End-actuating bone saw and surgical navigation positioning device having the same

Abstract

The present invention provides an end-actuated bone saw and a surgical navigation positioning device having the same, wherein the end-actuated bone saw comprises: a male head movably arranged on a first flange, and a female head arranged on a second flange; a constraint bracket arranged between the male head and the first flange, and when the constraint bracket is in a constrained state, the constraint bracket limits the movement of the male head relative to the first flange, and when the constraint bracket is in a relaxed state, the constraint bracket allows the male head to move relative to the first flange; a locking member movably arranged on the first flange, and when the locking member is in a locked position, the locking member connects the first flange and the second flange, and the constraint bracket is in a relaxed state, and when the locking member is in an unlocked position, the first flange and the second flange are separated, and the constraint bracket is in a constrained state. The technical solution provided by the present application can solve the problem of over-constraint of the positioning locking mechanism between the end-actuated bone saw and the robotic arm in the related art.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical tools, and in particular to an end-actuating bone saw and a surgical navigation and positioning device having the same. Background Art

[0002] The robotic arm vehicle of the knee surgery navigation and positioning device is mostly composed of a trolley, a robotic arm, a sterile protective cover, an end-actuator bone saw, a marker, etc. The robotic arm and the trolley are usually the sterile parts, the end-actuator bone saw and the marker are the sterile parts, and the sterile protective cover separates the sterile part from the sterile part.

[0003] In the related technology, the power supply and communication of the end-actuated bone saw require a cable connected to the trolley, and the cable has two routing modes: external routing and internal routing. Among them, the cable with external routing is easy to interfere with the doctor's operation and vision, and the internal routing requires a standard aviation plug for the electrical connection between the end-actuated bone saw and the robotic arm to ensure the reliability and stability of the electrical connection. At the same time, the aviation plug can also meet the requirements of medical sterilization and reduce R&D costs.

[0004] However, since the standard aviation plug itself is provided with a positioning mechanism, the positioning and locking mechanism between the end effector bone saw and the robotic arm in the related technology has the problem of over-constraint. Due to manufacturing errors, this over-constraint makes it difficult to connect the end effector bone saw and the robotic arm, or stress occurs inside the aviation plug after the connection, thereby damaging the delicate pins inside the aviation plug. Summary of the invention

[0005] The present invention provides an end-effector bone saw and a surgical navigation positioning device having the same, so as to solve the problem of over-constraint of a positioning locking mechanism between an end-effector bone saw and a robotic arm in the related art.

[0006] According to one aspect of the present invention, there is provided an end-effector bone saw, which comprises: a first flange capable of being arranged on one of a robotic arm and a bone saw; a second flange capable of being arranged on the other of the robotic arm and the bone saw; an aviation plug comprising a male head and a female head, the male head being movably arranged on the first flange, and the female head being arranged on the second flange; a constraint bracket being arranged between the male head and the first flange, the constraint bracket having a constraint state and a relaxation state, when the constraint bracket is in the constraint state, the constraint bracket limits the movement of the male head relative to the first flange, and when the constraint bracket is in the relaxation state, the constraint bracket allows the male head to move relative to the first flange; a locking member being movably arranged on the first flange, the locking member having a locking position and an unlocking position, when the locking member is in the locking position, the locking member connects the first flange and the second flange, and the constraint bracket is in the relaxation state, and when the locking member is in the unlocking position, the first flange and the second flange are separated, and the constraint bracket is in the constraint state.

[0007] Furthermore, the restraint bracket includes: a restraint member, which is arranged on the first flange, and has a restrained state and a relaxed state; and an elastic member, which is arranged between the male head and the first flange to movably connect the male head to the first flange.

[0008] Furthermore, the restraining member includes at least two restraining claws, at least two restraining claws are arranged around the circumferential outer side of the male head, the restraining claws are movably arranged on the first flange, the restraining claws have an abutment portion, and the locking member is drivingly connected to the at least two restraining claws to drive the abutment portion to approach or move away from the male head. When the restraining member is in a restrained state, the abutment portions of at least two restraining claws clamp the male head, and when the restraining member is in a relaxed state, the abutment portions of at least two restraining claws release the male head.

[0009] Furthermore, the elastic member includes: an elastic sleeve, which is sleeved on the male head; and an elastic connecting rib, which is arranged on the outer side wall of the elastic sleeve, and the elastic connecting rib is connected to the first flange.

[0010] Furthermore, the locking member includes: a locking knob, which is rotatably arranged on the first flange around the axis of the male head; a transmission pin, which is arranged on the locking knob, and a restraining claw is swingably arranged on the first flange, the swing axis of the restraining claw is parallel to the axis of the male head, and a guide groove is arranged on the restraining claw, and the hinge point between the restraining claw and the first flange is located at one end of the guide groove, and the transmission pin extends into the guide groove. When the locking knob is rotated, the transmission pin moves along the extension direction of the guide groove to drive the restraining claw to swing relative to the first flange and make the abutment portion approach or move away from the male head.

[0011] Furthermore, the locking member includes: a locking knob, which is rotatably arranged on the first flange around the axis of the male head, and a transmission bevel is arranged on the inner side wall of the locking knob; a clamping member, which is movably arranged on the first flange, and a connecting pin is arranged on the second flange, the clamping member has a clamping position clamped with the connecting pin and a disconnecting position separated from the connecting pin, the transmission bevel is slidably matched with the clamping member, and when the locking knob is rotated, the transmission bevel drives the clamping member to move between the clamping position and the disconnecting position, when the locking member is in the locking position, the clamping member is in the clamping position, and when the locking member is in the unlocking position, the clamping member is in the disconnecting position.

[0012] Furthermore, the end-acting bone saw also includes an annular plate, which is arranged on the first flange and surrounds the outer side of the male head, and is provided with an avoidance hole for avoiding the connecting pin on the annular plate, and the clamping part is movably arranged on the annular plate; and / or, the moving direction of the clamping part is arranged at an angle with the axial direction of the male head, and the extending direction of the connecting pin is parallel to the axial direction of the male head, and the locking part also includes a reset part, and the two ends of the reset part are respectively connected to the clamping part and the first flange to apply a reset force to the clamping part to move it to the disconnected position.

[0013] Furthermore, the end-execution bone saw also includes a bone saw, which includes: a saw body, which is arranged on one of the first flange and the second flange; a driving member, which is arranged on the saw body; an eccentric transmission member, which is eccentrically arranged relative to the axis of the saw body, and the driving member is drivingly connected to the eccentric transmission member to drive the eccentric transmission member to rotate around the axis of the saw body; a swing saw, which is swingably arranged at the head of the saw body, the swing axis of the swing saw is perpendicular to the axis of the saw body, and the tail of the swing saw has two transmission surfaces arranged at an angle, and the eccentric transmission member is located between the two transmission surfaces. When the eccentric transmission member rotates, the eccentric transmission member alternately contacts the two transmission surfaces to drive the swing saw to swing; an adjusting member, which is arranged between the saw body and the eccentric transmission member to adjust the position of the eccentric transmission member in the axial direction of the saw body.

[0014] Furthermore, the adjusting member includes an adjusting knob, which is rotatably mounted on the saw body. A sliding groove extending along the axial direction of the saw body is provided on the inner side wall of the adjusting knob. The eccentric transmission member has a sliding pin, which is connected to the eccentric transmission member. A spiral guide hole is provided on the saw body. The spiral guide hole is spiral around the axis of the saw body. The sliding pin is inserted into the spiral guide hole and extends into the sliding groove. When the adjusting knob is rotated, the adjusting knob drives the sliding pin to move along the extension direction of the spiral guide hole to drive the eccentric transmission member to move along the axial direction of the saw body.

[0015] Furthermore, the driving member includes a motor and a transmission shaft, the motor is arranged on the saw body and is drivingly connected to the transmission shaft; the eccentric transmission member includes a sliding sleeve, a bearing and an eccentric shaft, the sliding sleeve is slidably mounted on the transmission shaft along the axial direction of the transmission shaft, the sliding sleeve is fixedly engaged with the transmission shaft, the inner ring of the bearing is mounted on the sliding sleeve and is connected to the sliding sleeve, the sliding pin is arranged on the outer ring of the bearing, and one end of the eccentric shaft is connected to the sliding sleeve; and / or, a rolling member is arranged at one end of the eccentric transmission member facing the tail of the swinging member, the rolling member is eccentrically arranged relative to the axis of the saw body, and when the eccentric transmission member rotates, the rolling member alternately contacts the two transmission surfaces.

[0016] Furthermore, the swing saw includes a swing frame, a saw blade and a movable part, the swing frame is swingably arranged on the head of the saw body, two transmission surfaces are arranged on the swing frame, an installation gap is provided between the swing frame and the saw body, the saw blade is arranged in the installation gap, and the movable part is arranged between the swing frame and the saw body to adjust the size of the installation gap; and / or, the end-execution bone saw also includes a bone saw tracking part, and an identification card slot for installing the bone saw tracking part is arranged on the outer side wall of the saw body.

[0017] According to another aspect of the present invention, a surgical navigation and positioning device is provided, and the surgical navigation and positioning device includes the end-actuating bone saw provided above.

[0018] By applying the technical solution of the present invention, the end-executing bone saw includes a first flange, a second flange, an aviation plug, a constraint bracket and a locking piece. The male head is movably arranged on the first flange, and the female head is fixedly arranged on the second flange. The locking piece is moved to an unlocked position, and the constraint bracket is switched to a constrained state to limit the movement of the male head relative to the first flange, so as to facilitate the alignment of the male head and the female head by moving the first flange and the second flange, so as to facilitate the rapid docking of the male head and the female head. After the male head and the female head are docked, the locking piece is moved to a locked position, and the locking piece connects the first flange and the second flange. At this time, since the constraint bracket is switched to a relaxed state to allow the male head to move relative to the first flange, the connection constraint between the first flange and the second flange and the connection constraint between the male head and the female head are avoided from constraining excessively, so that the connection between the mechanical arm and the bone saw is smooth, and damage to the aviation plug is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 It shows a schematic structural diagram of an end effector bone saw provided according to an embodiment of the present invention;

[0021] Figure 2 An exploded view of an end-actuating bone saw provided according to an embodiment of the present invention is shown;

[0022] Figure 3 An exploded view from another perspective of an end-actuating bone saw provided according to an embodiment of the present invention is shown;

[0023] Figure 4 Shows Figure 3 A schematic diagram of the structure with the annular plate, the clamping member and the reset member removed;

[0024] Figure 5 A schematic structural diagram of a male head, a first flange, an annular plate, a clamping member and a resetting member of an end effector bone saw provided in an embodiment of the present invention is shown;

[0025] Figure 6 A schematic structural diagram of a male head, a first flange, a restraining member and an elastic member of an end effector bone saw provided in an embodiment of the present invention is shown;

[0026] Figure 7 A schematic structural diagram of a male head, a first flange and a restraining member of an end effector bone saw provided in an embodiment of the present invention is shown;

[0027] Figure 8 A schematic structural diagram of a bone saw of an end-actuated bone saw provided according to an embodiment of the present invention is shown;

[0028] Fig. 9 An exploded view of a bone saw of an end-actuating bone saw provided according to an embodiment of the present invention is shown;

[0029] Fig.10 A side view of an end effector bone saw provided according to an embodiment of the present invention is shown;

[0030] Fig.11 A schematic structural diagram of a surgical navigation and positioning device provided according to an embodiment of the present invention is shown.

[0031] The above drawings include the following reference numerals:

[0032] 10. First flange;

[0033] 20. Second flange; 21. Connecting pin;

[0034] 30. Aviation plug; 31. Male plug; 32. Female plug;

[0035] 40. Constraint bracket; 41. Constraint member; 411. Constraint claw; 4111. Abutment portion; 4112. Guide groove; 42. Elastic member; 421. Elastic sleeve; 422. Elastic connecting rib;

[0036] 50. Locking member; 51. Locking knob; 511. Transmission ramp; 52. Transmission pin; 53. Clamping member; 54. Reset member;

[0037] 60. annular plate; 61. avoidance hole;

[0038] 70. bone saw; 71. saw body; 711. spiral guide hole; 712. identification card slot; 7121. pit; 72. driving member; 721. motor; 722. transmission shaft; 73. eccentric transmission member; 731. sliding pin; 732. sliding sleeve; 733. bearing; 734. eccentric shaft; 735. rolling member; 74. swing saw; 741. transmission surface; 742. swing frame; 7421. swing shaft; 7422. support plate; 7423. positioning pin; 743. saw blade; 744. movable member; 745. installation interval; 75. adjusting member; 751. adjusting knob; 752. slide groove;

[0039] 80. bone saw tracking part; 81. tenon; 811. spring tongue; 812. protrusion;

[0040] 91. Robotic arm; 92. Sterile gasket; 93. Controller; 94. Camera; 95. Osteotomy tracking device; 96. Hinge mechanism. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] like Figures 1 to 10 As shown, an embodiment of the present invention provides an end-implementation bone saw, which includes a first flange 10, a second flange 20, an aviation plug 30, a constraint bracket 40, and a locking member 50. The first flange 10 can be set on one of the mechanical arm 91 and the bone saw 70, and the second flange 20 can be set on the other of the mechanical arm 91 and the bone saw 70. The aviation plug 30 includes a male head 31 and a female head 32. The male head 31 is movably set on the first flange 10, and the female head 32 is set on the second flange 20. The constraint bracket 40 is set between the male head 31 and the first flange 10, and the constraint bracket 40 has a constraint state and a relaxation state. state, when the constraint bracket 40 is in the constrained state, the constraint bracket 40 limits the movement of the male head 31 relative to the first flange 10, and when the constraint bracket 40 is in the relaxed state, the constraint bracket 40 allows the male head 31 to move relative to the first flange 10, and the locking member 50 is movably arranged on the first flange 10, and the locking member 50 has a locking position and an unlocking position. When the locking member 50 is in the locking position, the locking member 50 connects the first flange 10 and the second flange 20, and the constraint bracket 40 is in the relaxed state. When the locking member 50 is in the unlocking position, the first flange 10 and the second flange 20 are separated, and the constraint bracket 40 is in the constrained state.

[0043] The end-actuator bone saw provided in this embodiment is applied, and the end-actuator bone saw includes a first flange 10, a second flange 20, an aviation plug 30, a constraint bracket 40 and a locking piece 50. The male head 31 is movably arranged on the first flange 10, and the female head 32 is fixedly arranged on the second flange 20. The locking piece 50 is moved to an unlocked position, and the constraint bracket 40 is switched to a constrained state at this time to limit the movement of the male head 31 relative to the first flange 10, so that it is convenient to align the male head 31 and the female head 32 by moving the first flange 10 and the second flange 20, so as to facilitate the rapid docking of the male head 31 and the female head 32. After the male head 31 and the female head 32 are docked, the locking piece 50 is moved to a locked position, and the locking piece 50 connects the first flange 10 and the second flange 20. At this time, since the constraint bracket 40 is switched to a relaxed state to allow the male head 31 to move relative to the first flange 10, the connection constraint between the first flange 10 and the second flange 20 and the connection constraint between the male head 31 and the female head 32 are avoided to constitute an over-constraint, so that the mechanical arm is connected to the bone saw smoothly and damage to the aviation plug 30 is avoided.

[0044] like Figure 4 and Figure 6 As shown, the constraint bracket 40 includes a constraint member 41 and an elastic member 42. The constraint member 41 is arranged on the first flange 10. The constraint member 41 has a constraint state and a relaxation state. The elastic member 42 is arranged between the male head 31 and the first flange 10 to flexibly connect the male head 31 to the first flange 10. The male head 31 is flexibly connected to the first flange by the elastic member 42, and the female head 32 is fixed to the second flange 20. The locking member 50 is moved to the unlocking position. At this time, the constraint member 41 is switched to the constraint state to limit the movement of the male head 31 relative to the first flange 10, so as to facilitate the alignment of the male head 31 and the female head 32 by moving the first flange 10 and the second flange 20, so as to facilitate the rapid docking of the male head 31 and the female head 32. After the male head 31 and the female head 32 are docked, the locking member 50 is moved to the locking position. The locking member 50 connects the first flange 10 and the second flange 20. At this time, since the constraint member 41 is switched to the relaxation state, the male head 31 can move relative to the first flange 10 within the range allowed by the elastic deformation of the elastic member 42.

[0045] It should be noted that the elastic member 42 movably connects the male head 31 to the first flange 10, which means that the elastic member 42 is respectively connected to the male head 31 and the first flange 10 to achieve the connection between the male head 31 and the first flange 10. At the same time, within the allowable range of elastic deformation of the elastic member 42, the male head 31 can move relative to the first flange 10.

[0046] like Figure 6 and Figure 7As shown, the constraint member 41 includes at least two constraint claws 411, at least two constraint claws 411 are arranged around the outer side of the male head 31 in the circumferential direction, the constraint claws 411 are movably arranged on the first flange 10, the constraint claws 411 have abutment portions 4111, the locking member 50 is drivingly connected with the at least two constraint claws 411 to drive the abutment portions 4111 to approach or move away from the male head 31, when the constraint member 41 is in the constrained state, the abutment portions 4111 of the at least two constraint claws 411 clamp the male head 31, and when the constraint member 41 is in the relaxed state, the abutment portions 4111 of the at least two constraint claws 411 release the male head 31. The constraint member 41 with the above structure, when the constraint member 41 is in the constrained state, holds the abutment portions 4111 of the at least two constraint claws 411 to clamp the male head 31, so as to hold the male head 31 in the circumferential direction of the male head 31 by using the at least two constraint claws 411.

[0047] like Figure 6 As shown, the elastic member 42 includes an elastic sleeve 421 and an elastic connecting rib 422, the elastic sleeve 421 is sleeved on the male head 31, the elastic connecting rib 422 is arranged on the outer side wall of the elastic sleeve 421, and the elastic connecting rib 422 is connected to the first flange 10. The elastic sleeve 421 and the first flange 10 are connected by the elastic connecting rib 422, and when the constraint member 41 is switched to the relaxed state, the movement resistance of the male head 31 relative to the first flange 10 can be reduced, and the elastic sleeve 421 is sleeved on the male head 31, and the elastic connecting rib 422 is arranged on the outer side wall of the elastic sleeve 421, so that the elastic member 42 and the male head 31 can be easily connected.

[0048] In this embodiment, the elastic sleeve 421 and the elastic connecting rib 422 are integrally formed.

[0049] In this embodiment, at least two positioning recesses are provided on the outer wall of the elastic sleeve 421, and at least two restraining claws 411 are provided in one-to-one correspondence with the at least two positioning recesses. The abutment portion 4111 is an abutment protrusion provided on the restraining claw 411. When the restraining member 41 is in a restrained state, the abutment protrusion extends into the positioning recess. When the restraining member 41 is in a relaxed state, the abutment protrusion escapes from the positioning recess.

[0050] like Figure 6 and Figure 7As shown, the locking member 50 includes a locking knob 51 and a transmission pin 52. The locking knob 51 is rotatably arranged on the first flange 10 around the axis of the male head 31. The transmission pin 52 is arranged on the locking knob 51. The restraining claw 411 is swingably arranged on the first flange 10. The swing axis of the restraining claw 411 is parallel to the axis of the male head 31. A guide groove 4112 is arranged on the restraining claw 411. The hinge point between the restraining claw 411 and the first flange 10 is located at one end of the guide groove 4112. The transmission pin 52 extends into the guide groove 4112. When the locking knob 51 is rotated, the transmission pin 52 moves along the extension direction of the guide groove 4112 to drive the restraining claw 411 to swing relative to the first flange 10 and make the abutment portion 4111 approach or move away from the male head 31. The locking knob 51 is turned to move the locking member 50 to the unlocking position, and the transmission pin 52 moves along the extending direction of the guide groove 4112 to drive the constraint claw 411 to swing relative to the first flange 10, and make the abutment portion 4111 close to the male head 31. The abutment portions 4111 of at least two constraint claws 411 clamp the male head 31 to limit the movement of the male head 31 relative to the first flange 10, so as to facilitate the alignment of the male head 31 and the female head 32 by moving the first flange 10 and the second flange 20, so as to facilitate the rapid docking of the male head 31 and the female head 32. After the male head 31 and the female head 32 are docked, the locking knob 51 is turned in the opposite direction to lock the locking member 50. 50 moves to the locking position, the locking piece 50 connects the first flange 10 and the second flange 20, and the transmission pin 52 moves in the opposite direction along the extension direction of the guide groove 4112 to drive the restraining claw 411 to swing in the opposite direction relative to the first flange 10, and make the abutting portion 4111 move away from the male head 31, and the abutting portions 4111 of at least two restraining claws 411 release the male head 31 to allow the male head 31 to move relative to the first flange 10, thereby avoiding the connection constraint between the first flange 10 and the second flange 20 and the connection constraint between the male head 31 and the female head 32 from constraining excessively, so that the mechanical arm is smoothly connected to the bone saw and damage to the aviation plug 30 is avoided.

[0051] Specifically, the hinge point between the restraining claw 411 and the first flange 10 is located at one end of the guide groove 4112 , and the hinge point between the restraining claw 411 and the first flange 10 and the guide groove 4112 is spaced apart.

[0052] like Figure 2 , Figure 3 as well as Figure 5As shown, the locking member 50 includes a locking knob 51 and a snap-fit ​​member 53. The locking knob 51 is rotatably arranged on the first flange 10 around the axis of the male head 31. A transmission bevel 511 is arranged on the inner side wall of the locking knob 51. The snap-fit ​​member 53 is movably arranged on the first flange 10. A connecting pin 21 is arranged on the second flange 20. The snap-fit ​​member 53 has a snap-fit ​​position for snapping with the connecting pin 21 and a disconnection position for being separated from the connecting pin 21. The transmission bevel 511 is slidably matched with the snap-fit ​​member 53. When the locking knob 51 is rotated, the transmission bevel 511 drives the snap-fit ​​member 53 to move between the snap-fit ​​position and the disconnection position. When the locking member 50 is in the locking position, the snap-fit ​​member 53 is in the snap-fit ​​position. When the locking member 50 is in the unlocking position, the snap-fit ​​member 53 is in the disconnection position. Turn the locking knob 51 to move the locking member 50 to the unlocking position, so that the snap-fit ​​member 53 moves to the disconnecting position, move the first flange 10 and the second flange 20 to align the male head 31 and the female head 32, and after the male head 31 and the female head 32 are docked, turn the locking knob 51 in the opposite direction to move the locking member 50 to the locking position, so that the snap-fit ​​member 53 moves to the snap-fit ​​position, and the snap-fit ​​member 53 snaps into contact with the connecting pin 21 to connect the first flange 10 and the second flange 20.

[0053] In this embodiment, the connection process and the separation process of the first flange 10 and the second flange 20 can be achieved by the doctor only needing to rotate the locking knob 51, which is easy to operate.

[0054] like Figure 3 and Figure 5 As shown, the end effector bone saw further includes an annular plate 60, which is disposed on the first flange 10 and surrounds the outer side of the male head 31. The annular plate 60 is provided with an escape hole 61 for escaping the connecting pin 21, and the clamping member 53 is movably disposed on the annular plate 60. The clamping member 53 is disposed on the annular plate 60 to facilitate installation of the clamping member 53.

[0055] Specifically, the annular plate 60 covers the elastic connecting rib 422 and the side of the restraining member 41 facing the second flange 20 .

[0056] like Figure 3 and Figure 5 As shown, the moving direction of the clamping member 53 is set at an angle with the axial direction of the male head 31, the extending direction of the connecting pin 21 is parallel to the axial direction of the male head 31, and the locking member 50 also includes a reset member 54, the two ends of which are respectively connected to the clamping member 53 and the first flange 10 to apply a reset force to the clamping member 53 to move it to the disconnected position.

[0057] In the related art, the saw blade swing amplitude of the end-actuator bone saw cannot be adjusted. When cutting bones far away from ligament and muscle tissue, the saw blade swing amplitude is small, resulting in low efficiency; when cutting bones close to ligament and muscle tissue, the swing amplitude is too large, making it difficult for doctors to judge the boundary position, and ligament and muscle tissue are easily injured by mistake. At the same time, since the saw blade swing amplitude cannot be adjusted, doctors cannot adjust the swing amplitude according to the bone hardness of different patients to obtain a comfortable osteotomy feel.

[0058] like Figures 1 to 4 as well as Figures 8 to 10 As shown, the end effector bone saw also includes a bone saw 70, which includes a saw body 71, a driving member 72, an eccentric transmission member 73, a swing saw 74 and an adjusting member 75. The saw body 71 is arranged on one of the first flange 10 and the second flange 20, the driving member 72 is arranged on the saw body 71, the eccentric transmission member 73 is eccentrically arranged relative to the axis of the saw body 71, the driving member 72 is drivingly connected to the eccentric transmission member 73 to drive the eccentric transmission member 73 to rotate around the axis of the saw body 71, and the swing saw 74 is swingably arranged on the saw body 71. The head of the saw body 71 and the swing axis of the swing saw 74 are arranged perpendicular to the axis of the saw body 71. The tail of the swing saw 74 has two transmission surfaces 741 arranged at an angle. The eccentric transmission member 73 is located between the two transmission surfaces 741. When the eccentric transmission member 73 rotates, the eccentric transmission member 73 alternately contacts the two transmission surfaces 741 to drive the swing saw 74 to swing. The adjustment member 75 is arranged between the saw body 71 and the eccentric transmission member 73 to adjust the position of the eccentric transmission member 73 in the axial direction of the saw body 71.

[0059] Among them, the driving member 72 drives the eccentric transmission member 73 to rotate around the axis of the saw body 71, and the eccentric transmission member 73 alternately contacts the two transmission surfaces 741 to drive the swinging saw 74 to swing. The adjusting member 75 is used to adjust the position of the eccentric transmission member 73 in the axial direction of the saw body 71 to change the contact position of the eccentric transmission member 73 and the two transmission surfaces 741, and change the swing amplitude of the swinging saw 74 driven by the eccentric transmission member 73, so as to make the bone saw 70 have different swing amplitudes, so that the doctor can dynamically adjust the swing amplitude of the bone saw 70 during the operation. When cutting bones far away from ligament and muscle tissue, the swing amplitude of the bone saw 70 is increased to improve the osteotomy efficiency. When cutting bones close to ligament and muscle tissue, the swing amplitude of the bone saw 70 is reduced, which makes it easier to judge the boundary position and is not easy to accidentally injure the ligament and muscle tissue. In addition, the swing amplitude of the bone saw 70 can be adjusted according to the bone hardness of different patients to obtain a comfortable osteotomy feel.

[0060] like Figure 8 and Fig. 9As shown, the adjusting member 75 includes an adjusting knob 751, which is rotatably mounted on the saw body 71. A sliding groove 752 extending along the axial direction of the saw body 71 is provided on the inner side wall of the adjusting knob 751. The eccentric transmission member 73 has a sliding pin 731, which is connected to the eccentric transmission member 73. A spiral guide hole 711 is provided on the saw body 71. The spiral guide hole 711 spirals around the axis of the saw body 71. The sliding pin 731 passes through the spiral guide hole 711 and extends into the sliding groove 752. When the adjusting knob 751 is rotated, the adjusting knob 751 drives the sliding pin 731 to move along the extension direction of the spiral guide hole 711, so as to drive the eccentric transmission member 73 to move along the axial direction of the saw body 71. By turning the adjusting knob 751, the adjusting knob 751 drives the sliding pin 731 to move relative to the saw body 71 along the extension direction of the spiral guide hole 711, and enables the sliding pin 731 to drive the eccentric transmission member 73 to move along the axial direction of the saw body 71. At the same time, the sliding pin 731 can move in the sliding groove 752 along the extension direction of the sliding groove 752.

[0061] like Figure 8 As shown, the driving member 72 includes a motor 721 and a transmission shaft 722. The motor 721 is arranged on the saw body 71 and is drivingly connected to the transmission shaft 722. The eccentric transmission member 73 includes a sliding sleeve 732, a bearing 733 and an eccentric shaft 734. The sliding sleeve 732 is slidably mounted on the transmission shaft 722 along the axial direction of the transmission shaft 722. The sliding sleeve 732 is engaged with the transmission shaft 722 to prevent rotation. The inner ring of the bearing 733 is mounted on the sliding sleeve 732 and is connected to the sliding sleeve 732. The sliding pin 731 is arranged on the outer ring of the bearing 733. One end of the eccentric shaft 734 is connected to the sliding sleeve 732. By turning the adjusting knob 751, the adjusting knob 751 drives the sliding pin 731 to move relative to the saw body 71 along the extension direction of the spiral guide hole 711, and the sliding pin 731 drives the bearing 733 to move along the axial direction of the saw body 71. At this time, the outer ring of the bearing 733 rotates relative to the inner ring of the bearing 733, and the inner ring of the bearing 733 drives the sliding sleeve 732 to move relative to the transmission shaft 722 along the axial direction of the saw body 71. Since the sliding sleeve 732 and the transmission shaft 722 are in anti-rotation cooperation, one end of the eccentric shaft 734 is connected to the sliding sleeve 732, so that the motor 721 can drive the eccentric shaft 734 to rotate around the axis of the saw body 71 through the sliding sleeve 732.

[0062] Specifically, the output shaft of the motor 721 is connected to the transmission shaft 722 through a coupling, the transmission shaft 722 is a spline shaft, the sliding sleeve 732 is a spline sleeve, and the bearing 733 is a deep groove ball bearing.

[0063] like Figure 8As shown, a rolling member 735 is provided at one end of the eccentric transmission member 73 facing the tail of the swing saw 74. The rolling member 735 is eccentrically arranged relative to the axis of the saw body 71. When the eccentric transmission member 73 rotates, the rolling member 735 alternately contacts the two transmission surfaces 741. When the eccentric transmission member 73 rotates, the rolling member 735 alternately contacts the two transmission surfaces 741. In this process, the rolling of the rolling member 735 increases the smoothness of the swinging action of the swing saw 74 driven by the eccentric transmission member 73.

[0064] Specifically, the rolling element 735 is a spherical bearing.

[0065] like Figures 1 to 4 , Figure 8 as well as Fig.10 As shown, the swing saw 74 includes a swing frame 742, a saw blade 743 and a movable member 744. The swing frame 742 is swingably arranged at the head of the saw body 71. Two transmission surfaces 741 are arranged on the swing frame 742. There is an installation gap 745 between the swing frame 742 and the saw body 71. The saw blade 743 is arranged in the installation gap 745. The movable member 744 is arranged between the swing frame 742 and the saw body 71 to adjust the size of the installation gap 745. The movable member 744 is operated to adjust the size of the installation gap 745, so as to facilitate the quick disassembly and assembly of the saw blade 743.

[0066] like Figure 8 As shown, the swing frame 742 includes a swing shaft 7421 and a support plate 7422, and the movable part 744 includes a cam lever. The swing shaft 7421 is perpendicular to the axial direction of the saw body 71 and passes through the head of the saw body 71. The lower end of the swing shaft 7421 is connected to the support plate 7422. The installation interval 745 is arranged between the upper surface of the support plate 7422 and the saw body 71. The cam lever is hinged to the upper end of the swing shaft 7421. The cam lever has an installed state and a disassembled state. When the cam lever is in the installed state, the support plate 7422 and the saw body 71 clamp the saw blade 743. In the process of switching the cam lever from the installed state to the disassembled state, the swing shaft 7421 and the support plate 7422 move downward relative to the saw body 71 to increase the size of the installation interval 745.

[0067] When the cam lever is in the installed state, the cam lever does not protrude from the outer side wall of the saw body 71, thereby avoiding interference with the human body during surgery.

[0068] like Figure 8 As shown, a positioning pin 7423 is provided on the support tray, and a positioning hole is provided on the saw blade 743. When the saw blade 743 is placed on the support plate 7422, the positioning pin 7423 is inserted into the positioning hole to facilitate the installation and positioning of the saw blade 743.

[0069] like Figure 1As shown, the end-actuating bone saw also includes a bone saw tracking component 80 , and an identification card slot 712 for installing the bone saw tracking component 80 is provided on the outer wall of the saw body 71 , so as to facilitate the rapid disassembly and assembly of the bone saw tracking component 80 .

[0070] Specifically, Figures 2 to 4 As shown, a pit 7121 is provided in the identification slot 712, and a tenon 81 corresponding to the identification slot 712 is provided on the bone saw tracking component 80, a spring tongue 811 is provided on the tenon 81, and a protrusion 812 is provided on the spring tongue 811. When the bone saw tracking component 80 is installed on the saw body 71, the tenon 81 extends into the identification slot 712, and the protrusion 812 is engaged in the pit 7121.

[0071] like Figure 1 and Figure 2 As shown, the end-acting bone saw also includes a sterile gasket ring 92 , which is disposed on the side of the second flange 20 facing the first flange 10 , and the sterile gasket ring 92 is disposed around the circumferential outer side of the female head 32 .

[0072] like Figures 1 to 11 As shown, an embodiment of the present invention provides a surgical navigation positioning device, and the surgical navigation positioning device includes the end-actuated bone saw provided above. The surgical navigation positioning device provided by this embodiment can also move the locking member 50 to the locking position, and the constraint bracket 40 is switched to the constraint state to limit the movement of the male head 31 relative to the first flange 10, so as to facilitate the alignment of the male head 31 and the female head 32 by moving the first flange 10 and the second flange 20, and facilitate the rapid docking of the male head 31 and the female head 32. After the male head 31 and the female head 32 are docked, the locking member 50 is moved to the locking position, and the locking member 50 connects the first flange 10 and the second flange 20. At this time, since the constraint bracket 40 is switched to the relaxed state to allow the male head 31 to move relative to the first flange 10, the connection constraint between the first flange 10 and the second flange 20 and the connection constraint between the male head 31 and the female head 32 are avoided to constitute an over-constraint, so that the mechanical arm is connected to the bone saw smoothly, and the aviation plug 30 is avoided from being damaged.

[0073] like Fig.11As shown, the surgical navigation positioning device also includes a mechanical arm 91, a hinge mechanism 96, a controller 93, an osteotomy tracking member 95 and a camera 94. The camera 94 obtains the position and posture of the knee joint bones through the osteotomy tracking member 95 installed on the knee joint. At the same time, the camera 94 also obtains the position and posture of the saw body 71 through the bone saw tracking member 80 installed on the saw body 71. The controller 93 determines the posture of each osteotomy plane according to the posture of the bones, the posture of the saw body 71 and the preoperative surgical plan, and calculates the angle and direction of rotation of each axis of the mechanical arm 91 through the inverse solution algorithm. After the controller 93 controls the rotation of each axis of the mechanical arm 91, the hinge mechanism 96 and the saw body 71 are positioned in the corresponding osteotomy plane. Among them, the hinge mechanism 96 has three degrees of rotational freedom. The doctor can drag the saw body 71 to make the saw blade 743 move freely within a certain range in the osteotomy plane. Combined with the safety boundary given by the controller 93, the doctor can successfully complete the osteotomy. The surgical navigation and positioning device can ensure the accuracy of each osteotomy plane during surgery, while retaining the doctor's partial autonomy and freedom within the osteotomy plane, allowing the doctor to obtain better surgical experience and results based on experience and ensure the safety of the surgery.

[0074] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0075] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0076] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0077] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0078] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An end effector bone saw, characterized in that: The end-actuating bone saw comprises: A first flange (10) capable of being disposed on one of the robot arm (91) and the bone saw (70); A second flange (20) capable of being disposed on the other of the robotic arm (91) and the bone saw (70); An aviation plug (30) comprising a male head (31) and a female head (32), wherein the male head (31) is movably arranged on the first flange (10), and the female head (32) is arranged on the second flange (20); a restraining bracket (40) disposed between the male head (31) and the first flange (10), the restraining bracket (40) having a restraining state and a relaxing state, wherein when the restraining bracket (40) is in the restraining state, the restraining bracket (40) restricts the movement of the male head (31) relative to the first flange (10), and when the restraining bracket (40) is in the relaxing state, the restraining bracket (40) allows the male head (31) to move relative to the first flange (10); a locking member (50) movably disposed on the first flange (10), the locking member (50) having a locking position and an unlocking position, wherein when the locking member (50) is located at the locking position, the locking member (50) connects the first flange (10) and the second flange (20), and the restraining bracket (40) is in the relaxed state, and when the locking member (50) is located at the unlocking position, the first flange (10) and the second flange (20) are separated, and the restraining bracket (40) is in the restraining state; The restraining bracket (40) comprises: a restraining member (41) arranged on the first flange (10), the restraining member (41) having the restraining state and the relaxing state, and an elastic member (42) arranged between the male head (31) and the first flange (10) to flexibly connect the male head (31) to the first flange (10); The restraining member (41) comprises at least two restraining claws (411), at least two restraining claws (411) are arranged around the circumferential outer side of the male head (31), the restraining claws (411) are movably arranged on the first flange (10), the restraining claws (411) have a contact portion (4111), the locking member (50) is drivingly connected to the at least two restraining claws (411) to drive the contact portion (4111) to approach or move away from the male head (31), when the restraining member (41) is in the restraining state, the contact portions (4111) of at least two restraining claws (411) clamp the male head (31), and when the restraining member (41) is in the relaxing state, the contact portions (4111) of at least two restraining claws (411) release the male head (31); The locking member (50) comprises: a locking knob (51) rotatably arranged on the first flange (10) around the axis of the male head (31); a transmission pin (52) arranged on the locking knob (51); the restraining claw (411) swingably arranged on the first flange (10); the swing axis of the restraining claw (411) is parallel to the axis of the male head (31); a guide groove (4112) is arranged on the restraining claw (411); a hinge point between the restraining claw (411) and the first flange (10) is located at one end of the guide groove (4112); the transmission pin (52) extends into the guide groove (4112); when the locking knob (51) is rotated, the transmission pin (52) moves along the extension direction of the guide groove (4112) to drive the restraining claw (411) to swing relative to the first flange (10), and make the abutting portion (4111) approach or move away from the male head (31).

2. The end effector bone saw according to claim 1, characterized in that: The elastic member (42) comprises: An elastic sleeve (421) is sleeved on the male head (31); An elastic connecting rib (422) is provided on the outer side wall of the elastic sleeve (421), and the elastic connecting rib (422) is connected to the first flange (10).

3. The end effector bone saw according to claim 1, characterized in that: The locking member (50) comprises: A locking knob (51) is rotatably arranged on the first flange (10) around the axis of the male head (31), and a transmission inclined surface (511) is arranged on the inner side wall of the locking knob (51); A clamping member (53) is movably arranged on the first flange (10); a connecting pin (21) is arranged on the second flange (20); the clamping member (53) has a clamping position for clamping with the connecting pin (21) and a disconnecting position for being separated from the connecting pin (21); the transmission inclined surface (511) is slidably matched with the clamping member (53); when the locking knob (51) is rotated, the transmission inclined surface (511) drives the clamping member (53) to move between the clamping position and the disconnecting position; when the locking member (50) is located at the locking position, the clamping member (53) is in the clamping position; when the locking member (50) is located at the unlocking position, the clamping member (53) is in the disconnecting position.

4. The end effector bone saw according to claim 3, characterized in that: The end effector bone saw further comprises an annular plate (60), the annular plate (60) being arranged on the first flange (10) and surrounding the outer side of the male head (31), the annular plate (60) being provided with an escape hole (61) for escaping the connecting pin (21), the clamping member (53) being movably arranged on the annular plate (60); and / or, The moving direction of the clamping member (53) is arranged at an angle with the axial direction of the male head (31); the extending direction of the connecting pin (21) is parallel to the axial direction of the male head (31); the locking member (50) further comprises a reset member (54); two ends of the reset member (54) are respectively connected to the clamping member (53) and the first flange (10) so as to apply a reset force to the clamping member (53) to move it toward the disconnected position.

5. The end effector bone saw according to claim 1, characterized in that: The end-actuating bone saw further comprises a bone saw (70), wherein the bone saw (70) comprises: A saw body (71) disposed on one of the first flange (10) and the second flange (20); A driving member (72) disposed on the saw body (71); An eccentric transmission member (73) is eccentrically arranged relative to the axis of the saw body (71), and the driving member (72) is drivingly connected to the eccentric transmission member (73) to drive the eccentric transmission member (73) to rotate around the axis of the saw body (71); An oscillating saw (74) is oscillatingly arranged at the head of the saw body (71), the oscillating axis of the oscillating saw (74) being arranged perpendicular to the axis of the saw body (71), the tail of the oscillating saw (74) having two transmission surfaces (741) arranged at an angle, the eccentric transmission member (73) being located between the two transmission surfaces (741), and when the eccentric transmission member (73) rotates, the eccentric transmission member (73) alternately contacts the two transmission surfaces (741) to drive the oscillating saw (74) to oscillate; An adjusting member (75) is arranged between the saw body (71) and the eccentric transmission member (73) to adjust the position of the eccentric transmission member (73) in the axial direction of the saw body (71).

6. The end effector bone saw according to claim 5, characterized in that: The adjusting member (75) comprises an adjusting knob (751) which is rotatably sleeved on the saw body (71); a sliding groove (752) extending along the axial direction of the saw body (71) is provided on the inner side wall of the adjusting knob (751); the eccentric transmission member (73) comprises a sliding pin (731) which is connected to the eccentric transmission member (73); and a spiral guide hole (711) is provided on the saw body (71). 1), the spiral guide hole (711) spirals around the axis of the saw body (71), the sliding pin (731) is inserted into the spiral guide hole (711) and extends into the slide groove (752), and when the adjusting knob (751) is rotated, the adjusting knob (751) drives the sliding pin (731) to move along the extension direction of the spiral guide hole (711), so as to drive the eccentric transmission member (73) to move along the axial direction of the saw body (71).

7. The end effector bone saw according to claim 6, characterized in that: The driving member (72) comprises a motor (721) and a transmission shaft (722); the motor (721) is arranged on the saw body (71) and is drivingly connected to the transmission shaft (722); The eccentric transmission member (73) comprises a sliding sleeve (732), a bearing (733) and an eccentric shaft (734); the sliding sleeve (732) is slidably mounted on the transmission shaft (722) along the axial direction of the transmission shaft (722); the sliding sleeve (732) is rotationally fixedly engaged with the transmission shaft (722); the inner ring of the bearing (733) is mounted on the sliding sleeve (732) and connected to the sliding sleeve (732); the sliding pin (731) is arranged on the outer ring of the bearing (733); and one end of the eccentric shaft (734) is connected to the sliding sleeve (732); and / or, A rolling member (735) is provided at one end of the eccentric transmission member (73) facing the tail of the swing saw (74); the rolling member (735) is eccentrically arranged relative to the axis of the saw body (71); when the eccentric transmission member (73) rotates, the rolling member (735) alternately contacts the two transmission surfaces (741).

8. The end effector bone saw according to claim 5, characterized in that: The swing saw (74) comprises a swing frame (742), a saw blade (743) and a movable part (744); the swing frame (742) is swingably arranged at the head of the saw body (71); the two transmission surfaces (741) are arranged on the swing frame (742); a mounting gap (745) is provided between the swing frame (742) and the saw body (71); the saw blade (743) is arranged in the mounting gap (745); and the movable part (744) is arranged between the swing frame (742) and the saw body (71) to adjust the size of the mounting gap (745); and / or, The end-actuating bone saw further comprises a bone saw tracking component (80), and an identification card slot for mounting the bone saw tracking component (80) is provided on the outer side wall of the saw body (71).

9. A surgical navigation positioning device, characterized in that: The surgical navigation positioning device comprises the end effector bone saw according to any one of claims 1 to 8.

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