Joint pressure measurement device and surgical robotic system

Abstract

The application provides a joint pressure measuring device and a surgical robot system, the joint pressure measuring device comprising: a pressure measuring module and a gap adjusting module; the gap adjusting module comprising a first platform and a second platform oppositely arranged along the axial direction of the gap adjusting module, and the first platform is movable relative to the second platform along the axial direction of the gap adjusting module; the pressure measuring module is arranged on the side of the first platform away from the second platform and is used for abutting against a first object; the side of the second platform away from the first platform is used for abutting against a second object; the pressure measuring module is used for detecting the pressure data between the first object and the second object and outputting outwardly through the first platform. In this way, the accuracy of pressure measurement is effectively improved by avoiding the arrangement of intermediate components such as structural deformation or gaskets, and the balance of soft tissue is better, and the accuracy of prosthesis installation is improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a joint pressure measuring device and a surgical robot system. Background Technology

[0002] Existing soft tissue balance measurement devices, such as joint pressure measurement devices, generally have complex structural designs and produce large errors in the test results, making them inaccurate.

[0003] Some joint pressure measurement devices transmit joint pressure to sensors through structural deformation to measure pressure. Due to the nonlinearity of materials, when applied to force detection in different situations such as the knee joint, pressure values ​​are often calculated only through empirical formulas or calibration methods, resulting in large errors and insufficient accuracy in the detection results.

[0004] Other joint pressure measurement devices often require additional spacers to accommodate joint prostheses of varying thicknesses. Since the number of spacers needs to be adjusted intraoperatively, this prolongs the surgical time, complicates the procedure, and the space occupied by the spacers also introduces additional errors and costs. Summary of the Invention

[0005] The purpose of this invention is to provide a joint pressure measuring device to solve the problem that existing joint pressure measuring devices have large errors in detection results and are not accurate enough.

[0006] To solve the above-mentioned technical problems, the present invention provides a joint pressure measuring device, which includes: a pressure measuring module and a gap adjustment module;

[0007] The gap adjustment module includes a first platform and a second platform arranged opposite to each other along its own axis, and the first platform is movable relative to the second platform along the axis of the gap adjustment module.

[0008] The pressure measurement module is located on the side of the first platform away from the second platform and is used to abut against the first object; the side of the second platform away from the first platform is used to abut against the second object; the pressure measurement module is used to detect the pressure data between the first object and the second object and output it outward via the first platform.

[0009] Optionally, the gap adjustment module includes a base extending along its own axial direction, a first platform being movably connected to the base along the axial direction of the base, and a second platform being connected to the base and restricted to a position along the axial direction of the base.

[0010] Optionally, the gap adjustment module includes a lifting frame and a support frame. The lifting frame is movably connected to the base along the axial direction of the base, and the support frame is fixedly connected to the base. The first platform is detachably connected to the lifting frame and connected to the base through the lifting frame. The second platform is detachably connected to the lifting frame and connected to the base through the support frame.

[0011] Optionally, one of the lifting frame and the first platform has a groove, and the other has a boss that matches the groove; the lifting frame and the first platform are assembled and connected by inserting the boss into the groove; and / or

[0012] One of the support frame and the second platform has a groove, and the other has a boss that matches the groove. The support frame and the second platform are assembled and connected by inserting the boss into the groove.

[0013] Optionally, the boss has a first inclined surface that gradually slopes toward the central axis of the boss in the direction of insertion into the groove; the groove has a second inclined surface that matches the first inclined surface; when the boss is inserted into the groove, the first inclined surface and the second inclined surface cooperate.

[0014] Optionally, the gap adjustment module includes a locking assembly, which includes a locking member and a potential energy member; the first end of the locking member has a latch, and the boss has a groove that matches the latch; the second end of the locking member is connected to the potential energy member; the locking member is rotatably disposed around a rotating shaft, and the rotating shaft is located between the first end and the second end; the potential energy member is used to apply a potential force to the locking member so that the latch engages in the groove, thereby restricting the position of the boss in the groove; when the second end is subjected to an external force, the locking member overcomes the potential force and rotates around the rotating shaft so that the latch disengages from the groove, thereby releasing the restriction on the position of the boss relative to the groove.

[0015] Optionally, the joint pressure measuring device includes a sterile isolation assembly, which includes a sterile cover and an embedded isolation member; the embedded isolation member has an inner cavity adapted to the outer contour shape of the boss; the outer contour shape of the embedded isolation member is adapted to the inner contour shape of the groove; the embedded isolation member is used to be detachably embedded between the boss and the groove, and the end of the embedded isolation member extending out of the groove is sealed to the sterile cover.

[0016] Optionally, the gap adjustment module includes a power input end and a transmission assembly. The power input from the power input end is converted by the transmission assembly to drive the lifting frame to move axially along the base. The transmission assembly includes a lead screw and a nut threadedly connected to the lead screw. The lead screw extends axially along the base and is rotatable about its own axis. The axial position of the lead screw relative to the base is restricted, and the circumferential rotation of the nut about the lead screw is restricted. The rotation of the lead screw is converted into the axial movement of the nut along the base. The lead screw is coupled to the power input end, and the lifting frame is fixedly connected to the nut.

[0017] Optionally, the base has a limiting groove formed radially along the lead screw, and the transmission assembly includes a support member and a bearing. The support member extends radially along the lead screw, with one end fixedly connected to the lifting frame and the nut, and the other end connected to the bearing, and is movably disposed in the limiting groove via the bearing. The limiting groove allows the bearing to move axially along the lead screw, and the limiting groove restricts the bearing from rotating circumferentially around the lead screw.

[0018] Optionally, the first platform includes a circuit unit that abuts against and is connected to the pressure measurement module; the circuit unit is used to acquire pressure data detected by the pressure measurement module and output it externally; the circuit unit includes contacts for abutting against and being connected to the pressure measurement module; the first platform includes a receiving cavity and a sealing cover; the receiving cavity is used to receive the circuit unit; the sealing cover has contact holes that expose the contacts; the sealing cover is sealed at the opening of the receiving cavity, covering the part of the circuit unit except for the contacts.

[0019] Optionally, the first platform includes a displacement sensor, which is used to detect displacement data of the first platform relative to the second platform, and the circuit unit is used to acquire the displacement data detected by the displacement sensor and output it to the outside.

[0020] Optionally, the gap adjustment module further includes a display unit, which is communicatively connected to the circuit unit and is used to display the pressure data and / or the displacement data.

[0021] To address the aforementioned technical problems, the present invention also provides a surgical robot system comprising a joint pressure measuring device as described in any of the preceding claims.

[0022] In summary, in the joint pressure measuring device and surgical robot system provided by the present invention, the joint pressure measuring device includes: a pressure measuring module and a gap adjusting module; the gap adjusting module includes a first platform and a second platform arranged opposite to each other along its own axis, and the first platform is movable relative to the second platform along the axis of the gap adjusting module; the pressure measuring module is disposed on the side of the first platform away from the second platform and is used to abut against a first object; the side of the second platform away from the first platform is used to abut against a second object; the pressure measuring module is used to detect the pressure data between the first object and the second object and output it outward via the first platform.

[0023] This configuration, by adjusting the relative positions of the first and second platforms, can accommodate the gap between the first object (such as a femoral prosthesis) and the second object (such as a tibial prosthesis or the tibia). This allows the pressure measurement module to directly contact the first object, avoiding the need for intermediate components such as structural deformation or shims. This effectively improves the accuracy of pressure measurement, better facilitates soft tissue balance, and enhances the accuracy of prosthesis installation. Furthermore, the overall joint pressure measurement device has a simple structure, simplifying design and manufacturing complexity, as well as the difficulty of the pressure measurement algorithm. Attached Figure Description

[0024] Those skilled in the art will understand that the accompanying drawings are provided to better understand the invention and do not constitute any limitation on the scope of the invention. Wherein:

[0025] Figure 1 This is a schematic diagram illustrating an application scenario of the joint pressure measuring device according to an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of a joint pressure measuring device according to an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the process of balancing soft tissues of the knee joint according to an embodiment of the present invention;

[0028] Figure 4 This is a partial cross-sectional view of the joint pressure measuring device according to an embodiment of the present invention;

[0029] Figure 5 This is a cross-sectional view of the first platform and lifting frame along the axial direction of the base in an embodiment of the present invention;

[0030] Figure 6 This is a cross-sectional view of the first platform and the lifting frame perpendicular to the axial direction of the base in an embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the embedded isolator according to an embodiment of the present invention;

[0032] Figure 8 This is a cross-sectional view of the embedded isolation member perpendicular to the axial direction of the base according to an embodiment of the present invention;

[0033] Figure 9 This is a schematic diagram of a sterile isolation component according to an embodiment of the present invention;

[0034] Figure 10 This is a schematic diagram of the base according to an embodiment of the present invention;

[0035] Figure 11 This is a cross-sectional view of the base and transmission assembly along the axial direction according to an embodiment of the present invention;

[0036] Figure 12 This is a cross-sectional view of the power input end along the axial direction of the base in an embodiment of the present invention;

[0037] Figure 13 This is a schematic diagram of a joint pressure measuring device according to another embodiment of the present invention;

[0038] Figure 14 This is a cross-sectional view of the joint pressure measuring device according to another embodiment of the present invention along the axial direction of the base;

[0039] Figure 15 This is a cross-sectional view of the joint pressure measuring device according to another embodiment of the present invention at another angle along the axial direction of the base;

[0040] Figure 16 This is a schematic diagram of the first platform according to an embodiment of the present invention;

[0041] Figure 17 This is a schematic diagram of a circuit unit according to an embodiment of the present invention;

[0042] Figure 18 This is a schematic diagram of the second platform according to an embodiment of the present invention. Detailed Implementation

[0043] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clarify the explanation of the embodiments of this invention. Furthermore, the structures shown in the drawings are often part of the actual structures. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0044] As used in this invention, the singular forms “a,” “an,” and “the” include plural objects; the term “or” is generally used to mean “and / or”; the term “a number” is generally used to mean “at least one”; and the term “at least two” is generally used to mean “two or more”. Furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first,” “second,” or “third” may explicitly or implicitly include one or at least two of that feature; “one end” and “the other end,” and “proximal end” and “distal end” generally refer to two corresponding parts, which include not only endpoints. Furthermore, the terms "installed," "connected," and "attached," as used in this invention, and the term "set" on one element from another, should be interpreted broadly. They generally only indicate a connection, coupling, cooperation, or transmission relationship between the two elements, which can be direct or indirect through an intermediate element. They should not be construed as indicating or implying a spatial relationship between the two elements, meaning one element can be located inside, outside, above, below, or to one side of another element, unless otherwise explicitly stated. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances. Additionally, directional terms such as above, below, up, down, upward, downward, left, and right are used relative to exemplary embodiments as shown in the figures, with upward or upper directions pointing towards the top of the corresponding figure, and downward or lower directions pointing towards the bottom of the corresponding figure.

[0045] The purpose of this invention is to provide a joint pressure measuring device to solve the problem of large errors and insufficient accuracy in the detection results of existing joint pressure measuring devices. The following description refers to the accompanying drawings.

[0046] like Figure 1 and Figure 2 As shown, this embodiment of the invention provides a joint pressure measuring device for measuring pressure values ​​between joints and thereby determining the soft tissue balance and joint space balance. The joint pressure measuring device includes a pressure measuring module 1 and a space adjustment module 2. The space adjustment module 2 includes a first platform 21 and a second platform 22 arranged opposite to each other along its own axial direction, and the first platform 21 is movable relative to the second platform 22 along the axial direction of the space adjustment module 2. The pressure measuring module 1 is disposed on the side of the first platform 21 away from the second platform 22 and is used to abut against a first object. The side of the second platform 22 away from the first platform 21 is used to abut against a second object. The pressure measuring module 1 is used to detect pressure data between the first object and the second object and output it outward via the first platform 21.

[0047] like Figure 1 As shown, in one application scenario, the knee joint is used as an example for illustration. However, it should be understood that the joint pressure measuring device of this embodiment is not limited to the knee joint. The joint pressure measuring device provided in this embodiment can also be applied to other similar joints. For the knee joint, the objects connected on both sides are the femur O1 and the tibia O2, respectively. During knee joint prosthesis surgery, it is often necessary to perform osteotomy on the distal end of the femur O1 (the end away from the head, i.e., the lower end) and the proximal end of the tibia O2 (the end closer to the head, i.e., the upper end) based on preoperative medical images (such as CT), and then install femoral and tibial trial prostheses. Figure 1 (Not shown in the image) The joint pressure measuring device provided in this embodiment is then inserted into the gap between the femoral and tibial trial prostheses and adjusted into place. When the surgeon moves the patient's knee joint, for example, by moving the tibia (O2), the joint pressure measuring device can detect the pressure value between the femoral and tibial trial prostheses. When the pressure value is not greater than a threshold, it indicates that the soft tissues on the medial and lateral sides of the knee joint have reached equilibrium. When the pressure value is greater than the threshold, the soft tissues can be loosened until the pressure value at the medial and lateral condyles is less than the threshold. After achieving soft tissue equilibrium, the femoral and tibial trial prostheses can be removed, and the actual femoral and tibial prostheses can be installed.

[0048] It should be noted that the joint pressure measuring device in this embodiment is not limited to actual surgery, but can also be used in some knee joint prosthesis operation training or calibration application scenarios. In this case, the pressure between the femoral prosthesis and the tibial prosthesis can be provided by a mechanical device, and the present invention is not limited to this.

[0049] The following explanation will use a femoral prosthesis as the first subject and a tibial prosthesis as the second subject. Please refer to [link / reference needed]. Figure 3In practice, after the osteotomy is completed, a femoral prosthesis is installed distally on the femur (01), and a tibial prosthesis is installed proximally on the tibia (02). It should be understood that the femoral and tibial prostheses only rest against the osteotomy surface and do not require bonding with bone cement. The total thickness h1 of the trial prosthesis is recorded (this total thickness h1 is the distance from the proximal face of the femoral trial prosthesis to the distal face of the tibial trial prosthesis, which includes the thickness of the femoral trial prosthesis, the thickness of the tibial trial prosthesis, and the thickness of the joint pad located between the femoral and tibial trial prostheses). Then, the pressure measuring module 1 and the first platform 21 and the second platform 22 of the joint pressure measuring device of this embodiment are inserted into the gap between the distal face of the femoral trial prosthesis and the proximal face of the tibial trial prosthesis. The axial distance between the first platform 21 and the second platform 22 is then adjusted so that the pressure measuring module 1 abuts against the femoral trial prosthesis and the second platform 22 abuts against the tibial trial prosthesis. At this time, the total thickness between the proximal face of the pressure measuring module 1 and the distal face of the second platform 22 is h2. When h1-h2≤threshold t, it indicates that the femoral and tibial trial prostheses have been installed in place. Understandably, the threshold t reflects the thickness of the subsequent final femoral and tibial prostheses, as well as the sum of the bone cement thicknesses of the final femoral and tibial prostheses during installation. h1-h2 reflects the sum of the thicknesses of the femoral and tibial trial prostheses. Since the trial prostheses and the final prostheses generally have the same thickness, when h1-h2 ≤ threshold t, it can be understood that the femoral and tibial trial prostheses have been installed in positions roughly the same as the final prostheses. Of course, in other embodiments, the second object can also be set as the tibia, i.e., without installing the femoral trial prosthesis, the second platform 22 directly abuts against the osteotomy surface of the tibia, which can also achieve pressure measurement.

[0050] Due to differences in race, age, gender, and the severity of joint lesions, the amount of osteotomy required varies from patient to patient. Consequently, prostheses come in various sizes and thicknesses, and the gaps between femoral and tibial trial prostheses also differ. To accommodate these varying gap requirements, the relative positions of the first platform 21 and the second platform 22 can be adjusted to fit the gap between the first object (e.g., the femoral trial prosthesis) and the second object (e.g., the tibial trial prosthesis or the tibia). This allows the pressure measurement module 1 to directly contact the first object, avoiding the need for structural deformation or intermediate components like shims. This effectively improves the accuracy of pressure measurement, better facilitates soft tissue balance, and enhances the accuracy of prosthesis installation. Furthermore, the overall joint pressure measurement device has a simple structure, simplifying design and manufacturing complexity, as well as the difficulty of the pressure measurement algorithm.

[0051] Optional, please refer to Figure 4The gap adjustment module 2 includes a base 20 extending along its own axial direction. A first platform 21 is movably connected to the base 20 along its axial direction. A second platform 22 is connected to the base 20 and its position is restricted along the axial direction of the base 20. Because the second platform 22 is restricted along the axial direction of the base 20, its position can be adjusted during use to position the base 20, allowing the second platform 22 to rest against the tibial prosthesis, thus providing a basis for adjusting the first platform 21.

[0052] Furthermore, in an alternative example, the gap adjustment module 2 includes a lifting frame 23 and a support frame 24. The lifting frame 23 is movably connected to the base 20 along the axial direction of the base 20, and the support frame 24 is fixedly connected to the base 20. The first platform 21 is detachably connected to the lifting frame 23 and connected to the base 20 via the lifting frame 23. The second platform 21 is detachably connected to the lifting frame 23 and connected to the base 20 via the support frame 24. In some applications, the first platform 21 and the second platform 22 need to extend into the patient's joint, thus requiring sterilization. Therefore, it is preferable to configure the first platform 21 and the second platform 22 as detachable to facilitate sterilization after disassembly.

[0053] Please refer to Figure 5 and Figure 6 Optionally, one of the lifting frame 23 and the first platform 21 has a groove 25, and the other has a boss 26 adapted to the groove 25. The lifting frame 23 and the first platform 21 are assembled and connected by inserting the boss 26 into the groove 25. Optionally, one of the support frame 24 and the second platform 22 has a groove 25, and the other has a boss 26 adapted to the groove 25. The support frame 24 and the second platform 22 are assembled and connected by inserting the boss 26 into the groove 25. The boss 26 can be inserted into the groove 25 from the opening of the groove 25. Preferably, the outer contour shape of the boss 26 is approximately adapted to the inner contour shape of the boss 26, so that the boss 26 can be tightly fitted in the groove 25, which is beneficial to improving the pressure detection accuracy.

[0054] It should be noted that in some embodiments, the lifting frame 23 and the first platform 21 are provided with matching bosses 26 and grooves 25, while the support frame 24 and the second platform 22 are also provided with matching bosses 26 and grooves 25. The bosses 26 and grooves 25 provided on the lifting frame 23 and the first platform 21 may be the same as those provided on the support frame 24 and the second platform 22, or they may be different; this embodiment is not limited to this.

[0055] like Figure 5 and Figure 6 As shown, and in combination Figure 9 In an alternative example, the first platform 21 has a boss 26, the lifting frame 23 has a groove 25, and the second platform 22 has a boss 26 and the support frame 24 has a groove 25. The boss 26 of the first platform 21 and the boss 26 of the second platform 22 have the same or similar structure, and the groove 25 of the lifting frame 23 and the groove 25 of the support frame 24 have the same or similar structure. The boss 26 is inserted into the groove 25 in the same direction, which is along the axis perpendicular to the base 20 towards the axis of the base 20.

[0056] The explanation will take the first platform 21 and the lifting frame 23 as examples. Please refer to [link / reference]. Figure 5 The boss 26 has a first inclined surface 261 that gradually slopes towards the central axis of the boss 26 in the direction of insertion into the groove 25; the groove 25 has a second inclined surface 251 that matches the first inclined surface 261; when the boss 26 is inserted into the groove 25, the first inclined surface 261 and the second inclined surface 251 abut against each other. Figure 5 In the illustrated example, the boss 26 is inserted into the groove 25 in a rightward direction, while the first inclined surface 261 gradually slopes towards the central axis of the boss 26, thus forming a shape that gradually narrows towards the insertion direction (i.e., to the right). With this configuration, the boss 26 inserts into the groove 25 to form a guiding fit, and the first inclined surface 261 and the second inclined surface 251 abut against each other, effectively eliminating the gap between the boss 26 and the groove 25 and improving the accuracy of pressure measurement. Preferably, the first inclined surface 261 and the second inclined surface 251 are arranged opposite each other along the axial direction of the base 20, leaving space along the sidewalls of the boss 26 and the groove 25 perpendicular to the axial direction of the base 20, thus reserving space for the installation of the locking assembly 27 (see description below).

[0057] Optionally, the gap adjustment module 2 includes a locking component 27, which is capable of switching between a locked state and an unlocked state. When the locking component 27 is in the locked state, the boss 26 is locked in the groove 25. When the locking component 27 is in the unlocked state, the locking of the boss 26 is released, allowing the boss 26 to disengage from the groove 25, thereby allowing the first platform 21 and / or the second platform 22 to be detached.

[0058] Figure 5 and Figure 6 An exemplary locking assembly 27 is shown; optionally, the locking assembly 27 includes a locking element 271 and a potential energy element 273; the locking element 271 has opposing first ends along its own axial direction ( Figure 5 and Figure 6 The middle is the left end) and the second end ( Figure 5 and Figure 6(The middle part is the right end). The first end of the locking member 271 has a latch 274, and the boss 26 has a groove 262 that matches the latch 274. The second end of the locking member 271 is connected to the potential energy member 273. The locking member 271 is rotatably arranged around a pivot 275, and the pivot 275 is located between the first end and the second end. The potential energy member 273 is used to apply a potential force to the locking member 271 so that the latch 274 engages in the groove 262, thereby restricting the position of the boss 26 in the groove 25, that is, the locking assembly 27 is in a locked state at this time. When the second end of the locking member 271 is subjected to an external force, the locking member 271 overcomes the potential force and rotates around the pivot 275 so that the latch 274 disengages from the groove 262, thereby releasing the restriction on the position of the boss 26 relative to the groove 25, that is, the locking assembly 27 is in an unlocked state at this time.

[0059] Optionally, the locking element 271 and the potential energy element 273 are disposed within the lifting frame 23 or the support frame 24. The locking assembly 27 also includes a driving element 272, which is disposed at the second end of the locking element 271 and extends out of the lifting frame 23 or the support frame 24, so that the operator can apply external force to the second end of the locking element 271 by pressing. Further, the rotating shaft 275 is parallel to the axis of the base 20, and the extension direction of the driving element 272 is perpendicular to the axial direction of the base 20. In this way, when the operator operates the driving element 272, he presses along the side of the lifting frame 23 or the support frame 24, which helps to save space of the lifting frame 23 or the support frame 24 along the axial direction of the base 20, makes it easier for the lifting frame 23 and the support frame 24 to be as close as possible, and also helps to reduce the thickness of the first platform 21 or the second platform 22 along the axial direction of the base 20.

[0060] Optionally, the potential energy element 273 can be an elastic potential energy element such as a torsion spring, spring, or sheet metal, or a magnetic potential energy element such as a magnet. Those skilled in the art can choose according to the prior art. Figure 5 and Figure 6 In the illustrated example, a torsion spring is used as the potential energy element 273, which can apply an outward thrust to the second end of the locking element 271, thereby causing the latch 274 at the first end of the locking element 271 to engage in the slot 262.

[0061] Optionally, the joint pressure measuring device includes a sterile isolation component 3, which isolates the first platform 21 and the second platform 22 on a first side and isolates the remaining parts of the gap adjustment module 2 on a second side. Here, the first side refers to the sterile side, and the second side refers to the sterile side. In some applications, the first platform 21 and the second platform 22 need to extend into the patient's joint, and they can be sterilized through sterilization. However, the remaining parts of the gap adjustment module 2, such as the base 20, the lifting frame 23, the support frame 24, and the components inside the base 20, may be difficult to sterilize due to their complex structure and the presence of numerous mechanical or electronic components. The sterile isolation component 3 can cover and shield these parts that are difficult to sterilize, isolating them from the first side and preventing contamination of the first side.

[0062] Please refer to Figures 7 to 9 Optionally, the aseptic isolation component 3 includes an aseptic cover 31 and an embedded isolation member 32; the embedded isolation member 32 has an inner cavity 310 adapted to the outer contour shape of the boss 26; the outer contour shape of the embedded isolation member 32 is adapted to the inner contour shape of the groove 25; the embedded isolation member 32 is used to be detachably embedded between the boss 26 and the groove 25, and the end of the embedded isolation member 32 extending out of the groove 25 is sealed to the aseptic cover 31. Optionally, the hardness of the embedded isolation member 32 is higher than that of the aseptic cover 31. Optionally, the aseptic cover 31 is a flexible film, which may be made of materials such as polyurethane or silicone. The embedded isolation member 32 may be made of materials such as ABS, polyurethane, or PC, and also has a certain degree of deformability to facilitate fitting over the boss 26. The embedded isolation member 32 and the aseptic cover 31 can be sealed together by welding, gluing, or other methods.

[0063] In an alternative example, the embedded isolator 32 has a recess 321, which preferably fits into the slot 262 of the boss 26 on one side of the inner cavity 310, and is used to fit into the latch 274 of the locking member 271 on the outer side of the embedded isolator 32. That is, the latch 274 of the locking member 271 is indirectly engaged in the slot 262 of the boss 26 through the recess 321. Furthermore, the embedded isolator 32 has a sidewall 322, which preferably fits into the first inclined surface 261 of the boss 26 on one side of the inner cavity 310, and is used to fit into the second inclined surface 251 of the groove 25 on the outer side of the embedded isolator 32. That is, the first inclined surface 261 and the second inclined surface 251 are indirectly engaged and abutted through the sidewall 322. This configuration ensures sealing and isolation performance while effectively improving pressure detection accuracy.

[0064] Optional, please refer to Figure 4 , Figures 10 to 15The gap adjustment module 2 includes a power input terminal 281 and a transmission assembly 282. The power input from the power input terminal 281 is converted by the transmission assembly 282 to drive the lifting frame 23 to move axially along the base 20. The transmission assembly 282 includes a lead screw 283 and a nut 284 threadedly connected to the lead screw 283. The lead screw 283 extends axially along the base 20 and is rotatable about its own axis. The axial position of the lead screw 283 relative to the base 20 is restricted, and the circumferential rotation of the nut 284 about the lead screw 283 is restricted. The rotation of the lead screw 283 is converted into the axial movement of the nut 284 along the base 20. The lead screw 283 is coupled to the power input terminal 281, and the lifting frame 23 is fixedly connected to the nut 284. The drive mechanism employs a lead screw 283 and a nut 284. The transmission assembly 282 has a simple structure, is easy to install, and the movement of the nut 284 is relatively linear, which helps improve detection accuracy. Figure 11 As shown, in one example, the lead screw 283 is connected to the base 20 axially via two bearings 202, thereby restricting the axial position of the lead screw 283 relative to the base 20, but the lead screw 283 can rotate freely.

[0065] The power input end 281 includes, for example, a power connection shaft 2811 and a gear set 2812. Optionally, the gear set 2812 is a bevel gear set, which can change the power transmission angle. The power connection shaft 2811 is coupled to the lead screw 283 through the gear set 2812. When the power connection shaft 2811 rotates, the lead screw 283 is driven to rotate through the gear set 2812. In some embodiments, power can be input manually, for example, by using an external wrench (not shown) connected to the power connection shaft 2811, allowing the operator to manually drive the power connection shaft 2811 to rotate. In other embodiments, the power connection shaft 2811 can be connected to a drive device, which can be a common drive structure in the art, such as pneumatic, hydraulic, or electric drive structures. Figure 12 An exemplary example of an electric drive unit 2813 is shown, wherein the output shaft of the electric drive unit 2813 is connected to a power connection shaft 2811. Optionally, the electric drive unit 2813 includes a position sensor, a brake, and a motor, etc., which can be understood by those skilled in the art based on existing technology, and will not be described in detail in this embodiment.

[0066] like Figures 10 to 12As shown, in an alternative example, the base 20 has a limiting groove 201 radially formed along the lead screw 283. The transmission assembly 282 includes a support 285 and a bearing 286. The support 285 extends radially along the lead screw 283, with one end fixedly connected to the lifting frame 23 and the nut 284, and the other end connected to the bearing 286. The support 285 is movably disposed in the limiting groove 201 via the bearing 286. The limiting groove 201 allows the bearing 286 to move axially along the lead screw 283 within it, and the limiting groove 201 restricts the bearing 286 from circumferentially rotating about the lead screw 283. The cross-sectional shape of the limiting groove 201 can be a rounded rectangle, having a major axis and a minor axis. The major axis extends along the axial direction of the base 20, and the minor axis is perpendicular to the axial direction of the base 20. The outer diameter of the bearing 286 is adapted to the length of the minor axis of the limiting groove 201. Thus, the bearing 286 can roll along the direction of the major axis in the limiting groove 201, but its displacement along the direction of the minor axis is restricted by the limiting groove 201. That is, the circumferential rotation of the bearing 286 around the lead screw 283 is restricted, thereby restricting the circumferential rotation of the nut 284 around the lead screw 283. This configuration is equivalent to providing additional limiting and guidance for the movement of the lifting frame 23 and the nut 284. Furthermore, it can also share some of the load torque, which is beneficial to improving the stability and accuracy of the movement of the nut 284, thereby improving the pressure detection accuracy.

[0067] like Figures 13 to 15 As shown, in another alternative example, the first platform 21 has a groove 25, the lifting frame 23 has a boss 26, the second platform 22 has a boss 26, and the support frame 24 has a groove 25. The boss 26 of the lifting frame 23 is inserted into the groove 25 of the first platform 21 in the axial direction of the base 20, while the boss 26 of the second platform 22 is inserted into the groove 25 of the support frame 24 in the direction perpendicular to the axial direction of the base 20. Thus, the installation directions of the first platform 21 and the second platform 22 are different.

[0068] Furthermore, the transmission assembly 282 includes a lifting column 287, which is axially movable along the base 20 and is restricted to a radial position along the base 20 by a guide bearing 288, meaning the lifting column 287 can only move axially within the base 20. One axial end of the lifting column 287 is fixedly connected to a nut 284, which is restricted from rotating around a lead screw 283. The other axial end of the lifting column 287 is fixedly connected to a lifting frame 23. One end of the lead screw 283 is connected to a power connection shaft 2811 via a gear set 2812, so that the power input from the power connection shaft 2811 can drive the lead screw 283 to rotate, thereby driving the nut 284 to move axially along the base 20, and causing the lifting frame 23 and the first platform 21 mounted thereon to move axially along the base 20.

[0069] It should be noted that the above examples illustrate the connection between the first platform 21 and the lifting frame 23, and between the second platform 22 and the support frame 24, through the engagement of the boss 26 and the groove 25. However, it should be understood that the connection between the first platform 21 and the lifting frame 23, and between the second platform 22 and the support frame 24, is not limited to engagement. They can also be connected by means of easy installation and disassembly, such as threaded connection or snap-fit ​​connection. Those skilled in the art can understand and configure this according to the prior art.

[0070] Optional, please refer to Figure 16 and Figure 17 The first platform 21 includes a circuit unit 211, which abuts against and is electrically connected to the pressure measurement module 1. The circuit unit 211 is used to acquire the pressure data detected by the pressure measurement module 1 and output it externally. Further, the circuit unit 211 includes contacts 212 for abutting against and being electrically connected to the pressure measurement module 1. The first platform 21 includes a receiving cavity 213 and a sealing cover 214. The receiving cavity 213 is used to receive the circuit unit 211, and the sealing cover 214 has contact holes 216 that expose the contacts 212. The sealing cover 214 is sealed at the opening of the receiving cavity 213, covering the portion of the circuit unit 211 except for the contacts 212. With this configuration, the portion of the circuit unit 211 except for the contacts 212 can be sealed and isolated in the receiving cavity 213, preventing or reducing contamination from external water or bodily fluids.

[0071] like Figure 2 As shown, in an alternative example, the pressure measurement module 1 has a spring pin 11 that is axially retractable along the base 20. The spring pin 11 is aligned with and abuts against the contact 212 to transmit the pressure data detected by the pressure measurement module 1. Thus, after the pressure measurement module 1 is mounted on the first platform 21, it is electrically connected to the circuit unit 211.

[0072] Optionally, the circuit unit 211 includes a power supply module (such as a button battery or lithium battery), an information processing module, and a wireless communication module (such as a Bluetooth module, a Wi-Fi module, or a radio frequency module). After receiving the pressure data detected by the pressure measurement module 1, the information processing module processes the data and transmits it externally through the wireless communication module. Optionally, the sealing cover 214 is preferably made of plastic to reduce the obstruction of wireless signals.

[0073] Optionally, the first platform 21 includes a displacement sensor 215, which is used to detect displacement data of the first platform 21 relative to the second platform 22. The circuit unit 211 is used to acquire the displacement data detected by the displacement sensor 215 and output it externally. Please refer to the reference. Figure 18In an alternative example, displacement sensor 215 is a magnetic sensor. Correspondingly, the second platform 22 has a magnetic substrate 221 at the position corresponding to displacement sensor 215. When the first platform 21 moves relative to the second platform 22, displacement sensor 215 can calculate displacement data based on the magnetic field of the magnetic substrate 221 and the electromagnetic induction of the magnetic grating. In other embodiments, displacement sensor 215 is not limited to a magnetic sensor; it can also be an optical sensor. Correspondingly, a reflector is provided at a corresponding position on the second platform 22. When the first platform 21 moves relative to the second platform 22, displacement sensor 215 calculates displacement data based on light reflection.

[0074] Optionally, the gap adjustment module 2 further includes a display unit 29, which is communicatively connected to the circuit unit 11 and used to display the pressure data and / or the displacement data. In some embodiments, the display unit 29 may be disposed on the base 20; in other embodiments, the display unit 29 may be disposed independently. The communication connection between the display unit 29 and the circuit unit 11 can be wired or wireless; this embodiment is not limited to either. Preferably, since the first platform 21 is detachable, the display unit 29 and the circuit unit 11 are preferably connected wirelessly. The pressure data and / or displacement data displayed by the display unit 29 facilitate the surgeon's intuitive assessment of soft tissue balance and the appropriateness of the prosthesis selection.

[0075] Based on the joint pressure measuring device described above, this embodiment of the invention also provides a surgical robot system, which includes the joint pressure measuring device described above. The structure and principle of other components of the surgical robot system are described in the prior art and will not be elaborated upon in this embodiment.

[0076] In summary, the joint pressure measuring device and surgical robot system provided by this invention include a pressure measuring module and a gap adjustment module. The gap adjustment module includes a first platform and a second platform arranged opposite to each other along its own axis, and the first platform is movable relative to the second platform along the axis of the gap adjustment module. The pressure measuring module is located on the side of the first platform away from the second platform and is used to abut against a first object. The side of the second platform away from the first platform is used to abut against a second object. The pressure measuring module is used to detect the pressure data between the first object and the second object and output it outward via the first platform. With this configuration, by adjusting the relative positions of the first and second platforms, the gap between the first object (e.g., a femoral prosthesis) and the second object (e.g., a tibial prosthesis or tibia) can be adapted, allowing the pressure measuring module to directly abut against the first object. This avoids the need for intermediate components such as structural deformation or shims, effectively improving the accuracy of pressure measurement, better facilitating soft tissue balance, and improving the accuracy of prosthesis installation. Furthermore, the entire joint pressure measuring device has a simple structure, simplifying the complexity of design and manufacturing, and also simplifying the difficulty of the pressure measurement algorithm.

[0077] It should be noted that the above embodiments can be combined with each other. The above description is only a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A joint pressure measuring device, characterized in that, include: Pressure measurement module and gap adjustment module; The gap adjustment module includes a first platform and a second platform arranged opposite to each other along its own axis, and the first platform is movable relative to the second platform along the axis of the gap adjustment module. The pressure measurement module is located on the side of the first platform away from the second platform and is used to abut against the first object; the side of the second platform away from the first platform is used to abut against the second object; the pressure measurement module is used to detect the pressure data between the first object and the second object and output it outward via the first platform. The gap adjustment module includes a base extending along its own axial direction, a first platform being movably connected to the base along the axial direction of the base, and a second platform being connected to the base and restricted to a position along the axial direction of the base. The gap adjustment module includes a lifting frame and a support frame. The lifting frame is movably connected to the base along the axial direction of the base, and the support frame is fixedly connected to the base. The first platform is detachably connected to the lifting frame and connected to the base through the lifting frame. The second platform is detachably connected to the support frame and connected to the base through the support frame. One of the lifting frame and the first platform has a groove, and the other has a boss that matches the groove. The lifting frame and the first platform are assembled and connected by inserting the boss into the groove. One of the support frame and the second platform has a groove, and the other has a boss that matches the groove. The support frame and the second platform are assembled and connected by inserting the boss into the groove. The boss has a first inclined surface that gradually slopes toward the central axis of the boss in the direction of insertion into the groove; the groove has a second inclined surface that matches the first inclined surface; the first inclined surface and the second inclined surface are arranged opposite to each other along the axial direction of the base, and when the boss is inserted into the groove, the first inclined surface and the second inclined surface cooperate. The gap adjustment module includes a locking component, which is disposed on the side wall of the boss and the groove perpendicular to the axial direction of the base.

2. The joint pressure measuring device according to claim 1, characterized in that, The locking assembly includes a locking member and a potential energy member; the first end of the locking member has a latch, and the boss has a groove that matches the latch; the second end of the locking member is connected to the potential energy member; the locking member is rotatably disposed about a pivot, and the pivot is located between the first end and the second end; the potential energy member is used to apply a potential force to the locking member so that the latch engages in the groove, thereby restricting the position of the boss in the groove; when the second end is subjected to an external force, the locking member overcomes the potential force and rotates about the pivot, so that the latch disengages from the groove, thereby releasing the restriction on the position of the boss relative to the groove.

3. The joint pressure measuring device according to claim 1, characterized in that, The joint pressure measuring device includes a sterile isolation assembly, which includes a sterile cover and an embedded isolation member; the embedded isolation member has an inner cavity that matches the outer contour shape of the boss; the outer contour shape of the embedded isolation member matches the inner contour shape of the groove; the embedded isolation member is used to be detachably embedded between the boss and the groove, and the end of the embedded isolation member extending out of the groove is sealed to the sterile cover.

4. The joint pressure measuring device according to claim 1, characterized in that, The gap adjustment module includes a power input end and a transmission assembly. The power input from the power input end is converted by the transmission assembly to drive the lifting frame to move axially along the base. The transmission assembly includes a lead screw and a nut threadedly connected to the lead screw. The lead screw extends axially along the base and is rotatable about its own axis. The axial position of the lead screw relative to the base is restricted, and the circumferential rotation of the nut about the lead screw is restricted. The rotation of the lead screw is converted into the axial movement of the nut along the base. The lead screw is coupled to the power input end, and the lifting frame is fixedly connected to the nut.

5. The joint pressure measuring device according to claim 4, characterized in that, The base has a limiting groove formed radially along the lead screw. The transmission assembly includes a support member and a bearing. The support member extends radially along the lead screw, with one end fixedly connected to the lifting frame and the nut, and the other end connected to the bearing. It is movably disposed in the limiting groove via the bearing. The limiting groove allows the bearing to move axially along the lead screw, and restricts the bearing from rotating circumferentially around the lead screw.

6. The joint pressure measuring device according to claim 1, characterized in that, The first platform includes a circuit unit that abuts against and is connected to the pressure measurement module. The circuit unit is used to acquire pressure data detected by the pressure measurement module and output it externally. The circuit unit includes contacts for abutting against and being connected to the pressure measurement module. The first platform includes a accommodating cavity and a sealing cover. The accommodating cavity is used to accommodate the circuit unit. The sealing cover has contact holes that expose the contacts. The sealing cover is sealed at the opening of the accommodating cavity, covering the part of the circuit unit except for the contacts.

7. The joint pressure measuring device according to claim 6, characterized in that, The first platform includes a displacement sensor, which is used to detect displacement data of the first platform relative to the second platform. The circuit unit is used to acquire the displacement data detected by the displacement sensor and output it to the outside.

8. The joint pressure measuring device according to claim 7, characterized in that, The gap adjustment module further includes a display unit, which is communicatively connected to the circuit unit and is used to display the pressure data and / or the displacement data.

9. A surgical robot system, characterized in that, Includes the joint pressure measuring device according to any one of claims 1 to 8.

Images