Novel joint ball head striking device

Abstract

The invention provides a novel joint ball head striking device which solves the problems that a traditional joint ball head striking device is poor in positioning precision, a ball head is prone to loosening and falling off and the like, and according to the main scheme, based on an existing striking device structure, a robot navigation module interface is further fixed to the position, connected with a striking rod, of a corresponding handle; a robot navigation module is movably fixed to the handle, meanwhile, an adjusting limiting module is further fixed to the side wall of the striking rod and comprises an adjusting block, at least two adjustable clamping pincers and an adjusting piece, the adjusting block is movably fixed to the handle and can be adjusted and displaced in the axial direction of the handle, and the adjusting piece is movably fixed to the handle and can be adjusted and displaced in the axial direction of the handle. One ends of the adjustable clamping pincers are symmetrically hinged to the two sides of the adjusting block with respect to the axis of the handle, the tail ends of the other ends of the adjustable clamping pincers oppositely protrude in the direction perpendicular to the axis of the handle and extrude and make contact with the outer edge of the top face of the ball head, and the adjusting piece and the handle are relatively independent, can adjust the opening amplitude of the ends of the adjustable clamping pincers and extrude the hammer head in the axis direction of the handle.

Description

Technical Field

[0001] The invention relates to the technical field of joint replacement orthopedic surgery, and in particular to a novel joint ball head striking device. Background Art

[0002] Spherical joint surface prostheses are often used in joint replacement orthopedic surgery to replace the patient's damaged ball-and-socket joint and restore the patient's anatomical structure, such as the femoral head prosthesis in hip replacement surgery, the carpal ball head in wrist replacement surgery, the humeral ball head in anatomical shoulder replacement, or the glenosphere head in inverted shoulder replacement, etc. In order to achieve the assembly of the joint ball head with other prosthetic components, it is usually necessary to strike it with a joint ball head striking device.

[0003] The joint ball impact device is an orthopedic surgical instrument, mainly used in orthopedic joint replacement surgery. Its main function is to achieve the assembly between the joint ball and other orthopedic products by applying force. The device usually consists of a handle and a hammer. The handle is generally made of plastic or metal material, with a certain length and grip part, which is convenient for doctors to operate. The hammer is generally made of metal or plastic material, with a certain weight and shape to apply force.

[0004] In orthopedic joint replacement surgery, after completing osteotomy and other operations, the doctor needs to use a joint ball impact device to assemble the joint ball head with other products. Figure 1 As shown, during use, the doctor or nurse holds the handle holding part of the ball head striker and uses the hammer head to press against the spherical surface of the joint ball head, and another doctor or nurse uses a striking hammer to strike the handle striking part of the joint ball head striking device to achieve the assembly of the joint ball head. However, the existing device has the following limitations:

[0005] 1. The joint ball head of the existing joint ball head impact device is simply fixed in a simple manner. The joint ball head needs to be held by a doctor or nurse during transportation or impact, which may cause the joint ball head to fall off, thereby causing waste of the joint ball head or infection of the patient.

[0006] 2. The hammer head of the existing joint ball head striking device cannot limit the joint ball head. Due to the lubrication conditions, it is easy to slip during the striking process, resulting in the position deviation of the joint ball head, which in turn causes the failure of the operation or damage to the patient's bone structure, causing patient dissatisfaction and, in severe cases, leading to revision.

[0007] 3. When a surgical robot is used for joint replacement, the traditional joint ball head striking device does not have a surgical navigation interface, is not compatible with the currently commonly used surgical robots, and does not have the functions of precise positioning and precise striking.

[0008] Therefore, we propose a novel joint ball head striking device to solve the above problems. Summary of the invention

[0009] The technical problem to be solved by the present invention is to overcome the defects of the prior art, and the present invention proposes a new joint ball head striking device, which is intended to shorten the operation time, reduce the difficulty of the operation for doctors, and reduce the risk of infection and revision for patients.

[0010] In order to solve the above technical problems, the technical solution adopted by the present invention is: a new type of joint ball head striking device, including a handle, a striking rod and a ball head, one end of the striking rod is embedded and fixed on the top of the handle, and the other end is fixed with a hammer head by a pin, and the hammer head is provided with a concave arc surface at the end away from the striking rod to assemble the ball head, the handle is also fixed with a robot navigation module interface at the corresponding connection to the striking rod, and a robot navigation module is movably fixed at the robot navigation module interface through a connecting piece, and a robot positioning interface is integrated at the end of the robot navigation module to electrically connect to an external surgical machine The side wall of the striking rod is also fixed with an adjustment limit module, and the adjustment limit module includes an adjustment block, an adjustable clamp and an adjustment member. The adjustment block is movably fixed on the handle and can be adjusted and displaced axially with the handle. The adjustable clamp includes at least two, one end of which is symmetrically hinged on both sides of the adjustment block with the axis of the handle, and the other end is relatively protruded in a direction perpendicular to the axis of the handle and squeezes and contacts the outer edge of the top surface of the ball head. The adjustment member is relatively independent of the handle, and can adjust the opening amplitude of the end of the adjustable clamp and squeeze the hammer head in the direction of the axis of the handle.

[0011] Furthermore, the adjusting member includes an adjusting hook and a clamping spring, the clamping spring is covered on the outer wall of the handle, and the two ends of the clamping spring are respectively fixed to the adjusting block and the adjusting hook, the adjusting hook has a central opening for the handle to pass through, and the opening is chamfered to fit the outer conical surface of the hammer head, the handle is fixed to the hammer head pin at one end of the exposed adjusting hook, there are two adjustable clamps, the adjusting hooks have ear blocks extending on both sides of the corresponding two adjustable clamps, the adjustable clamp has a notch at one end close to the adjusting block and is hinged to the ear block pin in the middle section of the notch, and the notch passes through in a direction perpendicular to the axis of the handle to allow the ear block to rotate.

[0012] Furthermore, the adjusting hook is symmetrically extended with a hook at the opposite end away from the adjustable clamping pliers, one end of the hook is connected to the adjusting hook as a whole, and the other end is bent toward the ball head.

[0013] Furthermore, the handle includes a middle metal rod, a handle quick-change button and a handle shell. The middle metal rod is embedded and fixed in the axial direction of the handle shell. A characteristic interface is provided at the center of its front end face for assembly and fixation with the striking rod. A central through hole is provided at its bottom end for the passage of a Kirschner wire or a Steinmann wire during surgery. A first groove is provided on the front end side wall perpendicular to its axial direction. The handle quick-insertion button is movably fixed in the first groove and squeezes and limits the handle in a direction perpendicular to the axial direction of the handle.

[0014] Furthermore, one end of the striking rod is a spherical striking device interface, and the other end is an adjusting threaded rod to threadably match the adjusting block.

[0015] Furthermore, the handle quick-change button includes a button spring, a spring limiting column and an assembly pin. The intermediate metal rod is also provided with a pin hole on the outside of the corresponding feature interface, and the pin hole is connected to the first groove. The handle quick-change button is provided with a center circular hole at the center of its end face corresponding to the insertion direction. The assembly pin is inserted into the pin hole to limit the handle quick-change button. One end of the button spring is fixed to the inner wall of the first groove, and the other end is fixed to the spring limiting column. The spring limiting column passes through the center circular hole to squeeze and limit the striker interface.

[0016] Furthermore, the outer surface of the handle shell is provided with a plurality of second grooves equidistantly arranged around the handle shell in its axial direction, and the material thereof is plastic, wood or metal, and the handle shell corresponding to the plastic material is rubber-encapsulated and integrally formed.

[0017] Furthermore, the robot navigation module includes a navigation rod, a navigation spring, and a navigation button.

[0018] The navigation connecting rod is L-shaped and bent, with a robot locator interface fixed at one end thereof to electrically connect to an external surgical robot, and two conical plugs protruding vertically outward at the other end surface to be assembled with the striking rod, and a third groove and a first matching hole are also provided at one end of the navigation connecting rod close to the conical plug;

[0019] One end of the navigation button is raised and a matching groove corresponding to the third groove is opened at the raised end, the other end is attached to the navigation connecting rod and a round plug is protruded at the end in a direction perpendicular to the axis of the outer conical plug to be inserted between the two conical plugs, and a second matching hole connected to the first matching hole is opened in the middle section of the navigation button;

[0020] Two ends of the navigation spring are respectively embedded and fixed in the third groove and the matching groove, and the navigation button is hinged in the first matching hole and the second matching hole through a navigation pin.

[0021] Furthermore, the robot navigation module interface is coaxially fixed on the handle, and is provided with a conical slot perpendicular to the axis direction of the handle and a circular slot in the same direction as the axis direction of the handle. The conical slot is used to assemble with the conical plug, and the circular slot is used to insert the circular plug.

[0022] Furthermore, one end of the navigation connecting rod is flush with the end surface of the handle connected to the striking rod, and the other end is bent axially with the handle and located on one side of the handle.

[0023] Compared with the prior art, the beneficial effects of the present invention include:

[0024] 1. The adjustment and limit module of the new joint ball head striking device has the function of clamping and fixing the ball head. The joint ball head does not need to be held by doctors or nurses during the entire transportation process, which reduces the risk of the joint ball head falling off, thereby avoiding the waste of the joint ball head or the occurrence of patient infection;

[0025] 2. The adjustment and limit module of the joint ball head striking device can self-adjust the position of different types of joint ball heads, and there will be no sliding during the striking process, ensuring the position accuracy of the joint ball head and avoiding surgical failure or damage to the patient's bone structure;

[0026] 3. The joint ball head striking device has a robot navigation module used in conjunction with the surgical robot, which is compatible with the surgical robot. It can not only accurately locate, but also review whether the position of the ball head is accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The disclosure of the present invention is described with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. In the accompanying drawings, the same reference numerals are used to refer to the same components. Among them:

[0028] Figure 1 A schematic diagram of the overall structure of a striking device proposed according to an embodiment of the present invention is shown;

[0029] Figure 2 A schematic diagram of an exploded structure of a handle according to an embodiment of the present invention is shown;

[0030] Figure 3 A schematic diagram of a three-dimensional structure of a handle according to an embodiment of the present invention is shown;

[0031] Figure 4 A schematic cross-sectional view of the internal structure of a handle according to an embodiment of the present invention is shown;

[0032] Figure 5 A schematic diagram of the structure of a striking rod according to an embodiment of the present invention is shown;

[0033] Figure 6 A schematic diagram of the structure of a robot navigation module proposed according to an embodiment of the present invention is shown;

[0034] Figure 7 A schematic diagram showing a cross-sectional view of the internal structure of a navigation connecting rod according to an embodiment of the present invention;

[0035] Figure 8 A schematic diagram of the structure of the adjustment limit module proposed according to an embodiment of the present invention is shown;

[0036] Fig. 9 The schematic diagram of the explosion structure of the regulating limit module proposed according to one embodiment of the present invention is shown;

[0037] Fig.10 The exploded view of the assembly of the striking rod and the adjusting microscopic module according to one embodiment of the present invention is schematically shown.

[0038] Numbers in the figure: 1. handle; 2. striking rod; 3. ball head; 4. hammer head; 5. concave arc surface; 6. navigation module interface; 7. connector; 8. robot positioning interface; 9. adjustment limit module; 10. hook; 11. striking device interface; 12. adjustment threaded rod; 13. second groove; 14. conical slot; 15. circular slot;

[0039] 101, adjustment block; 102, adjustable clamp; 103, adjustment piece; 1031, adjustment hook; 1032, compression spring; 1033, ear block; 1034, notch;

[0040] 201, middle metal rod; 202, handle quick-change button; 2021, button spring; 2022, spring limit column; 2023, assembly pin; 2024, pin hole; 2025, center circular hole; 203, handle housing; 204, feature interface; 205, center through hole; 206, first groove;

[0041] 301, navigation connecting rod; 3011, conical plug; 3012, third groove; 3013, first matching hole; 302, navigation spring; 3021, matching groove; 3022, circular plug; 3023, second matching hole; 303, navigation button; 3031, navigation pin. DETAILED DESCRIPTION

[0042] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, a person skilled in the art can propose a variety of interchangeable structural modes and implementation modes. Therefore, the following specific implementation modes and drawings are only exemplary descriptions of the technical solution of the present invention, and should not be regarded as the whole of the present invention or as a limitation or restriction to the technical solution of the present invention.

[0043] According to one embodiment of the present invention, Figure 1-Figure 10 Shown.

[0044] As for the overall structure, in this embodiment, Figure 1 As shown, a novel joint ball head 3 striking device comprises a handle 1, a striking rod 2 and a ball head 3, one end of the striking rod 2 is embedded and fixed on the top of the handle 1, and the other end is fixed with a hammer head 4 by a pin, and the hammer head 4 is provided with a concave arc surface 5 at the end away from the striking rod 2 to assemble the ball head 3. The above structures are mentioned in traditional joint ball head 3 striking devices, but the difference is that the striking device in the present invention is also equipped with a corresponding robot navigation module interface 6 and an adjustment limit module 9, which respectively realize the assembly with the external robot navigation module and the adjustable stable clamping of the ball head 3.

[0045] Specifically, Figure 1-Figure 4 As shown, in this embodiment, the handle 1 is also fixed with a robot navigation module interface 6 at the corresponding connection to the striking rod 2, and a robot navigation module is movably fixed at the robot navigation module interface 6 through a connecting piece 7, and a robot positioning interface 8 is integrated at the end of the robot navigation module to electrically connect to an external surgical robot. The side wall of the striking rod 2 is also fixed with an adjustment limit module 9, and the adjustment limit module 9 includes an adjustment block 101, an adjustable clamp 102 and an adjustment member 103. The adjustment block 101 is movably fixed on the handle 1 and can be adjusted and displaced axially with the handle 1. The adjustable clamp 102 includes at least two, one end of which is symmetrically hinged on both sides of the adjustment block 101 with the axis of the handle 1, and the other end is relatively protruded perpendicular to the axis direction of the handle 1 and squeezes and contacts the outer edge of the top surface of the ball head 3. The adjustment member 103 is relatively independent of the handle 1, and can adjust the opening amplitude of the end of the adjustable clamp 102 and squeeze the hammer head 4 in the axis direction of the handle 1.

[0046] Regarding the specific structural implementation of the adjustment limit module 9, the adjustment member 103 may be in various forms. In this embodiment, for example Figure 8-Figure 10As shown, it is realized by adjusting the hook 1031 and the compression spring 1032, the compression spring 1032 is coated on the outer wall of the handle 1, and its two ends are respectively fixed to the adjusting block 101 and the adjusting hook 1031, the adjusting hook 1031 has a central hole for the handle 1 to pass through, and the hole is chamfered to fit the outer conical surface of the hammer head 4, the handle 1 is fixed to the hammer head 4 at one end of the exposed adjusting hook 1031, the adjustable clamping forceps 102 are two, the adjusting hook 1031 has ear blocks 1033 on both sides corresponding to the two adjustable clamping forceps 102, the adjustable clamping forceps 102 has a notch 1034 at one end close to the adjusting block 101 and is hinged to the ear block 1033 pin in the middle section of the notch 1034, and the notch 1034 is passed through in a direction perpendicular to the axis of the handle 1 for the ear block 1033 to rotate.

[0047] In the above structure, the compression spring 1032 is used to compress the joint ball head 3 so that it does not loosen during transportation and striking. The adjusting hook 1031 is symmetrically extended with a hook 10 at the opposite end away from the adjustable clamp 102. One end of the hook 10 is connected to the adjusting hook 1031 as a whole, and the other end is bent toward the ball head 3. The hook 10 conforms to the ergonomic design, and its fillet radius R should not be less than 5.0mm, so as to facilitate the movement of the doctor's index finger and middle finger. The adjustable clamp 102 has two, and its material can be plastic or metal, preferably plastic. The length L of the protrusion at the corresponding end is not less than 2mm and not more than 5mm; the width W is not less than 3mm and not more than 5mm, so that the joint ball head 3 can be stably clamped and it is also easy to detach after the striking is completed.

[0048] During use, the doctor or nurse can adjust the retractor 1031 to move forward and backward, so that the jaws of the adjustable clamp can move to adapt to the corresponding joint ball head 3, so that the position of the joint ball head 3 does not change during transportation or striking.

[0049] The assembly sequence of the striking rod 2 and the adjustment and limiting module 9 is as follows: after the adjustment and limiting module 9 is assembled, the adjustment threaded rod 12 is inserted into the adjustment and limiting module 9, and then the hammer head 4 is installed on the adjustment threaded rod 12. Finally, the adjustment threaded rod 12 is welded together with the robot navigation module interface 6. Thus, the assembly of the striking rod 2 and the adjustment and limiting module 9 is completed.

[0050] In this embodiment, the handle 1 includes an intermediate metal rod 201, a handle quick-change button 202 and a handle shell 203. The intermediate metal rod 201 is embedded and fixed in the axial direction of the handle shell 203. A characteristic interface 204 is provided at the center of the front end face thereof for assembly and fixation with the striking rod 2. A central through hole 205 is provided at the bottom end thereof for passage of a Kirschner wire or a Steinmann wire during surgery. A first groove 206 is provided on the front end side wall thereof and passes through the first groove 206 perpendicular to the axial direction thereof. The handle 1 quick-insert button is movably fixed in the first groove 206 and squeezes and limits the handle 1 in a direction perpendicular to the axial direction of the handle 1.

[0051] For the handle housing 203, if Figure 3 As shown, the outer surface of the handle shell 203 is provided with a plurality of second grooves 13 equidistantly arranged along its axial direction, and the material thereof is plastic, wood or metal, and the handle shell 203 of the corresponding plastic material is molded in one piece by rubber encapsulation. The handle shell 203 is ergonomically designed and more comfortable to hold, and the plurality of second grooves 13 on its outer surface can increase the friction of the handle 1, achieve the purpose of anti-slip during surgery, and reduce the risk of the handle 1 falling off.

[0052] like Figure 4 As shown, for the middle metal rod 201, its material is usually stainless steel, and the tail of the middle metal rod 201 can be used for striking. In addition, the front end of the middle metal rod 201 has a characteristic interface 204 that matches the striking rod 2. The characteristic interface 204 can be a Stryker interface or other commonly used interfaces, and the handle 1 and the striking rod 2 are matched through the characteristic interface 204. The middle metal rod 201 also has a central through hole 205, and the diameter of the central through hole 205 is generally not less than 1.0 mm and not more than 4.0 mm. It is used for the Kirschner wire or Steinmann wire to pass through during the operation, to achieve precise positioning, and to improve the striking accuracy and the assembly accuracy of the joint ball head 3. If there is a special need, the diameter of the central through hole 205 can also be enlarged or reduced, and any other description of enlarging or reducing the diameter should fall within the protection scope of the present invention.

[0053] For the handle quick-change button 202, if Figure 2 and Figure 4As shown, the handle quick-change button 202 includes a button spring 2021, a spring limiting column 2022 and an assembly pin 2023. The intermediate metal rod 201 is further provided with a pin hole 2024 on the outside of the corresponding feature interface 204, and the pin hole 2024 is connected to the first groove 206. The handle quick-change button 202 is provided with a center circular hole 2025 at the center of its end surface corresponding to the insertion direction. The assembly pin 2023 is inserted into the pin hole 2024 to limit the handle quick-change button 202. One end of the button spring 2021 is fixed to the inner wall of the first groove 206, and the other end is fixed to the spring limiting column 2022. The spring limiting column 2022 passes through the center circular hole 2025 to squeeze and limit the striker interface 11. In specific use, by pressing the handle quick-change button 202, the striking rod 2 can be quickly installed and disassembled, which improves the flexibility of the handle 1.

[0054] like Figure 5 As shown, for the striking rod 2 in the present invention, one end thereof is a spherical striking device interface 11, and the other end is an adjusting threaded rod 12 to threadably match the adjusting block 101. The thread feature on the adjusting threaded rod 12 is preferably a fine thread of M10*1.25. The position of the limit module 9 can be adjusted by the adjusting threaded rod 12. In addition, the best material for the hammer head 4 is PPSU, and it can also be PP and other plastic or metal materials. During assembly, the matching of the hammer head 4 is inserted into the matching circular hole at the front end of the adjusting threaded rod 12, and then fixed by the matching pin hole 2024 of the adjusting threaded rod 12 and the hammer head 4 pin to achieve assembly. The concave arc surface 5 at the outer end of the hammer head 4 is to match the vast majority of joint ball heads 3 on the market. The diameter of the concave arc surface 5 should be greater than 100mm, and the depth of the arc surface should not be less than 1.0mm and not more than 2.0mm.

[0055] It should be noted that the adjusting threaded rod 12 should be manufactured separately from the robot navigation module interface 6 , and after the adjusting threaded rod 12 , the adjusting limit module 9 and the hammer head 4 are installed, they should be welded to the robot navigation module interface 6 .

[0056] Correspondingly, such as Figure 6 and Figure 7 As shown, the external robot navigation module is mainly used to connect the navigation device of the surgical robot, so as to achieve accurate positioning and striking during the operation, and reduce the risk of damage to the patient's joint structure caused by the position deviation of the joint ball head 3 due to the striking. The surgical robot navigation device can also detect the position deviation during the striking process, prompting the doctor to make modifications, thereby restoring the patient's anatomical structure, reducing damage to the patient, and improving the quality of the operation.

[0057] In this embodiment, the robot navigation module includes a navigation rod 301, a navigation spring 302, and a navigation button 303.

[0058] For the navigation connecting rod 301, one end of the navigation connecting rod 301 is flush with the end surface of the handle 1 connected to the striking rod 2, and the other end is axially bent with the handle 1 and located on one side of the handle 1. The navigation connecting rod 301 is L-shaped, and one end is fixed with a robot locator interface to electrically connect to an external surgical robot, and the other end surface vertically protrudes outward with two conical plugs 3011 to assemble with the striking rod 2. The navigation connecting rod 301 is also provided with a third groove 3012 and a first matching hole 3013 at one end close to the conical plug 3011; the assembly with the striking rod 2 can be achieved through the two conical plugs 3011. It is worth mentioning that the good guiding property of the two conical plugs 3011 can achieve further stability of the assembly. In addition, the cone angles of the two conical plugs 3011 are the same, which should be 3.0° to 4.0°, and the cone length is not less than 5mm and not more than 8mm. Any changes based on the cone angle or cone length should fall within the protection scope of the present invention.

[0059] As for the navigation button 303 and the navigation spring 302, one end of the navigation button 303 is raised and a matching groove 3021 corresponding to the third groove 3012 is opened at the raised end, and the other end is attached to the navigation connecting rod and a circular plug 3022 is protruded at the end perpendicular to the axial direction of the outer conical plug 3011 to be stuck between the two conical plugs 3011, and a second matching hole 3023 connected to the first matching hole 3013 is opened in the middle section of the navigation button 303; the two ends of the navigation spring 302 are respectively embedded and fixed in the third groove 3012 and the matching groove 3021, and the navigation button 303 is hinged in the first matching hole 3013 and the second matching hole 3023 through a navigation pin.

[0060] The robot navigation module interface 6 is coaxially fixed on the handle 1, and is provided with a conical slot 14 perpendicular to the axis direction of the handle 1 and a circular slot 15 in the same direction as the axis direction of the handle 1. The conical slot 14 is used to assemble with the conical plug 3011, and the circular slot 15 is used to insert the circular plug 3022. The two conical slots 14 are also conical holes, and the cone angle is consistent with the corresponding conical plug 3011, and the hole depth is not less than the height of the conical plug 3011. Through the two conical slots 14 and the circular socket, the striking rod 2 and the robot navigation module can be assembled and disassembled.

[0061] When the robot navigation module is assembled with the robot navigation module interface 6, the installation steps are as follows:

[0062] 1) First, insert the two conical plugs 3011 of the navigation rod 301 into the two conical slots 14 of the striking rod 2;

[0063] 2) Install one end of the navigation spring 302 into the third groove 3012 of the navigation connecting rod 301, and the other end into the matching groove 3021 of the navigation button 303;

[0064] 3) Press the end of the navigation button 303 that is too high to insert the circular plug 3022 of the navigation button 303 into the circular slot 15 of the striking rod 2;

[0065] 4) Insert the navigation pin into the first matching hole 3023 of the navigation connecting rod 301 and the navigation button 303 to complete the assembly of the robot navigation module and the striking rod 2.

[0066] The technical scope of the present invention is not limited to the contents in the above description. Those skilled in the art can make various deformations and modifications to the above embodiments without departing from the technical idea of ​​the present invention, and these deformations and modifications should all fall within the protection scope of the present invention.

Claims

1. A novel joint ball head striking device, comprising a handle, a striking rod and a ball head, wherein one end of the striking rod is embedded and fixed on the top of the handle, and a hammer head is fixed by a pin on the other end, and the hammer head is provided with a concave arc surface at the end away from the striking rod to assemble the ball head, characterized in that: The handle is also fixed with a robot navigation module interface at the corresponding connection to the striking rod, and a robot navigation module is movably fixed at the robot navigation module interface through a connecting piece. The end of the robot navigation module is integrated with a robot positioning interface to electrically connect to an external surgical robot. The side wall of the striking rod is also fixed with an adjustment limit module, and the adjustment limit module includes an adjustment block, an adjustable clamp and an adjustment piece. The adjustment block is movably fixed on the handle and can be adjusted and displaced axially of the handle. The adjustable clamp includes at least two clamps, one end of which is symmetrically hinged on both sides of the adjustment block with the axis of the handle, and the other end is relatively protruded in a direction perpendicular to the axis of the handle and squeezes and contacts the outer edge of the top surface of the ball head. The adjustment piece is relatively independent of the handle, and can adjust the opening amplitude of the end of the adjustable clamp and squeeze the hammer head in the direction of the axis of the handle.

2. A novel joint ball head striking device according to claim 1, characterized in that: The adjusting member includes an adjusting hook and a clamping spring, the clamping spring is coated on the outer wall of the handle, and the two ends of the clamping spring are respectively fixed to the adjusting block and the adjusting hook, the adjusting hook has a central opening for the handle to pass through, and the opening is chamfered to fit the outer conical surface of the hammer head, the handle is fixed to the hammer head pin at one end of the exposed adjusting hook, there are two adjustable clamps, the adjusting hooks have ear blocks extending on both sides of the corresponding two adjustable clamps, the adjustable clamp has a notch at one end close to the adjusting block and is hinged to the ear block pin in the middle section of the notch, and the notch is through in a direction perpendicular to the axis of the handle for the ear block to rotate.

3. A novel joint ball head striking device according to claim 1, characterized in that: The adjusting hook is symmetrically extended with a hook at the opposite end away from the adjustable clamping pliers. One end of the hook is connected with the adjusting hook as a whole, and the other end is bent toward the ball head.

4. A novel joint ball head striking device according to any one of claims 1 to 3, characterized in that: The handle includes a middle metal rod, a handle quick-change button and a handle shell. The middle metal rod is embedded and fixed in the axial direction of the handle shell. A characteristic interface is provided at the center of the front end face thereof for assembly and fixation with the striking rod. A center through hole is provided at the bottom end thereof for the passage of a Kirschner wire or a Steinmann wire during surgery. A first groove is provided on the front end side wall thereof, which passes through the first groove perpendicular to its axial direction. The handle quick-insertion button is movably fixed in the first groove and squeezes and limits the handle in a direction perpendicular to the axial direction of the handle.

5. A novel joint ball head striking device according to claim 4, characterized in that: One end of the striking rod is a spherical striking device interface, and the other end is an adjusting threaded rod which is threadably matched with the adjusting block.

6. A novel joint ball head striking device according to claim 5, characterized in that: The handle quick-change button includes a button spring, a spring limiting column and an assembly pin. The middle metal rod is also provided with a pin hole on the outside of the corresponding feature interface, and the pin hole is connected to the first groove. The handle quick-change button is provided with a center circular hole at the center of the end face corresponding to the insertion direction. The assembly pin is inserted into the pin hole to limit the handle quick-change button. One end of the button spring is fixed to the inner wall of the first groove, and the other end is fixed to the spring limiting column. The spring limiting column passes through the center circular hole to squeeze and limit the striker interface.

7. A novel joint ball head striking device according to claim 4, characterized in that: The outer surface of the handle shell is provided with a plurality of second grooves equidistantly arranged around the handle shell in its axial direction. The handle shell is made of plastic, wood or metal. The handle shell made of plastic is molded in one piece by rubber encapsulation.

8. A novel joint ball head striking device according to any one of claims 1 to 3, characterized in that: The robot navigation module includes a navigation rod, a navigation spring, and a navigation button. The navigation connecting rod is L-shaped and bent, with a robot locator interface fixed at one end thereof to electrically connect to an external surgical robot, and two conical plugs protruding vertically outward at the other end surface to be assembled with the striking rod, and a third groove and a first matching hole are also provided at one end of the navigation connecting rod close to the conical plug; One end of the navigation button is raised and a matching groove corresponding to the third groove is opened at the raised end, the other end is attached to the navigation connecting rod and a round plug is protruded at the end in a direction perpendicular to the axis of the outer conical plug to be inserted between the two conical plugs, and a second matching hole connected to the first matching hole is opened in the middle section of the navigation button; Two ends of the navigation spring are respectively embedded and fixed in the third groove and the matching groove, and the navigation button is hinged in the first matching hole and the second matching hole through a navigation pin.

9. A novel joint ball head striking device according to claim 8, characterized in that: The robot navigation module interface is coaxially fixed on the handle, and is provided with a conical slot perpendicular to the axis direction of the handle and a circular slot in the same direction as the axis direction of the handle. The conical slot is used to assemble with the conical plug, and the circular slot is used to insert the circular plug.

10. The novel joint ball head striking device according to claim 8, characterized in that: One end of the navigation connecting rod is flush with the end surface of the handle connected to the striking rod, and the other end is bent axially with the handle and located at one side of the handle.

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