End effector and osteotomy equipment

Abstract

The present application relates to an end effector and an osteotomy device. The end effector includes: a functional part, a connecting rod part and a fixing part. One end of the connecting rod part is connected to the fixing part, and the other end is connected to the functional part. The fixing part is used to be detachably connected to the end of the robotic arm. The surface of the functional part includes at least two fitting surfaces, and the fitting surfaces are used to fit with the bone during osteotomy. The functional part also includes at least three guide grooves. At least three guide grooves extend in at least two different directions and pass through the functional part. And the number of extension directions of the guide grooves is less than the number of guide grooves. The at least two different directions include two mutually perpendicular directions. The functional part is provided with a fitting surface in at least one direction of the two mutually perpendicular directions. At least two guide grooves extending in the same direction have cross sections extending in two intersecting directions. According to the embodiments of the present application, the osteotomy efficiency of high-precision small-range osteotomy surgery can be effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an end effector and an osteotomy device. Background Art

[0002] In related technologies, as the population ages, degenerative osteoarthritis, rheumatoid arthritis and other diseases may lead to knee cartilage destruction or abnormal knee wear, resulting in ligament imbalance and limited flexion and extension of the lower limbs. In order to restore the function of the lower limbs, joint surgery is required. Therefore, more and more joint surgeries are performed in hospitals every year.

[0003] In joint surgery, osteotomy is required. When performing a small-scale osteotomy on a bone, it is necessary to cut out multiple bone surfaces through a robotic arm system. Traditionally, a small grinding head is used to grind the bone. However, grinding the bone with a grinding head to cut out multiple bone surfaces results in a low efficiency of osteotomy. Therefore, improving the efficiency of osteotomy in high-precision small-scale osteotomy surgery is still a problem that needs to be solved urgently. Summary of the invention

[0004] According to a first aspect of an embodiment of the present application, an end effector is provided, which is applied to the end of a robot arm, and includes: a functional part, a connecting rod part and a fixing part; one end of the connecting rod part is connected to the fixing part, and the other end is connected to the functional part; the fixing part is used to be detachably connected to the end of the robot arm;

[0005] The surface of the functional part includes at least two fitting surfaces, and the fitting surfaces are used to fit with the bone during osteotomy; the functional part also includes at least three guide grooves; the at least three guide grooves extend along at least two different directions and penetrate the functional part; and the number of extending directions of the guide grooves is less than the number of the guide grooves; the at least two different directions include two directions perpendicular to each other;

[0006] The functional portion is provided with the fitting surface in at least one direction of the two mutually perpendicular directions; and the cross section of at least two guide grooves extending in the same direction extends in two intersecting directions.

[0007] According to the above embodiments, by providing a fitting surface and guide grooves extending in multiple directions on the functional part, the guiding accuracy of the functional part can be greatly improved through the design of combining the fitting surface with multiple guide grooves to meet the accuracy requirements of small-range osteotomy surgery. Furthermore, high-precision cutting can be used instead of small grinding head grinding to effectively improve the osteotomy efficiency of high-precision small-range osteotomy surgery.

[0008] In some embodiments, at least one of the two ends of at least one of the guide grooves in the extension direction of its cross section is provided with a guide through hole; the guide through hole extends along the extension direction of the corresponding guide groove and passes through the functional part; the guide through hole is connected to the guide groove, and the diameter of the guide through hole is greater than the width of the guide groove; the guide through hole is used to set a bone screw.

[0009] In some embodiments, the surface of the functional part is provided with the fitting surfaces in the two mutually perpendicular directions; the shapes of the fitting surfaces include an arc shape adapted to the surface shape of the bone and a plane shape adapted to the surface shape of the bone after osteotomy.

[0010] In some embodiments, the functional portion includes three guide grooves; the three guide grooves extend in two different directions and penetrate the functional portion; and the two different directions are perpendicular to each other; wherein the cross sections of the two guide grooves extending in the same direction extend in two directions perpendicular to each other;

[0011] The cutting surfaces formed by the three guide grooves are perpendicular to each other.

[0012] In some embodiments, the connecting rod portion includes a functional connection portion and a connecting rod main body portion; the functional connection portion is located between the connecting rod main body portion and the functional portion, and two ends of the functional connection portion are respectively connected to the connecting rod main body portion and the functional portion;

[0013] The thickness of the functional connection portion is smaller than the thickness of the connecting rod main body portion.

[0014] In some embodiments, the invention further comprises: a positioning frame and a positioning docking portion; the positioning frame is used to be identified to locate the position of the end effector;

[0015] The positioning docking portion is installed on the connecting rod portion; the positioning docking portion includes at least two docking surfaces, each of which is provided with a docking boss; the positioning frame is detachably matched with the docking boss to detachably fix the positioning frame to the positioning docking portion; the docking boss on each of the docking surfaces faces different directions.

[0016] In some embodiments, the connecting rod portion passes through the positioning docking portion, and the docking surface is located around the connecting rod portion.

[0017] In some embodiments, the positioning frame includes a frame body and at least three positioning members; the positioning member is detachably mounted on the frame body, and the positioning member is used to determine the position of the positioning member after being identified, and determine the position of the end effector based on the connection relationship; at least three of the positioning members are not located on the same straight line.

[0018] In some embodiments, a drilling frame is further included; the drilling frame includes a bracket base, a bracket matching portion and at least two guide frames; the bracket base includes a first base portion and a second base portion; the projection of the first base portion on the second base portion is located inside the second base portion;

[0019] The bracket matching part and the drilling guide part are located on two opposite sides of the bracket base, and the bracket matching part is connected to the first base part, and the bracket matching part is connected to the second base part; a drilling frame mounting hole penetrating the functional part is provided on the functional part; the bracket matching part matches the drilling frame mounting hole;

[0020] The drilling frame is also provided with a matching hole; the matching hole penetrates the bracket matching part and the bracket base along the extension direction of the bracket matching part; the matching hole is used to match with the drill bit.

[0021] According to a second aspect of an embodiment of the present application, there is provided an osteotomy device, comprising a robotic arm and any one of the above-mentioned end effectors.

[0022] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0024] Figure 1 It is a schematic diagram of the structure of the end effector according to an embodiment of the present application.

[0025] Figure 2 According to the embodiment of the present application Figure 1 A partial enlarged view of the structure in the middle area Q1.

[0026] Figure 3 According to the embodiment of the present application Figure 1 A partial enlarged view of the structure in the middle area Q1 from another angle.

[0027] Figure 4 It is a state of the end effector in operation according to the embodiment of the present application.

[0028] Figure 5 This is another state of the end effector in operation according to the embodiment of the present application.

[0029] Figure 6 This is another state of the end effector in operation according to the embodiment of the present application.

[0030] Figure 7 This is another state of the end effector in operation according to the embodiment of the present application.

[0031] Figure 8 This is another state of the end effector in operation according to the embodiment of the present application.

[0032] Fig. 9 It is a schematic diagram of the structure of a positioning frame according to an embodiment of the present application.

[0033] Fig.10 According to the embodiment of the present application Fig. 9 The positioning frame is shown in a cross-sectional view along the section line AA.

[0034] Fig.11 It is a schematic diagram of installing other components according to the functional part shown in the embodiment of the present application. DETAILED DESCRIPTION

[0035] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0036] When performing a small-scale osteotomy on a bone, for example, in a unicompartmental osteotomy, only half of the tibial joint end is osteotomized, and it is necessary to use a robotic arm system to cut out multiple bone surfaces including horizontal and vertical osteotomy surfaces. In traditional osteotomy surgeries using robotic arms, osteotomy using a guide plate robotic arm in conjunction with a medical knife is generally only used in surgeries that require large-scale osteotomy, such as surgeries that directly cut off the entire bone joint using a medical knife. Therefore, the traditional osteotomy operation using a guide plate robotic arm in conjunction with a medical knife requires frequent adjustment of the position of the guide plate robotic arm and the medical knife, which results in insufficient precision of this type of structure in small-scale osteotomy surgeries.

[0037] However, the guide plate robot arm and medical knives cannot meet the precision requirements of small-scale osteotomy surgery. Existing means also include grinding the bones with a robot arm equipped with a small grinding head to achieve small-scale osteotomy operations with high precision. However, the grinding operation takes a long time, and since it is also necessary to adjust the position of the small grinding head to grind the bones at various angles, increasing the grinding speed of the small grinding head will also lead to a decrease in grinding accuracy, thereby reducing the osteotomy accuracy. In addition, the osteotomy surface obtained by grinding with a small grinding head has certain unevenness, which will also affect the accuracy of the subsequent prosthesis installed at the osteotomy site. Therefore, the operating efficiency of high-precision grinding with a small grinding head is low. Therefore, improving the osteotomy efficiency of high-precision small-scale osteotomy surgery is still a problem that needs to be solved urgently.

[0038] The present application provides an end effector 10 . Figure 1 What is shown is a schematic structural diagram of the end effector 10 . Figure 2 It shows Figure 1 A partial enlarged view of the structure in the middle area Q1. Figure 3 It shows Figure 1 A partial enlarged view of the structure in the middle area Q1 from another angle. Figure 1 , Figure 2 and Figure 3 As shown in the structural schematic diagram, the end effector 10 includes: a functional part 101, a connecting rod part 102 and a fixing part 103.

[0039] One end of the connecting rod portion 102 is connected to the fixed portion 103, and the other end is connected to the functional portion 101. The fixed portion 103 is used to be detachably connected to the end of the robot arm (not shown in the figure). Among them, the functional portion 101, the connecting rod portion 102 and the fixed portion 103 can be partially formed as one piece, partially formed separately and then assembled, or all can be formed as one piece, or all can be formed separately and then assembled together. Partially formed as one piece, partially formed separately and then assembled, that is, any two connected structures of the functional portion 101, the connecting rod portion 102 and the fixed portion 103 can be formed as one piece, and assembled and matched with another structure. Specifically, the functional portion 101 and the connecting rod portion 102 can be formed as one piece, and then assembled and matched with the fixed portion 103.

[0040] The surface of the functional part 101 includes at least two fitting surfaces M, which are used to fit with the bone during osteotomy. Figure 2 and Figure 3As shown, it includes a first bonding surface M1 and a second bonding surface M2. The functional part 101 also includes at least three guide grooves 1010. Specifically, the functional part 101 may include three guide grooves 1010, or the functional part 101 may include four guide grooves 1010, or the functional part 101 may include five guide grooves 1010, or the functional part 101 may include six guide grooves 1010, or the functional part 101 may include seven guide grooves 1010, but is not limited thereto. At least three guide grooves 1010 extend along at least two different directions and penetrate the functional part 101. And the number of extension directions of the guide grooves 1010 is less than the number of guide grooves 1010. That is, S guide grooves 1010 extend along (S-1) different directions, where S is greater than or equal to three. The at least two different directions include two mutually perpendicular directions.

[0041] At least three guide grooves 1010 extend in at least two different directions and penetrate the functional part 101. And the number of extending directions of the guide grooves 1010 is less than the number of the guide grooves 1010. It can be that three guide grooves 1010 extend in two different directions, or four guide grooves 1010 extend in two different directions, or four guide grooves 1010 extend in three different directions, or five guide grooves 1010 extend in two different directions, or five guide grooves 1010 extend in three different directions, or five guide grooves 1010 extend in four different directions, but it is not limited thereto.

[0042] The at least two different directions include two mutually perpendicular directions. That is, when there are two different directions, the two directions are mutually perpendicular. When there are more than two different directions, two of them are mutually perpendicular, and the directions other than the two directions may be perpendicular to the two directions or may not be perpendicular to the two directions. The specific directions other than the two mutually perpendicular directions can be flexibly set according to actual needs and are not strictly limited here.

[0043] Specifically, according to Figure 1 , Figure 2 and Figure 3 In the illustrated embodiment, the functional portion 101 preferably includes three guide grooves 1010. The three guide grooves 1010 extend in two different directions. Figure 2 and Figure 3 The first direction Z and the second direction Y are perpendicular to each other. The three guide grooves 1010 extend in two different directions. The first guide groove 1011 and the second guide groove 1012 of the three guide grooves 1010 extend in the first direction Z, and the third guide groove 1013 extends in the second direction Y.

[0044] The functional part 101 is provided with a corresponding fitting surface M in at least one of the two mutually perpendicular directions. Specifically, the fitting surface M is provided in at least one of the two mutually perpendicular directions, that is, in the direction along which the aforementioned guide groove extends, the functional part 101 may be provided with a corresponding fitting surface M in one of the two mutually perpendicular directions, or may be provided with a corresponding fitting surface M in both mutually perpendicular directions. Figure 2 and Figure 3 As shown, the functional portion 101 is provided with a bonding surface M corresponding to the first direction Z and the second direction Y, wherein a first bonding surface M1 is provided corresponding to the first direction Z, and a second bonding surface M2 is provided corresponding to the second direction Y.

[0045] At least two guide grooves 1010 extending in the same direction have cross sections extending in two intersecting directions. Figure 2 and Figure 3 As shown, the guide grooves 1010 extending along the first direction Z include a first guide groove 1011 and a second guide groove 1012. The cross section of the first guide groove 1011 extends along the third direction X, and the cross section of the second guide groove 1012 extends along the second direction Y. The second direction Y intersects the third direction X, but is not in the same direction or parallel to each other.

[0046] In passing Figure 1 , Figure 2 and Figure 3 When the end effector 10 shown in the figure performs the osteotomy guide operation, the state of the end effector 10 in operation can be referred to as Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown. Among them, Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 Each shows a state of the end effector 10 in operation. Figure 4 As shown, the robot arm drives the end effector 10 at its end to move, and moves the end effector 10 to a position where the first fitting surface M1 fits with the surface of the bone 30. The blade 21 of the tool end 20 passes through the first guide groove 1011, and cuts the bone 30 along the extension direction of the cross section of the first guide groove 1011. The shape of the blade 21 may include a saw ruler shape or a blade shape, but is not limited thereto. The shape of the blade 21 can be flexibly set according to actual needs, and is not limited here.

[0047] After the cutting by the blade 21 along the first guide groove 1011 is completed, refer to Figure 5As shown, the position of the end effector 10 is kept unchanged, the blade 21 is moved to the second guide groove 1012, and the blade 21 is cut along the extension direction of the cross section of the second guide groove 1012 along the limit of the second guide groove 1012. The functional part 101 can be stably fitted with the bone 30 by the fitting relationship between the fitting surface M of the functional part 101 and the bone 30, thereby improving the stability of the cutting process of the blade 21. In addition, since a plurality of guide grooves 1010 are provided on the functional part 101, and the plurality of guide grooves 1010 are arranged according to a specific rule, the position of the functional part 101 does not need to be changed during the cutting process of the blade 21 along different directions. Therefore, the guiding accuracy of the functional part 101 can be greatly improved by the design of combining the fitting surface M with the plurality of guide grooves 1010 to meet the accuracy requirements of small-scale osteotomy surgery. Furthermore, the osteotomy efficiency of high-precision small-scale osteotomy surgery can be effectively improved by high-precision cutting instead of grinding with a small grinding head.

[0048] And, if Figure 6 As shown, by setting the first fitting surface M1 and the second fitting surface M2, the second fitting surface M2 can also fit with the bone 30, and the third guide groove 1013 can cooperate with the first guide groove 1011, or cooperate with the second guide groove 1012, or cooperate with the first guide groove 1011 and the second guide groove 1012, so as to complete other small range osteotomy operations. Figure 7 The schematic diagram of cutting by the end effector 10 at another angle is shown. On the bone 30 after osteotomy, the first fitting surface M1 can stably contact with the cutting surface to improve the stability of the osteotomy operation. Figure 8 The schematic diagram of cutting by the end effector 10 at another angle is shown. Also on the bone 30 after osteotomy, the first fitting surface M1 can be in stable contact with the cutting surface to improve the stability of the osteotomy operation.

[0049] Therefore, by providing a fitting surface M and guide grooves 1010 extending in multiple directions on the functional part 101, the guiding accuracy of the functional part 101 can be greatly improved through the design of combining the fitting surface M with multiple guide grooves 1010 to meet the accuracy requirements of small-range osteotomy surgery. Furthermore, high-precision cutting can be used instead of small grinding head grinding to effectively improve the osteotomy efficiency of high-precision small-range osteotomy surgery.

[0050] In some embodiments, Figure 2 and Figure 3As shown, at least one of the two ends of at least one guide groove 1010 in the extension direction of its cross section is provided with a guide hole 1014. Specifically, one guide groove 1010 may be provided with a guide hole 1014, or two guide grooves 1010 may be provided with a guide hole 1014, or three guide grooves 1010 may be provided with a guide hole 1014, but the present invention is not limited thereto. Figure 2 and Figure 3 In the embodiment shown, the third guide groove 1013 may have a guide hole 1014 at one end or at both ends. The second guide groove Y has only one end in its cross section, so it can only have a guide hole 1014 at one end.

[0051] Furthermore, the two ends of the guide groove 1010 in the extending direction of its cross section are Figure 2 and Figure 3 Taking the illustrated embodiment as an example, the extending direction of the cross section of the first guide groove 1011 is the third direction X, and the two ends of the cross section of the first guide groove 1011 in the extending direction are the two ends of its cross section in the third direction X. The extending direction of the cross section of the third guide groove 1013 is the second direction Y, and the two ends of the cross section of the third guide groove 1013 in the extending direction are the two ends of its cross section in the second direction Y, that is, Figure 2 and Figure 3 The third guide groove 1013 is provided with two ends of a guide through hole 1014 .

[0052] The guide through hole 1014 extends along the extension direction of the corresponding guide groove 1010 and penetrates the functional part 101. The guide through hole 1014 is connected to the guide groove 1010, and the diameter of the guide through hole 1014 is greater than the width of the guide groove 1010. The guide through hole 1014 is used to set a bone screw.

[0053] Specifically, Figure 2 1014 shows the width W1 of the third guide groove 1013 and the diameter W2 of the guide hole 1014. The diameter of the guide hole 1014 is greater than the width of the guide groove 1010, which can be specifically that the width W1 of the third guide groove 1013 is smaller than the diameter W2 of the corresponding guide hole 1014.

[0054] And refer to Figures 4 to 8 The schematic diagram of the use of the end effector 10 is shown. When performing an osteotomy on a bone, when the robotic arm drives the end effector 10 to move to a preset position, after the fitting surface M of the functional part 101 fits with the surface of the bone 30, the bone screw can be set in the guide through hole 1014. By making the bone screw partially located in the bone 30 and partially located in the functional part 101 at the same time, the relative position between the functional part 101 and the bone 30 can be further limited.

[0055] Furthermore, since the bone nail is partially located in the bone, when the blade 21 is tilted in the guide groove 1010, the blade 21 will be restricted by the bone nail within the range of the cross-sectional projection of the guide groove 1010. For example, when the blade 21 passes through the guide groove 1013 and extends into the bone 30 to cut the bone 30, if the blade 21 is tilted, the blade located in the bone 30 may extend out of the range of the cross-sectional projection of the third guide groove 1013 due to the tilt. For example, in the case where the blade 21 is close to both ends of the third guide groove 1013, the blade 21 is tilted, that is, the blade 21 may rotate with one end of the cross-sectional area of ​​the third guide groove 1013 and the end point close to the bone 30 as the rotation center, and part of the blade 21 may extend out of the range of the cross-sectional projection of the third guide groove 1013. By setting the bone nail, it is equivalent to making the limit at both ends of the cross-sectional area of ​​the guide groove 1010 continue to extend into the bone 30, so that the blade 21 can be limited when it deflects to avoid cutting the part of the bone 30 located outside the preset position of the operation and injuring the patient.

[0056] Therefore, by providing the guide through hole 1014 and the bone screws matched therewith, the relative position between the functional part 101 and the bone 30 can be further limited by the bone screws, and the blade 21 can be limited when it is deflected to avoid cutting the part of the bone 30 outside the preset surgical position and injuring the patient.

[0057] In some embodiments, Figure 2 and Figure 3 As shown, the surface of the functional part 101 is provided with fitting surfaces M in two mutually perpendicular directions. The fitting surfaces M include an arc shape adapted to the surface shape of the bone 30 and a plane shape adapted to the surface shape of the bone 30 after osteotomy.

[0058] Specifically, the shape of the fitting surface M includes an arc that is adapted to the surface shape of the bone 30 and a plane that is adapted to the surface shape of the bone 30 after osteotomy. That is, by setting an arc that is adapted to the surface of the bone 30 on the functional part 101, the degree of adaptation between the functional part 101 and the surface of the bone 30 can be effectively improved, and the contact surface of the functional part 101 when in contact with the bone 30 can be improved, thereby improving the stability of the functional part 101 after fitting with the surface of the bone 30.

[0059] By setting a plane adapted to the surface shape of the bone 30 after osteotomy in the functional part 101, when the bone 30 needs to be cut further after osteotomy, the functional part 101 can be rotated slightly to replace it with a more suitable fitting surface M to improve the contact area between the functional part 101 and the osteotomy surface of the bone 30 to improve the stability of the fit. Therefore, the working mode of the end effector can be changed by slight changes, and further, the same end can be used to perform high-precision cutting tasks in small-scale osteotomy surgery to further improve the osteotomy efficiency of the end effector 10 in high-precision small-scale osteotomy surgery.

[0060] Therefore, by making the shape of the fitting surface M include an arc that adapts to the surface shape of the bone 30 and a plane that adapts to the surface shape of the bone 30 after osteotomy, the same end effector 10 can be used for a variety of high-precision small-range osteotomy scenarios, thereby further improving the osteotomy efficiency of the end effector 10 in high-precision small-range osteotomy surgery.

[0061] In some embodiments, Figure 2 and Figure 3 As shown, the functional part 101 includes three guide grooves 1010. The three guide grooves 1010 extend in two different directions and penetrate the functional part 101. The two different directions are perpendicular to each other. The cross sections of the two guide grooves 1010 extending in the same direction extend in two directions perpendicular to each other.

[0062] Specifically, the cross sections of the two guide grooves 1010 extending in the same direction extend in two directions perpendicular to each other, that is, Figure 2 and Figure 3 The first guide groove 1011 and the second guide groove 1012 shown in the figure both extend along the first direction Z, and the third guide groove 1013 extends along the second direction Y. The cross section of the first guide groove 1011 extends along the third direction X, and the cross section of the second guide groove 1012 extends along the second direction Y.

[0063] The cutting surfaces formed by the three guide grooves 1010 are perpendicular to each other. The cutting surface formed by the guide grooves 1010 is the cutting surface formed by the blade 21 passing through the limiting position of the guide grooves 1010.

[0064] This arrangement can ensure that the guiding accuracy of the functional part 101 is greatly improved through the design of combining the fitting surface M with multiple guide grooves 1010 to meet the accuracy requirements of small-scale osteotomy surgery. Furthermore, high-precision cutting can be used instead of small grinding head grinding to effectively improve the osteotomy efficiency of high-precision small-scale osteotomy surgery.

[0065] In some embodiments, Figure 2 and Figure 3As shown, the connecting rod portion 102 includes a functional connection portion 1021 and a connecting rod main body portion 1022. The functional connection portion 1021 is located between the connecting rod main body portion 1022 and the functional portion 101, and two ends of the functional connection portion 1021 are respectively connected to the connecting rod main body portion 1022 and the functional portion 101.

[0066] The thickness of the functional connection portion 1021 is smaller than the thickness of the connecting rod main body 1022. Specifically, Figure 2 and Figure 3 The figure shows the thickness h1 of the functional connection part 1021 and the thickness h2 of the connecting rod main body 1022. The thickness of the functional connection part 1021 is smaller than the thickness of the connecting rod main body 1022, that is, the thickness h1 is smaller than the thickness h2.

[0067] In the osteotomy operation, it is necessary to cut other body tissues around the bone 30, and then drive the end effector 10 to move by the robot arm, so that the functional part 101 is finally fitted with the bone 30. If the thickness h2 of the connecting rod body 1022 is directly connected to the functional part 101, then after the functional part 101 is fitted with the bone, the thickness h2 of the connecting rod body 1022 will still occupy a part of the space, which requires further pulling the surrounding body tissues apart by medical instruments, or expanding the surgical incision, which is undoubtedly more disadvantageous to the patient, for example, it is not conducive to the patient's rapid recovery after surgery.

[0068] After the functional part 101 is fitted with the bone 30, the thickness h1 of the functional connection part 1021 is made smaller than the thickness h2 of the connecting rod main body 1022, so that the occupation of the surgical space by the connecting rod part 102 can be effectively reduced. Therefore, the space required for the end effector 10 to perform the operation can be made as small as possible, so that the incised body tissue can be as small as possible, and less space can be occupied to leave room for the operation of other instruments during the operation. Therefore, it can be more conducive to the patient's recovery and the smooth progress of the operation, so as to further improve the osteotomy efficiency of high-precision small-range osteotomy surgery.

[0069] In some embodiments, Figure 1 As shown, the end effector 10 further includes: a positioning frame 104 and a positioning docking portion 105. The positioning frame 104 is used to be identified to locate the position of the end effector 10.

[0070] The positioning docking portion 105 is mounted on the connecting rod portion 102. The positioning docking portion 105 includes at least two docking surfaces 1051, each of which is provided with a docking boss 1052. The positioning frame 104 is detachably matched with the docking boss 1052 to detachably fix the positioning frame 104 to the positioning docking portion 105. The docking boss 1052 on each docking surface 1051 faces different directions.

[0071] The angles between any two adjacent butt joint surfaces 1051 may be the same or different, and there is no limitation here. Adjacent butt joint surfaces 1051 are butt joint surfaces 1051 that do not exist between the two butt joint surfaces 1051 and are not directly connected via other butt joint surfaces 1051.

[0072] Specifically, the docking bosses 1052 on each docking surface 1051 face different directions, that is, there is a certain angle between the docking surfaces. When the end effector 10 is displaced, the recognition of the positioning frame 104 is disturbed and the position of the end effector 10 cannot be located, the positioning frame 104 can be disassembled and matched with other docking bosses 1052 facing different directions. Since the docking bosses 1052 face different directions, the overall direction of the positioning frame 104 after matching with the docking bosses 1052 will also be consistent with the defense line of the docking bosses 1052. This is to achieve the adjustment of the direction of the positioning frame 104. Therefore, by adjusting the direction of the positioning frame 104, it can avoid the interference source and be re-recognized to locate the position of the end effector 10.

[0073] It should be noted that Figure 1 The embodiment shown is that the positioning docking portion 105 includes two docking surfaces 1051. However, it is conceivable that Figure 1 This is merely an example. In other embodiments, the configuration of the docking surface 1051 is not limited to Figure 1 The embodiment shown.

[0074] In some embodiments, Figure 1 As shown, the connecting rod portion 102 passes through the positioning docking portion 105, and the docking surface 1051 is located around the connecting rod portion 102. Among them, the docking surface 1051 is located around the connecting rod portion 102, that is, the docking surface 1051 is sequentially arranged at a position around the connecting rod portion 102.

[0075] This arrangement allows the docking surface 1051 and the docking boss 1052 arranged on the docking surface 1051 to face as many directions as possible, thereby reducing the probability that the positioning frame 104 is still blocked by the interference source after the docking position is changed, thereby ensuring the stable progress of the operation.

[0076] In some embodiments, Fig. 9 What is shown is a schematic structural diagram of the positioning frame 104 . Fig.10 It shows Fig. 9 The sectional view of the positioning frame 104 along the section line AA is shown. Figure 1 As shown, and refer to Figure 8 and Fig. 9In the structure shown, the positioning frame 104 includes a frame body 1041 and at least three positioning members 1042. The positioning members 1042 are detachably mounted on the frame body 1041, and the positioning members 1042 are used to determine the position of the positioning member 104 after being identified, and determine the position of the end effector 10 according to the connection relationship. At least three positioning members 1042 are not located on the same straight line.

[0077] The positioning member 1042 is detachably mounted on the frame 1041. Fig.10 As shown, the positioning member 1042 may be provided with a positioning magnetic structure 1043, which is coupled with a frame magnetic structure 1044 provided in the frame 1041. The positioning magnetic structure 1043 and the frame magnetic structure 1044 are attracted to each other to achieve the positioning of the positioning member 1042 on the frame 1041. In addition, the provision of the magnetic structure also facilitates the rapid replacement of the positioning member 1042 when it is contaminated, so as to further achieve the stable operation.

[0078] The three positioning members 1042 are not located on the same straight line, and a positioning surface can be obtained by positioning the three positioning members 1042. The positioning surface can effectively determine the deflection state of the positioning frame 104 in various directions, thereby effectively determining the deflection state of the end effector 10 in various directions.

[0079] In some embodiments, Fig.11 FIG. 1 is a schematic diagram showing the installation of other components in the functional unit 101. Figure 1 and Fig.11 As shown, the end effector 10 further includes a drilling frame 106. The drilling frame 106 includes a support base 1061, a support matching portion 1062 and at least two guide frames 1063. The support base 1061 includes a first base portion 10611 and a second base portion 10612. The projection of the first base portion 10611 on the second base portion 10612 is located inside the second base portion 10612. Fig.11 As shown, the drilling frame 106 can be more stably installed on the functional part 101 through the arrangement of the first base portion 10611 and the bracket matching portion 1062 .

[0080] The bracket matching portion 1062 and the guide frame 1063 are located on opposite sides of the bracket base 1061, and the bracket matching portion 1062 is connected to the first base portion 10611, and the bracket matching portion 1062 is connected to the second base portion 10612. The functional portion 101 is provided with a drilling frame mounting hole 1015 that passes through the functional portion 101. The bracket matching portion 1062 matches with the drilling frame mounting hole 1015.

[0081] The drilling frame 106 is further provided with a matching hole 1064. The matching hole 1064 penetrates the bracket matching portion 1062 and the bracket base 1061 along the extension direction of the bracket matching portion 1062. The matching hole 1064 is used to match with a drill bit.

[0082] Specifically, the drill bit passes through the matching hole 1064 to achieve matching with the matching hole 1064. The portion extending out of the matching hole 1064 is used to perform the drilling operation on the bone 30. The guide frame 1063 is used to match with the structure for mounting the drill bit when the drill bit is matched with the matching hole 1064, and provide guidance for it, so that the drill bit can match with the matching hole 1064 more conveniently and accurately.

[0083] In addition, a drilling magnetic structure 10613 may also be provided on the bracket base 1061 to absorb the structure of the drill bit installation, thereby further improving the accuracy and efficiency of the drill bit matching.

[0084] In this way, the accuracy of drilling through the matching hole 1064 of the functional part 101 can be improved through the stable contact relationship between the functional part 101 and the bone 30, and thus the accuracy of small-scale osteotomy can be further improved. And because the drilling function can be directly realized on the functional part 101 by installing the drilling frame 106 on the functional part 101, without the need for a special drilling guide structure, the efficiency of small-scale osteotomy can also be further improved.

[0085] Therefore, by disposing the functional part 101 and the drilling frame 106 , the accuracy and efficiency of small-scale osteotomy surgery can be improved at the same time.

[0086] In some embodiments, the end effector 10 is mainly used in unicompartmental tibial osteotomy surgery, but is not limited thereto. It is conceivable that when the end effector 10 is used in unicompartmental tibial osteotomy surgery, its advantages can be maximized.

[0087] The present application also provides an osteotomy device, comprising a robotic arm and any one of the above-mentioned end effectors 10 .

[0088] The above embodiments of the present application may complement each other if no conflict occurs.

[0089] It should be noted that in the accompanying drawings, the sizes of layers and regions may be exaggerated for clarity of illustration. It is also understood that when an element or layer is referred to as being "on" another element or layer, it may be directly on the other element, or there may be an intermediate layer. In addition, it is understood that when an element or layer is referred to as being "under" another element or layer, it may be directly under the other element, or there may be more than one intermediate layer or element. In addition, it is also understood that when a layer or element is referred to as being "between" two layers or two elements, it may be the only layer between the two layers or two elements, or there may also be more than one intermediate layer or element. Similar reference numerals throughout the text indicate similar elements.

[0090] The term "plurality" means two or more than two, unless expressly limited otherwise.

[0091] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the disclosure disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0092] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. An end effector, applied to the end of a robotic arm, characterized in that: include: Functional part, connecting rod part and fixed part; One end of the connecting rod is connected to the fixing part, and the other end is connected to the functional part; the fixing part is used to be detachably connected to the end of the robot arm; The surface of the functional part includes at least two fitting surfaces, and the fitting surfaces are used to fit with the bone during osteotomy; the functional part also includes at least three guide grooves; the at least three guide grooves extend along at least two different directions and penetrate the functional part; and the number of extending directions of the guide grooves is less than the number of the guide grooves; the at least two different directions include two directions perpendicular to each other; The functional part is provided with the fitting surface in at least one direction of the two mutually perpendicular directions; at least two guide grooves extending in the same direction, and the cross section thereof extends in two intersecting directions; The end effector further comprises a drilling frame; the drilling frame comprises a support base, a support matching portion and at least two guide frames; the support base comprises a first base portion and a second base portion; the projection of the first base portion on the second base portion is located inside the second base portion; The bracket matching part and the drilling guide part are located on two opposite sides of the bracket base, and the bracket matching part is connected to the first base part, and the bracket matching part is connected to the second base part; a drilling frame mounting hole penetrating the functional part is provided on the functional part; the bracket matching part matches the drilling frame mounting hole; The drilling frame is also provided with a matching hole; the matching hole penetrates the bracket matching part and the bracket base along the extension direction of the bracket matching part; the matching hole is used to match with the drill bit.

2. The end effector according to claim 1, characterized in that: At least one of the two ends of at least one guide groove in the extension direction of its cross section is provided with a guide through hole; the guide through hole extends along the extension direction of the corresponding guide groove and passes through the functional part; the guide through hole is connected to the guide groove, and the diameter of the guide through hole is greater than the width of the guide groove; the guide through hole is used to set a bone screw.

3. The end effector according to claim 2, characterized in that: The surface of the functional part is provided with the fitting surfaces in the two mutually perpendicular directions; the shapes of the fitting surfaces include an arc shape adapted to the surface shape of the bone and a plane shape adapted to the surface shape of the bone after osteotomy.

4. The end effector according to claim 2, characterized in that: The functional part includes three guide grooves; the three guide grooves extend in two different directions and penetrate the functional part; and the two different directions are perpendicular to each other; wherein the cross sections of the two guide grooves extending in the same direction extend in two directions perpendicular to each other; The cutting surfaces formed by the three guide grooves are perpendicular to each other.

5. The end effector according to claim 1, characterized in that: The connecting rod portion includes a functional connection portion and a connecting rod main body portion; the functional connection portion is located between the connecting rod main body portion and the functional portion, and two ends of the functional connection portion are respectively connected to the connecting rod main body portion and the functional portion; The thickness of the functional connection portion is smaller than the thickness of the connecting rod main body portion.

6. The end effector according to claim 1, characterized in that: Also includes: A positioning frame and a positioning docking portion; the positioning frame is used to be identified to locate the position of the end effector; The positioning docking portion is installed on the connecting rod portion; the positioning docking portion includes at least two docking surfaces, each of which is provided with a docking boss; the positioning frame is detachably matched with the docking boss to detachably fix the positioning frame to the positioning docking portion; the docking boss on each of the docking surfaces faces different directions.

7. The end effector according to claim 6, characterized in that: The connecting rod portion passes through the positioning docking portion, and the docking surface is located around the connecting rod portion.

8. The end effector according to claim 6, characterized in that: The positioning frame includes a frame body and at least three positioning members; the positioning member is detachably mounted on the frame body, and the positioning member is used to determine the position of the positioning member after being identified, and to determine the position of the end effector based on the connection relationship; at least three of the positioning members are not located on the same straight line.

9. An osteotomy device, characterized in that: It comprises a robotic arm and the end effector according to any one of claims 1 to 8.

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