Acetabular rasp connecting rod, end effector and surgical robot

Abstract

The present application provides an acetabular rasp connecting rod, an end effector and a surgical robot. The acetabular rasp connecting rod comprises: a mounting portion for connecting an acetabular rasp; a connecting portion for connecting a power interface, the connecting portion having a driven shaft, a locking ring located at the periphery of the driven shaft, and an unlocking ring located at the periphery of the locking ring; wherein the driven shaft is used to connect to the driving shaft of the power interface to transmit torque; the locking ring is provided with a connecting piece, the connecting piece is used to connect to the non-active shaft portion of the power interface to axially engage the acetabular rasp connecting rod to the power interface, and the connecting piece is constructed to be able to connect to the non-active shaft portion by rotating relative to the non-active shaft portion; the unlocking ring can rotate relative to the locking ring, and an anti-slip mechanism is provided between the unlocking ring and the locking ring, the anti-slip mechanism is used for the locking ring and / or the driven shaft to be disconnected from the power interface. The acetabular rasp connecting rod of the present application helps to ensure that the connection with the power interface is not loose when the eccentric direction is adjusted or the housing is subjected to axial torsion.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and more specifically, to an acetabular rasp connecting rod, an end effector and a surgical robot. Background Art

[0002] With the development of medical science and technology, robot positioning has been widely used for hip replacement surgery instead of traditional artificial hip replacement surgery. In robot-assisted minimally invasive hip surgery, a curved acetabular rasp connecting rod is usually required. After the curved acetabular rasp connecting rod is connected to the end of the robot arm, it is necessary to be able to adjust the eccentric direction and enable the acetabular rasp and connecting rod to be separated from the patient after the robot arm fails and locks.

[0003] Among them, in hip replacement surgery, the acetabular rasp is connected to a power device (such as an electric reamer) through an acetabular rasp connecting rod, and the power device drives the acetabular rasp to perform rotational motion to complete the grinding of the human acetabulum. The acetabular rasp connecting rod plays an important connecting role as a connecting device in surgery. The power device is usually connected to a robot arm. During the operation, the robot arm may be locked, resulting in the acetabular rasp connecting rod connected to the power device being unable to be removed from the patient's body. And when the eccentric direction is adjusted or the shell is subjected to axial torsion, the connection between the acetabular rasp connecting rod and the power device must not be loosened. In this regard, the current curved acetabular rasp connecting rod is still insufficient. Summary of the invention

[0004] The present application provides an acetabular rasp connecting rod, an end effector and a surgical robot. The following introduces various aspects involved in the embodiments of the present application.

[0005] In a first aspect, an acetabular rasp connecting rod is provided for connecting an acetabular rasp to a power interface, comprising: a mounting portion for connecting the acetabular rasp; a connecting portion for connecting the power interface, the connecting portion having a driven shaft, a locking ring located at the periphery of the driven shaft, and an unlocking ring located at the periphery of the locking ring; wherein the driven shaft is used to connect to the driving shaft of the power interface to transmit torque; the locking ring is provided with a connecting piece, the connecting piece is used to connect to a non-active shaft portion of the power interface to axially engage the acetabular rasp connecting rod to the power interface, the connecting piece is constructed to be connectable to the non-active shaft portion by rotation relative to the non-active shaft portion; the unlocking ring is rotatable relative to the locking ring, and an anti-slip mechanism is provided between the unlocking ring and the locking ring, the anti-slip mechanism is used to prevent the locking ring and / or the driven shaft from being detached from the connection with the power interface.

[0006] In a possible embodiment, the anti-slip mechanism is constructed to have a restricted state and an unlocked state when the connecting part is connected to the power interface. In the restricted state, the anti-slip mechanism limits the axial movement and / or circumferential rotation of the locking ring relative to the power interface. In the unlocked state, the anti-slip mechanism allows the locking ring to move axially and / or rotate circumferentially relative to the power interface.

[0007] In a possible implementation, when the connecting portion is connected to the power interface, the locking ring abuts against a non-active shaft portion of the power interface.

[0008] In a possible embodiment, the anti-slip mechanism includes an anti-slip pin fixed on the locking ring and an anti-slip groove arranged on the unlocking ring, the anti-slip groove has a restricted area and a non-restricted area, when the anti-slip pin is in the restricted area, the locking ring does not rotate with the unlocking ring and the locking ring is axially limited relative to the unlocking ring, when the anti-slip pin is in the non-restricted area, the locking ring can rotate with the unlocking ring and the locking ring can move axially relative to the unlocking ring.

[0009] In a possible embodiment, the anti-slip mechanism also includes a retaining device, which is used to keep the anti-slip pin shaft in the restricted area. The retaining device includes a first elastic member located between the unlocking ring and the locking ring, one end of the first elastic member is connected to the locking ring, and the other end of the first elastic member is connected to the unlocking ring.

[0010] In a possible implementation manner, the first elastic member is a torsion spring.

[0011] In a possible embodiment, the acetabular rasp connecting rod is a curved acetabular rasp connecting rod, and the curved acetabular rasp connecting rod includes: a stop sleeve, which is coaxially connected to the locking ring and away from the connection end with the power interface; an eccentric shell, the outer surface of the eccentric shell and the inner surface of the stop sleeve have an axially slidable mating surface, the driven shaft passes through the inner space of the eccentric shell, and after the eccentric shell is moved out of the mating area with the stop sleeve along the axial direction of the stop sleeve, the eccentric shell is released from the constraint of the stop sleeve in the circumferential direction, and the eccentric shell is used to adjust the position of the curved section of the acetabular rasp connecting rod.

[0012] In a possible implementation, the curved acetabular reamer connecting rod further includes: an axial limiting mechanism located between the eccentric housing and the anti-rotation sleeve, wherein the axial limiting mechanism is used to place the eccentric housing in a matching area with the anti-rotation sleeve.

[0013] In a possible implementation, the axial limiting mechanism includes: a second elastic member, one end of the second elastic member is connected to the eccentric housing, and the other end of the second elastic member is connected to the anti-rotation sleeve.

[0014] In a possible implementation manner, the cross-sectional profile of the inner surface of the eccentric housing is a regular polygon, and the mating point between the eccentric housing and the anti-rotation sleeve is a regular polygonal mating surface.

[0015] In a possible implementation manner, the anti-rotation sleeve is provided with one or more groups of matching positions.

[0016] In a possible implementation, the acetabular reamer connecting rod includes an unlocking ring cover, which is located outside the unlocking ring and can rotate synchronously with the unlocking ring.

[0017] In a second aspect, an end effector is provided, comprising: a power unit, the power unit being provided with a power output interface; and an acetabular rasp connecting rod as described in the first aspect, one end of the acetabular rasp connecting rod being connected to the power output interface, and the other end of the acetabular rasp connecting rod being connected to the acetabular rasp.

[0018] In a third aspect, a surgical robot is provided, comprising: a robotic arm; an end effector connected to the end of the robotic arm; and a control system for acquiring the orientation information of the end effector and controlling the movement of the robotic arm; wherein the end effector is the end effector described in the first aspect.

[0019] In the present application, during the normal operation of the connection between the power interface and the connecting part, under the restriction of the anti-slip mechanism and the unlocking ring, the connecting piece on the locking ring does not produce circumferential rotation and axial displacement, and thus the locking ring and / or the driven shaft will not be disconnected from the power interface. When the acetabular rasp connecting rod needs to be disassembled or installed, the locking ring can be driven to rotate by the unlocking ring, and then the locking ring is connected to / disconnected from the non-active shaft part of the power interface. After the acetabular rasp connecting rod of the embodiment of the present application is connected to the end of the robot arm, when the eccentric direction is adjusted or the outer shell is twisted around the axial direction, it helps to ensure that the connection interface with the power device does not loosen. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the composition of the surgical robot system.

[0021] Figure 2 It is a schematic diagram of the structure of the acetabular rasp connecting rod provided in an embodiment of the present application.

[0022] Figure 3 yes Figure 2 Schematic diagram of the side view and cross-sectional view of the acetabular reamer connecting rod.

[0023] Figure 4 yes Figure 2 A schematic diagram of the power interface in .

[0024] Figure 5 yes Figure 2 A possible overall schematic diagram of an acetabular reamer rod.

[0025] Figure 6 yes Figure 2 A possible exploded view of the connection in FIG.

[0026] Figure 7 It is a schematic diagram of a component unit / part of a component unit of the end effector provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The same or similar reference numerals are used in the drawings to represent the same or similar modules. It should be understood that the drawings are only schematic, and the protection scope of the present application is not limited thereto.

[0028] Acetabular rasp is a medical device used in hip replacement surgery, mainly used to trim and polish the acetabulum (the bowl-shaped part of the hip bone). During the operation, the doctor will select the appropriate acetabular rasp according to the shape of the patient's acetabulum and the type of artificial hip joint used, and use the acetabular rasp to polish the acetabular socket to make it perfectly match the artificial hip joint.

[0029] With the development of medical science and technology, robot positioning has been widely used in hip replacement surgery to replace traditional artificial hip replacement surgery. Figure 1 Figure 1 is a schematic diagram of the composition of the surgical robot system. Figure 1 As shown, the surgical robot system may include: a robot arm 110, an end effector 120, and a control system 130. The end effector 120 may include: a power device 121, an acetabular reamer connecting rod 122, and an acetabular reamer 123. The robot arm 110 is used to hold the end effector 120. Generally, the acetabular reamer 123 is installed at one end of the acetabular reamer connecting rod 122, and the other end of the acetabular reamer connecting rod 122 is connected to the power device 121 (power unit) arranged at the end of the robot arm 110 to drive the acetabular reamer 123 to rotate, thereby driving the acetabular reamer 123 to rotate to trim the patient's acetabular fossa, so as to facilitate the implantation of an adapted acetabular cup prosthesis.

[0030] At present, acetabular reamer rods are of straight type and curved (arched) type. When there is no human tissue blocking the acetabular reamer rod and the surgical site, the straight acetabular reamer rod can be used for surgery; when there is human tissue blocking the acetabular reamer rod and the surgical site, the straight acetabular reamer rod is no longer applicable, and the curved acetabular reamer rod is usually required for surgery.

[0031] For example, in robot-assisted minimally invasive hip surgery, a curved acetabular rasp connecting rod is usually required. The curved portion of the curved acetabular rasp connecting rod in the related art is connected by a universal joint coupling to achieve transmission reversal. The curved acetabular rasp connecting rod is also referred to as the curved acetabular rasp connecting rod. After the curved acetabular rasp connecting rod is connected to the end of the robot arm, it is necessary to be able to adjust the eccentric direction and to release the patient (that is, after the robot arm is locked, the connection with the patient can be released). And when the eccentric direction is adjusted or the outer shell is subjected to axial torsion, the connection with the power device cannot be loosened. In this regard, the current curved acetabular rasp connecting rod still has shortcomings. Among them, adjusting the eccentric direction refers to adjusting the orientation of the curved portion of the curved acetabular rasp connecting rod relative to the longitudinal axis of the acetabular rasp.

[0032] Based on this, an embodiment of the present application proposes an acetabular reamer connecting rod. Figure 2 , Figure 3 , Figure 5 This is a schematic diagram of the structure of the acetabular rasp connecting rod proposed in the embodiment of the application. Figure 2 , Figure 3 , Figure 5 The acetabular reamer connecting rod of the embodiment of the present application is described in detail. The acetabular reamer connecting rod 200 is used to connect the acetabular reamer to the power interface 210 on the power device / power unit. Figure 2 As shown, the acetabular reamer connecting rod 200 may include a connecting portion 220 and a mounting portion 280 .

[0033] The mounting portion 280 is located at one end of the acetabular reamer connecting rod 200 and is used for connecting the acetabular reamer.

[0034] The connecting portion 220 is located at the other end of the acetabular rasp connecting rod 200, that is, at the opposite end of the end where the mounting portion 280 is located. The connecting portion 220 is used to connect the power interface 210. The power interface 210 is the output interface of the power source that drives the acetabular rasp connecting rod 200. The connecting portion 220 has a driven shaft 221, a locking ring 222 located at the periphery of the driven shaft 221, and an unlocking ring 224 located at the periphery of the locking ring 222. The connecting portion 220 is also called a connecting rod joint or a driven joint. The locking ring 222 is provided with a connecting piece, which is used to connect with the non-active shaft portion of the power interface 210 to axially engage the acetabular rasp connecting rod 200 to the power interface 210, and the connecting piece is constructed to be connected to the non-active shaft portion by rotating relative to the non-active shaft portion. In other words, the connection between the connecting piece and the non-active shaft portion is established after the locking ring 222 and the power interface 210 rotate relative to each other. The connecting piece can be, for example, a joint pin 223. The locking ring 222 is provided with a plurality of joint pins 223 (i.e., connectors) in the radial direction. The plurality of joint pins 223 may be 4 and are evenly distributed (90° apart) along the same busbar. The driven shaft 221 is used to connect the driving shaft 211 to transmit torque. An anti-slip mechanism 230 is provided between the locking ring 222 and the unlocking ring 224. The anti-slip mechanism 230 is used to prevent the locking ring 222 and / or the driven shaft 221 from being disconnected from the power interface 210.

[0035] In some implementations, the power interface 210 has a driving shaft 211 and a connecting ring 212 located on the periphery of the driving shaft 211. The connecting ring 212 is provided with a plurality of spiral slide grooves 213, and the slide grooves 213 have an adaptation relationship with the joint pins 223. The number of the slide grooves 213 is 4, corresponding to 4 evenly distributed joint pins 223. The spiral slide groove 213 is provided with an opening and a clamping point A. When the joint pin 223 enters the clamping point A, the connecting portion 220 is connected to the power interface 210. The driving shaft 211 is used to connect the power source, or the driving shaft 211 is the output shaft of the power source. It can be understood that the driving shaft 211 can rotate relative to the connecting ring 212. Therefore, the power interface 210 may be called a power joint. After the joint pin 223 is at the clamping point A, the joint pin 223 is constrained by the stoppers on both sides of the clamping point along the axial direction of the connecting ring 212 (or the driving shaft 211). In some optional embodiments, the number of the plurality of slide grooves may be 2, 4, 6, etc., and the number thereof may be adapted to the number of the joint pins 223 .

[0036] Figure 4 yes Figure 2 A schematic diagram of the power interface in . Figure 4As shown, the root of the spiral slide groove 213 is the clamping point A, and the clamping point A has stoppers (stop plates) on both sides along the axial direction of the connecting ring 212. Among them, the transmission pin 215 on the driving shaft 211 is used to transmit power. In some implementations, when the connecting portion 220 is connected to the power interface 210, the locking ring 222 abuts against the non-active shaft portion of the power interface 210. The non-active shaft portion can be, for example, the joint end face 214.

[0037] The multiple connector pins 223 are respectively rotated through the openings to be connected to the corresponding multiple spiral slide grooves 213 at the clamping positions, and the unlocking ring 224 abuts against the connector end face 214 of the power interface 210 to perform a clamping connection between the power interface 210 and the connecting part 220.

[0038] It is understandable that the other end of the acetabular reamer connecting rod 200 is used to connect the actuator acetabular reamer. In some embodiments, the connecting portion 220 is a component of the acetabular reamer connecting rod 200, and the power interface 210 is a component of the power input device at the front end of the acetabular reamer connecting rod 200. In other embodiments, the connecting portion 220 and the power interface 210 are both components of the acetabular reamer connecting rod 200.

[0039] In some implementations, when multiple connector pins 223 are located at the corresponding multiple spiral grooves 213, the anti-slip edge 225 of the unlocking ring 224 (connecting portion 220) abuts against the connector end face 214 of the power interface 210, limiting the connector pin 223 from further sliding along the axial direction of the connecting ring 212 at the snap-fit ​​point A in the groove 213, and also helping to ensure the stability of the snap-fit ​​connection.

[0040] In some implementations, an elastic member may be used to allow the anti-slip rib 225 of the unlocking ring 224 to stably and evenly abut against the joint end surface 214 of the power interface 210. Usually, the axis of the driving shaft 211 is perpendicular to the joint end surface 214.

[0041] There are many ways to connect the joint pin 223 and the locking ring 222. For example, the locking ring 222 may be processed with a pin hole adapted to the joint pin 223, and the joint pin 223 and the pin hole are connected by interference fit. For another example, the joint pin 223 may pass through the pin hole and be connected to the locking ring 222 by welding.

[0042] Since the slide groove 213 is spiral, when the joint pin 223 rotates through the opening to be connected to the corresponding clamping part of the spiral slide groove 213, the joint pin 223 and the lock ring 222 not only rotate around the axis, but also undergo axial displacement. Similarly, when the joint pin 223 rotates through the clamping part to the interface, the joint pin 223 and the lock ring 222 not only rotate around the axis, but also undergo axial displacement.

[0043] In other words, after the power interface 210 is connected to the connecting portion 220, the joint pin 223 is inserted into the engaging portion of the slide slot 213. To separate the two parts, the connecting portion 220 needs to be rotated so that the joint pin 223 first climbs upward in the slide slot 213 and then falls down to separate from the opening.

[0044] In the present application, during the normal operation of the connection between the power interface and the connecting part, under the restriction of the anti-slip mechanism and the unlocking ring, the connecting piece on the locking ring does not produce circumferential rotation and axial displacement, and thus the locking ring and / or the driven shaft will not be disconnected from the power interface. When the acetabular rasp connecting rod needs to be disassembled or installed, the locking ring can be driven to rotate by the unlocking ring, and then the locking ring is connected to / disconnected from the non-active shaft part of the power interface. After the acetabular rasp connecting rod of the embodiment of the present application is connected to the end of the robot arm, when the eccentric direction is adjusted or the outer shell is twisted around the axial direction, it helps to ensure that the connection interface with the power device does not loosen.

[0045] In some implementations, the anti-slip mechanism 230 is configured to have a restricted state and an unlocked state when the connecting portion 220 is connected to the power interface 210. In the restricted state, the anti-slip mechanism 230 restricts the lock ring 222 from axially moving and / or circumferentially rotating relative to the power interface 210; in the unlocked state, the anti-slip mechanism 230 allows the lock ring 222 to axially move and / or circumferentially rotate relative to the power interface 210.

[0046] In some implementations, such as Figure 3 , Figure 6 As shown, the anti-slip mechanism 230 may include: an anti-slip pin 231 fixed on the lock ring 222, and an anti-slip groove 232 provided on the unlocking ring 224. The anti-slip groove 232 has a restricted area C and a non-restricted area D. When the anti-slip pin 231 is in the restricted area C, it is not restricted in the circumferential direction but restricted in the axial direction, and the lock ring 222 does not rotate with the unlocking ring 224. That is, when the unlocking ring 224 rotates, the lock ring 222 does not rotate, and the lock ring 222 and the joint pin 223 do not produce axial displacement relative to the power interface 210. The non-restricted area D of the anti-slip groove 232 leaves space in the axial direction, and when the unlocking ring is rotated, the anti-slip pin 231 is in the non-restricted area D, it is not restricted in the axial direction but restricted in the unilateral circumferential direction, and when the unlocking ring rotates toward the restricted circumferential direction, the lock ring 222 rotates with the unlocking ring 224 (synchronous rotation), that is, when the unlocking ring 224 rotates, the lock ring 222 also rotates, and the lock ring 222 and the joint pin 223 can produce axial displacement relative to the power interface 210.

[0047] When the unlocking ring 224 is rotated from the restricted area C to the unrestricted area D, the locking ring 222 will rotate with the unlocking ring 224 due to the restriction of the end side of the anti-slip groove 232. Continuing to rotate can connect or disconnect the locking ring 222 with the power interface 210. When the unlocking ring 224 is not subject to force and is located in the restricted area C, the rotation and axial displacement of the locking ring 222 are restricted.

[0048] In some implementations, the anti-dropout mechanism 230 may further include a retaining device 240. The retaining device 240 is used to ensure that when the acetabular reamer connecting rod works normally, the anti-dropout pin 231 is in the restricted area C, that is, the locking ring 222 is kept from axial displacement and rotation, and the locking ring 222 and / or the driven shaft 221 will not be disconnected from the power interface.

[0049] In some embodiments, one end of the anti-slip groove may be a restricted area, and the other end may be a non-restricted area. In other embodiments, the middle portion of the anti-slip groove may be a restricted area, and the two ends may be non-restricted areas. Figure 3 , Figure 6 As shown, the middle of the anti-slip groove 232 may be a restricted area C, and both ends may be unrestricted areas D. The restricted area C is a slide groove with a certain width, and the unrestricted area D extends a certain distance in the axial direction of the locking ring 222 near the anti-slip rib 225 side.

[0050] After the power interface 210 is connected to the connecting portion 220, the anti-slip rib 225 of the unlocking ring 224 abuts against the joint end face 214 of the power interface 210. The unlocking ring 224 axially limits the anti-slip pin shaft 231 (axial direction of the driving shaft 211) through the anti-slip groove 232. Since the slide groove 213 is a spiral slide groove, the axially limited lock ring 222 cannot rotate, so that the joint pin 223 cannot climb upward, thereby playing an anti-slip effect.

[0051] When the power interface 210 is actively connected or separated from the connecting part 220, the unlocking ring 224 can be manually rotated to rotate the anti-slip pin 231 to one of the two ends of the anti-slip groove 232 (non-restricted area D). Space is left at both ends of the anti-slip groove 232 in the axial direction (axial direction of the driving shaft), and the anti-slip pin 231 does not axially limit the unlocking ring 224 at both ends of the anti-slip groove 232. Continue to rotate the unlocking ring 224, turn the anti-slip pin 231 and the locking ring 222 to rotate, drive the joint pin 223 to climb, thereby achieving the connection or separation of the two parts. After the acetabular rasp connecting rod of the embodiment of the present application is connected to the end of the robot arm of the robot, when the eccentric direction is adjusted or the shell is twisted around the axial direction, it helps to ensure that the connection interface with the power device does not loosen.

[0052] In some implementations, the retaining device 240 may include a first elastic member located between the unlocking ring 224 and the locking ring 222. One end of the first elastic member is connected to the locking ring 222, and the other end of the first elastic member is connected to the unlocking ring 224.

[0053] In some implementations, the first elastic member may be a torsion spring.

[0054] like Figure 3 , Figure 6As shown, the holding device 240 may include a torsion spring 241, a torsion spring block 242, and a stop pin 243. The locking ring 222 is provided with a torsion spring mounting groove 244 for the torsion spring 241, and the unlocking ring 224 is provided with a mounting groove 245 for the torsion spring block 242. One end of the torsion spring 241 is fixed to the mounting hole of the locking ring 222 through the stop pin 243, and the other end of the torsion spring 241 is installed in the mounting groove 245 of the unlocking ring 224 through the torsion spring block 242.

[0055] The two arms of the torsion spring 241 cross, sandwiching the torsion spring stop pin 243 and the torsion spring shift block 242 between the two arms. When the unlocking ring 224 is rotated clockwise, the unlocking ring 224 drives the torsion spring shift block 242 to shift one arm of the torsion spring 241, and the other arm of the torsion spring 241 is limited by the torsion spring stop pin 243, so that the torsion spring 241 generates a counterclockwise torsion force on the unlocking ring 224. When the unlocking ring 224 is rotated counterclockwise, the torsion spring 241 will generate a clockwise torsion force. Thereby, the unlocking ring 224 is kept at the initial center position when not subjected to external force, even if the anti-slip pin shaft 231 is kept at the center position of the anti-slip groove 232. The anti-slip pin shaft 231 can be placed in the restricted area C, that is, the locking ring 222 is kept from generating axial displacement, and the joint pin 223 will not fall out of the clamping position of the spiral slide groove 213.

[0056] In some implementations, the acetabular reamer connecting rod 200 is a curved acetabular reamer connecting rod, which may include a rotation-stopping sleeve 250 and an eccentric housing 251 .

[0057] The anti-rotation sleeve 250 is coaxially connected to the locking ring 222 and is far away from the connection end between the locking ring 222 and the power interface 210 .

[0058] The outer surface of the eccentric housing 251 and the inner surface of the anti-rotation sleeve 250 have an axially slidable mating surface, and the driven shaft 221 passes through the inner space of the eccentric housing 251. After the eccentric housing 251 is moved out of the mating area with the anti-rotation sleeve 250 along the axial direction of the anti-rotation sleeve 250, the eccentric housing 251 is released from the constraint of the anti-rotation sleeve 250 in the circumferential direction, and the eccentric housing 251 is used to adjust the position of the curved section 270 of the acetabular rasp connecting rod 200. Figure 5 yes Figure 2 A possible overall schematic diagram of the acetabular reamer connecting rod. Figure 5 As shown, a transmission shaft portion of a universal joint coupling structure may be generally arranged in the curved section 270. It should be understood that the eccentricity in the eccentric housing 251 refers to the housing that accommodates the eccentric rotating shaft, and does not mean that the eccentric housing 251 itself is eccentric. Figure 3 As shown in the lower right corner of the figure, the eccentric housing 251 and the anti-rotation sleeve 250 can be coaxial.

[0059] The curved acetabular reamer connecting rod 200 may further include an axial limiting mechanism, which is located between the eccentric housing 251 and the anti-rotation sleeve 250 , and is used to place the eccentric housing 251 in a matching area with the anti-rotation sleeve 250 .

[0060] The axial limiting mechanism can be in various forms. For example, the axial limiting mechanism can be a pin limiting method, in which corresponding pin holes are provided on the eccentric housing 251 and the anti-rotation sleeve 250, and the eccentric housing 251 and the anti-rotation sleeve 250 can move axially after the pin is pulled out. When the pin is not pulled out, the eccentric housing 251 and the anti-rotation sleeve 250 cannot move axially.

[0061] In some implementations, the axial limiting mechanism may include a second elastic member. One end of the second elastic member is connected to the eccentric housing 251, and the other end of the second elastic member is connected to the anti-rotation sleeve 250. The second elastic member may be, for example, a spring, an elastic pull rope, or a damper. The spring in operation may be under tension or compression.

[0062] For example, Figure 3 As shown in the upper left of , the axial limiting mechanism may include a spring 252. One end (lower end) of the spring 252 is connected to the stopper on the stop sleeve 250, and the other end (upper end) of the spring 252 is connected to one end of the eccentric housing 251. For example, the other end (upper end) of the spring 252 is connected to the pin (or upper retaining ring) on ​​the driven shaft 221, and the driven shaft 221 and the eccentric housing 251 can generate synchronous motion in the axial direction.

[0063] The elastic force of the spring 252 keeps the eccentric housing 251 matched with the anti-rotation sleeve 250. After the eccentric housing 251 is pulled outward, the matching area between the eccentric housing 251 and the anti-rotation sleeve 250 is separated, and the eccentric housing 251 can rotate freely. At this time, the spring 252 is compressed, and after the external force is removed, the spring 252 pushes the eccentric housing 251 back into the anti-rotation sleeve 250 to limit the rotation again.

[0064] The fitting and limiting between the eccentric housing 251 and the anti-rotation sleeve 250 can be achieved in a variety of ways, as long as the requirements that the two can slide axially without rotating circumferentially are met. The embodiment of the present application does not limit the specific form of the fitting surface.

[0065] In some implementations, the inner surface cross-sectional profile of the eccentric housing 251 may be a regular polygon, and the mating point between the eccentric housing 251 and the anti-rotation sleeve 250 is a regular polygon mating surface. The inner surface cross-sectional profile of the eccentric housing 251 may be a regular hexagon, a regular octagon, etc. Figure 3As shown in the lower right corner of the figure, the inner surface cross-sectional profile of the eccentric housing 251 can be a regular octagon, which is easy to process, convenient for angle adjustment, and quick installation after angle adjustment. It should be understood that the matching surface of the regular octagon can have 8 matching angles, or a group of matching holes in the anti-rotation sleeve 250 has 8 corners corresponding to the regular octagon.

[0066] In some implementations, the anti-rotation sleeve 250 may be provided with one or more sets of mating positions. Figure 3 As shown in the lower right corner of , the anti-rotation sleeve 250 is provided with 2 sets of matching positions, with a total of 16 angles corresponding to the regular octagon, which helps to improve the accuracy of angle adjustment and quickly install the eccentric housing 251 back into place after the angle adjustment.

[0067] In some implementations, an annular baffle (annular baffle cover) may be provided on the end surface of the anti-rotation sleeve 250 to prevent dust from entering the mating surface.

[0068] As can be seen from the above, the unlocking ring 224 is provided with a mounting groove, an anti-drop pin shaft, etc., which is bound to affect the appearance of the product and easily cause parts to fall off. In some implementations, the acetabular rasp connecting rod 200 includes an unlocking ring cover 261. The unlocking ring cover 261 is located on the outside of the unlocking ring 224 and can rotate synchronously with the unlocking ring 224. In other words, the unlocking ring 224 is an unlocking ring assembly, and the unlocking ring assembly can also include an unlocking ring cover 261. In other words, the unlocking ring assembly includes the unlocking ring 224 and the unlocking ring cover 261. The unlocking ring cover 261 is arranged on the periphery of the unlocking ring 224 to prevent parts from falling off, and also helps to beautify the appearance of the product.

[0069] The unlocking ring cover 261 can be fixedly connected to the unlocking ring 224. There can be a variety of connection methods between the unlocking ring 224 and the unlocking ring cover 261. For example, the two can be connected by interference fit. In some embodiments, the two can also be reinforced with screws or pins. In other embodiments, such as Figure 6 As shown, the unlocking ring 224 and the unlocking ring cover 261 can be reinforced and connected using a retaining ring 262 and a screw 263. The retaining ring 262 is used to limit the axial displacement between the unlocking ring 224 and the unlocking ring cover 261.

[0070] In the embodiment of the present application, during the normal operation of the connection between the power interface and the connecting part, under the restriction of the anti-slip mechanism and the unlocking ring, the connecting piece on the locking ring does not produce circumferential rotation and axial displacement, and thus the locking ring and / or the driven shaft will not be disconnected from the power interface. When the acetabular rasp connecting rod needs to be disassembled or installed, the locking ring can be driven to rotate by the unlocking ring, and then the locking ring is connected to / disconnected from the non-active shaft part at the power interface. After the bent acetabular rasp connecting rod of the embodiment of the present application is connected to the end of the robot arm, when the eccentric direction is adjusted or the outer shell is subjected to axial torsion, it helps to ensure that the connection interface with the power device is not loose. The bent acetabular rasp connecting rod of the embodiment of the present application can adjust the eccentric direction and the position of the curved part of the bent acetabular rasp connecting rod to prevent interference with the patient's tissue, and can achieve the release of the patient, that is, after the robot arm is locked, the connection with the patient can be released.

[0071] An embodiment of the present application provides an end effector. Figure 7 It is a schematic diagram of a component unit / part of a component unit of the end effector provided in an embodiment of the present application. Figure 7 As shown, the end effector 700 may include a power unit 710 and an acetabular reamer connecting rod 720 as described above.

[0072] The power unit 710 is provided with a power output interface.

[0073] One end of the acetabular rasp connecting rod 720 is connected to the power output interface, and the other end of the acetabular rasp connecting rod 720 is connected to the acetabular rasp.

[0074] The present application embodiment provides a surgical robot, such as Figure 1 As shown, the surgical robot 100 may include a robot arm 110 , an end effector 120 , and a control system 130 .

[0075] The robot arm 110 is equivalent to a surgeon's arm and can hold surgical tools and position the surgical tools with high precision.

[0076] The end effector 120 is connected to the end of the robot arm 110 , and the end effector 120 is any of the end effectors described above. For example, the end effector 120 may include: a power device 121 , an acetabular reamer connecting rod 122 , and an acetabular reamer 123 .

[0077] The control system 130 is used to obtain the position information of the end effector 120 and control the movement of the robot arm 110. The control system 130 is equivalent to the surgeon's brain and stores the surgical plan internally.

[0078] The surgical robot 100 may also include a navigation system 140. The navigation system 140 is equivalent to the surgeon's eyes, and in conjunction with the tracers connected to the surgical tools and the patient's tissue, it can measure the positions of the surgical tools and the patient's tissue in real time. The navigation system 140 may be based on optical or electromagnetic signals. The control system 130 calculates the route and / or the position to be reached of the robot arm 110 through the information obtained by the navigation system, and may actively control the movement of the robot arm 110, or manually push the robot arm 110 to move along the route, surface or body defined by the virtual boundary after setting the virtual boundary of the robot arm 110 through the force feedback mode.

[0079] The embodiment of the present application provides a medical device, which may include an acetabular rasp and an acetabular rasp connecting rod as described above, wherein one end of the acetabular rasp connecting rod is connected to a power source, and the other end is connected to the acetabular rasp.

[0080] In the description of the embodiments of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the embodiments of the present application, the meaning of "plurality" is at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0081] It should be noted that, in the embodiments of the present application, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements that are not clearly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements.

[0082] In the description of the embodiments of the present application, it needs to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0083] In the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0084] It should be understood that when describing the structure of a component, when a layer or a region is referred to as being "on" or "over" another layer or another region, it may mean that it is directly on the other layer or another region, or that other layers or regions are included between it and the other layer or another region. Moreover, if the component is turned over, the layer or a region will be "below" or "beneath" another layer or another region.

[0085] It should be understood that the term "and / or" used in the embodiments of the present application is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the embodiments of the present application generally indicates that the associated objects before and after are in an "or" relationship.

[0086] In the description of the embodiments of the present application, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the description of the embodiments of the present application, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradicting each other.

[0087] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An acetabular rasp connecting rod, used to connect the acetabular rasp to a power interface, characterized in that: include: A mounting portion, used for connecting the acetabular rasp; A connecting part, used to connect the power interface, the connecting part has a driven shaft, a locking ring located at the periphery of the driven shaft, and an unlocking ring located at the periphery of the locking ring; wherein the driven shaft is used to connect the driving shaft of the power interface to transmit torque; the locking ring is provided with a connecting piece, the connecting piece is used to connect with the non-active shaft portion of the power interface to axially engage the acetabular rasp connecting rod to the power interface, and the connecting piece is configured to be connectable to the non-active shaft portion by rotating relative to the non-active shaft portion; The unlocking ring can rotate relative to the locking ring, and an anti-slip mechanism is provided between the unlocking ring and the locking ring, and the anti-slip mechanism is used to prevent the locking ring and / or the driven shaft from being disconnected from the power interface; The anti-slip mechanism comprises an anti-slip pin fixed on the locking ring, and an anti-slip groove arranged on the unlocking ring, wherein the anti-slip groove has a restricted area and a non-restricted area, and when the anti-slip pin is in the restricted area, the locking ring does not rotate along with the unlocking ring and the locking ring is axially limited relative to the unlocking ring, and when the anti-slip pin is in the non-restricted area, the locking ring can rotate along with the unlocking ring and the locking ring can move axially relative to the unlocking ring; The restricted area is a slide groove with a certain width; the non-restricted area extends a certain distance in the axial direction of the lock ring close to the anti-slip retaining edge.

2. The acetabular reamer connecting rod according to claim 1, characterized in that: The anti-slip mechanism is constructed to have a restricted state and an unlocked state when the connecting part is connected to the power interface. In the restricted state, the anti-slip mechanism limits the axial movement and / or circumferential rotation of the locking ring relative to the power interface. In the unlocked state, the anti-slip mechanism allows the locking ring to move axially and / or rotate circumferentially relative to the power interface.

3. The acetabular reamer connecting rod according to claim 1, characterized in that: When the connecting portion is connected to the power interface, the locking ring abuts against a non-active shaft portion of the power interface.

4. The acetabular reamer connecting rod according to claim 1, characterized in that: The anti-slip mechanism also includes a retaining device, which is used to keep the anti-slip pin shaft in the restricted area. The retaining device includes a first elastic member located between the unlocking ring and the locking ring, one end of the first elastic member is connected to the locking ring, and the other end of the first elastic member is connected to the unlocking ring.

5. The acetabular reamer connecting rod according to claim 4, characterized in that: The first elastic member is a torsion spring.

6. The acetabular reamer connecting rod according to claim 1, characterized in that: The acetabular rasp connecting rod is a curved acetabular rasp connecting rod, and the curved acetabular rasp connecting rod comprises: A rotation-stop sleeve, coaxially connected to the locking ring and away from the connection end with the power interface; An eccentric shell, wherein the outer surface of the eccentric shell and the inner surface of the anti-rotation sleeve have an axially slidable mating surface, the driven shaft passes through the inner space of the eccentric shell, and after the eccentric shell is moved out of the mating area with the anti-rotation sleeve along the axial direction of the anti-rotation sleeve, the eccentric shell is released from the constraint of the anti-rotation sleeve in the circumferential direction, and the eccentric shell is used to adjust the position of the bending section of the acetabular rasp connecting rod.

7. The acetabular reamer connecting rod according to claim 6, characterized in that: The curved acetabular rasp connecting rod further comprises: An axial limiting mechanism is located between the eccentric housing and the anti-rotation sleeve, and the axial limiting mechanism is used to make the eccentric housing be in a matching area with the anti-rotation sleeve.

8. The acetabular reamer connecting rod according to claim 7, characterized in that: The axial limiting mechanism comprises: A second elastic member, one end of which is connected to the eccentric housing, and the other end of which is connected to the anti-rotation sleeve.

9. The acetabular reamer connecting rod according to any one of claims 6 to 8, characterized in that: The cross-sectional profile of the inner surface of the eccentric housing is a regular polygon, and the mating point between the eccentric housing and the anti-rotation sleeve is a regular polygonal mating surface.

10. An end effector, characterized in that: include: A power unit, wherein the power unit is provided with a power output interface; And the acetabular rasp connecting rod according to any one of claims 1 to 9, wherein one end of the acetabular rasp connecting rod is connected to the power output interface, and the other end of the acetabular rasp connecting rod is connected to the acetabular rasp.

11. A surgical robot, characterized in that: include: Robotic arm; an end effector connected to the end of the robot arm; and a control system for acquiring the position information of the end effector and controlling the movement of the robot arm; Wherein, the end effector is the end effector described in claim 10.

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