An end connector and end effector

Abstract

The embodiment of the application provides an end connector and an end effector, the end connector is used for being connected with a working rod, the working rod comprises a proximal end and a distal end, and the end connector comprises a shell, a locking mechanism, a sleeve and a rotary connecting piece; the shell is used for containing the locking mechanism, the sleeve and part of the working rod; the proximal end and the distal end of the working rod extend out of the shell; the locking mechanism is sleeved outside the sleeve and extends out of the shell at one end close to the proximal end of the working rod, and is used for forming an axial locking state or a non-locking state between the sleeve and the working rod; the sleeve is sleeved on the working rod, and in the locking state, the sleeve is configured to rotate synchronously with the working rod; and the rotary connecting piece is sleeved between the shell and the sleeve and is used for enabling the sleeve and the working rod to rotate relative to the shell. In the axial locking state, the sleeve can rotate synchronously with the working rod, so that wear and noise do not occur between the sleeve and the working rod, and the machining precision requirement of the inner wall of the sleeve can be reduced.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an end connector and an end effector. Background Technology

[0002] In related technologies, the use of surgical robots for minimally invasive or general surgical procedures is becoming increasingly common. When using surgical robots for orthopedic surgery, a working rod is installed in an end-effector, and then the end-effector and the working rod mounted on it are fixed to the end of the robotic arm. This allows the end-effector to navigate the surgery while ensuring high-precision manipulation of the end-effector by the surgeon during the procedure. When the robotic arm adjusts the end-effector to a specific position and posture, it positions and locks the surgical instruments, allowing the surgeon to perform actions such as drilling or filing. Summary of the Invention

[0003] The purpose of this application is to provide an end effector and an end effector to achieve the function of positioning and locking surgical instruments with the end effector of a robotic arm, and to facilitate operation and use by doctors. The specific technical solution is as follows:

[0004] The first aspect of this application provides an end connector for connecting to a working rod, the working rod including a proximal end and a distal end. The end connector includes: a housing, a locking mechanism, a sleeve, and at least one rotating connector. The housing includes a receiving cavity, the working rod passing through the receiving cavity axially therethrough, with the proximal end and the distal end of the working rod extending out of both ends of the housing. The locking mechanism is sleeved on the outside of the sleeve, located between the sleeve and the housing, with one end near the proximal end of the working rod extending out of one end of the housing. It is used to create an axially locked state or a non-locked state between the sleeve and the working rod. The sleeve is sleeved on the working rod and located within the receiving cavity. In the locked state, the sleeve is configured to rotate synchronously with the working rod. The rotating connector is sleeved between the housing and the sleeve and is arranged parallel to the locking mechanism. The rotating connector is configured to allow the sleeve and the working rod to rotate relative to the housing in the axially locked state.

[0005] In addition, the end connector according to the embodiments of this application may also have the following technical features:

[0006] In some embodiments of this application, the end connector further includes a first limiting member disposed near the proximal end, the sleeve is provided with a first keyhole that mates with the first limiting member, the working rod is provided with a keyway extending axially along the working rod, a portion of the first limiting member is located in the keyway and another portion is located in the first keyhole, for limiting the relative rotation of the sleeve and the working rod.

[0007] In some embodiments of this application, the locking mechanism includes a locking sleeve, a positioning member, and a connecting member. The locking sleeve is slidably sleeved on the sleeve. The locking sleeve is connected to the side of the connecting member away from the proximal end. The connecting member is used to drive the locking sleeve to move relative to the sleeve along the axial direction of the working rod within the receiving cavity. The inner side of the sleeve is provided with a variable diameter groove whose inner diameter gradually increases in the direction away from the proximal end. The sleeve is provided with a first through hole, and the working rod is provided with an annular groove. When the sleeve and the working rod are axially locked, part of the positioning member is located in the variable diameter groove, and another part passes through the first through hole and is located in the annular groove. When the sleeve and the working rod are not axially locked, the positioning member is entirely located in the variable diameter groove.

[0008] In some embodiments of this application, the locking sleeve is provided with a stop portion, and the sleeve is provided with a groove that cooperates with the stop portion. The stop portion is at least partially located in the groove and moves along the groove toward the distal end or the proximal end.

[0009] In some embodiments of this application, the locking mechanism further includes a first reset member, which is located within the receiving cavity, with one end connected to the inner wall of the housing and the other end connected to the connecting member.

[0010] In some embodiments of this application, the locking mechanism further includes a second reset member, which includes an elastic member and a limiting ring. The limiting ring is sleeved on the sleeve and located on the side of the locking sleeve near the proximal end. One end of the elastic member is connected to the limiting ring, and the other end is connected to the locking sleeve.

[0011] In some embodiments of this application, the connector includes a toothed sleeve and a limiting sleeve connected to each other. The toothed sleeve is connected to the locking sleeve, and the limiting sleeve is disposed near the proximal end. The limiting sleeve is sleeved on the outside of the toothed sleeve, and the limiting sleeve includes a protrusion that abuts against the inner wall of the housing.

[0012] In some embodiments of this application, the toothed sleeve is provided with a first toothed structure, and the locking sleeve is provided with a second toothed structure. The first toothed structure and the second toothed structure cooperate to engage the toothed sleeve and the locking sleeve.

[0013] In some embodiments of this application, the connecting member includes a toothed sleeve and a limiting sleeve connected to each other, the toothed sleeve being connected to the locking sleeve, and the limiting sleeve being disposed near the proximal end; the rotating connecting member includes a first bearing and a second bearing spaced apart and sleeved on the outside of the sleeve, the second bearing being disposed between the limiting sleeve and the sleeve; the first bearing is located on the side of the locking mechanism near the distal end, and is located between the housing and the sleeve.

[0014] In some embodiments of this application, the end connector further includes a sliding sleeve, which is sleeved on the outside of the sleeve, and the second bearing is sleeved on the outside of the sleeve through the sliding sleeve; a second keyhole is provided at a position opposite to the first keyhole on the sliding sleeve, and the first limiting member passes through the second keyhole, the first keyhole and the keyway are engaged.

[0015] In some embodiments of this application, the end connector further includes a handle detachably connected to the connector, the handle including a second through hole, and the working rod extending out of the second through hole.

[0016] In some embodiments of this application, the end connector further includes a connecting arm; the housing includes a second body portion, a first end cap, a first body portion, and a second end cap that are detachably connected in sequence along the distal end away from the working rod; the connecting arm is disposed on the first body portion and is used to connect and fix with the robotic arm.

[0017] In some embodiments of this application, the proximal end of the working rod is provided with a connection portion for connecting with an electric bone drill; the electric bone drill is used to drive the working rod to rotate.

[0018] The second aspect of this application provides an end effector, including a working rod and an end connector as described in any embodiment of the first aspect above, wherein the working rod passes through the sleeve and the proximal end and the distal end of the working rod extend from both ends of the housing, and the working rod includes a second limiting member that abuts against the side of the sleeve away from the proximal end.

[0019] The end connector provided in this application embodiment has a locking mechanism that can engage or disengage with the sleeve and the working rod. The side of the locking mechanism near the proximal end extends outward from the outer side of the housing. The user can control the locking mechanism located on the outer part of the housing to switch the end connector between an axially locked state and an axially unlocked state. The sleeve is mounted on the working rod, and in the axially locked state, the end connector can position and lock the working rod, allowing the sleeve to rotate synchronously with the working rod. This prevents relative rotation between the sleeve and the working rod, reducing wear between them and lowering noise generated during operation, thus improving the user experience. It also reduces the precision requirements for the inner wall of the sleeve during manufacturing, lowering production costs. In the axially unlocked state, the working rod can be directly inserted into the housing's receiving cavity from the distal end of the end connector, thus installing the working rod and the end connector. Alternatively, the working rod can be grasped from the distal end and pulled directly out of the housing's receiving cavity to disassemble the working rod and the end connector. This simple operation is convenient for doctors. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0021] Figure 1 A cross-sectional view of the end connector connected to the electric bone drill in the embodiment of this application;

[0022] Figure 2 for Figure 1 Exploded view of the mid-end connector;

[0023] Figure 3 This is a schematic diagram of the structure of the working rod provided in one embodiment of the present application.

[0024] Figure 4 for Figure 1 A partial cross-sectional view of the end connector in one embodiment, wherein the end connector is in an axially locked state;

[0025] Figure 5 for Figure 1 A partial cross-sectional view of the mid-end connector in one embodiment, wherein the partial cross-sectional view is in the axially unlocked state;

[0026] Figure 6 for Figure 1 Partial cross-sectional view of the working rod in the state of removing the mid-end connector;

[0027] Figure 7 for Figure 6 Cross-sectional view at point AA';

[0028] Figure 8 for Figure 2 A schematic diagram of the structure of the sleeve, locking sleeve, toothed ring, first reset member, first limiting member and sliding sleeve in the mid-end connector;

[0029] Figure 9 for Figure 2 A schematic diagram of the structure of the first bearing, toothed sleeve, limiting sleeve, second reset component, and handle in the mid-end connector;

[0030] Figure 10 This is a three-dimensional cross-sectional structural diagram of the toothed sleeve in the embodiments of this application;

[0031] Figure 11 This is a schematic diagram of the shell body and connecting arm structure in the embodiments of this application;

[0032] Figure 12 This is a schematic diagram of the end effector, electric bone drill, and robotic arm in the embodiments of this application.

[0033] The attached figures are labeled as follows:

[0034] Working rod 100, proximal end 110, distal end 120, keyway 130, annular groove 140, connecting part 150, grinding ball 160, second limiting component 170;

[0035] The housing 200, the first body part 210, the first end cover 220, the second end cover 230, and the second body part 240;

[0036] Locking mechanism 300, locking sleeve 310, variable diameter groove 311, stop part 312, second tooth structure 313, toothed ring 314, positioning part 320, connecting part 330, toothed sleeve 331, limiting sleeve 332, protrusion 333, first step 334, second step 335, first tooth structure 336, first reset part 340, second reset part 350, elastic part 350a, limiting ring 350b, handle 360, second through hole 361;

[0037] Sleeve 400, first keyhole 410, first through hole 420, slide groove 430, first protrusion 440, first groove 450, first convex ring 460;

[0038] Rotating connector 500, first bearing 510, second bearing 520;

[0039] First limiting component 600, sliding sleeve 610, second keyhole 611, second protrusion 620, second groove 630, second protruding ring 640;

[0040] Connecting arm 700, electric bone drill 800, robotic arm 900. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0042] In the related technology, during the operation of the end connector, there is friction between the working rod and the end connector, which results in significant wear between the working rod and the end connector. This not only affects the service life but also causes excessive noise during operation, affecting the working environment. Therefore, there is a need for an end connector to reduce the wear between the working rod and the end connector.

[0043] like Figures 1 to 2 As shown, the first aspect of this application proposes an end connector for connecting to a working rod 100, the working rod 100 including a proximal end 110 and a distal end 120, and the end connector including: a housing 200, a locking mechanism 300, a sleeve 400 and at least one rotating connector 500.

[0044] The housing 200 includes a receiving cavity, through which the working rod 100 passes axially, and with its proximal end 110 and distal end 120 extending out of both ends of the housing 200.

[0045] The locking mechanism 300 is sleeved on the outside of the sleeve 400, located between the sleeve 400 and the housing 200, and one end of the working rod 100 protrudes from one end of the housing 200; it is used to make the sleeve 400 and the working rod 100 form an axially locked state or a non-locked state.

[0046] The sleeve 400 is fitted onto the working rod 100 and located within the receiving cavity, such as Figure 3 As shown, in the locked state, the sleeve 400 is configured to rotate synchronously with the working rod 100.

[0047] The rotating connector 500 is sleeved between the housing 200 and the sleeve 400, and is arranged in parallel with the locking mechanism 300; the rotating connector 500 is configured such that the sleeve 400 and the working rod 100 can rotate relative to the housing 200 when the sleeve 400 and the working rod 100 are axially locked.

[0048] In this embodiment, the locking mechanism 300 moves axially along the working rod 100 within the receiving cavity relative to the sleeve 400. By controlling the axial movement of the locking mechanism 300, it can engage or disengage with the sleeve 400 and the working rod 100. The side of the locking mechanism 300 near the proximal end 110 extends outward from the housing 200. The user can control the locking mechanism 300 located on the outer part of the housing 200 to switch the end connector between an axially locked state and an axially unlocked state. In the axially unlocked state, the working rod 100 can be directly inserted into the receiving cavity of the housing 200 from the distal end of the end connector, thus enabling the installation of the working rod 100 and the end connector. Alternatively, the working rod 100 can be grasped from the distal end and pulled directly out of the receiving cavity of the housing 200 to disassemble the working rod 100 and the end connector. The operation is simple and convenient for doctors to use.

[0049] in, Figure 3 The image shows the axially locked state. Figure 4 The diagram shows the axially unlocked state. The sleeve 400 is mounted on the working rod 100, and in the axially locked state, the sleeve 400 can rotate synchronously with the working rod 100, meaning the sleeve 400 does not rotate relative to the working rod 100. This prevents wear and noise between the sleeve 400 and the working rod 100, and reduces the precision requirements for the inner wall of the sleeve 400 during manufacturing, thus lowering production costs. A rotating connector 500 is positioned between the housing 200 and the sleeve 400, allowing the sleeve 400 and the working rod 100 to rotate relative to the housing 200.

[0050] Specifically, the distal end 120 of the working rod 100 is the end that contacts the patient, and the proximal end 110 of the working rod 100 is the end that is away from the patient.

[0051] like Figures 2 to 5 As shown, in some embodiments, the end connector further includes a first limiting member 600 disposed near the proximal end 110, a first keyhole 410 disposed on the sleeve 400 that mates with the first limiting member 600, and a keyway 130 disposed on the working rod 100 that extends axially along the working rod 100. A portion of the first limiting member 600 is located in the keyway 130 and another portion is located in the first keyhole 410, for limiting the relative rotation of the sleeve 400 and the working rod 100.

[0052] In this embodiment, a portion of the first limiting component 600 is located in the keyway 130, and another portion is located in the first keyhole 410. When the working rod 100 rotates, the keyway 130, the working rod 100, and the first keyhole 410 interfere with each other, thus limiting relative rotation between the sleeve 400 and the working rod 100. During the rotation of the working rod 100, the first limiting component 600 ensures that the working rod 100 rotates synchronously with the sleeve 400. This reduces the precision requirements for the inner wall of the sleeve 400 during manufacturing, thereby lowering production costs. Specifically, the first limiting component 600 can be a pin key or a pin. A portion of the pin key or pin is located in the keyway 130, and the other portion is located in the first keyhole 410, enabling the working rod 100 to rotate synchronously with the sleeve 400. The keyway 130 extends axially so that the working rod 100 needs to be inserted axially into the housing. During the insertion of the working rod 100, the first limiting component 600 slides axially in the keyway 130 along the working rod 100.

[0053] Furthermore, the number of first limiting components 600 is preferably two, and the number of keyways 130 is preferably two. The keyways 130 are symmetrically arranged on both sides of the axis of the working rod 100, and the positions of the two first limiting components 600 correspond to the positions of the two keyways 130.

[0054] like Figures 4 to 6 As shown, in some embodiments, the locking mechanism 300 includes a locking sleeve 310, a positioning member 320, and a connecting member 330. The locking sleeve 310 is slidably sleeved on the sleeve 400. The locking sleeve 310 is connected to the side of the connecting member 330 away from the proximal end 110. The connecting member 330 is used to drive the locking sleeve 310 to move axially relative to the sleeve 400 along the working rod 100 within the receiving cavity. The inner side of the locking sleeve 310 is provided with a variable diameter groove 311 whose inner diameter gradually increases in the direction away from the proximal end 110. The sleeve 400 is provided with a first through hole 420, and the working rod 100 is provided with an annular groove 140.

[0055] When the sleeve 400 and the working rod 100 are axially locked, part of the positioning member 320 is located in the variable diameter groove 311, and the other part passes through the first through hole 420 and is located in the annular groove 140.

[0056] When the sleeve 400 and the working rod 100 are not axially locked, the positioning element 320 is entirely located in the variable diameter groove 311.

[0057] In this embodiment, the side of the connector 330 near the proximal end 110 extends out of the outer side of the housing 200. The locking sleeve 310 is slidably sleeved on the sleeve 400, and the inner side of the sleeve 400 is provided with a variable diameter groove 311 whose inner diameter gradually increases in the direction away from the proximal end 110. The positioning member 320 is located in the variable diameter groove 311. The locking sleeve 310 slides away from the proximal end 110 of the working rod 100. The relative position of the positioning member 320 and the variable diameter groove 311 moves from the side with a larger inner diameter to the side with a smaller inner diameter. During this process, the positioning member 320 is gradually pushed against the annular groove 140 by the inner wall of the variable diameter groove 311 through the first through hole 420. At this time, part of the positioning member 320 is located in the variable diameter groove 311, and the other part passes through the first through hole 420 and is located in the annular groove 140. The positioning member 320 interferes with both the first through hole 420 and the annular groove 140. At this time, the end connector is in a locked state, and the working rod 100 cannot move axially relative to the sleeve 400. In the locked state, the working rod 100 is restricted within the sleeve 400 to not move radially or axially, but can only rotate axially, ensuring the accuracy requirements of the working rod 100 during operation.

[0058] Pulling the locking sleeve 310 towards the proximal end 110 of the working rod 100 via the connector 330 causes the positioning element 320 and the variable diameter groove 311 to move from the side with the smaller inner diameter to the side with the larger inner diameter. During this process, the movable space of the positioning element 320 increases. When the locking sleeve 310 slides to the point where the space between the variable diameter groove 311 and the sleeve 400 can accommodate all the positioning elements 320, all the positioning elements 320 are located in the variable diameter groove 311. The positioning elements 320 avoid the first through hole 420 and the annular groove 140. At this time, the end connector is in the unlocked state, and the working rod 100 can move axially relative to the sleeve 400. At this time, the working rod 100 in the receiving cavity can be moved to the distal end 120 until the working rod 100 is completely separated from the sleeve 400 and the housing 200, completing the disassembly of the working rod 100 and replacing it with the working rod 100 that is needed.

[0059] like Figures 6 to 7 As shown, specifically, the positioning element 320 is a retaining ball, and the number of retaining balls can be one or more, the same as the number of the first through holes 420. The retaining ball positioning element 320 reduces friction between the retaining ball and the annular groove 140 and the variable diameter groove 311, further reducing noise and wear, and extending the service life of the end connector. The retaining ball can be made of steel, which has good wear resistance.

[0060] Understandably, the working rod 100 can also be provided with a point groove (not shown in the figure) that cooperates with the positioning member 320. When the point groove on the working rod 100 cooperates with the positioning member 320, when the end connector is in the locked state, the locking mechanism 300 can restrict both the axial movement between the sleeve 400 and the working rod 100 and the relative rotation between the sleeve 400 and the working rod 100. In this embodiment, the synchronous rotation between the sleeve 400 and the working rod 100 does not require the additional provision of a first limiting member 600 to restrict the relative rotation between the sleeve 400 and the working rod 100.

[0061] like Figures 4 to 7 As shown, in some embodiments, the locking mechanism 300 includes a locking sleeve 310, a retaining ball, and a connecting member 330. The locking sleeve 310 is slidably sleeved on the sleeve 400. The locking sleeve 310 is connected to the side of the connecting member 330 away from the proximal end 110. The connecting member 330 is used to drive the locking sleeve 310 to move axially relative to the sleeve 400 along the working rod 100 within the receiving cavity. The inner side of the locking sleeve 310 is provided with a variable diameter groove 311 whose inner diameter gradually increases in the direction away from the proximal end 110. The sleeve 400 is provided with a first through hole 420, and the working rod 100 is provided with a dotted groove (not shown in the figure).

[0062] One part of the retaining ball is located in the variable diameter groove 311, and the other part passes through the first through hole 420 and is located in the dot groove, so that the sleeve 400 and the working rod 100 are axially locked and rotate synchronously.

[0063] All the retaining balls are located in the reducing groove 311 so that the sleeve 400 and the working rod 100 are in an axially non-locked state.

[0064] In this embodiment, the connector 330 extends out of the outer side of the housing 200 near the proximal end 110. The locking sleeve 310 is slidably sleeved on the sleeve 400, and the inner side of the sleeve 400 is provided with a variable diameter groove 311 whose inner diameter gradually increases in the direction away from the proximal end 110. The retaining bead is located in the variable diameter groove 311. The locking sleeve 310 slides away from the proximal end 110 of the working rod 100. The relative position of the retaining bead and the variable diameter groove 311 moves from the side with the larger inner diameter of the variable diameter groove 311 to the side with the smaller inner diameter. During this process, the retaining bead is gradually pushed into the dot groove by the inner wall of the variable diameter groove 311 through the first through hole 420. At this time, part of the retaining bead is located in the variable diameter groove 311, and the other part passes through the first through hole 420 and is located in the dot groove. The retaining bead interferes with the first through hole 420 and the dot groove at the same time. At this time, the sleeve 400 and the working rod 100 are axially locked and rotate synchronously. The working rod 100 cannot move axially relative to the sleeve 400. In the locked state, the working rod 100 is restricted from radial and axial movement within the sleeve 400, and the axial rotation of the working rod 100 and the sleeve 400 is synchronized, ensuring the accuracy requirements of the working rod 100 during operation. Specifically, the groove is a hemispherical groove.

[0065] Pull the locking sleeve 310 towards the proximal end 110 of the working rod 100 by the connector 330. The relative position of the retaining ball and the variable diameter groove 311 moves from the side with the smaller inner diameter of the variable diameter groove 311 to the side with the larger inner diameter. During this process, the movable space of the retaining ball increases. When the locking sleeve 310 slides to the point where the space between the variable diameter groove 311 and the sleeve 400 can accommodate all the positioning parts 320, the retaining ball is located in the variable diameter groove 311. The retaining ball avoids the first through hole 420 and the dot groove. At this time, the end connector is in the unlocked state, and the working rod 100 can move axially relative to the sleeve 400. At this time, the working rod 100 in the receiving cavity can be moved to the distal end 120 until the working rod 100 is completely separated from the sleeve 400 and the housing 200, completing the disassembly of the working rod 100 and replacing it with the working rod 100 that needs to be used.

[0066] like Figures 4 to 5 As shown, in some embodiments, the locking sleeve 310 is provided with a stop 312, and the sleeve 400 is provided with a groove 430 that cooperates with the stop 312. The stop 312 is at least partially located in the groove 430 and moves along the groove 430 toward the distal end 120 or the proximal end 110.

[0067] In this embodiment, the stop part 312 is at least partially located in the slide groove 430. The length of the slide groove 430 along the axial direction of the sleeve 400 is the range in which the locking sleeve 310 can move towards the distal end 120 or towards the proximal end 110. The range of motion of the locking sleeve 310 is controlled such that the variable diameter groove 311 is always opposite to the position of the first through hole 420, and the first through hole 420 and the positioning member 320 are always located in the variable diameter groove 311.

[0068] like Figure 2 , Figure 4 and Figure 5 As shown, in some embodiments, the locking mechanism 300 further includes a first reset member 340, which is located in the receiving cavity and has one end connected to the inner wall of the housing 200 and the other end connected to the connector 330.

[0069] In this embodiment, the locking sleeve 310 is slid towards the proximal end 110 of the working rod 100 by pulling the connector 330 with an external force, and the end connector is in an unlocked state. During the movement of the connector 330 towards the proximal end 110 of the working rod 100, the first reset member 340 is compressed. The first reset member 340 generates a restoring force that drives the connector 330 to move away from the proximal end 110 of the working rod 100. When the external force is released, the restoring force generated by the first reset member 340 drives the connector 330 to move away from the proximal end 110 of the working rod 100. At the same time, the connector 330 pushes the locking sleeve 310 to slide away from the proximal end 110 of the working rod 100 until the end connector is in a locked state. The first reset member 340 continuously pushes against the connecting member 330, causing the inner wall of the variable diameter groove 311 of the locking sleeve 310 to push the limiting member through the first through hole 420 against the annular groove 140. This ensures that the positioning member 320 interferes with both the first through hole 420 and the annular groove 140, thus guaranteeing the accuracy requirements of the working rod 100 during operation. Specifically, the first reset member 340 can be an elastic component such as a spring.

[0070] like Figure 2 , Figure 4 and Figure 5 As shown, in some embodiments, the locking mechanism 300 further includes a second reset member 350, which includes an elastic member 350a and a limiting ring 350b. The limiting ring 350b is sleeved on the sleeve 400 and located on the side of the locking sleeve 310 near the proximal end 110. One end of the elastic member 350a is connected to the limiting ring 350b, and the other end is connected to the locking sleeve 310.

[0071] In this embodiment, the limiting ring 350b is fixedly sleeved on the sleeve 400. By pulling the connector 330 with external force, the locking sleeve 310 slides towards the proximal end 110 of the working rod 100, and the end connector is in an unlocked state. The second reset member 350 is located on the side of the locking sleeve 310 near the proximal end 110. During the movement of the locking sleeve 310 towards the proximal end 110 of the working rod 100, the locking sleeve 310 and the limiting ring 350b compress the elastic member 350a. The elastic member 350a generates a restoring force that drives the locking sleeve 310 to move away from the proximal end 110 of the working rod 100. When the external force is released, the restoring force generated by the elastic member 350a drives the locking sleeve 310 to move away from the proximal end 110 of the working rod until the end connector is in a locked state. The elastic element 350a constantly pushes against the locking sleeve 310, causing the inner wall of the variable diameter groove 311 of the locking sleeve 310 to push the limiting element through the first through hole 420 against the annular groove 140. This ensures that the positioning element 320 interferes with both the first through hole 420 and the annular groove 140, guaranteeing the accuracy requirements of the working rod 100 during operation. Specifically, the elastic element 350a can be a spring or other elastic component.

[0072] like Figure 2 , Figure 4 , Figure 5 and Figure 9 As shown, in some embodiments, the connector 330 includes a toothed sleeve 331 and a limiting sleeve 332 connected to each other. The toothed sleeve 331 is connected to the locking sleeve 310. The limiting sleeve 332 is disposed near the proximal end 110 and is sleeved on the outside of the toothed sleeve 331. The limiting sleeve 332 includes a protrusion 333, which abuts against the inner wall of the housing 200.

[0073] In this embodiment, the protrusion 333 abuts against the wall of the housing 200 to restrict the radial movement of the limiting sleeve 332. The limiting sleeve 332 is sleeved on the outside of the toothed sleeve 331, thereby also restricting the radial movement of the toothed sleeve 331 and the locking sleeve 310, and improving the stability of the end connector.

[0074] Furthermore, one section of the limiting sleeve 332 has a stepped structure, including a first step 334 and a second step 335. When the limiting sleeve 332 moves towards the proximal end 110 of the working rod 100 until the end connector is in the unlocked state, the second step 335 abuts against the inner wall of the housing 200, and the inner wall of the housing 200 restricts the limiting sleeve 332 from continuing to move towards the proximal end 110 of the working rod 100. When the limiting sleeve 332 moves away from the proximal end 110 of the working rod 100 until the end connector is in the locked state, the protrusion 333 abuts against the inner wall of the housing 200, and the inner wall of the housing 200 restricts the limiting sleeve 332 from continuing to move away from the proximal end 110 of the working rod 100.

[0075] like Figure 8 and Figure 10 As shown, in some embodiments, the toothed sleeve 331 is provided with a first toothed structure 336, and the locking sleeve 310 is provided with a second toothed structure 313. The first toothed structure 336 and the second toothed structure 313 cooperate to make the toothed sleeve 331 and the locking sleeve 310 snap together.

[0076] In this embodiment, the toothed sleeve 331 is provided with a first toothed structure 336, and the locking sleeve 310 is provided with a second toothed structure 313. When the first toothed structure 336 and the second toothed structure 313 are engaged, the relative rotation of the toothed sleeve 331 and the locking sleeve 310 can be prevented.

[0077] Furthermore, a toothed ring 314 is fitted on the locking sleeve 310, and the toothed ring 314 and the locking sleeve 310 can rotate synchronously. The second sawtooth structure is located on the side of the toothed ring 314 away from the proximal end 110.

[0078] like Figures 4 to 5As shown, in some embodiments, the travel distance of the connector 330 along the working rod 100 is greater than the travel distance of the sleeve 400 along the working rod 100. Specifically, when the limiting sleeve 332 moves along the direction near the proximal end 110 of the working rod 100 until the end connector is in the unlocked state, the second step 335 abuts against the inner wall of the housing 200, and the stop 312 abuts against the side of the slide groove 430 near the proximal end 110 of the working rod 100. That is, when the limiting sleeve 332 moves along the direction near the proximal end 110 of the working rod 100 until the end connector is in the unlocked state, the second step 335 contacts the inner wall of the housing 200 and the stop 312 contacts the side of the slide groove 430 simultaneously, restricting the limiting sleeve 332 and the slide sleeve 610 from continuing to move along the direction near the proximal end 110 of the working rod 100, that is, restricting the toothed sleeve 331 and the slide sleeve 610 connected to the limiting sleeve 332 from continuing to move towards the proximal end 110 of the working rod 100.

[0079] like Figure 4 As shown, when the limiting sleeve 332 moves along the direction away from the working rod 100 and towards the end connector is in the locked state, the stop part 312 abuts against the side of the slide groove 430 away from the working rod 100 and towards the end 110. At this time, the protrusion 333 does not abut against the inner wall of the housing 200, and the limiting sleeve 332 can continue to move along the direction away from the working rod 100 and towards the end 110. The limiting sleeve 332 drives the toothed sleeve 331 to continue moving along the direction away from the working rod 100 and towards the end 110. When the first toothed structure 336 and the second toothed structure 313 separate, the protrusion 333 abuts against the inner wall of the housing 200, restricting the limiting sleeve 332 and the toothed sleeve 331 connected to the limiting sleeve 332 from continuing to move along the direction away from the working rod 100 and towards the end 110. Figure 5 As shown, it can be understood that when the end connector is in the locked state, firstly, the limiting sleeve 332 is pulled to move the toothed sleeve 331 towards the proximal end 110 until the first toothed structure 336 and the second toothed structure 313 cooperate to make the toothed sleeve 331 and the locking sleeve 310 engage. Then, the limiting sleeve 332 is pulled to move the toothed sleeve 331 and the locking sleeve 310 engaged with the toothed sleeve 331 towards the proximal end 110 until the actuator is in the unlocked state.

[0080] In this embodiment, when the toothed sleeve 331, the limiting sleeve 332, and the locking sleeve 310 move towards the proximal end 110, they can be driven by the user's external force. When the toothed sleeve 331, the limiting sleeve 332, and the locking sleeve 310 move away from the proximal end 110, the toothed sleeve 331 and the limiting sleeve 332 can be driven by the restoring force of the first reset member 340, and the locking sleeve 310 can be driven by the restoring force of the second reset member 350. In the locked state, the locking sleeve 310 is pushed by the restoring force of the second reset member 350. The stop part 312 abuts against the side of the slide groove 430 away from the near end 110 of the working rod 100. The limiting sleeve 332 and the toothed sleeve 331 connected to the limiting sleeve 332 are pushed by the restoring force of the first reset member 340 to the second step 335 and abut against the inner wall of the housing 200. The first toothed structure 336 and the second toothed structure 313 remain separated. When the working rod 100 rotates axially, the sleeve 400 and the locking sleeve 310 rotate synchronously with the working rod 100, while the toothed sleeve 331 and the limiting sleeve 332 remain stationary.

[0081] In some embodiments, the rotating connector for rotating the sleeve 400 and the working rod 100 relative to the housing 200 in an axially locked state can be at least three rotating shafts (not shown in the figure) symmetrically arranged along the axis of the sleeve 400. The rotating shafts are disposed in the receiving cavity of the housing 200, and the outer side of the rotating shafts is in contact with the outer side of the sleeve 400 and can rotate relative to the sleeve 400.

[0082] like Figure 2 , Figure 4 and Figure 5 As shown, in some other embodiments, the rotating connector 500 may include a second bearing 520 and a first bearing 510 spaced apart on the outside of the sleeve 400, with the second bearing 520 disposed between the limiting sleeve 332 and the sleeve 400.

[0083] The first bearing 510 is located on the side of the locking mechanism 300 near the distal end 120, and is located between the housing 200 and the sleeve 400.

[0084] In this embodiment, the second bearing 520 is disposed between the limiting sleeve 332 and the sleeve 400, ensuring relative rotation between the limiting sleeve 332 and the sleeve 400. The first bearing 510 is located between the housing 200 and the sleeve 400, ensuring relative rotation between the housing 200 and the sleeve 400. Both the second bearing 520 and the first bearing 510 are standard parts, with stable and mature manufacturing processes and high processing precision, resulting in less wear and noise during the rotation of the working rod 100, the sleeve 400, and the bearings. The second bearing 520 and the first bearing 510 are respectively disposed on the side of the limiting sleeve 332 and the locking mechanism 300 near the distal end 120, i.e., the second bearing 520 and the first bearing 510 are spaced apart, ensuring the stability of the sleeve 400 and the working rod 100 during axial rotation and improving the operational precision of the end connector.

[0085] like Figure 2 , Figure 4 and Figure 5 As shown, in some embodiments, the end connector further includes a sliding sleeve 610, which is sleeved on the outside of the sleeve 400. The second bearing 520 is sleeved on the outside of the sleeve 400 through the sliding sleeve 610. A second keyhole 611 is provided at a position opposite to the first keyhole 410. The first limiting member 600 passes through the second keyhole 611, the first keyhole 410 and engages with the keyway 130.

[0086] In this embodiment, the first limiting component 600 is disposed within the second keyhole 611. The first limiting component 600 passes through the second keyhole 611, the first keyhole 410, and engages with the keyway 130. The first limiting component 600 ensures that the working rod 100 and the sleeve 400 rotate synchronously. The first limiting component 600 passes through the second keyhole 611, the first keyhole 410, and engages with the keyway 130. The sliding sleeve 610 and the sleeve 400 are slidably connected, that is, the sliding sleeve 610 can slide along the axial direction of the sleeve 400.

[0087] Furthermore, since the second bearing 520 is located between the limiting sleeve 332 and the sliding sleeve 610, specifically, one side of the second bearing 520 abuts against the side of the gear sleeve 331 near the proximal end 110, and the other side of the second bearing 520 abuts against the inner wall of the limiting sleeve 332. When the gear sleeve 331 and the limiting sleeve 332 move towards or away from the proximal end 110, they drive the second bearing 520 and the sliding sleeve 610 to move simultaneously towards or away from the proximal end 110.

[0088] like Figure 2 , Figure 4 and Figure 5As shown, in some embodiments, the sleeve 400 has a first protrusion 440 on the side of the first bearing 510 near the proximal end 110, and a first groove 450 on the side of the first bearing 510 away from the proximal end 110. A first protruding ring 460 is fitted in the first groove 450. The first protruding ring 460 is installed in the first groove 450 and protrudes from the outer surface of the sleeve 400. The first bearing 510 is fixed between the first protrusion 440 and the first protruding ring 460 to prevent the first bearing 510 from sliding along the axial direction of the sleeve 400.

[0089] like Figure 2 , Figure 4 , Figure 5 and Figure 8 As shown, in some embodiments, the sliding sleeve 610 has a second protrusion 620 on the side of the second bearing 520 away from the proximal end 110, and a second groove 630 is provided on the side of the sliding sleeve 610 near the proximal end 110 of the second bearing 520. A second protruding ring 640 is fitted in the second groove 630. The second protruding ring 640 is installed in the second groove 630 and protrudes from the outer surface of the sliding sleeve 610. The second bearing 520 is fixed between the second protrusion 620 and the second protruding ring 640 to prevent the second bearing 520 from sliding along the axial direction of the sliding sleeve 610.

[0090] like Figures 4 to 5 As shown, in some embodiments, the end connector also includes a handle 360 ​​detachably connected to the connector 330, the handle 360 ​​including a second through hole 361, the working rod 100 extending out of the second through hole 361.

[0091] In this embodiment, the handle 360 ​​is connected to the connector 330. During use, the user can pull the connector 330 towards the proximal end 110 via the handle 360 ​​to switch the end connector from a locked state to an unlocked state. The handle 360 ​​can be a cylindrical structure with a second through hole 361 in the middle, through which the working rod 100 extends. Multiple bosses are provided on the outer side of the cylindrical structure, with grooves between the bosses. The user can grip the cylinder and place their fingers in the grooves for easy operation and to prevent slippage.

[0092] like Figure 2 , Figure 4 , Figure 5 , Figure 11 and Figure 12 In some embodiments, the end connector further includes a connecting arm 700, and the housing 200 includes a second body portion 240, a first end cap 220, a first body portion 210 and a second end cap 230 that are detachably connected in sequence along the distal end away from the working rod; the connecting arm 700 is disposed on the first body portion 210 and is used to connect and fix with the robotic arm 900.

[0093] In this embodiment, the end effector is fixed to the end of the robotic arm 900 via the connecting arm 700, thereby enabling surgical navigation by mounting the end effector on the end of the robotic arm 900 and ensuring high-precision operation of the end effector by the surgeon during the operation. When the robotic arm 900 adjusts the end effector to a certain position and posture, the end effector ensures that the position of the surgical instruments remains unchanged, allowing the surgeon to operate the surgical instruments to perform actions such as drilling or filing.

[0094] Furthermore, the distal end 120 of the working rod 100 contacts the patient, and the connecting arm 700 has an arc-shaped structure. The end of the connecting arm 700 connected to the robotic arm 900 bends towards the proximal end 110 of the working rod 100. In this way, the position of the robotic arm 900 is closer to the proximal end 110 of the working rod 100, that is, the robotic arm 900 is further away from the patient, which makes it easier for the doctor to observe and operate on the affected area.

[0095] Furthermore, the connecting arm 700 can be detachably installed on the first body part 210, or the connecting arm 700 can be integrally formed with the first body part 210.

[0096] The first end cap 220 and the second end cap 230 are detachably mounted on the first body portion 210, facilitating the assembly, replacement, and maintenance of components within the first body portion 210. Specifically, the first end cap 220 and the second end cap 230 can be threadedly connected to the first body portion 210. The second body portion 240 is fixedly snapped between the first body portion 210 and the first end cap 220 at one end near the proximal end 110, and the working rod 100 passes through the second body portion 240.

[0097] The second body portion 240 is a hollow tubular structure. An annular protrusion is provided on the side of the second body portion 240 near the proximal end 110. The annular protrusion is fixedly engaged between the housing body 210 and the first end cap 220. The working rod 100 passes through the second body portion 240, the housing body 210, and the second end cap 230. The second body portion 240 is provided to increase the overall length of the housing 200. On the one hand, the working rod 100 is relatively long, and the second body portion 240 reduces the exposed length of the working rod 100, improving the safety of the end connector. On the other hand, the second body portion 240 and the working rod 100 have a clearance fit, limiting the radial vibration of the working rod 100 and improving the accuracy of the end connector.

[0098] like Figure 1 As shown, in some embodiments, the proximal end 110 of the working rod 100 is provided with a connecting part 150 for connecting with the electric bone drill 800; the electric bone drill 800 is used to drive the working rod 100 to rotate.

[0099] In this embodiment, the electric bone drill 800 locks the connecting part 150 of the working rod 100, and the electric bone drill 800 is used to drive the working rod 100 to rotate. Alternatively, the rotating part of the electric bone drill 800 and the connecting part 150 have a keyway 130 mating structure, and the rotating part of the electric bone drill 800 can drive the working rod 100 to rotate synchronously.

[0100] In this application, when the working rod 100 rotates under the axially locked state, the sleeve 400, sliding sleeve 610, first limiting component 600, locking sleeve 310, positioning component 320, stop part 312, toothed ring 314, elastic component 350a and limiting ring 350b rotate synchronously with the working rod 100.

[0101] like Figure 3 , Figure 4 and Figure 12 As shown, the second aspect of this application proposes an end effector, including a working rod 100 and an end connector as described in any embodiment of the first aspect. The working rod 100 passes through a sleeve 400, with its proximal end 110 and distal end 120 extending from both ends of a housing 200. The working rod 100 includes a second limiting member 170, which abuts against the side of the sleeve 400 away from the proximal end 110. In this embodiment, the second limiting member 170 may specifically be an annular protrusion disposed on the outer side of the working rod 100. During the installation of the working rod 100, when the working rod 100 reaches a preset installation position, the second limiting member 170 abuts against the side of the sleeve 400 away from the proximal end 110. At this time, the annular grooves 140 and 420 of the working rod 100 are positioned opposite each other. The locking mechanism 300 extends outward from the outer side of the housing 200 near the proximal end 110. The user can control the locking mechanism 300 located on the outer side of the housing 200 to make it move axially relative to the sleeve 400 within the receiving cavity along the working rod 100. By controlling the axial movement of the locking mechanism 300, it can engage or disengage with the sleeve 400 and the working rod 100, allowing the end connector to switch between locked and unlocked states. The sleeve 400 is mounted on the working rod 100, and in the locked state, the sleeve 400 can rotate synchronously with the working rod 100, meaning the sleeve 400 does not rotate relative to the working rod 100. This prevents wear and noise between the sleeve 400 and the working rod 100, and reduces the precision requirements for the inner wall of the sleeve 400 during manufacturing, thus lowering production costs. A rotating connector 500 is disposed between the housing 200 and the sleeve 400, and the sleeve 400 and the working rod 100 can rotate relative to the housing 200 through the rotating connector 500.

[0102] Specifically, the working rod 100 can be a grating rod, and one end of the working rod 100 at the distal end 120 is a grating ball 160, which is a hemispherical file. The proximal end 110 of the grating rod is connected to an electric bone drill 800. The doctor controls the rotation of the electric bone drill 800, which drives the grating ball 160 to rotate through the grating rod, and is used to grat the patient's acetabulum.

[0103] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0104] The various embodiments in this specification are described in a related manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0105] The above are merely preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. An end connector for connection to a working rod (100), the working rod (100) comprising a proximal end (110) and a distal end (120), characterized in that, The end connector includes: a housing (200), a locking mechanism (300), a sleeve (400), a first limiting component (600), and at least one rotating connector (500). The housing (200) includes a receiving cavity, the working rod (100) passes through the receiving cavity along its axial direction, and the proximal end (110) and the distal end (120) of the working rod (100) extend from both ends of the housing (200); The locking mechanism (300) is sleeved on the outside of the sleeve (400), located between the sleeve (400) and the housing (200), and one end of the locking mechanism (300) near the proximal end (110) of the working rod (100) extends out of one end of the housing (200); it is used to make the sleeve (400) and the working rod (100) form an axially locked state and a non-locked state. The sleeve (400) is sleeved on the working rod (100) and located in the receiving cavity. In the locked state, the sleeve (400) is configured to rotate synchronously with the working rod (100). The first limiting component (600) is disposed near the proximal end (110), the sleeve (400) is provided with a first keyhole (410) that mates with the first limiting component (600), and the working rod (100) is provided with a keyway (130) extending along the axial direction of the working rod (100). A portion of the first limiting component (600) is located in the keyway (130), and another portion is located in the first keyhole (410), which is used to limit the relative rotation of the sleeve (400) and the working rod (100). The rotating connector (500) is sleeved between the housing (200) and the sleeve (400) and is arranged in parallel with the locking mechanism (300); the rotating connector (500) is configured such that the sleeve (400) and the working rod (100) can rotate relative to the housing (200) when the sleeve (400) and the working rod (100) are axially locked.

2. The end connector according to claim 1, characterized in that, The locking mechanism (300) includes a locking sleeve (310), a positioning member (320), and a connecting member (330). The locking sleeve (310) is slidably sleeved on the sleeve (400). The locking sleeve (310) is connected to the side of the connecting member (330) away from the proximal end (110). The connecting member (330) is used to drive the locking sleeve (310) to move axially relative to the sleeve (400) along the working rod (100) within the receiving cavity. The inner side of the sleeve (400) is provided with a variable diameter groove (311) whose inner diameter gradually increases in the direction away from the proximal end (110). The sleeve (400) is provided with a first through hole (420), and the working rod (100) is provided with an annular groove (140). When the sleeve (400) and the working rod (100) are axially locked, part of the positioning member (320) is located in the variable diameter groove (311), and the other part passes through the first through hole (420) and is located in the annular groove (140); When the sleeve (400) and the working rod (100) are not axially locked, the positioning element (320) is entirely located within the variable diameter groove (311).

3. The end connector according to claim 2, characterized in that, The locking sleeve (310) is provided with a stop (312), and the sleeve (400) is provided with a groove (430) that cooperates with the stop (312). The stop (312) is at least partially located in the groove (430) and moves along the groove (430) toward the distal end (120) or the proximal end (110).

4. The end connector according to claim 2, characterized in that, The locking mechanism (300) further includes a first reset member (340), which is located in the receiving cavity and has one end connected to the inner wall of the housing (200) and the other end connected to the connector (330).

5. The end connector according to claim 2, characterized in that, The locking mechanism (300) further includes a second reset member (350), which includes an elastic member (350a) and a limiting ring (350b). The limiting ring (350b) is sleeved on the sleeve (400) and located on the side of the locking sleeve (310) near the proximal end (110). One end of the elastic member (350a) is connected to the limiting ring (350b), and the other end is connected to the locking sleeve (310).

6. The end connector according to claim 2, characterized in that, The connector (330) includes a toothed sleeve (331) and a limiting sleeve (332) connected to each other. The toothed sleeve (331) is connected to the locking sleeve (310). The limiting sleeve (332) is disposed near the proximal end (110). The limiting sleeve (332) is sleeved on the outside of the toothed sleeve (331). The limiting sleeve (332) includes a protrusion (333) that abuts against the inner wall of the housing (200).

7. The end connector according to claim 6, characterized in that, The toothed sleeve (331) is provided with a first toothed structure (336), and the locking sleeve (310) is provided with a second toothed structure (313). The first toothed structure (336) and the second toothed structure (313) cooperate to make the toothed sleeve (331) and the locking sleeve (310) engage.

8. The end connector according to any one of claims 2-7, characterized in that, The connector (330) includes a toothed sleeve (331) and a limiting sleeve (332) connected to each other. The toothed sleeve (331) is connected to the locking sleeve (310), and the limiting sleeve (332) is disposed near the proximal end (110). The rotating connector (500) includes a first bearing (510) and a second bearing (520) spaced apart and sleeved on the outside of the sleeve (400), with the second bearing (520) disposed between the limiting sleeve (332) and the sleeve (400); The first bearing (510) is located on the side of the locking mechanism (300) near the distal end (120) and between the housing (200) and the sleeve (400).

9. The end connector according to claim 8, characterized in that, The end connector also includes a sliding sleeve (610), which is sleeved on the outside of the sleeve (400). The second bearing (520) is sleeved on the outside of the sleeve (400) through the sliding sleeve (610). The sliding sleeve (610) is provided with a second keyhole (611) at a position opposite to the first keyhole (410). The first limiting member (600) passes through the second keyhole (611), the first keyhole (410) and cooperates with the keyway (130).

10. The end connector according to any one of claims 2-7, characterized in that, The end connector also includes a handle (360) detachably connected to the connector (330), the handle (360) including a second through hole (361), the working rod (100) extending out of the second through hole (361).

11. The end connector according to any one of claims 1-7, characterized in that, The end connector further includes a connecting arm (700); the housing (200) includes a second body part (240), a first end cap (220), a first body part (210), and a second end cap (230) that are detachably connected in sequence along the distal end away from the working rod (100); the connecting arm (700) is disposed on the first body part (210) and is used to connect and fix with the robotic arm (900).

12. The end connector according to any one of claims 1-7, characterized in that, The working rod (100) is provided with a connecting part (150) at its proximal end (110) for connecting with an electric bone drill (800); the electric bone drill (800) is used to drive the working rod (100) to rotate.

13. An end effector, characterized in that, The device includes a working rod (100) and an end connector according to any one of claims 1-12, the working rod (100) passing through the sleeve (400) and the proximal end (110) and the distal end (120) of the working rod (100) extending from both ends of the housing (200), the working rod (100) including a second limiting member (170) abutting against the side of the sleeve (400) away from the proximal end (110).

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