Bent acetabular reamer connecting rod, end effector and surgical robot

Abstract

The present application provides a curved acetabular rasp connecting rod, an end effector and a surgical robot. The curved acetabular rasp connecting rod is used to connect the acetabular rasp to a power device, and includes: a transmission shaft for transmitting torque from the power device; an outer shell, covering the periphery of the transmission shaft, the outer periphery of the outer shell is provided with a locking ring rotatable relative to the outer shell, and the locking ring has an opening; a side cover, having a first fixing point; when the locking ring is rotated to a first position, the first fixing point can be fixed by the locking ring, and the outer shell and the side cover form a closed space covering the transmission shaft, and when the locking ring is rotated to a second position, the first fixing point can be moved in and / or out from the opening of the locking ring. In the present application, a locking ring is used to fix the side cover corresponding to the outer shell, and the radial dimension is small, which helps to avoid interference.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and more specifically, to a curved acetabular reamer 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 to replace traditional artificial hip replacement surgery. In robot-assisted minimally invasive hip surgery, a curved acetabular rasp connecting rod is usually required. Among them, in hip replacement surgery, the acetabular rasp is connected to a power device (such as an electric reamer) through the acetabular rasp connecting rod, and the power device drives the acetabular rasp to perform rotational motion to complete the grinding of the human acetabulum. As a connecting device, the acetabular rasp connecting rod plays an important connecting role in surgery.

[0003] The curved acetabular rasp connecting rod is composed of a shell for transmitting thrust and a transmission shaft wrapped in the shell for transmitting torque. The gap between the transmission shaft and the shell is easy for dirt to enter during surgery, and such dirt is difficult to clean after surgery. The current opening mechanism of the shell has a large radial dimension and is prone to interference with patient tissues. Summary of the invention

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

[0005] In a first aspect, a bent acetabular rasp connecting rod is provided for connecting an acetabular rasp to a power device, comprising: a transmission shaft for transmitting torque from the power device; an outer shell covering the periphery of the transmission shaft, the outer periphery of the outer shell being provided with a locking ring rotatable relative to the outer shell, the locking ring having an opening; a side cover having a first fixing point; when the locking ring is rotated to a first position, the first fixing point can be fixed by the locking ring, the outer shell and the side cover form a closed space enclosing the transmission shaft, and when the locking ring is rotated to a second position, the first fixing point can be moved in and / or out from the opening of the locking ring.

[0006] In a possible implementation, the side cover has a second fixing point, and the fixing method of the second fixing point is the same as that of the first fixing point; or, the second fixing point is hinged / inserted to an end of the outer shell away from the locking ring.

[0007] In a possible implementation, the curved acetabular reamer connecting rod further includes: a positioning device for circumferentially positioning the locking ring when the locking ring is located at the first position.

[0008] In a possible implementation, the positioning device is an elastic plunger disposed on the locking ring, and a recess matching the elastic plunger is disposed at the first fixing location. When the locking ring rotates to the first position, the elastic plunger is pressed into the recess at the first fixing location.

[0009] In a possible embodiment, the locking ring is provided with a pin hole, and the positioning device includes a first elastic member and a latch located in the pin hole, the first elastic member is arranged between the locking ring and a stop of the latch, and the first elastic member is used to press the latch against the first fixing place or the outer shell.

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

[0011] In a possible embodiment, the power device has a power interface, and the bent acetabular rasp connecting rod further includes: a mounting portion, located at the output end of the transmission shaft, for connecting the acetabular rasp; a connecting portion, arranged at the first end of the outer shell, the connecting portion being used to connect 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 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, 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 to prevent the locking ring and / or the driven shaft from being disconnected from the power interface.

[0012] 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.

[0013] In a possible embodiment, the anti-slip mechanism includes an anti-slip pin fixed on the locking ring, an anti-slip groove arranged on the unlocking ring, and a retaining device, wherein 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, the retaining device is used to keep the anti-slip pin in the restricted area, the retaining device includes a second elastic member located between the unlocking ring and the locking ring, one end of the second elastic member is connected to the locking ring, and the other end of the second elastic member is connected to the unlocking ring.

[0014] In a possible embodiment, the 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 internal 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 bending section of the acetabular rasp connecting rod.

[0015] In a possible implementation, the curved acetabular rasp connecting rod further comprises: 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.

[0016] In a second aspect, an end effector is provided, comprising: a power device, the power device being provided with a power output interface; and a bent acetabular rasp connecting rod as described in the first aspect, one end of the bent acetabular rasp connecting rod being connected to the power output interface, and the other end of the bent acetabular rasp connecting rod being connected to the acetabular rasp.

[0017] In a third aspect, a surgical robot is provided, comprising: a robotic arm; an end effector as described in the first aspect, wherein the end effector is connected to the end of the robotic arm; and a control system for obtaining the orientation information of the end effector and controlling the movement of the robotic arm.

[0018] In the present application, the curved acetabular rasp connecting rod is provided with a locking ring on the outer shell, and the locking ring is used to fix the side cover corresponding to the outer shell. This opening mode of the outer shell has a small radial dimension, which helps to avoid interference and is also convenient for holding. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the composition of the surgical robot system.

[0020] Figure 2 It is a schematic structural diagram of the curved acetabular rasp connecting rod provided in an embodiment of the present application.

[0021] Figure 3 yes Figure 2 A possible overall schematic diagram of a curved acetabular reamer connecting rod.

[0022] Figure 4 yes Figure 2 Schematic diagram of a possible implementation of the lock ring in .

[0023] Figure 5 yes Figure 2 Schematic diagram of another possible implementation of the lock ring in .

[0024] Figure 6 yes Figure 3 Schematic diagram of one possible implementation of a curved acetabular reamer connecting rod.

[0025] Figure 7 yes Figure 6 A schematic diagram of the power interface in .

[0026] Figure 8 yes Figure 6 Schematic side and cross-sectional views of the curved acetabular reamer connecting rod.

[0027] Fig. 9 yes Figure 6 A possible exploded view of the connection in FIG.

[0028] Fig.10 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

[0029] 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.

[0030] 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.

[0031] 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 100 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. The acetabular reamer 123 is usually 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 device) set at the end of the robot arm 110 to drive it to rotate, thereby driving the acetabular reamer 123 to rotate to trim the patient's acetabular socket, so as to facilitate the implantation of an adapted acetabular cup prosthesis.

[0032] 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.

[0033] For example, in robot-assisted minimally invasive hip surgery, a curved acetabular rasp connecting rod is usually required. The curved part 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's mechanical arm, it is necessary to be able to adjust the eccentric direction and to release the patient (that is, after the robot 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 interface with the power device cannot be loosened. Among them, adjusting the eccentric direction refers to adjusting the orientation of the curved part of the curved acetabular rasp connecting rod relative to the longitudinal axis of the acetabular rasp.

[0034] The curved acetabular rasp connecting rod is composed of a shell for transmitting thrust and a transmission shaft (power shaft) wrapped in the shell for transmitting torque. The gap between the transmission shaft and the shell is easy for dirt to enter during surgery, and this dirt is difficult to clean after surgery. The opening mechanism of the shell currently has a large radial dimension and is prone to interference with patient tissues.

[0035] Therefore, it is necessary to design a technical solution for opening the outer shell of a curved acetabular rasp connecting rod with a smaller radial size.

[0036] Based on this, an embodiment of the present application proposes a curved acetabular rasp connecting rod. Figure 2 This is a schematic diagram of the structure of the curved acetabular rasp connecting rod proposed in the embodiment of the application. Figure 2 The curved acetabular reamer connecting rod of the embodiment of the present application is described in detail. The curved acetabular reamer connecting rod 200 is used to connect the acetabular reamer to the power device (or power unit). Figure 2 As shown, the curved acetabular reamer connecting rod 200 may include a transmission shaft 210 , an outer shell 220 and a side cover 240 .

[0037] The transmission shaft 210 is used to transmit the torque from the power device. In some embodiments, there can be multiple transmission shafts 210, and the axis lines of at least two of the multiple transmission shafts do not overlap. For example, the multiple transmission shafts can be connected by a universal joint coupling for transmission.

[0038] The outer shell 220 covers the periphery of the transmission shaft 210, and covers the rotatable transmission shaft 210 on the inner side. A rotatable lock ring 230 is arranged on the outer periphery of the outer shell 220, and the lock ring 230 has an opening, that is, the lock ring 230 is an open ring.

[0039] In some embodiments, the lock ring 230 may be disposed at one end of the outer shell 220, such as at the first end of the outer shell 220, the first end being the end of the outer shell close to the power device. The first end of the outer shell 220 is provided with an axial limit portion for axially limiting the lock ring 230 relative to the outer shell 220. The limit portion may be a structure such as a shoulder, a snap ring or a pin, and the limit portion allows the lock ring 230 to rotate at a predetermined position. In some embodiments, no sleeve may be provided between the lock ring 230 and the outer shell 220. The inner side of the lock ring 230 may be a self-lubricating material (such as graphite), and the lock ring 230 may directly rotate around the outer periphery of the outer shell 220, which helps to reduce the radial size and occupied space of the lock ring 230. In other embodiments, there may be a sleeve between the lock ring 230 and the outer shell 220, and the sleeve may be, for example, a copper sleeve. The lock ring 230 may partially rotate around the outer periphery of the outer shell 220, or may completely (full circle) rotate around the outer shell 220.

[0040] The side cover 240 has a first fixing part 241, which can be located at one end of the side cover 240. The outer diameter (or radial height) of the first fixing part 241 relative to the central axis of the transmission shaft 210 can be smaller than the outer diameter (or radial height) of the side cover 240 relative to the central axis of the transmission shaft 210, and a step (shaft shoulder) can be provided between the first fixing part 241 and the adjacent wall of the side cover 240 to facilitate axial limitation. The circumferential width of the first fixing part 241 is smaller than the circumferential width of the opening of the locking ring 230. The outer shell 220 and the side cover 240 (and the transmission shaft 210) together constitute the curved portion of the curved acetabular rasp connecting rod 200.

[0041] The outer shell 220 and the side cover 240 may form a closed space enclosing the transmission shaft 210. In some embodiments, the outer surface profiles of the outer shell 220 and the side cover 240 may be the same circumference, which helps to reduce the total occupied space.

[0042] The lock ring 230 can be rotated to multiple positions relative to the surface of the outer shell 220. When the lock ring 230 is rotated to the first position, the first fixing portion 241 is staggered with the opening of the lock ring 230 by a certain angle, the first fixing portion 241 can be fixed by the lock ring 230, and the outer shell 220 and the side cover 240 form a closed space that covers the transmission shaft 210. When the lock ring 230 is rotated to the second position, the first fixing portion 241 is opposite to the opening of the lock ring 230, and the first fixing portion can enter / move out from the opening of the lock ring 230.

[0043] In some embodiments, a sealing gasket may be provided at the sealing portion (or joint portion) of the outer shell 220 and the side cover 240 to help reduce the joint gap and prevent the entry of pollutants.

[0044] In some implementations, the side cover 240 may have a second fixing point, and the second fixing point may be located at the opposite end of the end where the first fixing point 241 is located. The fixing method of the second fixing point may be the same as or different from the fixing method of the first fixing point 241. In some implementations, the second fixing point may be hinged to the opposite end of the end where the locking ring 230 is located on the outer shell 220. The opposite end may be as far away from the end where the locking ring 230 is located as possible, which helps to improve the sealing effect. For example, the locking ring 230 is located at the first end of the outer shell 220, and the second fixing point may be hinged to the second end of the outer shell 220, and the second end is the opposite end of the first end. For another example, the second fixing point may also be plugged into the second end of the outer shell 220, so that the side cover 240 can be pulled out as a whole for cleaning.

[0045] Figure 3 yes Figure 2 A possible overall schematic diagram of a curved acetabular reamer connecting rod. Figure 3 The upper half of the housing 220 and the side cover 240 are in a closed state, and the side cover 240 is snap-fitted and sealed with the housing 220 to block the entry of most pollutants. Figure 3 The lower half of FIG. 2 is a cross-sectional view of the outer shell 220 and the side cover 240 when they are closed. Figure 3 As shown, the outer shell 220 and the side cover 240 form a curved section 370 of the curved acetabular rasp connecting rod 300, and the transmission shaft 210 part of the universal joint coupling structure can be usually arranged inside the curved section 370.

[0046] Figure 4 yes Figure 2 A schematic diagram of a possible implementation of the locking ring. Figure 4 As shown, the locking ring 230 may be a “C”-shaped ring, which is mounted on the outer shell 220 and can rotate on the outer shell 220 . Figure 4 The figure shows a locked state, at which the first fixing part 241 is staggered 180 degrees from the opening 235 of the lock ring 230, the first fixing part 241 is fixed by the lock ring 230, and the outer shell 220 and the side cover 240 form a closed space that covers the transmission shaft 210. The side cover 240 and the outer shell 220 are closed and sealed to prevent most contaminants from entering.

[0047] When the lock ring 230 is rotated so that the opening 235 is aligned with the first fixing portion 241 of the side cover 240 (approximately Figure 4 The locking ring 230 is rotated 180°, the first fixing part 241 can be moved out (or moved in), and the side cover 240 can be opened to expose the internal power shaft 210. At this time, cleaning, maintenance or repair can be carried out.

[0048] In the present application, a locking ring 230 is provided on the curved acetabular rasp connecting rod, and the side cover 240 corresponding to the outer housing 220 is fixed by the locking ring 230. This way of opening the housing has a relatively small radial dimension, which helps to avoid interference and is also beneficial for gripping.

[0049] In some implementation manners, a positioning device may be provided on the locking ring 230 for circumferentially positioning the locking ring 230 when the locking ring 230 is in the first position, and / or for pressing the first fixing portion 241. Or rather, the positioning device is used to limit the circumferential position of the locking ring 230. Providing the positioning device helps to improve the stability of the position of the locking ring 230 and improve the locking force on the side cover 240.

[0050] The positioning device can be positioned in a radial manner. In some implementation manners, the locking ring 230 may be provided with an elastic plunger 231, that is, the positioning device may be the elastic plunger 231 provided on the locking ring 230. As Figure 4 shown, a pit matching the head of the elastic plunger 231 is provided at the first fixing portion 241. When the locking ring 230 rotates to the first position, the elastic plunger 231 is pressed into the pit at the first fixing portion 241 to fix the first fixing portion 241 of the side cover 240.

[0051] In some implementation manners, the elastic plunger 231 may be a spring plunger. The spring plunger is provided with pressure by an internal spring. After the spring plunger pops into the pit, it can assist in limiting the locking ring 230 to prevent the locking ring 230 from rotating and also helps to press the side cover 240.

[0052] In some implementation manners, the locking ring 230 is provided with a pin hole, and the positioning device may include a first elastic member and a pin inserted in the pin hole. The first elastic member is arranged between the locking ring and the shoulder of the pin, and the first elastic member is used to make the pin press the first fixing portion and / or the outer housing.

[0053] Figure 5 is Figure 2 a schematic diagram of another possible implementation manner of the locking ring in. As Figure 5 shown, the locking ring 230 is provided with a pin hole, and a pin 232 is inserted in the pin hole. The pin 232 may be in a "T" shape, that is, the pin 232 may be provided with a shoulder, and a first elastic member 233 is arranged between the locking ring and the shoulder. The first elastic member 233 is used to make the pin 232 press the first fixing portion 241 or the outer housing 220. In some embodiments, for the convenience of assembly, the pin 232 may be a split type, such as the body of the pin 232 and the plug cap are in a threaded connection manner.

[0054] In some embodiments, the first elastic member 233 may be a spring or a spring sheet.

[0055] By using a latch 232 and a spring (or spring) instead of a spring plunger, the lock ring 230 can be completely limited in the locked position (i.e., the first position); to unlock the lock ring 230, the latch 232 needs to be manually pulled out, and the lock ring 230 can rotate freely after the restriction is released.

[0056] In the embodiment of the present application, the curved acetabular rasp connecting rod adopts a locking ring 230 to fix the outer shell opening of the side cover 240, and its radial dimension is small, which is not easy to cause interference during use and is also convenient for holding. The use of a positioning device to limit the position of the locking ring 230 helps to increase the locking force of the side cover 240 and improve the stability of the position of the locking ring 230.

[0057] Figure 6 yes Figure 3 A schematic diagram of a possible implementation of a curved acetabular reamer connecting rod. The acetabular reamer connecting rod 300 is used to connect the acetabular reamer to a power interface 310 on a power device (or power unit). Figure 3 , Figure 6 As shown, the curved acetabular reamer connecting rod 300 may further include: a connecting portion 320 and a mounting portion 380 .

[0058] The mounting portion 380 is located at one end of the bent acetabular reamer connecting rod, that is, at the output end of the transmission shaft 210, and is used for connecting the acetabular reamer.

[0059] The connecting portion 320 is connected to the first end of the outer shell 220, that is, the end opposite to the end where the mounting portion 380 is located. The connecting portion 320 is used to connect the power interface 310. The power interface 310 is the output interface of the power source that drives the curved acetabular rasp connecting rod 300. The connecting portion 320 has a driven shaft 321, a locking ring 322 located on the periphery of the driven shaft 321, and an unlocking ring 324 located on the periphery of the locking ring 322. The connecting portion 320 is also called a connecting rod joint or a driven joint. The locking ring 322 is provided with a connecting piece, which is used to connect with the non-active shaft portion of the power interface 310 to axially engage the acetabular rasp connecting rod 300 to the power interface 310, 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 322 and the power interface 310 rotate relative to each other. The connecting piece can be, for example, a joint pin 323. The locking ring 322 is provided with a plurality of joint pins 323 (i.e., connectors) in the radial direction. The plurality of joint pins 323 may be 4 and are evenly distributed (90° apart) along the same busbar. The driven shaft 321 is used to connect the driving shaft 311 of the power interface 310 to transmit torque. An anti-slip mechanism 330 is provided between the locking ring 322 and the unlocking ring 324. The anti-slip mechanism 330 is used to prevent the locking ring 322 and / or the driven shaft 321 from being disconnected from the power interface 310.

[0060] In some embodiments, the driven shaft 321 is independent of the transmission shaft 210, and the driven shaft 321 can transmit the torque from the driving shaft 311 to the transmission shaft 210. In other embodiments, the driven shaft 321 can also be a transmission shaft located at the input end of the plurality of transmission shafts 210.

[0061] In some implementations, the power interface 310 has a driving shaft 311 and a connecting ring 312 located on the periphery of the driving shaft 311. The connecting ring 312 is provided with a plurality of spiral slide grooves 313, and the slide grooves 313 are in an adaptable relationship with the joint pins 323. Corresponding to 4 evenly distributed joint pins 323, the number of the slide grooves 313 can be 4. The spiral slide groove 313 is provided with an opening and a clamping point A, and when the joint pin 323 enters the clamping point A, the connecting portion 320 is connected to the power interface 310. The driving shaft 311 is used to connect the power source, or the driving shaft 311 is the output shaft of the power source. It can be understood that the driving shaft 311 can rotate relative to the connecting ring 312. Therefore, the power interface 310 may be called a power joint. After the joint pin 323 is in the clamping point A, along the axial direction of the connecting ring 312 (or the driving shaft 311), the joint pin 323 is constrained by the stoppers on both sides of the clamping point. 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 323 .

[0062] Figure 7 yes Figure 6 A schematic diagram of the power interface in . Figure 7 As shown, the root of the spiral slide groove 313 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 312. Among them, the transmission pin 315 on the driving shaft 311 is used to transmit power. In some implementations, when the connecting portion 320 is connected to the power interface 310, the locking ring 322 abuts against the non-active shaft portion of the power interface 310. The non-active shaft portion can be, for example, the joint end face 314.

[0063] The multiple connector pins 323 are respectively rotated through the openings to be connected to the corresponding multiple spiral grooves 313, and the unlocking ring 324 abuts against the connector end surface 314 of the power interface 310 to achieve a snap connection between the power interface 310 and the connecting part 320.

[0064] It is understood that in some embodiments, the connection portion 320 is a component of the curved acetabular reamer connecting rod 300, and the power interface 310 is a component of the power device at the front end of the curved acetabular reamer connecting rod 300. In other embodiments, the connection portion 320 and the power interface 310 can both be components of the curved acetabular reamer connecting rod 300.

[0065] In some implementations, when multiple connector pins 323 are located at the corresponding multiple spiral grooves 313, the anti-slip edge 325 of the unlocking ring 324 (connecting portion 320) abuts against the connector end face 314 of the power interface 310, limiting the connector pin 323 from further sliding along the axial direction of the connecting ring 312 at the snap-fit ​​point A in the groove 313, and also helping to ensure the stability of the snap-fit ​​connection.

[0066] In some implementations, an elastic member may be used to make the anti-slip rib 325 of the unlocking ring 324 stably and evenly abut against the joint end surface 314 of the power interface 310. Usually, the axis of the driving shaft 311 is perpendicular to the joint end surface 314.

[0067] There are many ways to connect the joint pin 323 and the locking ring 322. For example, the locking ring 322 may be processed with a pin hole adapted to the joint pin 323, and the joint pin 323 and the pin hole are connected by interference fit. For another example, the joint pin 323 may pass through the pin hole and be connected to the locking ring 322 by welding.

[0068] Since the slide groove 313 is spiral, when the joint pin 323 rotates through the opening to the corresponding clamping part of the spiral slide groove 313, the joint pin 323 and the lock ring 322 not only rotate around the axis of the connecting ring 312, but also undergo axial displacement. Similarly, when the joint pin 323 rotates through the clamping part to the interface, the joint pin 323 and the lock ring 322 not only rotate around the axis of the connecting ring 312, but also undergo axial displacement.

[0069] In other words, after the power interface 310 is connected to the connecting portion 320, the joint pin 323 is inserted into the engaging portion of the slide slot 313. To separate the two parts, the connecting portion 320 needs to be rotated so that the joint pin 323 first climbs upward in the slide slot 313 and then falls down to separate from the opening.

[0070] 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 can be 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.

[0071] In some implementations, the anti-slip mechanism 330 is configured to have a restricted state and an unlocked state when the connecting portion 320 is connected to the power interface 310. In the restricted state, the anti-slip mechanism 330 restricts the lock ring 322 from axially moving and / or circumferentially rotating relative to the power interface 310; in the unlocked state, the anti-slip mechanism 330 allows the lock ring 322 to axially move and / or circumferentially rotate relative to the power interface 310.

[0072] Figure 8 yes Figure 6 The side view and cross-sectional view of the curved acetabular reamer connecting rod are shown. Fig. 9 yes Figure 6 A possible exploded diagram of the connection in FIG. Figure 8 , Fig. 9 As shown, in some implementations, the anti-slip mechanism 330 may include: an anti-slip pin shaft 331 fixed on the lock ring 322, and an anti-slip groove 332 provided on the unlocking ring 324. The anti-slip groove 332 has a restricted area C and a non-restricted area D. When the anti-slip pin shaft 331 is in the restricted area C, it is not restricted in the circumferential direction but is restricted in the axial direction, and the lock ring 322 does not rotate with the unlocking ring 324. That is, when the unlocking ring 324 rotates, the lock ring 322 does not rotate, and the lock ring 322 and the joint pin 323 do not generate axial displacement relative to the power interface 310. The non-restricted area D of the anti-slip groove 332 has space in the axial direction. When the unlocking ring is rotated and the anti-slip pin shaft 331 is in the non-restricted area D, the axial direction is not restricted but one side is restricted circumferentially. When the unlocking ring rotates toward the restricted circumferential direction, the locking ring 322 rotates along with the unlocking ring 324 (synchronous rotation), that is, when the unlocking ring 324 rotates, the locking ring 322 also rotates, and the locking ring 322 and the joint pin 323 can produce axial displacement relative to the power interface 310.

[0073] When the unlocking ring 324 is rotated from the restricted area C to the unrestricted area D, the locking ring 322 will rotate with the unlocking ring 324 due to the restriction of the end side of the anti-slip groove 332. Continuing to rotate can connect or disconnect the locking ring 322 with the power interface 310. When the unlocking ring 324 is not subject to force and is located in the restricted area C, the rotation and axial displacement of the locking ring 322 are restricted.

[0074] In some implementations, the anti-dropout mechanism 330 may further include a retaining device 340. The retaining device 340 is used to ensure that when the acetabular reamer connecting rod works normally, the anti-dropout pin 331 is in the restricted area C, that is, the locking ring 322 is kept from axial displacement and rotation, and the locking ring 322 and / or the driven shaft 321 will not be disconnected from the power interface.

[0075] 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 8 , Fig. 9As shown, the middle of the anti-slip groove 332 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 322 near the anti-slip retaining edge 325 .

[0076] After the power interface 310 is connected to the connecting portion 320, the anti-slip rib 325 of the unlocking ring 324 abuts against the joint end surface 314 of the power interface 310. The unlocking ring 324 axially limits the anti-slip pin shaft 331 (axial direction of the driving shaft 311) through the anti-slip groove 332. Since the slide groove 313 is a spiral slide groove, the axially limited lock ring 322 cannot rotate, so that the joint pin 323 cannot climb upward, thereby playing an anti-slip effect.

[0077] When the power interface 310 is actively connected or separated from the connecting part 320, the unlocking ring 324 can be manually rotated to rotate the anti-slip pin 331 to one of the two ends of the anti-slip groove 332 (non-restricted area D). Space is left at both ends of the anti-slip groove 332 in the axial direction (the axial direction of the driving shaft 311), and the anti-slip pin 331 does not axially limit the unlocking ring 324 at both ends of the anti-slip groove 332. Continue to rotate the unlocking ring 324, turn the anti-slip pin 331 and the locking ring 322 to rotate, drive the joint pin 323 to climb, thereby achieving the connection or separation of the two parts. After the bent 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 outer shell is twisted around the axial direction, it helps to ensure that the connection interface with the power device does not loosen.

[0078] In some implementations, the retaining device 340 may include a second elastic member located between the unlocking ring 324 and the locking ring 322. One end of the second elastic member is connected to the locking ring 322, and the other end of the second elastic member is connected to the unlocking ring 324.

[0079] In some implementations, the second elastic member may be a torsion spring.

[0080] like Figure 8 , Fig. 9 As shown, the holding device 340 may include a torsion spring 341, a torsion spring block 342, and a stop pin 343. The locking ring 322 is provided with a torsion spring mounting groove 344 for the torsion spring 341, and the unlocking ring 324 is provided with a mounting groove 345 for the torsion spring block 342. One end of the torsion spring 341 is fixed to the mounting hole of the locking ring 322 through the stop pin 343, and the other end of the torsion spring 341 is installed in the mounting groove 345 of the unlocking ring 324 through the torsion spring block 342.

[0081] The two arms of the torsion spring 341 cross, sandwiching the torsion spring stopper 343 and the torsion spring shifting block 342 between the two arms. When the unlocking ring 324 is rotated clockwise, the unlocking ring 324 drives the torsion spring shifting block 342 to shift one arm of the torsion spring 341, and the other arm of the torsion spring 341 is limited by the torsion spring stopper 343, so that the torsion spring 341 generates a counterclockwise torsion force on the unlocking ring 324. When the unlocking ring 324 is rotated counterclockwise, the torsion spring 341 will generate a clockwise torsion force. Thus, the unlocking ring 324 is kept at the initial center position when not subjected to external force, even if the anti-slip pin shaft 331 is kept at the center position of the anti-slip groove 332. The anti-slip pin shaft 331 can be placed in the restricted area C, that is, the locking ring 322 is kept from generating axial displacement, and the joint pin 323 will not slip out of the clamping position of the spiral slide groove 313.

[0082] In some implementations, the curved acetabular reamer connecting rod 300 may further include a rotation stop sleeve 350 and an eccentric housing 351 . The rotation stop sleeve 350 is coaxially connected to the locking ring 322 and is away from the connection end of the locking ring 322 and the power interface 310 .

[0083] The outer surface of the eccentric housing 351 and the inner surface of the stop sleeve 350 have an axially slidable mating surface, and the driven shaft 321 passes through the inner space of the eccentric housing 351. After the eccentric housing 351 is moved out of the mating area with the stop sleeve 350 along the axial direction of the stop sleeve 350, the eccentric housing 351 is freed from the constraint of the stop sleeve 350 in the circumferential direction. The eccentric housing 351 is used to adjust the position of the curved section 370 of the curved acetabular rasp connecting rod 300. Figure 3 As shown, a portion of the transmission shaft 210 having a universal joint coupling structure may be generally arranged in the curved section 370. It should be understood that the eccentricity in the eccentric housing 351 refers to the housing for accommodating the eccentric rotating shaft, and does not mean that the eccentric housing 351 itself is eccentric. Figure 8 As shown in the lower right of the figure, the eccentric housing 351 and the anti-rotation sleeve 350 can be coaxial. Wherein, adjusting the eccentric direction refers to adjusting the orientation of the curved portion of the acetabular rasp connecting rod relative to the longitudinal axis of the acetabular rasp.

[0084] The curved acetabular reamer connecting rod 300 may further include an axial limiting mechanism, which is located between the eccentric housing 351 and the anti-rotation sleeve 350 , and is used to place the eccentric housing 351 in a matching area with the anti-rotation sleeve 350 .

[0085] 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 351 and the anti-rotation sleeve 350, and the eccentric housing 351 and the anti-rotation sleeve 350 can move axially after the pin is pulled out. When the pin is not pulled out, the eccentric housing 351 and the anti-rotation sleeve 350 cannot move axially.

[0086] In some implementations, the axial limiting mechanism may include a third elastic member. One end of the third elastic member is connected to the eccentric housing 351, and the other end of the third elastic member is connected to the anti-rotation sleeve 350. The third 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.

[0087] For example, Figure 8 As shown in the upper left of , the axial limiting mechanism may include a spring 352. One end (lower end) of the spring 352 is connected to the stopper on the stop sleeve 350, and the other end (upper end) of the spring 352 is connected to one end of the eccentric housing 351. For example, the other end (upper end) of the spring 352 is connected to the pin (or upper retaining ring) on ​​the driven shaft 321, and the driven shaft 321 and the eccentric housing 351 can generate synchronous motion in the axial direction.

[0088] The elastic force of the spring 352 keeps the eccentric housing 351 matched with the anti-rotation sleeve 350. After the eccentric housing 351 is pulled outward, the matching area between the eccentric housing 351 and the anti-rotation sleeve 350 is separated, and the eccentric housing 351 can rotate freely. At this time, the spring 352 is compressed, and after the external force is removed, the spring 352 pushes the eccentric housing 351 back into the anti-rotation sleeve 350 to limit the rotation again.

[0089] The fitting and limiting between the eccentric housing 351 and the anti-rotation sleeve 350 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.

[0090] In some implementations, the inner surface cross-sectional profile of the eccentric housing 351 may be a regular polygon, and the mating point between the eccentric housing 351 and the anti-rotation sleeve 350 is a regular polygon mating surface. The inner surface cross-sectional profile of the eccentric housing 351 may be a regular hexagon, a regular octagon, etc. Figure 8 As shown in the lower right corner of the figure, the inner surface cross-sectional profile of the eccentric housing 351 can be a regular octagon, which is easy to process, convenient for angle adjustment, and quick installation after angle adjustment. It can 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 350 has 8 corners corresponding to the regular octagon.

[0091] In some implementations, the anti-rotation sleeve 350 may be provided with one or more sets of mating positions. Figure 8 As shown in the lower right corner of , the anti-rotation sleeve 350 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 351 back into place after the angle adjustment.

[0092] In some implementations, an annular baffle (annular baffle cover) may be provided on the end surface of the anti-rotation sleeve 350 to prevent dust from entering the mating surface.

[0093] As can be seen from the above, the unlocking ring 324 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 curved acetabular rasp connecting rod 300 includes an unlocking ring cover 361. The unlocking ring cover 361 is located on the outside of the unlocking ring 324 and can rotate synchronously with the unlocking ring 324. In other words, the unlocking ring 324 is an unlocking ring assembly, and the unlocking ring assembly can also include an unlocking ring cover 361. In other words, the unlocking ring assembly includes the unlocking ring 324 and the unlocking ring cover 361. The unlocking ring cover 361 is provided on the periphery of the unlocking ring 324 to prevent parts from falling off and also helps to beautify the appearance of the product.

[0094] The unlocking ring cover 361 can be fixedly connected to the unlocking ring 324. There can be a variety of connection methods between the unlocking ring 324 and the unlocking ring cover 361. 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 Fig. 9 As shown, the unlocking ring 324 and the unlocking ring cover 361 can be reinforced and connected using a retaining ring 362 and a screw 363. The retaining ring 362 is used to limit the axial displacement between the unlocking ring 324 and the unlocking ring cover 361.

[0095] 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 it is necessary to disassemble or install the bent acetabular rasp connecting rod, 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.

[0096] An embodiment of the present application provides an end effector. Fig.10 It is a schematic diagram of a component unit / partial component unit of the end effector provided in an embodiment of the present application. Fig.10 As shown, the end effector 1000 may include a power device 1010 and a curved acetabular reamer connecting rod 1020 as described above.

[0097] The power device 1010 is provided with a power output interface.

[0098] One end of the curved acetabular rasp connecting rod 1020 is connected to the power output interface, and the other end of the curved acetabular rasp connecting rod 1020 is connected to the acetabular rasp.

[0099] 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 .

[0100] The robot arm 110 is equivalent to a surgeon's arm and can hold surgical tools and position the surgical tools with high precision.

[0101] 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 .

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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. A curved acetabular rasp connecting rod for connecting the acetabular rasp to a power device, characterized in that: include: a transmission shaft for transmitting torque from the power unit; An outer shell, covering the periphery of the transmission shaft, wherein a locking ring rotatable relative to the outer shell is provided on the outer periphery of the outer shell, and the locking ring has an opening; A side cover having a first fixing point; When the locking ring is rotated to the first position, the first fixing point can be fixed by the locking ring, and the outer shell and the side cover form a closed space covering the transmission shaft, and when the locking ring is rotated to the second position, the first fixing point can be moved in and / or out from the opening of the locking ring; The power device has a power interface, and the curved acetabular rasp connecting rod further comprises: a connecting portion, arranged at the first end of the outer shell, the connecting portion being used to connect the power interface, the connecting portion comprising 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, the driven shaft being used to connect the driving shaft of the power interface to transmit torque, the unlocking ring being rotatable relative to the locking ring, and an anti-slipping mechanism being arranged between the unlocking ring and the locking ring, the anti-slipping mechanism being used to prevent the locking ring and / or the driven shaft from being detached from the connection with 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 middle of the anti-slip groove is the restricted area, and the two ends are the non-restricted areas. The restricted area is a slide groove with a certain width, and the non-restricted area extends a certain distance in the axial direction of the locking ring close to the anti-slip retaining edge of the unlocking ring.

2. The curved acetabular reamer connecting rod according to claim 1, characterized in that: The side cover has a second fixing portion, and the fixing method of the second fixing portion is the same as the fixing method of the first fixing portion; or, The second fixing portion is hinged / inserted to the end of the outer shell opposite to the end where the locking ring is located.

3. The curved acetabular rasp connecting rod according to claim 1, characterized in that: Also includes: A positioning device is used to circumferentially position the locking ring when the locking ring is located at the first position.

4. The curved acetabular rasp connecting rod according to claim 3, characterized in that: The positioning device is an elastic plunger arranged on the locking ring, and the first fixing part is provided with a recess matching with the elastic plunger. When the locking ring is rotated to the first position, the elastic plunger is pressed into the recess of the first fixing part.

5. The curved acetabular rasp connecting rod according to claim 3, characterized in that: The locking ring is provided with a pin hole, and the positioning device includes a first elastic member and a latch located in the pin hole, the first elastic member is arranged between the locking ring and the stop of the latch, and the first elastic member is used to press the latch tightly against the first fixing place or the outer shell.

6. The curved acetabular reamer connecting rod according to claim 1, characterized in that: The curved acetabular rasp connecting rod also includes: A mounting portion, located at the output end of the transmission shaft, for connecting the acetabular rasp; The locking ring is provided with a connecting piece, which is used to connect with the non-active shaft portion of the power interface to axially engage the curved acetabular rasp connecting rod to the power interface, and the connecting piece is constructed to be connectable to the non-active shaft portion by rotation relative to the non-active shaft portion.

7. The curved 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.

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

9. The curved acetabular reamer connecting rod according to claim 6, characterized in that: include: 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 curved acetabular rasp connecting rod.

10. The curved acetabular reamer connecting rod according to claim 9, characterized in that: The curved acetabular rasp connecting rod also includes: 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.

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

12. A surgical robot, characterized in that: include: Robotic arm; The end effector of claim 11, wherein the end effector is 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.

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