Assisted arthroplasty robot and assisted arthroplasty robot system

Abstract

The application provides an assisted arthroplasty robot and an assisted arthroplasty robot system, the assisted arthroplasty robot comprising a base, a fixing assembly and a motion mechanism; the fixing assembly is arranged on the base and is used for connecting a fixing member; the base is used for being arranged on a target object through the fixing member; the motion mechanism has multiple degrees of freedom, one side of the motion mechanism is arranged on the base, and the other side is used for being connected with an instrument; wherein the target object moves to drive the base and the motion mechanism arranged on the base to move together, so that the relative position between the instrument on one side of the motion mechanism and the target object does not move. In this way, since the base is arranged on the target object through the fixing member, the assisted arthroplasty robot can be directly fixed with a lesion area of a patient, so that the assisted arthroplasty robot can change synchronously with the adjustment of the body position of the patient, the development and design of a separate follow-up program are avoided, and the assisted arthroplasty robot system is simpler.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an assistive joint surgery robot and an assistive joint surgery robot system. Background Technology

[0002] Joint surgery robot systems can be used to assist surgeons in performing joint surgeries. However, current joint surgery robot systems basically consist of a trolley and a robotic arm. The trolley supports and fixes the robotic arm, while also providing power and control commands. Finally, the robotic arm moves to the patient's lesion area under navigation guidance, and assists the surgeon in performing acetabular grinding, prosthesis trial molding, and acetabular cup installation using surgical tools carried at its end effector.

[0003] In robot-assisted joint surgery, to ensure accessibility of the workspace, the robotic arm needs to have a long reach. This results in two main issues: firstly, poor rigidity, potentially leading to significant swaying during positioning and consequently poor accuracy; secondly, increased size and weight of the robotic arm and trolley, making transport inconvenient and requiring precise positioning, potentially encroaching on the surgeon's surgical area and hindering comfortable operation, as well as reducing the surgeon's interaction. Furthermore, because the robotic arm and trolley are separate from the patient, they must synchronize with the patient's movements when the patient repositions. Achieving this requires a complex motion control system and a sophisticated mechanical transmission system, demanding high structural rigidity and software complexity. Additionally, the lack of sufficient autonomous obstacle avoidance capabilities often leads to unreachable workspaces and interference with bone tissue movement, affecting surgical smoothness, causing prolonged wound exposure, and extending surgical time. Summary of the Invention

[0004] The purpose of this invention is to provide an assistive joint surgery robot and an assistive joint surgery robot system to solve the problem that existing joint surgery robot systems are difficult to link with patients.

[0005] To solve the above-mentioned technical problems, the present invention provides an assisted joint surgery robot, which includes: an assisted joint surgery robot, characterized in that it includes: a base, a fixing component and a motion mechanism;

[0006] The fixing component is disposed on the base and is used for connection with the fixing member; the base is used to be mounted on the target object via the fixing member.

[0007] The motion mechanism has multiple degrees of freedom, with one side of the motion mechanism mounted on the base and the other side used for connection with the instrument;

[0008] The movement of the target object causes the base and the motion mechanism mounted on the base to move together, so that the relative position of the instrument on one side of the motion mechanism and the target object does not change.

[0009] Optionally, in the assisted joint surgical robot, the motion mechanism is a parallel mechanism, which includes: a support base and a plurality of parallelly arranged link assemblies;

[0010] One end of the connecting rod assembly is rotatably connected to the support seat along its own axial direction, and the other end is rotatably connected to the base; the connecting rod assembly is telescopic along its own axial direction.

[0011] Optionally, in the assisted joint surgical robot, the linkage assembly includes a telescopic linkage, and also includes a power device and / or a braking device;

[0012] The power device is used to drive the telescopic link to extend or retract axially; the braking device is used to lock the amount of extension or retraction of the telescopic link axially.

[0013] Optionally, in the assisted joint surgical robot, the motion mechanism is a serial mechanism, and the serial mechanism includes: a robotic arm assembly;

[0014] One end of the robotic arm assembly is disposed on the base; the robotic arm assembly includes multiple arm segments arranged in series, and the multiple arm segments are rotatably connected in sequence.

[0015] Optionally, the assisted joint surgical robot further includes an instrument connection part and a first target. The instrument connection part is detachably disposed on the side of the motion mechanism away from the base. The instrument connection part is used for detachable connection of the instrument. The first target is disposed on the instrument connection part.

[0016] Optionally, in the assisted joint surgical robot, the instrument connection portion has an instrument penetration hole for the instrument to pass through, the instrument penetration hole being used to limit the radial displacement of the instrument.

[0017] Optionally, in the assisted joint surgical robot, the fixation component includes at least two fixation holes and at least two locking members. The fixation holes are for the fixation members to pass through, and the locking members are for locking the position of the fixation members in the fixation holes.

[0018] Optionally, in the assisted joint surgical robot, the fixation component is rotatably connected to the base.

[0019] Optionally, the assisted joint surgery robot further includes a second target disposed on the base and / or the fixation component.

[0020] Optionally, in the assisted joint surgical robot, the base has an operating space that exposes the surgical area of ​​the target object and allows the instruments to pass through.

[0021] Optionally, the assisted joint surgical robot includes multiple fixing components, the base is ring-shaped, and the multiple fixing components are arranged circumferentially around the base on the side of the base facing the target object; the base and the multiple fixing components enclose the operating space.

[0022] To address the aforementioned technical problems, the present invention provides an assisted joint surgery robot system, which includes the assisted joint surgery robot as described above, and further includes the fixation component and the instrument.

[0023] Optionally, the assisted joint surgery robot system further includes a navigation device; the navigation device is used to acquire the pose of the base and at least to display the pose of the base.

[0024] In summary, in the assisted joint surgery robot and assisted joint surgery robot system provided by the present invention, the assisted joint surgery robot includes a base, a fixing component, and a motion mechanism; the fixing component is disposed on the base and is used for connection to a fixation element; the base is used to be mounted on a target object via the fixation element; the motion mechanism has multiple degrees of freedom, one side of the motion mechanism is disposed on the base, and the other side is used to connect to an instrument; wherein, the movement of the target object causes the base and the motion mechanism disposed on the base to move together, so that the relative position of the instrument on one side of the motion mechanism and the target object does not move.

[0025] This configuration, with the base fixed to the target object (such as the patient's lesion area) via fasteners, allows the assisted joint surgery robot to be directly and firmly connected to the patient's lesion area. This enables the robot to move synchronously with the patient's position, avoiding the need for separate follow-up program development and making the assisted joint surgery robot system simpler and more efficient. Furthermore, because the base is fixed to the target object, the overall structure is simple and compact, simplifying the complexity of the system's structural design, reducing overall size and weight, and increasing rigidity, thus improving the accuracy of assisted positioning. Even further, the compact size reduces the intrusion into the operator's operating space, facilitating the operator's positioning and operation, and making the interaction with the operator more user-friendly. Attached Figure Description

[0026] 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:

[0027] Figure 1 This is a schematic diagram of an assisted joint surgery robot system according to an embodiment of the present invention, wherein the motion mechanism is a parallel mechanism;

[0028] Figure 2 This is a schematic diagram of the base being fixed to the target object by fixing components and fasteners according to an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the fixing component, the fixing member, and the second target according to an embodiment of the present invention;

[0030] Figure 4a and Figure 4b This is a schematic diagram of the device according to an embodiment of the present invention;

[0031] Figure 5 This is a block diagram of the principle module of the assisted joint surgery robot system according to an embodiment of the present invention;

[0032] Figure 6a This is a schematic diagram of the parallel mechanism in its initial position according to an embodiment of the present invention;

[0033] Figure 6b This is a schematic diagram of the parallel mechanism after its attitude has been adjusted according to an embodiment of the present invention;

[0034] Figure 7a and Figure 7b This is a schematic diagram of the adjustment of the parallel mechanism corresponding to the degree of freedom of movement in an embodiment of the present invention;

[0035] Figure 7c and Figure 7d This is a schematic diagram of the adjustment of the parallel mechanism corresponding to the rotational degree of freedom in an embodiment of the present invention;

[0036] Figure 7e and Figure 7f This is a schematic diagram of the adjustment of the parallel mechanism corresponding to the lifting degree of freedom in an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of an active parallel mechanism according to an embodiment of the present invention;

[0038] Figure 9 This is a schematic diagram of a passive parallel mechanism according to an embodiment of the present invention.

[0039] Figure 10a This is a schematic diagram of the serial mechanism in its initial position according to an embodiment of the present invention;

[0040] Figure 10bThis is a schematic diagram of the series mechanism after its posture has been adjusted according to an embodiment of the present invention;

[0041] Figure 11 This is a schematic diagram of the instrument connection part and the first target according to an embodiment of the present invention;

[0042] Figure 12 This is a schematic diagram of an assisted joint surgery robot system according to an embodiment of the present invention, wherein the motion mechanism is a serial mechanism;

[0043] Figure 13 This is a schematic diagram of the control flow of the assisted joint surgery robot system according to an embodiment of the present invention. Detailed Implementation

[0044] 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.

[0045] As used herein, 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. In manual or hand-operated applications, the terms “proximal end” and “distal end” are defined herein relative to an operator, such as a technician. The term “proximal end” refers to the position of the element closer to the operator, and the term “distal end” refers to the position of the element further away from the operator. 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.

[0046] The purpose of this invention is to provide an assistive joint surgery robot and an assistive joint surgery robot system to solve the problem of difficulty in linking existing joint surgery robot systems with patients. The following description refers to the accompanying drawings.

[0047] Please refer to Figure 1 and Figure 2This invention provides an assisted joint surgery robot 1 and an assisted joint surgery robot system. The assisted joint surgery robot system includes the assisted joint surgery robot 1, a fixing component 2, and an instrument 3. The assisted joint surgery robot 1 includes a base 10, a fixing component 11, and a motion mechanism 12. The fixing component 11 is disposed on the base 10 and is used for connection to the fixing component 2. The base 10 is used to be mounted on a target object 4 via the fixing component 2. The motion mechanism 12 has multiple degrees of freedom, with one side of the motion mechanism 12 disposed on the base 10 and the other side used to connect to the instrument 3. The movement of the target object causes the base 10 and the motion mechanism 12 disposed on the base 10 to move together, ensuring that the relative position of the instrument 3 on one side of the motion mechanism 12 and the target object does not change.

[0048] It should be noted that target object 4, such as the patient's lesion area, in a hip replacement surgery application example, target object 4 may be the patient's pelvis, and fixation element 2 may be fixation pin 21, which can be inserted into the lateral side of the acetabulum, for example, using a power tool. Please refer to the reference. Figure 2 Preferably, the base 10 has an operating space 100 that exposes the surgical area of ​​the target object and allows the instrument 3 to pass through. In one exemplary embodiment, the assisted joint surgery robot 1 includes a plurality of fixation components 11, the base 10 being annular, and the plurality of fixation components 11 being circumferentially disposed around the base 10 on the side of the base 10 facing the target object. Figure 2 (Lower side in the middle); the base 10 and multiple fixing components 11 enclose an operating space 100. Optionally, at least two fixing pins 21 constitute a group of fixing pins, and each fixing component 11 is connected to a group of fixing pins. Preferably, all fixing pins 21 in each group of fixing pins are parallel to each other.

[0049] For compatible versions, please refer to [the documentation / reference]. Figure 3 The fixing assembly 11 includes at least two fixing holes 111 and at least two locking members 112. The fixing holes 111 are for the fixing member 2 to pass through, and the locking members 112 are used to lock the fixing member 2 in the fixing hole 111. In one example, the locking member 112 may include a baffle and a bolt. By tightening the bolt, the baffle can press the fixing pin 21, thereby locking the fixing pin 21. In use, the fixing pin 21 can be first driven into the acetabulum, and then the fixing holes 111 of the fixing assembly 11 can be fitted onto the fixing pin 21, and then locked with the locking members 112, thus completing the assembly of the base 10 onto the fixing pin 21.

[0050] Furthermore, the fixing component 11 is rotatably connected to the base 10. The rotatable connection between the fixing component 11 and the base 10 is preferably omnidirectional. In one example, the fixing component 11 further includes a ball joint 113, through which the fixing component 11 is rotatably connected to the base 10. This allows the angle between the fixing component 11 and the base 10 to be adjustable to accommodate different insertion angles of the fixing pin 21.

[0051] like Figure 2 As shown, in one example, the joint-assisted surgical robot 1 includes three fixation components 11, and correspondingly, the fixation component 2 includes three sets of fixation pins. Further, each set of fixation pins includes two fixation pins 21. The three sets of fixation pins are implanted in the peri-acetabular region, preferably evenly distributed. By implanting the three sets of fixation pins in the peri-acetabular region, a basic physical connection to the pelvis is established. Then, the three fixation components 11 are mounted on the three sets of fixation pins, allowing the base 10 to form a stable reference plane, thereby improving the stability of the motion mechanism 12 and the instrument connection 13 mounted on the base 10. When the patient experiences a certain degree of displacement, the base 10, physically connected to the pelvis through the three sets of fixation pins, will also adjust its displacement synchronously, thus avoiding accuracy deviations caused by patient displacement. Furthermore, the three sets of fixation pins, circumferentially arranged in the peri-acetabular region, can replace retractors to open tissues, making the surgical area more exposed and facilitating surgical procedures.

[0052] For further details, please refer to... Figure 4a and Figure 4b and in conjunction with references Figure 1 The assisted joint surgery robot 1 includes an instrument connection part 13, which is detachably disposed on the side of the motion mechanism 12 away from the base 10. The instrument connection part 13 is used for detachable connection of the instrument 3. The instrument 3 may include surgical tools 32 and a drive unit 31 (e.g., Figure 4a (as shown) or strike the end 33 (e.g.) Figure 4bAs shown in the figure, the drive unit 31, such as a power handpiece, is mainly used to provide power to the surgical tool 32 for operations such as bone grinding. The striking end 33 is used for striking to provide impact force to the surgical tool 32. The surgical tool 32 is used to perform acetabular fossa grinding and acetabular cup trial installation, etc. In one example, the surgical tool 32 includes a blade 321 and a handle 322. The blade 321 can be an acetabular reamer or acetabular cup, etc. One end of the handle 322 is connected to the drive unit 31, and the other end is connected to the blade 321. The handle 322 is used to transmit power to the blade 321. Those skilled in the art can understand and configure the drive unit 31 and the surgical tool 32 according to the prior art. This embodiment will not be described in detail. It is understood that the target object 4 is not limited to the patient's pelvis. In other joint surgery application scenarios, the target object 4 can also be other corresponding tissue parts of the patient. The instrument 3 is not limited to those listed above and can be adapted and selected according to the application scenario. Furthermore, the target object 4 is not limited to the lesion area of ​​a real patient, but can also be a model prosthesis, such as a pelvic prosthesis, which can be used for operator training or surgical verification. This invention does not limit the application scenarios of the assisted joint surgery robot and the assisted joint surgery robot system, nor does it limit the instrument 3 and the target object 4.

[0053] Optionally, the assisted joint surgery robot system also includes a navigation device 5 and a support device 6 (e.g., an operating table) for supporting the patient during surgery. It should be noted that in some embodiments, the support device 6 can be replaced with other surgical operating platforms; the present invention is not limited thereto. The navigation device 5 is used to acquire the pose of the base 10 and / or the instrument connection portion 13, and at least to display the pose of the base 10 and / or the instrument connection portion 13. Furthermore, since the instrument 3 is mounted on the instrument connection portion 13, the navigation device 5 can also obtain the pose of the instrument 3 and display it.

[0054] Please refer to Figure 1 and Figure 5 In one example, the navigation device 5 includes a target tracker 51, a main display 52, a doctor's display 53, and a foot switch 54. The target tracker 51 can track the pose of the target (including the first target 14 and / or the second target 15, as described below) set on the assisted joint surgical robot 1 in real time during the operation. The main display 52 and / or the doctor's display 53 can provide feedback and display the current pose of the instrument 3, so that the operator can straighten and adjust the instrument 3 according to the current pose of the instrument 3 and the patient's pose. The foot switch 54 is used for motion control of the assisted joint surgical robot 1 and bone registration, etc. Those skilled in the art can understand and configure the structure and principle of the navigation device 5 based on the prior art, and this embodiment will not be described in detail.

[0055] With this configuration, since the base 10 is fixed to the target object 4 (such as the patient's lesion area) via the fixing component 2, the assisted joint surgical robot 1 can be directly and firmly connected to the patient's lesion area. This allows the assisted joint surgical robot 1 to change synchronously with the patient's body position, avoiding the need for separate follow-up program development and making the assisted joint surgical robot system simpler and more efficient. Furthermore, because the base 10 is fixed to the target object 4 via the fixing component 2, the overall structure is simple and compact, simplifying the complexity of the system structure design, reducing the overall size and weight, and improving rigidity and the accuracy of assisted positioning. Moreover, the compact size reduces the encroachment on the operator's operating space, facilitating the operator's positioning and operation, and making the interaction with the operator more user-friendly.

[0056] Please refer to Figure 6a and Figure 6b In an alternative example, the motion mechanism 12 is a parallel mechanism, comprising: a support 121 and a plurality of parallelly arranged link assemblies 122; one end of each link assembly 122 is rotatably connected to the support 121 along its own axial direction, and the other end is rotatably connected to the base 10; the link assembly 122 is telescopic along its own axial direction; and the instrument connection portion 13 is detachably disposed on the support 121. Here, "a plurality of link assemblies 122 arranged in parallel" means that different link assemblies 122 extend approximately along the same or similar axes, and the connection points between different link assemblies 122 and the base 10 are different, as are the connection points between different link assemblies 122 and the support 121. Preferably, the different link assemblies 122 are arranged at slight angles or in parallel, without directly intersecting. More preferably, the connection points between the plurality of link assemblies 122 and the base 10 are located on the same plane, and the connection points between the plurality of link assemblies 122 and the support 121 are located on the same plane.

[0057] A unique representation of an object's pose in three-dimensional space requires defining six degrees of freedom: three rotational degrees of freedom and three translational degrees of freedom. In the assisted joint surgery robot 1 and assisted joint surgery robot system provided in this embodiment, the translational degree of freedom along the central axis of the acetabulum can be adjusted by the operator holding the instrument 3, i.e., the depth is manually controlled. The rotational degree of freedom, rotating about the central axis of the acetabulum, can be provided with rotational motion by the drive unit 31. Therefore, the assisted joint surgery robot 1 and assisted joint surgery robot system provided in this embodiment only require at least four degrees of freedom to achieve the desired function in assisted spatial pose adjustment: two translational degrees of freedom and two rotational degrees of freedom.

[0058] In one embodiment, one end of the link assembly 122 is rotatably connected to the support 121 via a ball joint, allowing it to rotate omnidirectionally about the center of the ball joint. The other end of the link assembly 122 is rotatably connected to the base 10, also via a ball joint, allowing it to rotate omnidirectionally about the center of the ball joint. It is understood that with this configuration, by arranging multiple link assemblies 122 side-by-side, and based on the axial extension and retraction of the link assemblies 122, at least four degrees of freedom of adjustment (such as...) can be achieved. Figures 7a to 7d As shown), preferably, it can also achieve adjustment of five degrees of freedom (in combination with...). Figure 7e and Figure 7f (As shown).

[0059] To simplify calculation and control, and to accommodate four generalized degrees of freedom, the parallel mechanism preferably includes four parallelly arranged link assemblies 122, so that each link assembly 122 can correspond to one generalized degree of freedom. Figure 7a and Figure 7b The diagram shows the adjustment of the support 121 corresponding to the degree of freedom of movement, specifically left and right movement. By the same principle, the support 121 can also move forward and backward, thus achieving the adjustment of two degrees of freedom of movement. Figure 7c and Figure 7d The diagram illustrates the adjustment of the support 121 corresponding to the rotational degree of freedom, specifically left and right tilting. Following the same principle, the support 121 can also achieve forward and backward tilting, thus realizing the adjustment of two rotational degrees of freedom. Preferably, as... Figure 7e and Figure 7f As shown, by the simultaneous extension and retraction of the four linkage assemblies 122, the support 121 can also achieve adjustment of the degree of freedom of movement (i.e., the degree of freedom of lifting) along the central axis of the acetabulum. It is understood that in some other embodiments, the parallel mechanism may include three or more linkage assemblies 122. When the number of linkage assemblies 122 is three, multiple generalized degrees of freedom can be integrated on at least one linkage assembly 122. When the number of linkage assemblies 122 exceeds four, it can be achieved through redundant degree-of-freedom design. Those skilled in the art can understand this based on existing technology.

[0060] Please refer to Figure 8 and Figure 9 Optionally, the linkage assembly 122 includes a telescopic link 123, and also includes a power device 124 and / or a braking device 125; the power device 124 is used to drive the telescopic link 123 to extend or retract axially; the braking device 125 is used to lock the amount of extension or retraction of the telescopic link 123 axially. The parallel mechanism can be an active or passive structure.

[0061] like Figure 8As shown, the active structure refers to the ability to actively drive the telescopic link 123 to extend and retract axially via a power device 124 integrated on the link assembly 122, thereby achieving active adjustment of the position and orientation of the support 121. Furthermore, after the support 121 autonomously moves to the target position under motion control commands, it can be held by the power device 124 or locked by the braking device 125, providing more precise positioning for the device 3. The power device 124 can be a servo motor, stepper motor, DC motor, or a pneumatic or hydraulic power mechanism, etc., which can be selected and configured by those skilled in the art according to actual needs. The braking device 125 can be an electromagnetic brake or a mechanical self-locking structure, which can be selected and configured by those skilled in the art according to actual needs. This invention does not limit the scope of these limitations.

[0062] like Figure 9 As shown, the passive structure means that no power device 124 is installed, and the position adjustment of the support 121 in space depends on the operator's manual adjustment under the guidance of the navigation device 5. Furthermore, after the support 121 moves to the target position, it can be locked by the braking device 125, so that the support 121 is fixed in the target position, thereby providing positioning for the instrument 3.

[0063] Please refer to Figure 10a and Figure 10b and in conjunction with references Figure 12 In another alternative example, the motion mechanism 12 is a serial mechanism, which includes a robotic arm assembly 126. One end of the robotic arm assembly 126 is mounted on the base 10, and the other end is detachably connected to the instrument connection part 13. The robotic arm assembly 126 includes multiple arm segments 127 arranged in series, which are rotatably connected sequentially. It is understood that the rotation axes of the multiple arm segments 127 cannot all be configured to coincide or be parallel; some arm segments 127 need to have a certain angle between their rotation axes, preferably perpendicular to each other. This allows the entire robotic arm assembly 126 to achieve adjustment of multiple degrees of freedom. The specific structure and principle of the robotic arm assembly 126 can be found in existing technology and will not be elaborated further in this embodiment.

[0064] Please refer to Figure 11Optionally, the assisted joint surgical robot 1 also includes a first target 14, which is disposed on the support 121 or the instrument connection 13. The first target 14 can be tracked by the target tracker 51, so that the navigation device 5 can identify the pose of the first target 14, know the pose of the support 121 or the instrument connection 13 connected to the first target 14, and thus know the pose of the instrument 3, which facilitates real-time closed-loop pose control. In an alternative example, the first target 14 is rotatably connected to the instrument connection 13 and can be adjusted and locked by the first fixed rotating body 141. Preferably, the first target 14 has two adjustable degrees of freedom, making it easier for the target tracker 51 to capture and reducing occlusion. It is understood that the rotation angle of the first target 14 relative to the instrument connection 13 is known, and thus the relative relationship between the first target 14 and the instrument connection 13 is determined. Therefore, once the first target 14 is known, the pose of the device connector 13 can be obtained, and thus the pose of the device 3 can be obtained.

[0065] For further details, please refer to... Figure 2 and Figure 3 The assisted joint surgery robot 1 also includes a second target 15, which is disposed on the base 10 and / or the fixation component 11. The second target 15 can also be tracked by the target tracker 51, so that the navigation device 5 can identify the pose of the second target 14 and know the pose of the base 10 or fixation component 11 connected to the second target 14, thereby realizing bone registration and alignment. The specific bone registration and alignment process can be referred to the prior art, and will not be described in detail in this embodiment.

[0066] In an alternative example, the second target 15 is rotatably connected to the fixed component 11 and can be adjusted and locked via the second fixed rotating body 151. Preferably, the second target 15 has two adjustable degrees of freedom, making it easier for the target tracker 51 to capture and reducing occlusion. Understandably, the rotation angle of the second target 15 relative to the fixed component 11 is known, thus the relative relationship between the second target 15 and the fixed component 11 is determined. Preferably, corresponding to the three circumferentially arranged fixed components 11, the assisted joint surgical robot 1 includes three second targets 15, each corresponding to one of the three fixed components 11. With this configuration, by adjusting the pose of the second targets 15 (e.g., adjusting the rotation angle of the second targets 15 relative to the fixed component 11), it can be ensured that at least two second targets 15 can be simultaneously tracked and identified by the target tracker 51. This allows for cross-verification of at least two second targets 15 and timely detection of any potential movement of the second targets 15 during surgery, reducing or avoiding navigation and positioning errors. Furthermore, because the three fixation components 11 are arranged circumferentially around the pelvis, the three second targets 15 can achieve complete 360° coverage of the surgical field, avoiding blind spots and potential obstructions during surgery.

[0067] Please refer to Figure 11 Optionally, the instrument connection portion 13 has an instrument passage hole 131 for the instrument 3 to pass through, the instrument passage hole 131 being used to limit the radial displacement of the instrument 3. Preferably, the inner diameter of the instrument passage hole 131 matches the outer diameter of the fitting part of the instrument 3 (such as the handle 322), so that the instrument 3 can move axially or rotate circumferentially within the instrument passage hole 131, but cannot move radially. When the instrument 3 moves to the planned pose via the motion mechanism 12, it can be ensured that its radial pose in space will not deviate.

[0068] Optionally, the instrument connection part 13 is a quick-release guide and positioning component, used to provide convenient assembly and disassembly for the instrument 3. In use, the instrument 3 can be inserted into the instrument through hole 131, and then the instrument connection part 13 can be assembled onto the support base 121 or the end of the robotic arm assembly 126 to achieve quick assembly. In an alternative example, one of the support base 121 and the instrument connection part 13 has a male connector and the other has a female connector, and the two are connected and disassembled through the male and female connectors. Furthermore, the connection and engagement method of the male and female connectors can be a plug-in engagement, a magnetic engagement, or a rotational engagement. Those skilled in the art can configure them according to existing technology, and will not be described in detail here.

[0069] The following is combined with Figure 13 The control flow and execution steps of the assisted joint surgery robot system improved in this embodiment are explained in an exemplary manner.

[0070] In a hip joint surgery application scenario, the control process of the joint-assisted surgical robot system includes:

[0071] Step S1: Fix the fixation piece 2 to the patient's lesion area to expose the surgical area; it is understood that before step S1, steps such as patient CT image segmentation and reconstruction, preoperative surgical planning, and case saving can be performed according to existing technology.

[0072] Step S2: Connect the fixing component 11, the motion mechanism 12 and the device 3 in sequence to establish an indirect connection between the device 3 and the patient's lesion area;

[0073] Step S3: Acquire the pose of the first target 14 (i.e., the instrument pose) and the pose of the second target 15 (i.e., the patient pose); then bone registration, prosthesis positioning and other steps can be performed.

[0074] Step S4: Display the preoperative planned pose, patient pose, and instrument pose; real-time align instrument 3; and lock the motion mechanism 12. The alignment of instrument 3 includes both active and passive positioning methods. For details, please refer to the previous explanation of the active and passive motion mechanisms of the motion mechanism 12; it will not be repeated here. After aligning instrument 3 and locking the motion mechanism 12, instrument 3 is positioned in the planned pose.

[0075] Step S5: Perform acetabular fossa grinding and acetabular cup prosthesis installation.

[0076] In summary, the assisted joint surgery robot and assisted joint surgery robot system provided by this invention include a base, a fixing component, and a motion mechanism. The fixing component is disposed on the base and is used for connection to a fixation element. The base is used to be mounted on a target object via the fixation element. The motion mechanism has multiple degrees of freedom, with one side of the motion mechanism disposed on the base and the other side used to connect to an instrument. The movement of the target object causes the base and the motion mechanism disposed on the base to move together, ensuring that the relative position of the instrument on one side of the motion mechanism and the target object remains unchanged. With this configuration, since the base is mounted on the target object (such as the patient's lesion area) via a fixation element, the assisted joint surgery robot can be directly fixed to the patient's lesion area, allowing the assisted joint surgery robot to change synchronously with the patient's body position, avoiding the need for separate follow-up program development, and making the assisted joint surgery robot system simpler and more efficient. Furthermore, since the base is fixed to the target object via fasteners, the overall structure is simple and compact, simplifying the complexity of the system structure design, reducing the overall size and weight, and improving rigidity and accuracy of assisted positioning. Even further, its compact size reduces encroachment on the operator's workspace, facilitating operator positioning and operation, and enhancing user-friendliness.

[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. An assisted joint surgery robot, characterized in that, include: Base, fixed components, and motion mechanism; The fixing assembly is disposed on the base and is used for connection of a fixing member; the base is used for mounting on a target object via the fixing member; the fixing assembly includes at least two fixing member through holes and at least two locking members, the fixing member through holes for the fixing member to pass through, and the locking members for locking the fixing member in the fixing member through holes; the fixing member includes a fixing pin, the fixing pin is first driven into the acetabulum, then the fixing member through hole is fitted onto the fixing pin, and then locked by the locking members to assemble the base onto the fixing pin; the fixing assembly is rotatably connected to the base via a ball joint; The motion mechanism has multiple degrees of freedom, with one side of the motion mechanism mounted on the base and the other side used for connection with the instrument; The movement of the target object causes the base and the motion mechanism mounted on the base to move together, so that the relative position of the instrument on one side of the motion mechanism and the target object does not change.

2. The assisted joint surgery robot according to claim 1, characterized in that, The motion mechanism is a parallel mechanism, which includes: a support base and multiple parallel connecting rod assemblies; One end of the connecting rod assembly is rotatably connected to the support seat along its own axial direction, and the other end is rotatably connected to the base; the connecting rod assembly is telescopic along its own axial direction.

3. The assisted joint surgery robot according to claim 2, characterized in that, The linkage assembly includes a telescopic linkage, and also includes a power device and / or a braking device; The power device is used to drive the telescopic link to extend or retract axially; the braking device is used to lock the amount of extension or retraction of the telescopic link axially.

4. The assisted joint surgery robot according to claim 1, characterized in that, The motion mechanism is a serial mechanism, and the serial mechanism includes: a robotic arm assembly; One end of the robotic arm assembly is disposed on the base; the robotic arm assembly includes multiple arm segments arranged in series, and the multiple arm segments are rotatably connected in sequence.

5. The assisted joint surgery robot according to any one of claims 1, characterized in that, The assisted joint surgical robot also includes an instrument connection part and a first target. The instrument connection part is detachably disposed on the side of the motion mechanism away from the base. The instrument connection part is used for detachable connection of the instrument. The first target is disposed on the instrument connection part.

6. The assisted joint surgery robot according to claim 5, characterized in that, The instrument connection portion has an instrument passage hole for the instrument to pass through, and the instrument passage hole is used to limit the radial displacement of the instrument.

7. The assisted joint surgery robot according to claim 1, characterized in that, The assisted joint surgery robot also includes a second target, which is disposed on the base and / or the fixation component.

8. The assisted joint surgery robot according to claim 1, characterized in that, The base has an operating space that exposes the surgical area of ​​the target object and allows the instruments to pass through.

9. The assisted joint surgery robot according to claim 8, characterized in that, The assisted joint surgical robot includes multiple fixing components. The base is ring-shaped, and the multiple fixing components are arranged circumferentially around the base on the side of the base facing the target object. The base and the multiple fixing components enclose the operating space.

10. A robotic system for assisting joint surgery, characterized in that, The assisted joint surgery robot according to any one of claims 1 to 9 further includes the fixation member and the instrument.

11. The assisted joint surgery robot system according to claim 10, characterized in that, The assisted joint surgery robot system also includes a navigation device; the navigation device is used to acquire the pose of the base and at least to display the pose of the base.

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