Orthopedic array support frame, orthopedic array device, and orthopedic robot

Abstract

This invention relates to an orthopedic array support frame, an orthopedic array device, and an orthopedic robot. The orthopedic array support frame is used to mount the array frame of the orthopedic array device. The support frame includes: a base assembly for mounting in the femur; a support assembly, one end of which is disposed within the base assembly; and an adjustment assembly mounted on the other end of the support assembly away from the base assembly. The adjustment assembly is also connected to the array frame on its periphery. The adjustment assembly is rotatable relative to the support assembly to adjust the orientation of the array frame. When the adjustment assembly rotates relative to the support assembly, it can drive the array frame to move, thereby adjusting the position of reflective spheres within the array frame. This allows an optical tracking device to capture the position of the reflective spheres, achieving tracking and positioning. This ensures tracking effectiveness, facilitates assembly and use, improves surgical outcomes, and guarantees the accuracy of joint replacement surgery.

Description

Technical Field

[0001] This invention relates to the field of medical joint surgery equipment technology, and in particular to an orthopedic array support frame, an orthopedic array device, and an orthopedic robot. Background Technology

[0002] In orthopedic robotic joint replacement surgery, it is crucial to track the position of the lateral femur and verify that the implant is properly installed. However, current multi-screw and base fixation array structures are complex, resulting in cumbersome installation processes, increased surgical time, and the inability to adjust the array angle, leading to poor tracking and affecting the accuracy of joint replacement surgery. Summary of the Invention

[0003] Therefore, it is necessary to provide an orthopedic array support frame, orthopedic array device, and orthopedic robot that ensures tracking performance and simplifies installation steps, addressing the current problems of cumbersome array frame installation process and inability to adjust angles, which affect tracking performance.

[0004] An orthopedic array support frame for mounting an orthopedic array device, the orthopedic array support frame comprising:

[0005] A base assembly for mounting in the femur;

[0006] A support component, one end of which is disposed in the base component;

[0007] An adjustment component is installed at the other end of the support component away from the base component. The array frame is also connected to the periphery of the adjustment component. The adjustment component is rotatable relative to the support component to adjust the orientation of the array frame.

[0008] In one embodiment, the base assembly includes a mounting base and a bone screw, one end of which passes through and protrudes from the mounting base for connection to the femur, and the other end of which is connected to the support assembly.

[0009] In one embodiment, the base assembly further includes a positioning element that is fixedly connected to the mounting base.

[0010] In one embodiment, there are multiple positioning elements, which are disposed around the bone screw.

[0011] In one embodiment, the base assembly further includes a retaining ring disposed in the mounting base and located at the end where the bone screw connects to the support assembly.

[0012] In one embodiment, the support assembly includes a fixing component, a support spindle, and a mounting component. One end of the support spindle is connected to the bone screw, and the other end of the support spindle is connected to the mounting component. The fixing component is connected to the mounting base. The fixing component is used to fix the support spindle to the mounting base, and the mounting component is used to install and connect the adjustment component.

[0013] In one embodiment, the fixing component is sleeved on the supporting spindle, the supporting spindle having a limiting step, the two sides of the limiting step respectively abutting against the mounting base and the fixing component.

[0014] In one embodiment, the end of the bone screw connected to the support assembly has an installation interface, and the end of the support assembly connected to the bone screw has the same cross-sectional shape as the installation interface; the cross-sectional shape of the installation interface is polygonal, elliptical, or irregular.

[0015] In one embodiment, the adjustment assembly includes an adjustment bracket and an adjustment member, the adjustment member being mounted on the mounting component through the adjustment bracket, the adjustment member being capable of locking or unlocking the adjustment bracket, and when the adjustment member is unlocked, the adjustment bracket being rotatable relative to the mounting component;

[0016] The adjustment assembly also includes a connecting rod disposed on the side of the adjustment bracket, the connecting rod being used to connect the array frame.

[0017] In one embodiment, the orthopedic array support frame further includes a toothed component, the toothed component including a first tooth and a second tooth that can mesh with the first tooth, the first tooth being disposed at one end of the support component, and the second tooth being disposed at one end of the adjustment component;

[0018] The meshing and fixing of the first tooth and the second tooth can restrict the rotation of the adjustment component.

[0019] An orthopedic array device includes an array frame and an orthopedic array support frame as described in any of the above technical features, wherein the array frame is connected to an adjustment component of the orthopedic array support frame, and a reflective ball is provided on the array frame.

[0020] An orthopedic robot includes a robot body, an optical tracking device, and an orthopedic array device as described above.

[0021] The optical tracking device is electrically connected to the robot body. The optical tracking device emits tracking light to the reflective ball on the orthopedic array device. The reflective ball reflects the tracking light back to the optical tracking device and feeds it back to the robot body.

[0022] By adopting the above technical solution, the present invention has at least the following technical effects:

[0023] The orthopedic array support frame, orthopedic array device, and orthopedic robot of the present invention have a base assembly fixed to the patient's femur. One end of the support assembly is installed in the base assembly, and the other end is connected to an adjustment assembly. An array frame is connected to the adjustment assembly, which can rotate relative to the support assembly. The array frame carries reflective spheres. Installing the support assembly, adjustment assembly, and array frame through the base assembly simplifies the structure and facilitates installation. Furthermore, when the adjustment assembly rotates relative to the support assembly, it can drive the array frame to move, adjusting the position of the reflective spheres within the array frame. This allows the optical tracking device to capture the position of the reflective spheres, achieving tracking and positioning. This effectively solves the problems of cumbersome array frame installation and the inability to adjust the angle, which affects tracking performance. It ensures tracking effectiveness, facilitates assembly and use, improves surgical outcomes, and guarantees the accuracy of joint replacement surgery. Attached Figure Description

[0024] Figure 1 A perspective view of an orthopedic array support frame with reflective balls installed according to an embodiment of the present invention;

[0025] Figure 2 for Figure 1 A perspective view of the base assembly in the orthopedic array support frame from one angle;

[0026] Figure 3 for Figure 1 A perspective view of the base assembly in the orthopedic array support frame from another angle;

[0027] Figure 4 for Figure 1 A cutaway diagram of the connection between the base assembly and the support assembly in the orthopedic array support frame shown;

[0028] Figure 5 for Figure 1 A three-dimensional view of the support components in the orthopedic array support frame shown;

[0029] Figure 6 for Figure 5 A cutaway diagram of the support component shown;

[0030] Figure 7 for Figure 6 A three-dimensional view of the adjustment components connecting the orthopedic array support frame;

[0031] Figure 8 for Figure 1 A three-dimensional view of the adjusting components in the orthopedic array support frame shown;

[0032] Figure 9 for Figure 7The diagram shows a cut at the connection between the adjustment component and the array frame.

[0033] in:

[0034] 10. Orthopedic array device; 100. Orthopedic array support frame; 110. Base assembly; 111. Mounting base; 1121. Mounting interface; 112. Bone screw; 113. Positioning component; 114. Limiting retaining ring; 120. Support assembly; 121. Support spindle; 1211. Limiting step; 122. Fixing component; 123. Mounting component; 1231. Second tooth; 130. Adjustment assembly; 131. Adjustment bracket; 1311. First tooth; 132. Connecting rod; 133. Adjusting component; 200. Reflector ball; 300. Array frame; 310. Interface plate; 320. Fixing component; 330. Limiting component. Detailed Implementation

[0035] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0036] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0041] See Figures 1 to 9 This invention provides an orthopedic array support frame 100. This orthopedic array support frame 100 is used in the orthopedic array device 10 of an orthopedic robot. Optionally, the orthopedic array support frame 100 of this invention can be applied to any type of orthopedic surgery; this invention only describes the application of the orthopedic array support frame 100 to femoral surgery as an example. When the orthopedic array support frame 100 is applied to other types of orthopedic surgery, its principle is essentially the same as that applied to femoral surgery, and will not be elaborated further here.

[0042] During orthopedic robot-assisted joint replacement surgery, the orthopedic array support frame 100 and the array frame 300 of the orthopedic array device 10 can track the position of the femur on the femoral side and detect whether the implant is properly installed, ensuring the safety of the joint replacement surgery. Understandably, during orthopedic robot surgery, the orthopedic array support frame 100 can detect the position of the femur and implant in real time and provide feedback to the surgeon, facilitating the joint replacement surgery; moreover, after the orthopedic robot surgery is completed, the orthopedic array support frame 100 can detect whether the femur and implant are properly installed, ensuring the safety of the joint replacement surgery.

[0043] However, current array frames have complex structures, making operation cumbersome in actual use. Furthermore, the inability to adjust the angle of the reflective ball leads to poor tracking performance, affecting the accuracy of joint replacement surgery. Therefore, this invention provides a novel orthopedic array support frame 100. When used in conjunction with the array frame 300 of the orthopedic array device 10, this orthopedic array support frame 100 can detect the position of the femur and whether the implant is properly installed during joint replacement surgery using an orthopedic robot. The operation is simple and easy to install, and the angle of the reflective ball 200 can be adjusted to ensure good tracking and positioning. The specific structure of the orthopedic array support frame 100 is described in detail below.

[0044] See Figures 1 to 9 In one embodiment, the orthopedic array support frame 100 includes a base assembly 110, a support assembly 120, and an adjustment assembly 130. The base assembly 110 is for mounting in the femur. One end of the support assembly 120 is disposed in the base assembly 110. The adjustment assembly 130 is mounted on the other end of the support assembly 120 away from the base assembly 110, and the end of the adjustment assembly 130 away from the support assembly 120 is used to connect to the array frame 300. The adjustment assembly 130 is rotatable relative to the support assembly 120 to adjust the orientation of the array frame 300.

[0045] One end of the base assembly 110 is fixedly connected to the femur, and the other end of the base assembly 110 is connected to the support assembly 120. An adjustment assembly 130 is installed at the end of the support assembly 120 away from the base assembly 110, and an array frame 300 is installed on the adjustment assembly 130 to support the reflective ball 200. The combination of the base assembly 110, the support assembly 120, and the adjustment assembly 130 forms an orthopedic array support frame 100 to support the array frame 300 and enable the optical tracking device of the orthopedic robot to track the position of the reflective ball 200.

[0046] The base assembly 110 serves as the mounting foundation for the orthopedic array support frame 100. The orthopedic array support frame 100 is fixedly mounted on the femur on the femoral side via the base assembly 110, thus positioning the orthopedic array support frame 100 on the femur. After the base assembly 110 is installed on the femur, the support assembly 120, connected to the base assembly 110, is located on the lateral side of the femur, separating the adjustment assembly 130 and the array frame 300 from the patient. The support assembly 120 establishes the connection between the base assembly 110 and the adjustment assembly 130, creating a certain distance between them. This facilitates the doctor's operation of the adjustment assembly 130, avoiding discomfort caused by restricted movement during operation.

[0047] The adjustment component 130 is installed at the end of the support component 120 away from the base component 110. The adjustment component 130 is rotatable relative to the support component 120, and the outer periphery of the adjustment component 130 is connected to the array frame 300. When the adjustment component 130 rotates relative to the support component 120, it can drive the array frame 300 to move, thereby adjusting the spatial position of the array frame 300 and thus adjusting the spatial position of the reflective ball 200 on the array frame 300.

[0048] Understandably, the optical tracking device of an orthopedic robot emits tracking light during use. This tracking light can be projected onto the reflective sphere 200 of the array frame 300, and the reflective sphere 200 can reflect the tracking light. By adjusting the position of the array frame 300 through the adjusting component 130, the angle at which the reflective sphere 200 reflects the tracking light can be adjusted, allowing the tracked light reflected by the reflective sphere 200 to be projected onto the optical tracking device. In this way, the optical tracking device can locate the position of the reflective sphere 200 in space. Furthermore, since the spatial positions and dimensional relationships of the array frame 300, adjusting component 130, supporting component 120, and base component 110 are fixed, the spatial position of the base component 110 installed on the femur can be calculated based on the spatial position of the reflective sphere 200. This enables the positioning and tracking of the femur and implants, detects whether they are properly installed, and ensures the accuracy of joint replacement surgery.

[0049] In use, the orthopedic array support frame 100 of the above embodiment has its base assembly 110 mounted on the patient's femur, the support assembly 120 extending out and connected to the adjustment assembly 130 and the array frame 300, and a reflective ball 200 mounted on the array frame 300 to enable detection of the femur and implants. After the surgery, the adjustment assembly 130, the array frame 300, and the reflective ball 200 on the support assembly 120 are removed, and the base assembly 110 is removed from the femur.

[0050] The orthopedic array support frame 100 of the above embodiment, with the support component 120 and adjustment component 130 mounted on the base assembly 110, has a simple structure and is easy to install. Furthermore, when the adjustment component 130 rotates relative to the support component 120, it can drive the array frame 300 to move, thereby adjusting the position of the reflective ball 200 within the array frame 300. In this way, the optical tracking device can capture the position of the reflective ball 200, achieving tracking and positioning. This effectively solves the problems of cumbersome array frame installation and the inability to adjust the angle, which affects tracking performance. It ensures tracking effectiveness, facilitates assembly and use, improves surgical outcomes, and guarantees the accuracy of joint replacement surgery.

[0051] See Figures 1 to 4 In one embodiment, the base assembly 110 includes a mounting base 111 and a bone screw 112. One end of the bone screw 112 passes through and extends out of the mounting base 111 for connection to the femur, and the other end of the bone screw 112 is connected to the support assembly 120. The mounting base 111 serves a load-bearing function, supporting the various components of the base assembly 110. Furthermore, the mounting base 111 can also be connected to the support assembly 120, ensuring a reliable connection between the support assembly 120 and the base assembly 110.

[0052] The bone screw 112 can rotate and move axially a short distance relative to the mounting base 111, facilitating fixation and disassembly. Specifically, the mounting base 111 has a through hole for mounting the bone screw 112, which is rotatably mounted in the through hole. The head of the bone screw 112 is located in the mounting base 111, and the fixing part of the bone screw 112 extends through the through hole to fix it to the patient's femur, thus fixing the mounting base 111 to the femur. Understandably, the threads on the outer side of the bone screw 112 ensure reliable fixation to the femur, thereby ensuring that the orthopedic array support frame 100 is reliably mounted on the femur and preventing the orthopedic array support frame 100 from falling off the femur.

[0053] In one embodiment, the base assembly 110 further includes a positioning element 113, which is fixedly connected to the mounting base 111. The positioning element 113 can further realize the positioning connection between the mounting base 111 and the femur, ensuring the stability of the orthopedic array support frame 100 installed on the femur. Optionally, the positioning element 113 is a positioning pin.

[0054] In one embodiment, there are multiple positioning elements 113, which surround the bone screw 112 and extend through the mounting base 111 for connection to the femur. The multiple positioning elements 113 ensure reliable fixation of the mounting base 111 to the femur. Optionally, there may be two, three, four, or even more positioning elements 113. In this embodiment, there are four positioning elements 113, which surround the periphery of the bone screw 112 to increase the stability of the mounting base 111.

[0055] When the bone screw 112 is screwed into the femur, the bone screw 112 rotates relative to the mounting base 111, while the mounting base 111 remains stationary. Furthermore, during the screwing process, the bone screw 112 causes the fixation member 320 on the mounting base 111 to move towards the femur and embed itself within it, further increasing the stability of the mounting base 111 and ensuring surgical safety. Optionally, the positioning member 113 is fixed to the mounting base 111 by welding to ensure the stability of the mounting base 111. Of course, the positioning member 113 can also be fixed to the mounting base 111 by interference fit or riveting.

[0056] In one embodiment, the base assembly 110 further includes a retaining ring 114, which is disposed in the mounting base 111 and located at the end where the bone screw 112 connects to the support assembly 120. That is, the retaining ring 114 is located at the axial end of the bone screw 112 and is used to limit the axial displacement of the bone screw 112. In other words, the retaining ring 114 can seal the bone screw 112 within the mounting base 111. It is understood that the mounting base 111 has a mounting groove for mounting the retaining ring 114. After the retaining ring 114 is installed in the mounting groove, there is a certain distance between the retaining ring 114 and the end of the bone screw 112. If the bone screw 112 slides axially, the retaining ring 114 can axially limit the bone screw 112, preventing it from falling out of the mounting base 111 and preventing it from being lost during transportation or storage.

[0057] Optionally, the limiting retaining ring 114 and the mounting base 111 can be fixed in the mounting base 111 by welding, interference fit, snap-fit, or other methods. It is worth noting that after the bone screw 112, positioning component 113, mounting base 111, and limiting retaining ring 114 are processed, they form a pre-assembled whole component. The bone screw 112 can be screwed into the femur using the provided hex wrench to install the base assembly 110.

[0058] See Figure 1 , Figures 4 to 6In one embodiment, the support assembly 120 includes a fixing component 122, a support spindle 121, and a mounting component 123. One end of the support spindle 121 is connected to the bone screw 112, and the mounting component 123 is mounted on the other end of the support spindle 121. The fixing component 122 is sleeved on the support spindle 121 and fixedly connected to the mounting base 111. The fixing component 122 is used to fix the support spindle 121 to the mounting base 111, and the mounting component is used to install and connect the adjustment assembly 130. The fixing component 122 is used to achieve a fixed connection between the support spindle 121 and the mounting base 111, preventing the support spindle 121 from detaching from the mounting base 111, ensuring the position of the support spindle 121 is fixed, and facilitating the subsequent installation of the adjustment assembly 130 and the array frame 300.

[0059] The support spindle 121 is a rod-shaped component. One end of the support spindle 121 extends into the mounting base 111 and connects to the bone screw 112. The other end of the mounting base 111 connects to the mounting component 123 to facilitate the later installation of the adjustment assembly 130. The fixing component 122 is sleeved on the outside of the support spindle 121. When the end of the support spindle 121 is installed in the mounting base 111, the fixing component 122 can slide along the support spindle 121 to fix it to the mounting base 111, thereby fixing the support spindle 121 to the mounting base 111.

[0060] Understandably, to ensure the reliability of the connection between the support assembly 120 and the base assembly 110, the fixing component 122 and the mounting base 111 are typically fixedly connected. Optionally, the fixing component 122 is a nut, and correspondingly, the mounting base 111 has external threads to mate with the fixing component 122. Of course, in other embodiments of the present invention, the fixing component 122 and the mounting base 111 can also be fixed by interference fit, screw tightening, snap-fit ​​connection, or other fixing methods.

[0061] Mounting component 123 is installed at the end of the support spindle 121 away from the mounting base 111. Optionally, mounting component 123 is installed at the end of the support spindle 121 by means of threaded connection, interference fit, or other fixing methods. Further, mounting component 123 has a first interface and a second interface, respectively located at both ends of mounting component 123. The first interface is sleeved on the support spindle 121 to connect mounting component 123 to the support spindle 121, and the second interface is used to connect adjustment component 130 to install adjustment component 130. Further still, the inner wall of the first interface has internal threads, and the support spindle 121 has external threads, ensuring reliable fixing of mounting component 123 and preventing it from slipping off the support spindle 121. Even further, anti-loosening adhesive is applied between the threads of mounting component 123 and support spindle 121 to prevent loosening.

[0062] In one embodiment, a fixing component 122 is sleeved on a supporting spindle 121, and the fixing component 122 and the mounting base 111 form a mounting cavity. The supporting spindle 121 has a limiting step 1211, which is located in the mounting cavity. The two sides of the limiting step 1211 abut against the mounting base 111 and the fixing component 122, respectively. To prevent the supporting spindle 121 from detaching from the mounting base 111, a limiting step 1211 is provided near the end of the supporting spindle 121. This limiting step 1211 protrudes relative to the outer peripheral surface of the supporting spindle 121. After the fixing component 122 is installed on the mounting base 111, the space between the fixing component 122 and the mounting base 111 is the mounting cavity. The limiting step 1211 of the supporting spindle 121 is located exactly in the mounting cavity. The axial displacement of the supporting spindle 121 is limited by the abutment between the inner wall of the mounting cavity and the limiting step 1211, ensuring the reliability of the supporting spindle 121.

[0063] Optionally, the fixing component 122 has a first inner hole, a second inner hole, and a third inner hole that are sequentially connected, and the first, second, and third inner holes extend through the fixing component 122 axially. The diameter of the first inner hole is larger than the diameter of the second inner hole, and the diameter of the second inner hole is larger than the diameter of the third inner hole. In this way, a stepped structure is formed inside the fixing component 122, which facilitates the installation and positioning of the limiting step 1211. Specifically, the first inner hole of the fixing component 122 is fitted onto the mounting base 111, the limiting step 1211 is installed in the second inner hole, and the supporting spindle 121 is installed in the third inner hole.

[0064] See Figures 1 to 6 In one embodiment, the end of the bone screw 112 connected to the support assembly 120 has a mounting interface 1121, and the end of the support assembly 120 connected to the bone screw 112 has the same cross-sectional shape as the mounting interface 1121. The end of the bone screw 112 in the mounting base 111 has a mounting interface 1121, the cross-sectional dimensions of which match the cross-sectional dimensions of the support spindle 121, and the mounting interface 1121 enables the mounting of the end of the support spindle 121.

[0065] Optionally, the cross-sectional shape of the mounting interface 1121 can be polygonal, circular, or irregular. For example, the cross-sectional shape of the mounting interface 1121 is hexagonal, and correspondingly, the cross-sectional shape of the end of the support spindle 121 is also hexagonal, for mounting within the mounting interface 1121. Optionally, the support spindle 121 and the mounting interface 1121 can be fixed by an interference fit or by a hook component, etc., as long as it can restrict the rotation of the support spindle 121 relative to the mounting interface 1121. When the bone screw 112 is not installed into the femur, the bone screw 112 can drive the support spindle 121 to rotate; when the bone screw 112 is fixed into the femur, the bone screw 112 can restrict the rotation of the support spindle 121 relative to the mounting base 111 through the mounting interface 1121.

[0066] See Figure 1 , Figures 7 to 9 In one embodiment, the adjustment assembly 130 includes an adjustment bracket 131 and an adjustment member 133. The adjustment member 133 passes through the adjustment bracket 131 and is mounted on the mounting component 123. The adjustment member 133 can lock or unlock the adjustment bracket 131. When the adjustment member 133 is unlocked, the adjustment bracket 131 can rotate relative to the mounting component 123. The adjustment assembly 130 also includes a connecting rod 132, which is disposed on the side of the adjustment bracket 131 and is used to connect the array frame 300.

[0067] The adjustment component 130 is mounted on the mounting component 123. Rotation of the adjustment component 130 relative to the supporting spindle 121 adjusts the position of the reflector 200 on the array frame 300, facilitating the optical tracking setup to receive the tracking light reflected by the reflector 200. The adjustment bracket 131 is a hollow structure, mounted at the end of the mounting component 123. One end of the adjustment element 133 passes through the adjustment bracket 131 and is installed into the second interface of the mounting component 123, ensuring a reliable connection between the adjustment bracket 131 and the mounting component 123 and preventing the adjustment bracket 131 from detaching from the mounting component 123.

[0068] One end of the connecting rod 132 is fixedly mounted on the outside of the adjusting bracket 131, and the other end of the connecting rod 132 is mounted on the array frame 300. When the adjusting bracket 131 rotates relative to the mounting component 123, the adjusting bracket 131 can drive the connecting rod 132 and the array frame 300 on it to rotate synchronously, thereby adjusting the position of the reflective ball 200 on the array frame 300. Optionally, the connecting rod 132 is fixed to the outside of the adjusting bracket 131 by interference fit, welding, or snap-fit. This ensures a reliable connection between the connecting rod 132 and the adjusting bracket 131, preventing the connecting rod 132 from detaching from the adjusting bracket 131 and ensuring the safety of the surgical procedure.

[0069] Furthermore, the adjusting member 133 can control the locking and unlocking of the adjusting bracket 131. When the adjusting bracket 131 is locked, the mounting component 123, the adjusting bracket 131, and the adjusting member 133 are in close contact, with no room for movement and the adjusting bracket 131 cannot rotate relative to the mounting component 123. When the adjusting bracket 131 is unlocked, the adjusting member 133 moves partially out of the mounting component 123. At this time, the adjusting bracket 131 has a certain amount of axial movement, allowing it to rotate relative to the mounting component 123, thereby adjusting the spatial position of the array frame 300.

[0070] Optionally, the adjusting member 133 is a threaded member, and the second interface has an internal thread. The adjusting member 133 fixes the adjusting bracket 131 to the mounting component 123 through a threaded engagement. When it is necessary to rotate the adjusting bracket 131, the adjusting member 133 is loosened and partially moved out of the second interface. At this time, there is a distance between the end of the adjusting bracket 131 and the adjusting member 133, and the adjusting bracket 131 can rotate relative to the mounting component 123. After adjustment, the adjusting member 133 is tightened and moved into the second interface. At this time, the adjusting member 133 abuts against the adjusting bracket 131 and presses the adjusting bracket 131 onto the mounting component 123, restricting the rotation of the adjusting bracket 131.

[0071] In one embodiment, the orthopedic array support frame 100 further includes a toothed assembly disposed on the adjusting bracket 131 and the mounting component 123, for locking or unlocking the adjusting bracket 131 and the mounting component 123. When the toothed assembly locks the adjusting bracket 131 and the mounting component 123, the adjusting bracket 131 cannot rotate relative to the mounting component 123. When the toothed assembly unlocks the adjusting bracket 131 and the mounting component 123, the adjusting bracket 131 can rotate relative to the mounting component 123.

[0072] In one embodiment, the toothed assembly includes a first tooth 1311 and a second tooth 1231 that can mesh with the first tooth 1311. The first tooth 1311 is disposed at one end of the support assembly 120, and the second tooth 1231 is disposed at one end of the adjustment assembly 130. The meshing and fixing of the first tooth 1311 and the second tooth 1231 can restrict the rotation of the adjustment assembly 130.

[0073] Specifically, the toothed assembly includes a first tooth 1311 and a second tooth 1231 that meshes with the first tooth 1311. The first tooth 1311 is located at the end of the adjusting bracket 131, and the second tooth 1231 is located at the end of the mounting member 123. When the adjusting member 133 is locked, the engagement of the first tooth 1311 and the second tooth 1231 restricts the rotation of the adjusting bracket 131. The locking and unlocking of the adjusting bracket 131 is achieved by the engagement or disengagement of the first tooth 1311 and the second tooth 1231.

[0074] When the adjusting member 133 locks the adjusting bracket 131, the adjusting member 133 can engage the first tooth 1311 with the second tooth 1231, preventing the adjusting bracket 131 from rotating relative to the mounting component 123. When the adjusting member 133 unlocks the adjusting bracket 131, the adjusting bracket 131 can move axially toward the direction of the adjusting member 133, causing the first tooth 1311 of the adjusting bracket 131 to disengage from the second tooth 1231 of the mounting component 123. At this time, the adjusting bracket 131 can rotate relative to the mounting component 123. After the adjusting bracket 131 is adjusted, the adjusting member 133 is tightened, so that the adjusting bracket 131 is locked to the mounting component 123 through the engagement of the first tooth 1311 and the second tooth 1231, ensuring that the adjusting bracket 131 will not move during the operation.

[0075] Optionally, the first tooth 1311 and the second tooth 1231 are arranged in the circumferential direction. That is, both the first tooth 1311 and the second tooth 1231 are circular structures. Of course, in other embodiments of the present invention, the first tooth 1311 and the second component can also be partial teeth, as long as meshing and limiting can be achieved; moreover, the first tooth 1311 can be arranged in the circumferential direction, and the second tooth 1231 can be a partial tooth, etc. Optionally, the first tooth 1311 and the adjusting bracket 131 are an integral structure, and the second tooth 1231 and the mounting component 123 are an integral structure.

[0076] In one embodiment, the end of the mounting component 123 has a protruding mounting joint, and the end of the adjusting bracket 131 has a mounting hole, into which the mounting joint is installed. The mounting joint protrudes axially from the end of the mounting component 123 and is used to connect the adjusting bracket 131. The adjusting bracket 131 has a mounting hole and a through hole communicating with the mounting hole. The mounting hole and the through hole pass through the adjusting bracket 131. The adjusting bracket 131 is fitted onto the mounting joint through the mounting hole, and the adjusting member 133 passes through the through hole and the mounting hole and is installed in the second interface. The diameter of the through hole is smaller than the diameter of the mounting hole to prevent the adjusting bracket 131 from wobbling relative to the adjusting member 133.

[0077] In one embodiment, the inner wall of the adjusting bracket 131 has an anti-drop component, which cooperates with the adjusting member 133 to prevent the adjusting member 133 from detaching from the adjusting bracket 131. After the adjusting member 133 is installed on the mounting member 123, the adjusting member 133 is connected to the anti-drop component inside the adjusting bracket 131. In this way, when the adjusting member 133 is screwed into the adjusting bracket 131 and the second interface, the adjusting member 133 can be prevented from falling out of the adjusting bracket 131.

[0078] Optionally, the anti-drop component is an internal thread provided on the inner wall of the through hole. After the internal threaded anti-drop component cooperates with the threaded adjusting component 133, the adjusting component 133 can be fixed to the adjusting bracket 131, preventing the adjusting component 133 from falling out of the adjusting bracket 131 under non-human factors.

[0079] The present invention also provides an orthopedic array device 10. The orthopedic array device 10 includes an array frame 300 and an orthopedic array support frame 100 as described in any of the above embodiments. The array frame 300 is connected to an adjustment component 130 of the orthopedic array support frame 100. The array frame 300 is used to support a reflective ball 200, and the array frame 300 can move with the adjustment component 130 to adjust the direction of the array frame 300.

[0080] See Figure 9 In one embodiment, the orthopedic array device 10 further includes an interface plate 310 and a fixing member 320. The interface plate 310 is fixed to the end of the connecting rod 132, and the interface plate 310 is fixedly connected to the array frame 300 via the fixing member 320. The array frame 300 is used to support the reflective ball 200. One surface of the interface plate 310 is fitted with the array frame 300 via the fixing member 320, and the other surface of the interface plate 310 is connected to the connecting rod 132, thereby realizing the installation of the array frame 300. Optionally, the interface plate 310 and the connecting rod 132 can be fixed by welding, interference fit, or snap-fit ​​to prevent the interface plate 310 from slipping off the connecting rod 132. Optionally, the fixing member 320 is a threaded part.

[0081] The array frame 300 has mounting openings for mounting reflective balls 200. In this invention, four reflective balls 200 are mounted on the array frame 300. Of course, in other embodiments of this invention, the number of reflective balls 200 on the array frame 300 can be increased or decreased. It is worth noting that the array frame 300 can adopt a structure from the prior art, and its installation method and specific structure will not be described in detail here.

[0082] In one embodiment, the orthopedic array device 10 further includes a limiting member 330, which is disposed on the periphery of the fixing member 320 and connects the interface plate 310 and the array frame 300. The limiting member 330 is used to further limit the connection between the interface plate 310 and the array frame 300, restrict the rotation of the array frame 300 relative to the interface plate 310, and ensure that the array frame 300 is fixed relative to the interface plate 310. Optionally, the limiting member 330 is a limiting pin.

[0083] See Figures 1 to 9During installation of the orthopedic array device of the present invention, the base assembly 110 is first installed onto the designated position of the femur using the provided external hex wrench. Specifically, the base assembly 110 is fixed to the femur by bone screws 112, and the stability of the mounting base 111 relative to the femur is ensured by the positioning component 113. After the base assembly 110 is securely installed, the support spindle 121 is installed into the mounting base 111, and the support spindle 121 is fixed into the mounting base 111 by the fixing component 122. The support spindle 121 is slightly shaken to check whether it is securely fixed. After it is secured, the adjusting bracket 131 and the array frame 300 with the reflective ball 200 are fixed by the interface plate 310 and other structures, and then fixed by the adjusting component 133 after cooperating with the mounting component 123. After the entire assembly is installed, if it is necessary to adjust the orientation of the array frame 300, loosen the adjusting component 133, rotate the adjusting bracket 131 to the ideal position, and then tighten the adjusting component 133.

[0084] The present invention also provides an orthopedic robot, including a robot body, an optical tracking device, and the orthopedic array device 10 in the above embodiments. The optical tracking device is electrically connected to the robot body, and emits tracking light to a reflective ball 200 on the array frame 300 of the orthopedic array device 10. The reflective ball 200 reflects the tracking light back to the optical tracking device and feeds it back to the robot body.

[0085] The optical tracking device has a light source and a receiving component. The light source emits tracking light into the reflector sphere 200, which reflects the tracking light and then receives it through the receiving component. It is worth noting that the optical tracking device can adopt an existing structure, and its emission and reception principles will not be described in detail here.

[0086] After the optical tracking device feeds back the tracking light to the robot body, the robot body can confirm the spatial position of the reflective sphere 200. Based on the spatial position of the reflective sphere 200, it can then confirm the position of the femur and whether the implant is properly installed, thus determining the success of the joint replacement surgery and ensuring its safety. The robot body can also perform surgical procedures, using the tracking light reflected from the reflective sphere 200 to perform the joint replacement surgery.

[0087] After adopting the orthopedic array device 10 of the above embodiment, the orthopedic robot of the present invention facilitates the optical tracking device to capture the position of the reflective ball 200, realizes tracking and positioning, and ensures the tracking effect; at the same time, it can also simplify and shorten the assembly time, facilitate assembly and use, improve the surgical effect, and ensure the accuracy of joint replacement surgery.

[0088] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An orthopedic array support frame, characterized in that, The orthopedic array support frame is used to mount the orthopedic array device, and the orthopedic array support frame includes: A base assembly for mounting in the femur; A support component, one end of which is disposed in the base component; An adjustment component is installed at the other end of the support component away from the base component. The array frame is also connected to the periphery of the adjustment component. The adjustment component is rotatable relative to the support component to adjust the orientation of the array frame. The base assembly includes a mounting base and a bone screw, one end of which passes through and protrudes from the mounting base for connection to the femur, and the other end of which is connected to the support assembly; The orthopedic array support frame also includes a toothed component, which includes a first tooth and a second tooth that can mesh with the first tooth. The first tooth is disposed at one end of the support component, and the second tooth is disposed at one end of the adjustment component. The engagement of the first tooth and the second tooth can limit the rotation of the adjustment component.

2. The orthopedic array support frame according to claim 1, characterized in that, The base assembly further includes a positioning element, which is fixedly connected to the mounting base; The number of positioning elements is multiple, and the multiple positioning elements are disposed around the bone screw.

3. The orthopedic array support frame according to claim 1, characterized in that, The base assembly also includes a limiting ring, which is disposed in the mounting base and located at the end where the bone screw connects to the support assembly.

4. The orthopedic array support frame according to claim 1, characterized in that, The support assembly includes a fixing component, a support spindle, and an mounting component. One end of the support spindle is connected to the bone screw, and the other end of the support spindle is connected to the mounting component. The fixing component is connected to the mounting base. The fixing component is used to fix the support spindle to the mounting base, and the mounting component is used to install and connect the adjustment component.

5. The orthopedic array support frame according to claim 4, characterized in that, The fixing component is sleeved on the supporting main shaft, and the supporting main shaft has a limiting step. The two sides of the limiting step abut against the mounting base and the fixing component, respectively.

6. The orthopedic array support frame according to claim 4, characterized in that, The adjustment assembly includes an adjustment bracket and an adjustment member. The adjustment member is installed on the mounting component through the adjustment bracket. The adjustment member can lock or unlock the adjustment bracket. When the adjustment member is unlocked, the adjustment bracket can rotate relative to the mounting component. The adjustment assembly also includes a connecting rod disposed on the side of the adjustment bracket, the connecting rod being used to connect the array frame.

7. An orthopedic array device, characterized in that, It includes an array frame and an orthopedic array support frame as described in any one of claims 1 to 6, wherein the array frame is connected to an adjustment component of the orthopedic array support frame, and a reflective ball is provided on the array frame.

8. An orthopedic robot, characterized in that, Includes a robot body, an optical tracking device, and the orthopedic array device as described in claim 7; The optical tracking device is electrically connected to the robot body. The optical tracking device emits tracking light to the reflective ball on the orthopedic array device. The reflective ball reflects the tracking light back to the optical tracking device and feeds it back to the robot body.

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