Robotic-assisted joint replacement surgery system fixed to bones and method of use

Abstract

The present invention provides a robot-assisted joint replacement surgery system fixed on a bone and a method of use, comprising: an electric drill, a reamer shaft, an operating robot, a fixed structure, an acetabular rasp and a controller; the output end of the electric drill is connected to the acetabular rasp through the reamer shaft, the first end of the operating robot is connected to the portion of the reamer shaft close to the electric drill, the portion of the reamer shaft close to the acetabular rasp is a free end, and can move in a limiting through hole at the second end of the operating robot, the fixed structure is connected to the operating robot, and the controller is electrically connected to the electric drill and the operating robot. Since the robot is fixed on the bone and can move with the patient, it has high accuracy and does not need to fix the patient or connect a dynamic reference. The operating robot structure used requires only a very small operating room space compared to traditional floor-standing surgical robots or surgical robots fixed on an operating bed.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment, and in particular to a robot-assisted joint replacement surgery system fixed on a bone and a method of using the system. Background Art

[0002] Joint replacement refers to a prosthesis similar to human bone joints made of metal materials, polymer materials or ceramic materials with good biocompatibility and mechanical properties. It uses surgical methods to replace the joint surface damaged by disease or injury with an artificial joint. Its purpose is to remove the lesion, eliminate pain, and restore the joint's movement and original function. Artificial joint replacement has the advantages of better joint movement, early ambulation, and reduced complications of long-term bed rest for elderly patients. The traditional practice is that doctors use manual tools to perform replacement surgery, which requires a high level of clinical experience for doctors, and the differences between individual patients make the surgery more difficult.

[0003] Assisting surgery with surgical robots is a hot topic in the current medical technology research field. In order to achieve universalization, common surgical robots are floor-standing or fixed on an operating table. Patent document CN101947126A discloses an orthopedic surgery-assisted robot system. Although such a robot can perform a variety of different surgeries, it is technically complex and inexperienced surgeons often find it difficult to identify these technical errors. At the same time, this robot requires a large working space (a robotic arm with a certain extension range or a large working space is required to accommodate surgeries on different parts of the body such as the knee, hip, shoulder and spine), high cost, large floor space, and low accuracy due to robot configuration issues, which increases potential error factors and makes it difficult for surgical results to be consistent. Summary of the invention

[0004] In view of the defects in the prior art, an object of the present invention is to provide a robot-assisted joint replacement surgery system fixed on bones and a method of use.

[0005] According to the present invention, a robot-assisted joint replacement surgery system fixed on a bone includes: an electric drill 204, a reamer shaft 202, an operating robot 203, a fixing structure 205, an acetabular rasp 103 and a controller 206;

[0006] The output end of the electric drill 204 is driven and connected to the acetabular rasp 103 through the reaming shaft 202, the first end of the operating robot 203 is connected to the part of the reaming shaft 202 close to the electric drill 204, the part of the reaming shaft 202 close to the acetabular rasp 103 is a free end, and can move in the limiting through hole 306 at the second end of the operating robot 203, the fixed structure 205 is connected to the operating robot 203, and the controller 206 is electrically connected to the electric drill 204 and the operating robot 203.

[0007] Preferably, the operating robot 203 comprises: a chassis 304, a top plate 308 and a plurality of linear actuators 307;

[0008] Both ends of each linear actuator 307 are connected between the bottom plate 304 and the top plate 308 through connecting members 303;

[0009] The top plate 308 is provided with a fixture 309 for connecting the sleeve of the reamer shaft 202;

[0010] The bottom plate 304 is provided with the limiting through hole 306 and a hole for fixing the fixing structure 205 . The outer periphery of the bottom plate 304 is provided with a plurality of radially extending extensions, and the holes are provided in the extensions.

[0011] Preferably, the operating robot 203 comprises: a chassis 304, a top plate 308 and a plurality of linear actuators 307;

[0012] Both ends of each linear actuator 307 are connected between the bottom plate 304 and the top plate 308 through connecting members 303;

[0013] The top plate 308 is provided with a fixture 309 for connecting the sleeve of the reamer shaft 202 and a hole for fixing the fixing structure 205. The outer periphery of the top plate 308 is provided with a plurality of radially extending extensions, and the holes are opened in the extensions;

[0014] The bottom plate 304 is provided with the limiting through hole 306 .

[0015] Preferably, a sensor is disposed in the fixture 309 or on the chassis 304 , and the sensor is electrically connected to the controller 206 to detect the lateral force applied to the acetabular rasp 103 and the position of the acetabular rasp 103 .

[0016] Preferably, the size of the limiting through hole 306 is larger than the size of the acetabular rasp 103 , and the acetabular rasp 103 can be retracted into the interior of the operating robot 203 through the limiting through hole 306 .

[0017] Preferably, a locking structure 502 for fixing the reamer shaft 202 is provided on the clamp 309 .

[0018] Preferably, the reamer shaft 202 is composed of a shaft 503 and multiple sleeve sections, and two adjacent sleeve sections are connected via a universal joint.

[0019] Preferably, it also includes an intelligent device 1003, which is connected to the controller 206 by wire or wirelessly to provide feedback, remote monitoring and remote control to the operating robot 203.

[0020] Preferably, an opening groove is formed from the limiting through hole 306 to the edge of the bottom plate 304 .

[0021] The method for using the robot-assisted joint replacement surgery system fixed on the bone provided by the present invention includes: fixing the fixing structure 205 on the patient's bone, and controlling the electric drill 204 and the operating robot 203 to work through the controller 206.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] Since the robot is fixed to the skeleton and can move with the patient, it has high accuracy and does not require patient fixation or connection to dynamic references. Once intraoperative registration is completed, displacement tracking is no longer required because the robot moves with the patient's joints.

[0024] The patient does not need to be fixed or connected to a dynamic reference, making it simple and convenient to use.

[0025] The operating robot used is small and compact, close to the surgical site, and requires very little operating room space compared to traditional floor-standing or bed-fixed surgical robots. Low inertia and small motors will not harm patients or operating room staff.

[0026] The present invention may be applied to other joint surgeries, such as the knee, elbow, ankle, and spinal surgeries (eg, fusion surgeries).

[0027] The present invention can provide real-time data feedback and control to the surgeon through wired or wireless communications such as mobile devices, local computer networks and / or the cloud. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0029] Figure 1 A schematic diagram of the structure of the invention;

[0030] Figure 2This is a schematic diagram of the structure of the operating robot;

[0031] Figure 3 This is a schematic diagram of the installation of one end of the operating robot;

[0032] Figure 4 This is a schematic diagram of the installation of the other end of the operating robot;

[0033] Figure 5 It is a schematic diagram of the present invention in use;

[0034] Figure 6 It is a schematic diagram of the present invention in use;

[0035] Figure 7 A schematic diagram of the structure of another operating robot;

[0036] Figure 8 It is a schematic diagram of the structure of another reamer shaft;

[0037] Fig. 9 The geometrical schematic diagram of the operating robot. DETAILED DESCRIPTION

[0038] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0039] The present disclosure relates to a robot-assisted joint replacement surgical system fixed to a bone and a method of using the same. The present invention may be applied to any area of ​​a patient's joint as part of an orthopedic procedure. However, for ease of understanding, the discussion herein is limited to the details of the hip joint, which is only an example relevant to the present invention and embodiments.

[0040] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the present invention provides a robot-assisted joint replacement surgery system 201 fixed on a bone, comprising: an electric drill 204 , a reamer shaft 202 , an operating robot 203 , a fixing structure 205 , an acetabular rasp 103 and a controller 206 .

[0041] The output end of the electric drill 204 is connected to the acetabular rasp 103 through the reamer shaft 202. The first end of the operating robot 203 is connected to the portion of the reamer shaft 202 close to the electric drill 204. The portion of the reamer shaft 202 close to the acetabular rasp 103 is a free end, which can move in the limiting through hole 306 at the second end of the operating robot 203. The fixed structure 205 is connected to the operating robot 203. The controller 206 is electrically connected to the electric drill 204 and the operating robot 203. The controller 206 contains the electrical, control and power supply systems required for operating and controlling the operating robot 203, the electric drill 204 and other tools (such as sensors).

[0042] like Figure 2 , Figure 3 As shown, the operating robot 203 includes: a chassis 304, a top plate 308 and a plurality of linear actuators 307. The two ends of each linear actuator 307 are connected between the chassis 304 and the top plate 308 through a connecting piece 303, which are collectively referred to as a sliding hinge. A clamp 309 for connecting the sleeve of the reamer shaft 202 is provided on the top plate 308, and a limited position through hole 306 and a hole 405 for installing the fixed structure 205 are provided on the chassis 304. A plurality of radially extending extensions 404 are provided on the outer periphery of the chassis 304, and holes 405 are provided on the extensions 404. The connecting piece 303 can be a universal joint, a ball joint or a rotary joint.

[0043] During hip replacement, the robot-assisted joint replacement surgery system 201 is mounted to the surgical site or nearby bones using a fixed structure 205 or a tripod-like bracket. The robot fixed to the bone can easily adapt to different surgical approaches because the robot can move with the patient. The height of the robot can be achieved by adjusting the height of the operating table to accommodate the surgical approach and the surgeon. When the surgeon controls the power system and the reaming depth, the robot assists the surgeon to keep the axis of the acetabular rasp 103 on the ideal trajectory.

[0044] like Figure 4 As shown, the clamp 309 is provided with a locking structure 502 for fixing the reamer shaft 202, which vertically fixes the sleeve of the reamer shaft 202 and allows the shaft 503 of the reamer shaft 202 to rotate and move linearly along the axis under the drive of the electric drill, thereby realizing the advancement and retreat of the acetabular rasp 103. Figure 5 As shown, the fixing structure 205 includes a drill, a screw 903, a trocar or a ball foot 905, forming a tripod support structure to achieve stable support. The bottom plate 304 is fixed to the skeleton 901 by screws 903 (or with ball feet 905), so it is relatively fixed, while the top plate 308 is relatively movable.

[0045] exist Figure 1In the figure, the fixed structure 205 is connected to the second end (the end close to the bone) of the operating robot 203, and the acetabular rasp 103 is driven by the operating robot 203 to adjust the working angle. At this time, the second end is fixed relative to the bone, and the acetabular rasp 103 has a smaller range of motion. Its advantage is that it is more accurate when reaming.

[0046] exist Figure 7 In the embodiment shown in the upper part, the fixed structure 205 is connected to the first end (the end away from the bone) of the operating robot 203. Except for the difference in the connection position of the fixed structure, the other structures remain unchanged. In this case, the second end close to the bone can move, so the acetabular rasp 103 has a larger range of movement. However, an excessively large range of movement will cause the reaming angle of the acetabular rasp 103 to change, thereby affecting the reaming effect. Considering this situation, Figure 8 As shown, the present invention provides another structure of a reamer shaft 202. The reamer shaft 202 is composed of a shaft 503 and a plurality of shaft sleeves, and two adjacent shaft sleeves are connected by a universal joint. Figure 8 In the embodiment, there are three shaft sleeves, which are connected by the first universal joint 911 and the second universal joint 912 respectively, and the shaft 503 is arranged inside the shaft sleeve to connect the acetabular rasp 103. In this way, an offset acetabular rasp is realized. Usually, the offset acetabular rasp is used in minimally invasive surgery or surgical approach (such as front) to protect soft tissue and provide a convenient operating position for surgeons. However, in terms of maintaining an ideal reaming trajectory, the offset rasp is more difficult to operate than the straight rasp.

[0047] like Figure 7 As shown in the lower portion, a hexapod mechanism such as this can be used to maintain the desired trajectory while providing the advantages of an offset rasp. The mechanism has a 2 degree of freedom offset rasp, where the acetabular rasp 103 can be offset (angle 920 and offset 930) relative to the axis 503. Figure 1 The difference shown, Figure 7 The top plate 308 of the robot is mounted to the bone using a fixed structure. This allows the bottom plate 304 to move freely around the surgical site. Translation or movement along the ideal trajectory axis 922 can be done manually by the surgeon or automatically by a 6-DOF hexapod robot.

[0048] In one embodiment, a sensor (e.g., inductive, linear variable differential transformer, optical, camera, vision system, etc.) is provided in the fixture 309 or on the chassis 304, and the sensor is electrically connected to the controller 206 to detect the lateral force applied to the acetabular rasp 103 and the position of the acetabular rasp 103. Provide real-time feedback to the user (surgeon) or the robot controller to make any depth, angle or offset adjustments from the initial position as needed. In one embodiment, the sensor is mounted on the chassis 304 or on a portion of the chassis 304. For example, it can be mounted on both sides of the chassis, and the change in the position of the metal shaft of the acetabular rasp 103 is sensed by a mark or notch. The size of the limit hole 306 is larger than the size of the acetabular rasp 103. When the linear actuator 307 is in a retracted state, the acetabular rasp 103 can pass through the limit hole 306 to enter the interior of the operating robot 203, providing space for the reamer shaft to move linearly, orient or freely rotate in all three planes (X, Y, Z).

[0049] In one embodiment, the diameter of the stop hole 306 is larger than the diameter of the acetabular rasp 103, and the acetabular rasp 103 can be completely retracted into the robot. In another embodiment, the chassis 304 has a stop hole 306 and an open slot extending from the edge of the chassis, allowing the acetabular rasp 103 to be quickly replaced outside the robot and also accommodating an offset reamer shaft. The stop hole 306 in the chassis allows the robot to orient the reamer shaft 202 in the ideal trajectory for a specific surgical approach.

[0050] like Figure 6 As shown, in the use state, a smart device 1003 is also included, using two pins located in the pelvis to establish the initial axis trajectory. Through wired or wireless communication 1002 (e.g., wired network, wireless network, Bluetooth, cellular), one or more sensors measure real-time data and transmit it to a computer (mobile device), a computer system, a network or a cloud, etc., a smart device 1003. The real-time data can be displayed on the smart device 1003 and can also be used as feedback for robot control, remote monitoring, remote control, visual and tactile feedback for surgeons, etc. In this example, the surgeon is manually controlling the handheld electric drill, and the robot is controlling or maintaining the ideal trajectory and depth, which is displayed in real time on the smart device 1003.

[0051] like Fig. 9 As shown, the operating robot 203 adopts the geometric principle of the hexapod robot as follows, where Base is abbreviated as B and Platform is abbreviated as P.

[0052] P B , P P = Hinge position in base

[0053] R B , R P= Pitch circle radius at hinge position

[0054] α B , α P = Angle between telescopic rod and hinge position

[0055] Z P = Height Z of the platform relative to the base

[0056] M = Platform Focus

[0057] The coordinates of the hinge are:

[0058]

[0059]

[0060]

[0061]

[0062] Assume that the platform is displaced at the focus point M

[0063] dM=[dx dy dz dRx dRy dRz] T

[0064] Then, the platform displacement of the platform hinge can be obtained by the following formula:

[0065]

[0066] Since I3 is a 3X3 identity matrix, the rotation and translation matrix Q(dRx, dRy, dRz) is

[0067]

[0068] Then, the position of the displaced platform hinge is

[0069]

[0070] Then, the displacement of each telescopic rod is

[0071]

[0072] Using this inverse kinematics matrix T -1 You can export

[0073]

[0074] In this way, the six-legged motion can be calculated using the following formula

[0075]

[0076]

[0077] Please note Both translations and rotations are involved, which usually requires the use of dimensionless values ​​referenced to the International System of Units.

[0078] For hexapods, the range of motion is difficult to capture because the range of 1 degree of freedom always depends on the state of the other degrees of freedom. Looking only at translation or rotation, these ranges can be captured by the following cube-like polyhedron supported by vertices 1…8. For the given geometry, the projection of points 2…7 on the XY / RxRy plane is an equilateral hexagon. From this, the vertices can be numerically reconstructed.

[0079] The method for using the robot-assisted joint replacement surgery system fixed on the bone provided by the present invention comprises: fixing the fixing structure 205 on the patient's bone, and controlling the electric drill 204 and the operating robot 203 to work through the controller 206 .

[0080] The invention requires less training for surgeons, is intuitive to use, is similar to traditional instrumented surgery, and occupies a small footprint. The system can be used with existing conventional manual instruments, custom instruments, sensor-assisted systems, robotic systems, and computer-assisted systems, does not increase surgical time, and can achieve higher precision and safety than computer-supported floor-standing and bed-mounted robotic-assisted surgery systems. In addition, the robot-assisted surgery system fixed to the skeleton can provide real-time data for remote monitoring, display, control, and feedback through wired or wireless communications such as mobile devices, computer systems, computer networks, or the cloud.

[0081] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0082] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A robot-assisted joint replacement surgery system fixed on a bone, characterized in that: include: An electric drill (204), a reamer shaft (202), an operating robot (203), a fixing structure (205), an acetabular rasp (103) and a controller (206); The output end of the electric drill (204) is drivingly connected to the acetabular rasp (103) through the reaming shaft (202); the first end of the operating robot (203) is connected to the portion of the reaming shaft (202) close to the electric drill (204); the portion of the reaming shaft (202) close to the acetabular rasp (103) is a free end and can move in a limiting through hole (306) at the second end of the operating robot (203); the fixed structure (205) is connected to the operating robot (203); and the controller (206) is electrically connected to the electric drill (204) and the operating robot (203); The operating robot (203) comprises: a chassis (304), a top plate (308) and a plurality of linear actuators (307); Two ends of each linear actuator (307) are respectively connected between the bottom plate (304) and the top plate (308) through connecting pieces (303); Wherein, the top plate (308) is provided with a clamp (309) for connecting the sleeve of the reamer shaft (202); the bottom plate (304) is provided with the limiting through hole (306) and a hole for fixing the fixing structure (205); the outer periphery of the bottom plate (304) is provided with a plurality of radially extending extensions, and the holes for fixing the fixing structure (205) are opened in the extensions; or, The top plate (308) is provided with a clamp (309) for connecting the sleeve of the reamer shaft (202), and a hole for fixing the fixing structure (205); the outer periphery of the top plate (308) is provided with a plurality of radially extending extensions, and the holes for fixing the fixing structure (205) are opened in the extensions; the bottom plate (304) is provided with the limiting through hole (306).

2. The robot-assisted joint replacement surgery system fixed on the bone according to claim 1, characterized in that: A sensor is arranged in the fixture (309) or on the chassis (304), and the sensor is electrically connected to the controller (206) to detect the lateral force applied to the acetabular rasp (103) and the position of the acetabular rasp (103).

3. The robot-assisted joint replacement surgery system fixed on the bone according to claim 1, characterized in that: The size of the limiting through hole (306) is larger than the size of the acetabular rasp (103), and the acetabular rasp (103) can be retracted into the interior of the operating robot (203) through the limiting through hole (306).

4. The robot-assisted joint replacement surgery system fixed on the bone according to claim 1, characterized in that: The clamp (309) is provided with a locking structure (502) for fixing the reamer shaft (202).

5. The robot-assisted joint replacement surgery system fixed on the bone according to claim 1, characterized in that: The reamer shaft (202) is composed of a shaft (503) and a plurality of shaft sleeve sections, and two adjacent shaft sleeve sections are connected via a universal joint.

6. The robot-assisted joint replacement surgery system fixed on the bone according to claim 1, characterized in that: It also includes an intelligent device (1003), which is connected to the controller (206) by wire or wirelessly to provide feedback, remote monitoring and remote control to the operating robot (203).

7. The robot-assisted joint replacement surgery system fixed on the bone according to claim 1, characterized in that: An opening groove is provided from the limiting through hole (306) to the edge of the bottom plate (304).

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