surgery, comprising a fixing device 1, a gripper 2, and a connecting buckle 3. The fixing device 1 comprises a bedside locking buckle 11 and a bedside extension rod 12 connected thereto. The bedside locking buckle 11 can fix the bedside extension rod 12 connected thereto on the crossbar of the operating bed through a simple locking mechanism during surgery, so as to keep the bedside extension rod 12 in a vertical state with the operating bed. The bedside extension rod 12 is cylindrical, and the connecting buckle 3 is provided with a first ring 31 and a second ring 32. The connecting buckle 3 is sleeved on the bedside extension rod 1 through the first ring 31. 2, the connecting buckle 3 cooperates with the bedside extension rod 12, so that the connecting buckle 3 on the bedside extension rod 12 can move up and down in the vertical direction and rotate in the horizontal direction. A T-bolt 34 is provided on the first ring 31, and the connecting buckle 3 and the bedside extension rod 12 can be fixed and locked by the T-bolt 34; the holder 2 is inserted into the second ring 32 of the connecting buckle 3, and the end of the holder 2 is provided with two fixing claws, which are used to clamp the retractor handle. The design of the holder can not only quickly install and disassemble the retractor, but also can be used to lower the holder 2 so that the front end tip of the retractor abuts against the front edge of the acetabulum. Using the principle of leverage, the arc-shaped part of the retractor blocks soft tissues such as muscles and skin, making it convenient to expose the acetabulum. At the same time, with the help of the protrusion at the end of the claw, the retractor is clamped to ensure that the retractor cannot fall out from the sides of the two fixing claws of the holder, so that the retractor is fixed to a predetermined position in the vertical direction.

[0028] The holder 2 includes a first holder rod 21 and a second holder rod 22. The first holder rod 21 is connected to the connecting buckle 3. The cross-sectional shape of the first holder rod 21 is square, hexagonal or other shapes, ensuring that the first holder rod 21 and the second ring 32 of the connecting buckle 3 can slide along the first holder rod 21 but cannot rotate, so as to maintain the stability of the first holder rod 21.

[0029] The width of the acetabular retractor handle is 3-4cm and the thickness is 0.3-0.5cm. According to the data of the acetabular retractor handle, the distance between the two fixed claws of the holder 2 is 5-10cm, each fixed claw is 1cm wide and 4-5cm long, and the fixed claw consists of an upper branch and a lower branch, and the distance between the upper branch and the lower branch is 0.6-1cm.

[0030] The two fixing claws include a distal fixing claw 24 and a proximal fixing claw 23. The lower branch of the distal fixing claw 24 and the upper branch of the proximal fixing claw 23 are respectively provided with a fixer 25 with a height of 0.2 cm protruding toward the center at the end. When pressed down, the retractor is clamped to ensure that the retractor does not swing and fall out of the sides of the two fixing claws of the gripper 2.

[0031] A connection point 26 which is adjustable in the horizontal direction and locked in the vertical direction is provided in the middle of the gripper 2, so as to ensure that the direction of the retractor can be adjusted in the horizontal direction.

[0032] The cross-sectional shape of the bedside extension rod 12 is consistent with the cross-sectional shape of the first gripper rod 21, ensuring that the connection between the bedside extension rod 12 and the first ring 31 of the connecting buckle 3 can slide on the bedside extension rod 12 but cannot rotate.

[0033] The connection between the first ring 31 and the second ring 32 is rotatable to ensure that the two sides can rotate relative to each other. In the rotatable embodiment, the first ring 31 and the second ring 32 can be fixed by a pin 33. The fixing device of the present invention quickly solves the problem of difficulty in holding the retractor caused by the assistant leaving the platform, insufficient manpower, etc. in robot-assisted THA surgery, assists in completing acetabulum exposure, and helps robot-assisted THA surgery to smoothly perform robot-assisted THA surgery.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A retractor fixation device for robot-assisted hip replacement surgery, characterized in that: The invention comprises a fixing device (1), a gripper (2), and a connecting buckle (3). The fixing device (1) comprises a bedside locking buckle (11) and a bedside extension rod (12) connected thereto. The bedside extension rod (12) is cylindrical. The connecting buckle (3) is provided with a first circular ring (31) and a second circular ring (32). The connecting buckle (3) is sleeved on the bedside extension rod (12) through the first circular ring (31). The connecting buckle (3) cooperates with the bedside extension rod (12) so that the connecting buckle (3) on the bedside extension rod (12) can move up and down in the vertical direction and rotate in the horizontal direction. The first circular ring (31) is provided with a T-bolt (34). The connecting buckle (3) can be connected to the bedside extension rod (12) through the T-bolt (34). ) is fixed and locked; the holder (2) is inserted into the second ring (32) of the connecting buckle (3), and two fixing claws are provided at the end of the holder (2); the two fixing claws of the holder (2) are spaced 5-10 cm apart, each fixing claw is 1 cm wide and 4-5 cm long, and the fixing claws are composed of an upper branch and a lower branch, and the distance between the upper branch and the lower branch is 0.6-1 cm; the two fixing claws include a distal fixing claw (24) and a proximal fixing claw (23), and the lower branch of the distal fixing claw (24) and the upper branch of the proximal fixing claw (23) are respectively provided with a fixer (25) with a protruding height of 0.2 cm toward the center; the holder (2) is provided in the middle with a connection point (26) that can be adjusted in the horizontal direction and locked in the vertical direction.

2. The retractor fixation device for robot-assisted hip replacement according to claim 1, characterized in that: The holder (2) comprises a first holder rod (21) and a second holder rod (22); the first holder rod (21) is connected to the connecting buckle (3); and the cross-sectional shape of the first holder rod (21) is a square or a hexagon.

3. The retractor fixation device for robot-assisted hip replacement according to claim 2, characterized in that: The cross-sectional shape of the bedside extension rod (12) is consistent with the cross-sectional shape of the first gripper rod (21).

4. The retractor fixation device for robot-assisted hip replacement according to claim 1, characterized in that: The connection points on both sides of the first circular ring (31) and the second circular ring (32) are rotatable, thereby ensuring that the two sides can rotate relative to each other.

5. The retractor fixation device for robot-assisted hip replacement according to claim 4, characterized in that: The rotatable embodiment uses a pin (33) to fix the first ring (31) and the second ring (32).

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