Surgical auxiliary instrument and surgical robot

Abstract

The invention provides a surgical auxiliary instrument and a surgical robotic.The surgical auxiliary instrument comprises a guider, the guider comprises a guider base, a locking piece and a tracer fixing piece, the guider base is provided with a mounting hole, the locking piece is arranged in the mounting hole, and the tracer fixing piece is arranged on the guider base; the functional assembly comprises a rod shaft and a functional structure arranged on the rod shaft, the rod shaft is detachably inserted into the mounting hole, the rod shaft is provided with a locking structure used for being matched with the locking piece in a limiting mode, and the rod shaft is fixed relative to the guider base when the locking piece limits the locking structure. The functional assembly and the guider can be quickly disassembled and assembled, so that the functional assembly can be quickly replaced, the operation time is shortened, and the operation quality is improved; the functional assembly can be compatible with hip joint prostheses of different manufacturers, so that the orthopedic surgical robot has a wider application range; the optical tracer can be fixed through the tracer fixing piece, the position and posture of the auxiliary instrument can be adjusted in time, and accurate positioning is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and more specifically, to a surgical auxiliary instrument and a surgical robot. Background Art

[0002] Orthopedic surgical robots need to have high positioning accuracy and more efficient and accurate surgical auxiliary instruments; in hip replacement surgery, the pelvic acetabulum needs to be accurately ground and the acetabular prosthesis needs to be accurately implanted. The acetabular grinding and reaming and acetabular prosthesis implantation are based on the same base for grinding and reaming and prosthesis implantation; facing surgical patients of different weights, there will be different choices for acetabular grinding and prosthesis implantation instruments; facing acetabular prostheses from different manufacturers, the acetabular cup connection thread specifications are different, and implantation instruments with different thread specifications are required for prosthesis implantation; at the same time, the surgical process of using orthopedic surgical robots should be monitorable and controllable. Therefore, in order to meet the requirements, the following requirements are put forward for hip replacement surgical auxiliary instruments: First, the product functional components need to meet the requirements of rapid replacement to reduce the operation time and improve the quality of the operation; second, the product structure is simple and effective to ensure that the product is light and easy to use; third, the product must meet sufficient rigidity and stability to ensure the performance of the product; fourth, it can be compatible with hip prostheses from different manufacturers, so that orthopedic surgical robots have a wider range of applications. Fifth, the installation position of the optical tracer should follow the auxiliary equipment, so that the surgical robot can track the position of the auxiliary equipment in real time and adjust the position of the auxiliary equipment in time to achieve precise positioning. Summary of the invention

[0003] The purpose of the present invention is to provide a surgical auxiliary instrument and a surgical robot to solve the technical problems existing in the prior art of low efficiency, poor applicability and low positioning accuracy of replacing functional components of surgical auxiliary instruments.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] In a first aspect, a surgical assisting device is provided, comprising:

[0006] The guide comprises a guide base, a locking piece and a tracer fixing piece, wherein the guide base is provided with a mounting hole, the locking piece is arranged in the mounting hole, and the tracer fixing piece is arranged on the guide base;

[0007] A functional component includes a rod shaft and a functional structure arranged on the rod shaft. The rod shaft is detachably inserted into the mounting hole. The rod shaft is provided with a locking structure for limiting cooperation with the locking member. The rod shaft is fixed relative to the guide base when the locking member limits the locking structure.

[0008] By adopting the above technical solution:

[0009] First, the functional components and guides can be quickly disassembled and assembled, which allows for quick replacement of functional components, thereby reducing surgical time and improving surgical quality.

[0010] Secondly, the structure of the functional components and guides is simple and effective, which ensures that the functional components are light and easy to use, while meeting the sufficient rigidity and stability of the surgical auxiliary instrument, ensuring the performance of the product;

[0011] Thirdly, the functional components are compatible with hip prostheses from different manufacturers, making orthopedic surgical robots more widely used.

[0012] Finally, the tracer fixing member can fix the optical tracer, and the installation position of the tracer follows the surgical auxiliary instrument, so that the surgical robot can track the position of the auxiliary instrument in real time, adjust the position of the auxiliary instrument in time, and achieve precise positioning. In one embodiment, the guide also includes a rotating sleeve arranged inside the guide base, and a bearing is arranged between the rotating sleeve and the hole wall of the mounting hole, so that the rotating sleeve can rotate around the axis in the guide base, and the locking member is arranged on the rotating sleeve, and the rotating sleeve is fixedly connected to the rod shaft when the locking member locks the locking structure.

[0013] In one embodiment, the rotating sleeve is provided with a locking hole, and the locking member includes a locking sleeve sleeved on the rotating sleeve, an unlocking sleeve sleeved on the locking sleeve, and a locking pin provided in the locking hole, and the locking pin can move radially in the locking hole; when the locking sleeve moves to a locking position relative to the rotating sleeve, the locking pin is pushed to protrude out of the locking hole, so that the locking pin locks the rod shaft; when the unlocking sleeve moves to an unlocking position relative to the rotating sleeve, the locking pin is driven to retract into the locking hole, so that the locking pin unlocks the rod shaft.

[0014] In one embodiment, the guide also includes an unlocking elastic member connected to the unlocking sleeve and a locking elastic member connected to the locking sleeve, the unlocking elastic member is used to drive the unlocking sleeve to move to a non-unlocking position, the unlocking sleeve is driven by an external force and resists the elastic force of the unlocking elastic member to move the unlocking sleeve to the unlocking position; the locking elastic member is used to drive the locking sleeve to move to the locking position.

[0015] In one embodiment, the number of the tracer fixing members is two, and the two tracer fixing members are symmetrically arranged on both sides of the guide base with respect to the axis of the guide base.

[0016] In one embodiment, a front end of the guide base is provided with a matching groove for rotationally matching with the rod shaft.

[0017] In one embodiment, a plurality of positioning holes that cooperate with the positioning pins on the rod shaft are provided on the groove wall of the matching groove.

[0018] In one embodiment, the functional component also includes a rotating structure provided on the rod shaft, and the rotating structure is fixedly connected to the matching groove when the locking structure and the locking member are limitedly engaged, and the rotating structure enables the rod shaft to rotate around the axis, and the rotating structure is spaced apart from the rotating sleeve.

[0019] In one embodiment, the functional component further comprises a positioning pin disposed on the rod shaft, and the positioning pin is fixedly connected to the positioning hole when the locking structure and the locking member are in limited position cooperation.

[0020] In a second aspect, a surgical robot is provided, comprising a tracer and the above-mentioned surgical auxiliary instrument, wherein the tracer is arranged on the surgical auxiliary instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 It is a front view of the surgical auxiliary instrument provided by an embodiment of the present invention.

[0023] Figure 2 It is a cross-sectional view of a surgical auxiliary instrument provided in an embodiment of the present invention.

[0024] Figure 3 It is a cross-sectional view of a guide provided by an embodiment of the present invention.

[0025] Figure 4 It is a cross-sectional view of a functional component provided in the first embodiment of the present invention.

[0026] Figure 5 yes Figure 3 Magnified view of point “A” in the figure.

[0027] Figure 6 It is an exploded diagram of the functional components provided in the first embodiment of the present invention.

[0028] Figure 7 yes Figure 4 Magnified view of point “B” in the figure.

[0029] Figure 8 It is a three-dimensional structural diagram of the functional components provided in the second embodiment of the present invention.

[0030] Fig. 9 It is a cross-sectional view of the functional components provided in the third embodiment of the present invention.

[0031] Fig.10 yes Fig. 9 Enlarged view of point “C” in the figure.

[0032] The reference numerals in the figures are:

[0033] 1. Guide; 2. Functional components;

[0034] 11. Guide base; 12. Locking member; 13. Tracer fixing member; 14. Rotating sleeve; 15. Bearing; 16. Unlocking elastic member; 17. Locking elastic member; 21. Rod shaft; 22. Functional structure; 23. Rotating structure; 24. Power input part; 25. Fixing part; 26. File part; 9. Adapter;

[0035] 111, mounting hole; 112, matching groove; 113, positioning hole; 141, locking hole; 121, locking sleeve; 122, unlocking sleeve; 123, locking pin; 211, locking structure; 212, positioning pin; 213, adapter groove; 214, unlocking groove; 251, engaging groove; 261, engaging shaft; 281, bearing fixing sleeve; 291, threaded portion; 292, inserting portion;

[0036] 1111, limiting step; 1112, gap adjustment gasket; 1211, locking end; 1221, unlocking end; 1222, unlocking handle; 2111, locking end face; 2141, adapter button; 2142, adapter elastic member; 2921, insert locking groove; 21411, limiting protrusion. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0038] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly located on the other element or indirectly located on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0039] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention, and do not indicate that a device or element must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating relative importance or indicating the number of technical features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. The specific implementation of the present invention is described in more detail below in conjunction with specific embodiments:

[0041] like Figure 1 and Figure 2 As shown, a surgical auxiliary instrument provided by an embodiment of the present invention is applied to hip replacement surgery to perform precise grinding and filing of the pelvic acetabulum and precise implantation of the acetabular prosthesis. The acetabular grinding and filing and the acetabular prosthesis implantation are performed based on the same base; the surgical auxiliary instrument of this embodiment includes a guide and a functional component, which can realize that the guide can guide the surgical direction of the functional component to improve the accuracy of surgical positioning, and the functional component can be detachably connected to the guide to realize rapid disassembly and assembly of the functional component; the following is an explanation through specific implementation methods:

[0042] Please also read Figure 3 and Figure 4 The surgical auxiliary instrument of this embodiment includes:

[0043] The guide 1 comprises a guide base 11, a locking member 12 and a tracer fixing member 13, wherein the guide base 11 is provided with a mounting hole 111, the locking member 12 is arranged in the mounting hole 111, and the tracer fixing member 13 is arranged on the guide base 11;

[0044] The functional component 2 includes a rod shaft 21 and a functional structure 22 arranged on the rod shaft 21. The rod shaft 21 is detachably inserted into the mounting hole 111. The rod shaft 21 is provided with a locking structure 211 for limiting cooperation with the locking member 12. When the locking member 12 limits the locking structure 211, the rod shaft 21 is fixed relative to the guide base 11.

[0045] Here, it can be understood that the guide 1 refers to a device for guiding the surgical direction of the functional component 2; the guide 1 includes a guide base 11, a locking member 12 and a tracer fixing member 13; wherein the guide base 11 refers to a base for detachably connecting with the functional component 2, and the guide base 11 also serves as a base for fixing the tracer, and the guide base 11 is provided with a mounting hole 111, and the mounting hole 111 is arranged along the axis of the guide base 11 and penetrates the guide base 11; the locking member 12 refers to a component for locking the functional component 2, and the locking member 12 is arranged in the mounting hole 111, so that the functional component 2 can be locked when the functional component 2 is inserted into the mounting hole 111; the tracer fixing member 13 refers to a fixing member for fixing the tracer, and the tracer fixing member 13 is arranged on the guide base 11, so that the tracer can guide the surgical direction of the functional component 2;

[0046] The functional component 2 refers to a component used to implement surgical functional operations; the functional component 2 includes a rod shaft 21 and a functional structure 22, wherein the rod shaft 21 refers to an axis body used to support the functional structure 22, the rod shaft 21 is used to be detachably inserted into the mounting hole 111, and the rod shaft 21 is provided with a locking structure 211, where the locking structure 211 includes but is not limited to a boss structure or a groove structure, the locking structure 211 is implemented in cooperation with the locking member 12 through a concave-convex fit, that is, the locking member 12 can abut against the locking structure 211 to limit the locking structure 211, and then limit the rod shaft 21, so that the rod shaft 21 is fixed relative to the guide base 11; the functional structure 22 refers to a structure used to implement grinding and implantation, that is, the functional structure 22 includes but is not limited to a straight file rod structure, a bent file rod structure, a straight rod structure or a bent rod structure, and the user can select a functional structure 22 to be installed on the rod shaft 21 to implement the corresponding function.

[0047] The working principle of the surgical assisting device provided in this embodiment is as follows:

[0048] According to the surgical requirements, the corresponding functional component 2 is selected to be connected to the guide 1. When the rod shaft 21 is inserted into the mounting hole 111, the locking structure 211 on the rod shaft 21 is limited by the locking piece 12, thereby realizing the connection between the functional component 2 and the guide 1; the tracer is connected to the tracer fixing piece 13, so that the surgical auxiliary instrument has the function of surgical tracking and positioning.

[0049] By adopting the above technical solution:

[0050] First, the functional component 2 and the guide 1 can be quickly disassembled and assembled, which satisfies the rapid replacement of the functional component 2, thereby reducing the operation time and improving the quality of the operation;

[0051] Secondly, the structure of the functional component 2 and the guide 1 is simple and effective, which ensures that the functional component 2 is light and easy to use, and at the same time satisfies the sufficient rigidity and stability of the surgical auxiliary instrument, thereby ensuring the performance of the product;

[0052] Thirdly, functional component 2 is compatible with hip prostheses from different manufacturers, making the orthopedic surgical robot have a wider range of applications;

[0053] Finally, the tracer fixture 13 can fix the optical tracer, and the installation position of the tracer follows the surgical auxiliary instrument, so that the surgical robot can track the position of the auxiliary instrument in real time, adjust the position and posture of the auxiliary instrument in time, and achieve precise positioning.

[0054] In one embodiment, the guide 1 also includes a rotating sleeve 14 arranged inside the guide base 11, and a bearing 15 is provided between the rotating sleeve 14 and the hole wall of the mounting hole 111, so that the rotating sleeve 14 can rotate around the axis in the guide base 11, and a locking member 12 is provided on the rotating sleeve 14, and the rotating sleeve 14 is fixedly connected to the rod shaft 21 when the locking member 12 locks the locking structure 211.

[0055] Here, it can be understood that the rotating sleeve 14 refers to a sleeve used to be fixedly connected to the rod shaft 21 so that the rod shaft 21 can rotate around the axis in the guide base 11; wherein the rotating sleeve 14 is arranged inside the guide base 11, that is, the rotating sleeve 14 is located in the mounting hole 111, and a bearing 15 is provided between the rotating sleeve 14 and the hole wall of the mounting hole 111, so that the rotating sleeve 14 can rotate around the axis in the guide base 11, and here, the guide base 11 defines an axis, and the rotating sleeve 14 can rotate around the axis; when the locking member 12 locks the locking structure 211 on the rod shaft 21, the rotating sleeve 14 is fixedly connected to the rod shaft 21, that is, the two can rotate around the axis synchronously.

[0056] By adopting the above technical solution, it is achieved that the functional component 2 can rotate around the axis after being connected to the guide 1.

[0057] In one embodiment, the rotating sleeve 14 is provided with a locking hole 141, and the locking member 12 includes a locking sleeve 121 sleeved on the rotating sleeve 14, an unlocking sleeve 122 sleeved on the locking sleeve 121, and a locking pin 123 provided in the locking hole 141, and the locking pin 123 can move radially in the locking hole 141; when the locking sleeve 121 moves to a locking position relative to the rotating sleeve 14, it pushes the locking pin 123 to protrude out of the locking hole 141, so that the locking pin 123 locks the rod shaft 21; when the unlocking sleeve 122 moves to an unlocking position relative to the rotating sleeve 14, it drives the locking pin 123 to retract into the locking hole 141, so that the locking pin 123 unlocks the rod shaft 21.

[0058] Here, it can be understood that the guide base 11 refers to a base for connecting with the rod shaft 21; the guide base 11 is provided with a mounting hole 111, and the mounting hole 111 is used to mount the rod shaft 21. Specifically, the rod shaft 21 is inserted into the mounting hole 111, and both ends of the rod shaft 21 are respectively exposed outside the mounting hole 111;

[0059] The locking member 12 is a member used to lock the rod shaft 21 in the mounting hole 111; the locking member 12 includes an unlocking sleeve 122, a locking sleeve 121, a rotating sleeve 14 and a locking pin 123;

[0060] The unlocking sleeve 122 refers to a sleeve for unlocking the rod shaft 21. The unlocking sleeve 122 is arranged on the hole wall of the mounting hole 111. The unlocking sleeve 122 can move relative to the rotating sleeve 14. The locking sleeve 121 refers to a sleeve for locking the rod shaft 21. The locking sleeve 121 is arranged inside the locking sleeve 121.

[0061] The locking sleeve 121 is a sleeve used to lock the rod shaft 21, and the locking sleeve 121 is arranged inside the unlocking sleeve 122;

[0062] The rotating sleeve 14 is a component used to limit the locking pin 123, so that the locking pin 123 can move within a preset range, thereby locking and unlocking the rod shaft 21; the rotating sleeve 14 is arranged inside the unlocking sleeve 122, and the rotating sleeve 14 is provided with a locking hole 141, the locking hole 141 is used to accommodate the locking pin 123, and the locking hole 141 is connected to the mounting hole 111;

[0063] The locking pin 123 refers to a member for locking and unlocking the rod shaft 21. The locking pin 123 can move in the locking hole 141 along the radial direction of the guide base 11, so that the locking pin 123 can protrude out of the locking hole 141, so that the locking pin 123 locks the rod shaft 21. Here, the rod shaft 21 is provided with a locking structure 211, such as a locking structure 211, and the locking pin 123 protrudes out of the locking hole 141, so that the locking pin 123 can be stuck in the locking structure 211, so that the limiting effect between the locking structure 211 and the locking pin 123 fixes the rod shaft 21 relative to the guide base 11, thereby achieving the locking of the rod shaft 21;

[0064] Among them, the locking sleeve 121 can move to a locking position relative to the rotating sleeve 14. When the locking sleeve 121 moves to the locking position, the locking sleeve 121 pushes the locking pin 123, so that the locking pin 123 protrudes out of the locking hole 141, and then enables the locking pin 123 to be inserted into the locking structure 211 of the rod shaft 21, thereby locking the rod shaft 21; when the unlocking sleeve 122 moves to the unlocking position relative to the rotating sleeve 14, it drives the locking pin 123 to retract into the locking hole 141, so that the locking pin 123 unlocks the rod shaft 21.

[0065] The working principle of the guide 1 provided in this embodiment is as follows:

[0066] Alternatively, the rod shaft 21 is inserted into the mounting hole 111 of the guide base 11, wherein the locking structure 211 of the rod shaft 21 is moved to a position directly opposite to the locking hole 141, and the locking sleeve 121 is moved to a locking position, so that the locking pin 123 protrudes out of the locking hole 141, and then the locking pin 123 can be inserted into the locking structure 211, thereby locking the rod shaft 21;

[0067] Move the unlocking sleeve 122 to the unlocking position so that the locking pin 123 can be retracted into the locking hole 141, so that the locking pin 123 can be disengaged from the locking structure 211, thereby unlocking the rod shaft 21;

[0068] The tracer is mounted on the tracer fixture 133 to achieve positioning tracking of the rod shaft 21 .

[0069] By adopting the above technical solution, the rod shaft 21 and the guide 1 can be quickly disassembled and assembled, the positioning and tracking of the rod shaft 21 during surgery can be achieved, and the accuracy of positioning is improved.

[0070] In one embodiment, a locking cavity for accommodating the locking sleeve 121 is provided between the unlocking sleeve 122 and the rotating sleeve 14, and a locking hole 141 connects the locking cavity and the mounting hole 111. The radial length of the locking hole 141 is smaller than the radial length of the locking pin 123. The locking sleeve 121 is provided with a locking end 1211, and the locking end 1211 can move in the locking cavity. When the locking end 1211 moves to the locking position, it pushes the locking pin 123 so that the locking pin 123 protrudes out of the locking hole 141.

[0071] Here, it can be understood that the locking cavity refers to a cavity for the locking sleeve 121 to move; the locking cavity is formed between the unlocking sleeve 122 and the rotating sleeve 14, and the locking sleeve 121 is located between the unlocking sleeve 122 and the rotating sleeve 14, so that the locking sleeve 121 can move in the locking cavity; the locking hole 141 connects the locking cavity and the mounting hole 111, and the radial length of the locking hole 141 in the guide base 11 is smaller than the radial length of the locking pin 123; the locking sleeve 121 is provided with a locking end 1211, and the locking end 1211 can move with the locking sleeve 121, and when the locking end 1211 moves to the locking position, the locking end 1211 pushes the locking pin 123, so that the locking pin 123 protrudes out of the locking hole 141.

[0072] By adopting the above technical solution, the locking pin 123 can lock the functional component 210.

[0073] In one embodiment, the locking hole 141 extends obliquely from the locking end 1211 along an axis close to the mounting hole 111 .

[0074] Here, it can be understood that the locking hole 141 is set at an angle, that is, the depth direction of the locking hole 141 forms an angle less than 90° with the axis of the guide base 11, so that the hole wall of the locking hole 141 can work together with the locking end 1211 to drive the locking pin 123 to move in a preset direction.

[0075] By adopting the above technical solution, the locking hole 141 can guide the moving direction of the locking pin 123, so that the locking pin 123 moves in a directional manner, thereby improving the smoothness of the movement of the locking pin 123.

[0076] In one embodiment, the unlocking sleeve 122 is provided with an unlocking end 1221 in the locking cavity for unlocking the locking pin 123, and the unlocking end 1221 is provided with an unlocking hole for accommodating the locking pin 123. The unlocking end 1221 can move in the locking cavity, and when the unlocking end 1221 moves to the unlocking position, the unlocking hole is opposite to the locking hole 141, so that the locking pin 123 can be retracted into the locking hole 141.

[0077] Here, it can be understood that the unlocking sleeve 122 is provided with an unlocking end 1221, which is used to unlock the functional component 2; the unlocking end 1221 is located in the locking cavity, and the unlocking end 1221 can follow the unlocking sleeve 122 to move relative to the rotating sleeve 14 in the locking cavity; the unlocking end 1221 is provided with an unlocking hole, and when the unlocking end 1221 moves to the unlocking position, the unlocking hole is opposite to the locking hole 141, that is, the locking end 1211 no longer pushes the locking pin 123, and the locking pin 123 can be retracted into the locking hole 141.

[0078] By adopting the above technical solution, the locking sleeve 121 unlocks the functional component 2.

[0079] In one embodiment, the guide 1 also includes an unlocking elastic member 16 connected to the unlocking sleeve 122 and a locking elastic member 17 connected to the locking sleeve 121, the unlocking elastic member 16 is used to drive the unlocking sleeve 122 to move to the unlocking position; the locking elastic member 17 is used to drive the locking sleeve 121 to move to the locking position.

[0080] By adopting the above technical solution, the unlocking elastic member 16 is used to provide elastic force for the unlocking sleeve 122 to move, and the locking elastic member 17 is used to provide elastic force for the locking sleeve 121 to move, so that the unlocking sleeve 122 and the locking sleeve 121 have the function of automatic movement.

[0081] It needs to be further explained that the unlocking sleeve 122 is also connected to an unlocking handle 1222, which is for the user to hold. The user can push and pull the unlocking handle 1222. When no external force is applied to the unlocking handle 1222, the locking elastic member 17 drives the locking sleeve 121 to move to the locking position and maintains it in the locking position; and when the user pulls the unlocking handle 1222, the unlocking handle 1222 drives the unlocking sleeve 122 to move to the unlocking position and maintains it in the unlocking position; the locking sleeve 121 and the unlocking sleeve 122 can be maintained in a preset position by setting a limiting structure, for example, setting a limiting block, and realizing the limiting effect by the friction between the limiting block and the wall of the mounting hole 111.

[0082] like Figure 5 As shown, in one embodiment, a limiting step 1111 for limiting the bearing 15 is provided on the hole wall of the mounting hole 111 , and a gap adjustment gasket 1112 is detachably provided between the limiting step 1111 and the bearing 15 .

[0083] Here, it can be understood that the relative position of the rotating sleeve 14 in the axial direction is adjustable, so that the axial position of the functional component 2 can be adjusted after being fixed to the guide 1, making the position of the functional component 2 adjustable.

[0084] By adopting the above technical solution, the flexibility of position adjustment of the functional component 2 is improved.

[0085] In one embodiment, the number of the tracer fixing members 13 is two, and the two tracer fixing members 13 are symmetrically arranged on both sides of the guide base 11 with respect to the axis of the guide base 11 .

[0086] Here, it can be understood that the guide 1 is installed at the end of the surgical robot arm, and is installed in a left or right manner, corresponding to the left or right side of the human body during surgery. Therefore, the two tracer fixings 13 on the guide base 11 correspond to the left and right sides of the human body respectively.

[0087] By adopting the above technical solution, the applicability of the guide 1 is improved.

[0088] Please refer again Figure 3 In one embodiment, the front end of the guide base 11 is provided with a matching groove 112 for rotationally matching with the rod shaft 21.

[0089] By adopting the above technical solution, the stability of the functional component 2 when rotating around the axis is improved.

[0090] In one embodiment, a plurality of positioning holes 113 are provided on the groove wall of the matching groove 112 to match with the positioning pins on the rod shaft 21 .

[0091] Here, it can be understood that the positioning hole 113 is used to cooperate with the positioning pin, and the hole wall of the positioning hole 113 can limit the rotation of the positioning pin around the axis.

[0092] By adopting the above technical solution, the flexibility of the coordination between the guide 1 and the functional component 2 is improved.

[0093] like Figure 4 and Figure 6 As shown, in one embodiment, the functional component 2 also includes a rotating structure 23 arranged on the rod shaft 21, and the rotating structure 23 is fixedly connected to the matching groove 112 when the locking structure 211 and the locking member 12 are limitedly engaged. The rotating structure 23 enables the rod shaft 21 to rotate around the axis, and the rotating structure 23 is spaced apart from the rotating sleeve 14.

[0094] Here, it can be understood that the functional component 2 is provided with a rotating structure 23 installed in the matching groove 112, and the rotating structure 23 can be a bearing 15 structure, so that at least two bearings 15 jointly support the rotation of the functional component 2 around the axis.

[0095] By adopting the above technical solution, the stability of the functional component 2 when rotating around the axis is improved.

[0096] In one embodiment, the functional component 2 of this embodiment includes:

[0097] A shaft 21, the shaft 21 may be a file shaft 21, which is defined with a first end and a second end opposite to each other;

[0098] A power input part 24 connected to the first end, the power input part 24 is used to connect to the power mechanism;

[0099] The fixing portion 25 is connected to the second end, and the fixing portion 25 is sequentially provided with a plurality of engaging grooves 251 around its own axis;

[0100] The filing portion 26 is detachably connected to the fixing portion 25. The filing portion 26 is used to realize the filing function. The filing portion 26 is sequentially provided with a plurality of engaging shafts 261 around its own axis. The engaging shafts 261 can be engaged in the engaging grooves 251 one by one.

[0101] A locking structure 211, disposed on the file rod shaft 21 and located between the first end and the second end, the locking structure 211 is used to cooperate with the locking pin 123 of the guide base 11 of the surgical auxiliary instrument;

[0102] The rotating structure 23 is provided on the file rod shaft 21 and is located between the first end and the locking structure 211 . The rotating structure 23 is used for rotatingly cooperating with the guide base 11 .

[0103] Here, it can be understood that the file rod shaft 21 refers to the shaft body of the functional component 2, and the file rod shaft 21 is used to transmit power from the power mechanism, so that the power can be transmitted to the file portion 26 through the file rod shaft 21; the file rod shaft 21 is defined with a first end and a second end opposite to each other. In this embodiment, the file rod shaft 21 has two opposite ends, one end of which is the first end, and the other end is the second end;

[0104] The power input part 24 is a component for receiving the power transmitted by the power mechanism; the power input part 24 is connected to the first end. In this embodiment, the power input part 24 is formed on the file rod shaft 21, that is, the power input part 24 and the file rod shaft 21 are integrally formed;

[0105] The fixing portion 25 is a component used to be fixed to the file rod shaft 21; the fixing portion 25 is connected to the second end, and the fixing portion 25 is used to connect the file rod shaft 21 and the file portion 26; the fixing portion 25 is sequentially provided with a plurality of engaging grooves 251 around its own axis, that is, the plurality of engaging grooves 251 are sequentially arranged along the circumference of the fixing portion 25;

[0106] The file part 26 is a component for realizing the file function; a plurality of file protrusions are provided on the surface of the file part 26, and the acetabulum can be filed by the file protrusions; the file part 26 is provided with a plurality of engaging shafts 261 in sequence around its own axis, that is, the plurality of engaging shafts 261 are arranged in sequence along the circumference of the file part 26, and the engaging shafts 261 can be correspondingly engaged in the engaging grooves 251 one by one;

[0107] The locking structure 211 is a component used to lock the file rod shaft 21 on the guide base 11; the locking structure 211 is provided on the file rod shaft 21, and the locking structure 211 is also located between the first end and the second end, and the locking structure 211 is used to cooperate with the locking pin 123 of the guide base 11 of the surgical auxiliary instrument;

[0108] The rotating structure 23 is used to enable the file rod shaft 21 to rotate around the axis when used in conjunction with the guide base 11, thereby enabling the file rod shaft 21 to drive the file part 26 to rotate around the axis, thereby realizing the basic function of the file.

[0109] The working principle of the functional component 2 provided in this embodiment is as follows:

[0110] Aim the file portion 26 at the acetabulum to be operated on, and connect the power mechanism with the power input portion 24, so that the power output by the power mechanism can act on the file portion 26 through the file rod shaft 21, so that the file portion 26 acts on the acetabulum; at the same time, the file rod shaft 21 is fixed to the guide base 11 by the locking structure 211, so that the file rod shaft 21 and the guide base 11 are relatively fixed in the axial direction; in addition, the file rod shaft 21 is rotated relative to the guide base 11 by the rotating structure 23, which is beneficial for the file portion 26 to rotate around the axis according to actual surgical needs; finally, the file portion 26 and the fixed portion 25 are detachable by the engaging shaft 261 and the engaging groove 251, thereby realizing the washability and replaceability of the file portion 26, so that the file portions of different manufacturers can be fixed to the fixed portion 25 by engaging, thereby improving the applicability of the functional component 2.

[0111] By adopting the above technical solution, the file part 26 of the functional component 2 can be quickly replaced, which reduces the operation time and improves the quality of the operation. At the same time, the structure of the functional component 2 is simple and effective, which ensures that the functional component 2 is light and easy to use. In addition, the functional component 2 also meets sufficient rigidity and stability to ensure the performance of the product.

[0112] In one embodiment, the locking structure 211 is provided with a locking end surface 2111 for abutting against the locking pin 123 , and the locking end surface 2111 is arranged in a direction away from the first end.

[0113] Here, it can be understood that the locking end face 2111 refers to the surface used to abut against the locking pin 123, and the locking end face 2111 is arranged in a direction away from the first end, that is, the locking end face 2111 is located on the surface of the locking structure 211 away from the first end, that is, after the locking end face 2111 abuts against the locking pin 123, the locking pin 123 and the locking end face 2111 are arranged opposite to each other, and the locking pin 123 can limit the axial movement of the locking end face 2111, thereby limiting the movement of the file rod shaft 21.

[0114] By adopting the above technical solution, the limiting cooperation between the locking structure 211 and the locking pin 123 is achieved.

[0115] like Figure 7 As shown, in one embodiment, the rotating structure 23 includes a bearing fixing sleeve 281, a bearing 15 arranged in the bearing fixing sleeve 281, and a gap adjustment gasket 1112; the bearing fixing sleeve 281 is arranged on the file rod shaft 21, the outer ring of the bearing 15 is connected to the bearing fixing sleeve 281, the inner ring of the bearing 15 is connected to the file rod shaft 21, and the gap adjustment gasket 1112 is arranged between the inner ring and the file rod shaft 21.

[0116] Here, it can be understood that the rotating structure 23 includes a bearing fixing sleeve 281, a bearing 15 and a gap adjusting gasket 1112, the bearing fixing sleeve 281 is used to fix the bearing 15, so that the bearing 15 can be connected to the file rod shaft 21; the bearing 15 includes an outer ring and an inner ring, wherein the outer ring is connected to the bearing fixing sleeve 281, and the inner ring is connected to the file rod shaft 21, so that the file rod shaft 21 can rotate around the axis relative to the bearing fixing sleeve 281; in addition, since there is a gap between the inner ring and the file rod shaft 21, a gap adjusting gasket 1112 is arranged in the gap, so that the gap between the inner ring and the file rod shaft 21 is adjustable, which is beneficial to the cooperation between the file rod shaft 21 and the bearing 15, and reduces the error when the file rod shaft 21 moves.

[0117] By adopting the above technical solution, the flexibility of adjusting the file rod shaft 21 is improved.

[0118] like Figure 8 As shown, in one embodiment, the functional component 2 further includes a positioning pin 212 disposed on the rod shaft 21 , and the positioning pin 212 is fixedly connected to the positioning hole 113 when the locking structure 211 and the locking member 12 are in limited engagement.

[0119] By adopting the above technical solution, the fixed connection between the rod shaft 21 and the body of the guide 1 is achieved.

[0120] like Fig. 9 and Fig.10 As shown, in one embodiment, the functional component 2 provided in this embodiment includes:

[0121] The rod shaft 21, the rod shaft 21 can be a cup placement rod shaft 21, and a transition portion 29 arranged at one end of the cup placement rod shaft 21; wherein the cup placement rod shaft 21 is provided with a transition groove 213 and an unlocking groove 214 arranged through the groove wall of the transition groove 213, one end of the transition portion 29 is provided with a threaded portion 291 for threaded connection with the prosthetic implant 3, the other end of the transition portion 29 is provided with an insertion portion 292 for inserting into the transition groove 213, and the insertion portion 292 is provided with an insertion locking groove 2921; the unlocking groove 214 is provided with a transition groove 213, and the unlocking groove 214 is provided with a threaded portion 291 for threaded connection with the prosthetic implant 3. The adapter part button 2141 and the adapter part elastic member 2142, the adapter part button 2141 is provided with a limiting protrusion 21411 for snapping into the insertion locking groove 2921 to limit the insertion part 292; the adapter part elastic member 2142 is connected to the adapter part button 2141 and is used to drive the limiting protrusion 21411 to snap into the insertion locking groove 2921; the limiting protrusion 21411 can be disengaged from the insertion locking groove 2921 when the adapter part button 2141 is pressed, so that the insertion part 292 can be disengaged from the adapter groove 213.

[0122] Here, it can be understood that the cup placing rod shaft 21 refers to the shaft body part in the functional component 2; the cup placing rod shaft 21 is used to transmit power; wherein, the cup placing rod shaft 21 is provided with a transfer groove 213 and an unlocking groove 214, the transfer groove 213 is provided on the cup placing rod shaft 21, and the unlocking groove 214 is also provided on the cup placing rod shaft 21 and is arranged through the transfer groove 213;

[0123] The adapter part 29 is a component used to transfer the prosthetic implant 3; the adapter part 29 connects the prosthetic implant 3 and the cup placement rod shaft 21, so that the prosthetic implant 3 can be fixed on the cup placement rod shaft 21; the adapter part 29 is arranged at one end of the cup placement rod shaft 21; the adapter part 29 has two opposite ends, one end of which is provided with a threaded part 291, and the threaded part 291 is used to be threadedly connected with the prosthetic implant 3, and the other end is provided with an insertion part 292, and the insertion part 292 is used to be inserted into the adapter groove 213, and the insertion part 292 is provided with an insertion locking groove 2921; the unlocking groove 214 is provided with an adapter part button 2141 and an adapter part elastic member 2142; wherein, the adapter part button 2141 is provided with a limiting protrusion 21411 for snapping into the insertion locking groove 2921, when the limiting protrusion 21411 is snapped into the insertion locking groove The adapter part 29 is fixed to the cup-setting rod shaft 21 when the adapter part 29 is inserted into the groove 2921, the limiting protrusion 21411 limits the movement of the insertion part 292, thereby fixing the adapter part 29 on the cup-setting rod shaft 21; the adapter part elastic member 2142 is connected to the adapter part button 2141, and the adapter part elastic member 2142 is used to drive the limiting protrusion 21411 to be inserted into the insertion locking groove 2921. Specifically, the elastic force of the adapter part elastic member 2142 can drive the limiting protrusion 21411 of the adapter part button 2141 to be inserted into the insertion locking groove 2921; in addition, when the adapter part button 2141 is pressed, the adapter part button 2141 drives the limiting protrusion 21411 to disengage from the insertion locking groove 2921. At this time, the limiting protrusion 21411 no longer limits the insertion part 292, thereby unlocking the adapter part 29, thereby realizing the replacement of the adapter part 29 and the prosthetic implant 3.

[0124] The working principle of the functional component 2 provided in this embodiment is as follows:

[0125] First, select the corresponding adapter part 29 according to the model and specification of the prosthetic implant 3. Specifically, different prosthetic implants 3 correspond to adapter parts 29 with different threaded parts 291; secondly, after the prosthetic implant 3 is threadedly connected with the corresponding adapter part 29, the insertion part 292 of the adapter part 29 is inserted into the adapter groove 213. At the same time, the elastic force of the adapter part elastic member 2142 drives the adapter part button 2141 to drive the limiting protrusion 21411 to be inserted into the insertion locking groove 2921 of the insertion part 292, so that the fixed connection between the adapter part 29 and the cup placement rod shaft 21 is achieved; finally, the user can press the adapter part button 2141, so that the adapter part button 2141 drives the limiting protrusion 21411 to disengage from the insertion locking groove 2921, so that the limiting protrusion 21411 no longer limits the insertion part 292, thereby unlocking the adapter part 29 and realizing the replacement of the adapter part 29 and the prosthetic implant 3.

[0126] By adopting the above-mentioned technical scheme, the functional component 2 is provided with an adapter part 29, one end of which is detachably connected to the cup placement rod shaft 21, and the other end is threadedly connected to the prosthetic implant 3, so that the functional component 2 can be compatible with the prosthetic implants 3 (hip joint prostheses) of different manufacturers, so that the orthopedic surgical robot has a wider range of applications; in addition, the functional component 2 uses the adapter part button 2141 to unlock the adapter part 29, so that the disassembly and assembly efficiency of the prosthetic implant 3 is high.

[0127] In a second aspect, a surgical robot is provided, comprising a tracer and the above-mentioned surgical auxiliary instrument, wherein the tracer is arranged on the surgical auxiliary instrument.

[0128] By adopting the above technical solution, on the basis of having the advantages of the surgical auxiliary instrument of the above embodiment, the surgical robot of this embodiment also has the advantages of easy operation and high positioning accuracy.

[0129] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A surgical assisting device, characterized in that: include: The guide comprises a guide base, a locking piece and a tracer fixing piece, wherein the guide base is provided with a mounting hole, the locking piece is arranged in the mounting hole, and the tracer fixing piece is arranged on the guide base; A functional component includes a rod shaft and a functional structure arranged on the rod shaft. The rod shaft is detachably inserted into the mounting hole. The rod shaft is provided with a locking structure for limiting cooperation with the locking member. The rod shaft is fixed relative to the guide base when the locking member limits the locking structure.

2. The surgical assisting instrument according to claim 1, characterized in that: The guide also includes a rotating sleeve arranged inside the guide base, a bearing is provided between the rotating sleeve and the hole wall of the mounting hole, so that the rotating sleeve can rotate around the axis in the guide base, the locking piece is arranged on the rotating sleeve, and the rotating sleeve is fixedly connected to the rod shaft when the locking piece locks the locking structure.

3. The surgical assisting instrument according to claim 2, characterized in that: The rotating sleeve is provided with a locking hole, and the locking member comprises a locking sleeve sleeved on the rotating sleeve, an unlocking sleeve sleeved on the locking sleeve and a locking pin provided in the locking hole, wherein the locking pin can move radially in the locking hole; when the locking sleeve moves to a locking position relative to the rotating sleeve, the locking pin is pushed to protrude out of the locking hole, so that the locking pin locks the rod shaft; when the unlocking sleeve moves to an unlocking position relative to the rotating sleeve, the locking pin is driven to retract into the locking hole, so that the locking pin unlocks the rod shaft.

4. The surgical assisting instrument according to claim 3, characterized in that: The guide also includes an unlocking elastic member connected to the unlocking sleeve and a locking elastic member connected to the locking sleeve, the unlocking elastic member is used to drive the unlocking sleeve to move to a non-unlocking position, the unlocking sleeve is driven by an external force and resists the elastic force of the unlocking elastic member to move the unlocking sleeve to the unlocking position; the locking elastic member is used to drive the locking sleeve to move to the locking position.

5. The surgical assisting instrument according to claim 1, characterized in that: The number of the tracer fixing members is two, and the two tracer fixing members are symmetrically arranged on both sides of the guide base with respect to the axis of the guide base.

6. The surgical assisting instrument according to any one of claims 1 to 5, characterized in that: The front end of the guide base is provided with a matching groove for rotationally matching with the rod shaft.

7. The surgical assisting instrument according to claim 6, characterized in that: A plurality of positioning holes that match with the positioning pins on the rod shaft are arranged on the groove wall of the matching groove.

8. The surgical assisting instrument according to claim 6, characterized in that: The functional component also includes a rotating structure arranged on the rod shaft, the rotating structure is fixedly connected to the matching groove when the locking structure and the locking member are limitedly matched, the rotating structure enables the rod shaft to rotate around the axis, and the rotating structure is spaced apart from the rotating sleeve.

9. The surgical assisting instrument according to claim 6, characterized in that: The functional component further comprises a positioning pin arranged on the rod shaft, and the positioning pin is fixedly connected with the positioning hole when the locking structure and the locking member are in limited position cooperation.

10. A surgical robot, characterized in that: It comprises a tracer and the surgical auxiliary instrument according to any one of claims 1 to 9, wherein the tracer is arranged on the surgical auxiliary instrument.

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