A robotically-assisted joint replacement surgery precision positioning device

Abstract

The application discloses a robot-assisted joint replacement surgery accurate positioning device, which comprises a machine arm body, a lower limb arm and an upper limb arm arranged on the lower limb arm, an adjusting assembly, a positioning component, a first joint, a rotating shaft body and a matching shaft body, and rotating members arranged on the lower limb arm and the upper limb arm. The machine arm body, the adjusting assembly and the angle transformation assembly are cooperatively matched, the machine arm body provides basic bearing and multidimensional motion support for surgery positioning, and flexible coverage of a surgery area is realized through rotation and stretching of the large arm.

Description

Technical Field

[0001] This invention relates to the technical field of robot-assisted positioning, and more particularly to a robot-assisted precision positioning device for joint replacement surgery. Background Technology

[0002] As orthopedic joint replacement surgery becomes more precise and minimally invasive, robot-assisted positioning technology has become a core means of improving surgical quality. Existing robot-assisted joint replacement surgery positioning devices are mostly based on multi-degree-of-freedom robotic arms. These arms achieve surgical area coverage through extension, retraction, and rotation, and are used in conjunction with positioning grippers or suction cups to locate the prosthesis. Some devices integrate angle adjustment modules to adapt to the surgical posture requirements of different joints. The core idea is to compensate for errors in manual positioning through the flexibility of mechanical structure movement.

[0003] However, existing technologies still have significant limitations: most positioning devices lack a coordinated and adaptable angle transformation structure between the robotic arm and positioning components, and the angle adjustment and positioning actions between the upper arms are independent of each other, resulting in cumbersome posture adjustment during positioning and difficulty in quickly fitting the precise angle of the surgical target point; at the same time, the linkage structure design of the adjustment component is simple, and the grasping and posture adjustment precision of the positioning component is insufficient, making it impossible to achieve stable clamping and precise positioning of the prosthesis, and the surgical outcome is easily affected by positioning deviation, making it difficult to meet the core requirements of sub-millimeter positioning accuracy and ease of operation for joint replacement surgery. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problems existing in the precision positioning devices for robot-assisted joint replacement surgery, the present invention is proposed.

[0006] Therefore, the purpose of this invention is to provide a precise positioning device for robot-assisted joint replacement surgery.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a robot-assisted joint replacement surgery precision positioning device, comprising: a robotic arm body, including a lower limb arm and an upper limb arm disposed on the lower limb arm; an adjustment component, including a plate column disposed on the upper limb arm and a connecting rod group 202 disposed at the lower end of the plate column; and an angle transformation component, including a first joint disposed on the lower limb arm, a rotating shaft disposed on the first joint, and a mating shaft disposed on the upper limb arm connected to the rotating shaft, wherein rotating components are disposed on the lower limb arm and the upper limb arm.

[0008] As a preferred embodiment of the robot-assisted joint replacement surgery precision positioning device of the present invention, the connecting rod group 202 includes a support rod connected to the lower end of the plate column, an upper top plate disposed at the end of the support rod, and a plurality of extended bent plates disposed below the upper top plate. There are three extended bent plates, and the included angle between any two adjacent extended bent plates is consistent. Each extended bent plate is provided with a rod at its lower end.

[0009] As a preferred embodiment of the robot-assisted joint replacement surgery precision positioning device of the present invention, wherein: the rod includes a driving component connected to the extended bending plate, a swing arm rotatably connected to the driving component, and a locking block disposed at the lower end of the swing arm; a connecting component is disposed between the three locking blocks; the connecting component includes a rotating rod rotatably connected to the locking block, a swing arm rotatably connected to both ends of the rotating rod, and a second rotating rod disposed at the lower end of the swing arm; and a gripping block is disposed below the upper top plate.

[0010] As a preferred embodiment of the robot-assisted joint replacement surgery precision positioning device of the present invention, the positioning component includes a support plate disposed on the gripping block, a plurality of support bars rotatably connected to the support plate, and a lever rotatably connected to the support bars. The support plate has through holes that cooperate with the support bars, and a plurality of ear plates are disposed on the outer peripheral wall of the support plate. The ear plates are hinged to the lever and correspond one-to-one.

[0011] As a preferred embodiment of the robot-assisted joint replacement surgery precision positioning device of the present invention, the lever includes a first folding rod hinged to the upper end of the support bar, an extension rod connected to the first folding rod, and a second folding rod disposed at the lower end of the extension rod. The second folding rod extends in a direction away from the extension rod, and a triangular plate extends from the side wall of the extension rod and is hinged to the ear plate.

[0012] As a preferred embodiment of the robot-assisted joint replacement surgery precision positioning device of the present invention, wherein: a plurality of the support bars extend downward through the perforation and are hinged to a drive plate, the gripping block is provided with a drive electric cylinder connected to the drive plate, and the drive plate is provided with a driven limiting component.

[0013] As a preferred embodiment of the robot-assisted joint replacement surgery precision positioning device of the present invention, the driven limiting component includes a chuck disposed on the drive plate, a corresponding rod disposed on the chuck, a plug-in component disposed on the corresponding rod, a sliding rod disposed on the plug-in component, and a flexible pull strap disposed between the sliding rod and the corresponding rod, wherein the corresponding rod corresponds one-to-one with the lever component.

[0014] As a preferred embodiment of the robot-assisted joint replacement surgery precision positioning device of the present invention, the insertion component includes an outer frame disposed on a drive plate, a push-out plate disposed within the outer frame, an elastic baffle disposed within the outer frame, a conical protrusion disposed on the elastic baffle, a groove formed on the push-out plate that mates with the conical protrusion, and a spring disposed between the push-out plate and the outer frame. The spring is connected to the push-out plate, and its other end abuts against the side wall of the outer frame. The elastic baffle is disposed on both sides of the push-out plate, and protruding blocks are provided at the rear ends of the two elastic baffles. A sliding rod is provided on the push-out plate.

[0015] As a preferred embodiment of the robot-assisted joint replacement surgery precision positioning device of the present invention, wherein: a starter plate is provided near the protruding block of the outer frame, a winding drum is coaxially provided on the starter plate, a mating protrusion is provided on the side wall of the starter plate to cooperate with the protruding block, a rotating shaft is provided on the elastic baffle, a torsion spring is provided on the rotating shaft, a stepper motor is provided at the lower end of the starter plate, and a flexible pull strap is wound on the winding drum.

[0016] As a preferred embodiment of the robot-assisted joint replacement surgery precision positioning device of the present invention, the flexible traction band includes a plurality of rope units that are hinged in sequence, the second folding rod has a mating groove that cooperates with the sliding rod, the end of the sliding rod is provided with an airbag, and the second folding rod has a cavity that communicates with the mating groove.

[0017] The beneficial effects of this invention are as follows: The main body of the robotic arm, the adjustment component, and the angle transformation component work together in a coordinated manner: The main body of the robotic arm provides basic support and multi-dimensional motion support for surgical positioning, and achieves flexible coverage of the surgical area through the rotation and extension of the upper arm; The adjustment component, through multi-link linkage and precise movement of the positioning component, achieves stable grasping and posture adjustment of the joint replacement prosthesis, mimicking the grasping shape of a human hand; The angle transformation component enables flexible angle changes between the upper arms, and works with the positioning component to complete precise positioning during the surgical process. The modular design of each component facilitates disinfection, maintenance, and component replacement, adapting to different types of joint replacement surgical scenarios and improving the accuracy and safety of surgical positioning. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0019] Figure 1 This is a schematic diagram of the overall structure of the robot-assisted joint replacement surgery precision positioning device of the present invention.

[0020] Figure 2 This is a schematic diagram of the adjustment components of the robot-assisted joint replacement surgery precision positioning device of the present invention.

[0021] Figure 3 This is a schematic diagram of the angle transformation component of the robot-assisted joint replacement surgery precision positioning device of the present invention.

[0022] Figure 4 This is a bottom view schematic diagram of the angle transformation component of the robot-assisted joint replacement surgery precision positioning device of the present invention.

[0023] Figure 5 This is a side view schematic diagram of the angle transformation component of the robot-assisted joint replacement surgery precision positioning device of the present invention.

[0024] Figure 6 This is a front view schematic diagram of the chuck of the robot-assisted joint replacement surgery precision positioning device of the present invention.

[0025] Figure 7 This is a schematic diagram of the connector components of the robot-assisted joint replacement surgery precision positioning device of the present invention.

[0026] Reference numerals: 100, Main body of the robotic arm; 101, Lower limb arm; 102, Upper limb arm; 200, Adjustment assembly; 201, Plate column; 202, Connecting rod assembly; 103, Angle transformation assembly; 1031, First joint; 1032, Rotating shaft; 1033, Matching shaft; 2021, Support rod; 2022, Top plate; 2023, Extended bending plate; 204, Rod; 2041, Drive component; 2042, Swing arm; 2043, Locking block; 205, Connecting component; 2051, Rotating rod; 2052, Swing rod; 2053, Second rotating rod; 2054, Gripping block; 2055, Horizontal plate; 2031, Support plate; 2 032, Support bar; 2033, Perforation; 2034, Ear plate; 300, Toggle lever; 301, First folding lever; 302, Extension lever; 303, Second folding lever; 304, Drive plate; 305, Drive cylinder; 400, Driven limiting component; 401, Chuck; 403, Insertion component; 404, Sliding rod; 405, Flexible pull strap; 4041, Outer frame; 4042, Push-out plate; 4043, Elastic baffle; 4044, Conical protrusion; 4045, Groove; 4046, Spring; 4047, Protruding block; 500, Starter plate; 501, Winding spool; 502, Matching protruding block; 503, Torsion spring; 504, Matching groove. Detailed Implementation

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0028] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0029] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0030] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0031] Example 1

[0032] Reference Figures 1-7 This first embodiment of the invention provides a robot-assisted joint replacement surgery precision positioning device, including a robotic arm body 100, an adjustment component 200, and an angle transformation component 103. These three components work in concert: the robotic arm body 100 provides basic support and multi-dimensional motion support for surgical positioning, achieving flexible coverage of the surgical area through the rotation and extension of the upper arm; the adjustment component 200 achieves stable grasping and posture adjustment of the joint replacement prosthesis through precise multi-link linkage movements, mimicking the grasping form of a human hand; the angle transformation component 103 enables flexible angle changes between the upper arms, completing precise positioning during the surgery. The modular design of each component facilitates disinfection, maintenance, and component replacement, adapting to different types of joint replacement surgery scenarios and improving the accuracy and safety of surgical positioning.

[0033] Furthermore, the main body 100 of the robotic arm serves as the basic support and motion unit of the device. In this embodiment, the main body 100 of the robotic arm includes a lower limb arm 101 and an upper limb arm 102 mounted on the lower limb arm 101. A base is provided at the lower end of the upper limb arm 102. The base is used for the overall fixation and support of the device and can be installed next to the operating table or on a special bracket to provide a stable foundation for surgical operations. The lower limb arm 101 and the upper limb arm 102 are rotatably connected to realize the multi-dimensional movement of the robotic arm and expand the coverage of surgical positioning. The front end of the lower limb arm 101 provides a mounting carrier for the positioning component 203 to ensure the accurate transmission of positioning operations.

[0034] In this embodiment, the angle transformation component 103 includes a first joint 1031 disposed on the lower limb arm 101, a rotating shaft 1032 disposed on the first joint 1031, and a mating shaft 1033 disposed on the upper limb arm 102 and connected to the rotating shaft 1032.

[0035] Furthermore, the present invention also includes an adjustment component 200, which is the core execution unit for surgical positioning and is used to realize the grasping, posture adjustment and precise positioning of the joint replacement prosthesis. In this embodiment, the adjustment component 200 includes a plate column 201 disposed on the upper limb arm 102 and a connecting rod group 202 disposed at the lower end of the plate column 201. The plate column 201 realizes the fixed connection between the adjustment component 200 and the upper limb arm 102.

[0036] Preferably, the connecting rod assembly 202 includes a support rod 2021 connected to the lower end of the plate column 201, an upper top plate 2022 disposed at the end of the support rod 2021, and a plurality of extended bent plates 2023 disposed below the upper top plate 2022. There are three extended bent plates 2023, and the included angle between any two adjacent extended bent plates 2023 is the same. Each extended bent plate 2023 has a rod 204 disposed at its lower end.

[0037] The support rod 2021 provides longitudinal support for the connecting rod assembly 202. The upper top plate 2022 and the extended bending plate 2023 form a hierarchical connection structure. The three extended bending plates 2023 with the same included angle achieve a uniform distribution of the rods 204 and improve the gripping stability.

[0038] Furthermore, the rod 204 includes a drive member 2041 connected to the extended bending plate 2023, a swing arm 2042 rotatably connected to the drive member 2041, and a locking block 2043 disposed at the lower end of the swing arm 2042. A connecting component 205 is disposed between the three locking blocks 2043. The connecting component 205 includes a rotating rod 2051 rotatably connected to the locking block 2043, a swing rod 2052 rotatably connected to both ends of the rotating rod 2051, and a second rotating rod 2053 disposed at the lower end of the swing rod 2052. A horizontal plate 2055 is rotatably connected to the second rotating rod 2053, and a gripping block 2054 is disposed between several horizontal plates 2055.

[0039] Preferably, in this embodiment, the driving component 2041 provides power for the rotation of the swing arm 2042, which can precisely control the swing angle of the swing arm 2042, thereby driving the locking block 2043 to adjust its position; the connecting component 205 realizes the synchronous action of the three locking blocks 2043 through the linkage of the rotating rod 2051, the swing rod 2052 and the second rotating rod 2053, ensuring that the force on the prosthesis is uniform during grasping and avoiding the prosthesis from shifting or being damaged; the grasping block 2054 provides a fitting support surface for the prosthesis, improving the fit and stability of the grasp.

[0040] Preferably, the positioning component 203 includes a support plate 2031 disposed on the gripping block 2054, a plurality of support bars 2032 rotatably connected to the support plate 2031, and a lever 300 rotatably connected to the support bars 2032. The support plate 2031 has through holes 2033 that cooperate with the support bars 2032. A plurality of ear plates 2034 are disposed on the outer peripheral wall of the support plate 2031. The ear plates 2034 are hinged to the lever 300 and correspond one-to-one.

[0041] The support plate 2031 provides an installation base for the positioning component 203. The support bar 2032 extends through the perforation 2033 and fits against the surface of the prosthesis to achieve multi-point support and improve positioning stability. The lever 300 is hinged to the ear plate 2034, which can precisely control the rotation angle of the support bar 2032, realize the opening and closing of the support bar 2032, and adapt to the grasping of prostheses of different sizes.

[0042] Furthermore, the lever 300 includes a first folding rod 301 hinged to the upper end of the support bar 2032, an extension rod 302 connected to the first folding rod 301, and a second folding rod 303 disposed at the lower end of the extension rod 302. The second folding rod 303 extends away from the extension rod 302, and a triangular plate extends from the side wall of the extension rod 302 and is hinged to the ear plate 2034. The first folding rod 301 is linked with the support bar 2032, the extension rod 302 transmits power, and the second folding rod 303 expands the power transmission range. The hinge structure of the triangular plate and the ear plate 2034 ensures the flexibility and accuracy of the lever 300's movement. Through the multi-angle transmission of the folding rod, the fine posture adjustment of the support bar 2032 is realized, improving the positioning accuracy.

[0043] Preferably, several support bars 2032 extend downwards from one end of the perforation 2033 and are hinged to a drive plate 304. The gripping block 2054 is equipped with a drive electric cylinder 305 connected to the drive plate 304. The drive plate 304 is equipped with a driven limiting component 400. The drive electric cylinder 305 drives the drive plate 304 to move, causing the several support bars 2032 to open or close synchronously, realizing the rapid gripping and release of the prosthesis. The driven limiting component 400 can accurately lock the action of the lever 300, preventing the lever 300 from loosening after positioning and ensuring the stability of positioning during the operation.

[0044] Furthermore, the driven limiting component 400 includes a chuck 401 mounted on the drive plate 304, a corresponding rod mounted on the chuck 401, a plug-in component 403 mounted on the corresponding rod, a sliding rod 404 mounted on the plug-in component 403, and a flexible pull strap 405 positioned between the sliding rod 404 and the corresponding rod. The corresponding rod corresponds one-to-one with the lever 300. The chuck 401 provides the mounting base for the driven limiting component 400. The one-to-one correspondence between the corresponding rod and the lever 300 enables precise control. The plug-in component 403 drives the sliding rod 404 to pop out and engage with the locking buckle 406 to lock the lever 300. The flexible pull strap 405 is used to reset the sliding rod 404, enabling repeated use of the driven limiting component 400 and ensuring the continuity and reliability of the positioning operation.

[0045] Preferably, the insertion component 403 includes an outer frame 4041 disposed on the drive plate 304, a push-out plate 4042 disposed within the outer frame 4041, an elastic baffle 4043 disposed within the outer frame 4041, a conical protrusion 4044 disposed on the elastic baffle 4043, a groove 4045 formed on the push-out plate 4042 that mates with the conical protrusion 4044, and a spring 4046 disposed between the push-out plate 4042 and the outer frame 4041. The spring 4046 is connected to the push-out plate 4042, and its other end abuts against the side wall of the outer frame 4041. The elastic baffle 4043 is disposed on both sides of the push-out plate 4042. Furthermore, the two elastic baffles 4043 are provided with protruding blocks 4047 at their rear ends, and a sliding rod 404 is provided on the push-out plate 4042. The outer frame 4041 provides installation space for the plug-in component 403, and the spring 4046 provides elastic thrust for the push-out plate 4042. The elastic baffles 4043 restrict the initial position of the push-out plate 4042 through the cooperation of the conical protrusion 4044 and the groove 4045. The protruding block 4047 is used to trigger the unlocking action of the elastic baffles 4043. The sliding rod 404 is adapted to the mating groove 504 of the second folding rod 303 to realize the linkage between the plug-in component 403 and the lever 300, ensuring the accurate triggering of the locking action.

[0046] Furthermore, a starting plate 500 is provided on the outer frame 4041 near the protruding block 4047. A winding drum 501 is coaxially mounted on the starting plate 500. A mating protruding block 502 that cooperates with the protruding block 4047 is provided on the side wall of the starting plate 500. A rotating shaft is provided on the elastic baffle 4043, and a torsion spring 503 is provided on the rotating shaft. A stepper motor is provided at the lower end of the starting plate 500. A flexible pull strap 405 is wound around the winding drum 501. The stepper motor drives the starting plate 500 to rotate, which, in conjunction with the protruding block 502 and the protruding block 4047, drives the elastic baffle 4043 to rotate around the rotating shaft, thereby separating the conical protrusion 4044 from the groove 4045 and unlocking the ejector plate 4042. The winding drum 501 resets the sliding rod 404 through the flexible pull strap 405, and the torsion spring 503 ensures the reset of the elastic baffle 4043, enabling the cyclic use of the plug-in component 403 and improving the durability of the device.

[0047] Preferably, the flexible pull strap 405 comprises several rope units that are hinged sequentially. A mating groove 504, which engages with a sliding rod 404, is provided on the second folding rod 303. An air bladder is located at the end of the sliding rod 404, and a cavity communicating with the mating groove 504 is provided within the second folding rod 303. The hinged structure of the rope units ensures the flexible transmission of the flexible pull strap 405, adapting to power transmission at different angles, while also giving the flexible pull strap 405 a certain degree of rigidity. The engagement of the mating groove 504 with the sliding rod 404 enables precise positioning of the insertion component 403 and the lever component 300. The air bladder buffers the contact force between the sliding rod 404 and the mating groove 504, preventing component wear and enhancing the tightness of the connection. The cavity provides space for the deformation of the air bladder, improving the adaptability of the fit.

[0048] Operation process: In the preoperative preparation stage, the device is fixed to the designated position next to the operating table via the base. The initial angle of the lower limb arm 101 and the upper limb arm 102 is adjusted according to the surgical requirements. The rotating part of the angle transformation component 103 is activated, driving the rotating shaft 1032 and the cooperating shaft 1033 to rotate relative to each other, adjusting the lower limb arm 101 to a posture that is convenient for surgical operation, and completing the initial positioning of the device.

[0049] During the prosthesis grasping phase, the drive cylinder 305 is activated, moving the drive plate 304. The drive plate 304, through the hinge point at the upper end of the support bar 2032, causes several support bars 2032 to open synchronously. The support bars 2032 extend along the through holes 2033 of the support plate 2031 and are in an open state. At the same time, the stepper motor drives the starter plate 500 to rotate, which, in conjunction with the protrusion block 502 and the protrusion block 4047 of the elastic baffle 4043, causes the elastic baffle 4043 to rotate around the axis, and the conical protrusion 4044... The slide bar 4042 disengages from the groove 4045 of the ejector plate 4042. Under the elastic thrust of the spring 4046, the ejector plate 4042 moves forward, causing the slide bar 404 to insert into the mating slot 504 of the second folding rod 303. The airbag deforms under pressure and fills the cavity, achieving a tight fit between the slide bar 404 and the mating slot 504. Subsequently, the slide bar 404 is pushed out by the ejector plate 4042 and inserts into the mating slot 504, achieving the locking of the lever 300 and keeping the support bar 2032 in an open state.

[0050] The gripping block 2054 is aligned with the joint replacement prosthesis, and the electric cylinder 305 is driven to move in the opposite direction, causing the drive plate 304 to move in the opposite direction. The support bar 2032 retracts synchronously, fitting against the surface of the prosthesis to achieve multi-point support. At the same time, the drive component 2041 of the rod 204 is activated, driving the swing arm 2042 to rotate. The swing arm 2042 is linked with the second rotating rod 2053 through the rotating rod 2051 and the swing rod 2052 of the connecting component 205, which drives the three clamping blocks 2043 to move towards the center synchronously, clamping the prosthesis and completing the stable gripping of the prosthesis. During the gripping process, the sensor on the support bar 2032 provides real-time feedback on the fitting status of the prosthesis to ensure that the gripping force is moderate and to avoid damage to the prosthesis.

[0051] During the surgical positioning phase, the angle between the lower limb arm 101 and the upper limb arm 102 is adjusted by the angle transformation component 103, which moves the prosthesis to the surgical area. In the initial state, the spring 4046 is in a compressed state and abuts against the protrusion 4047 with the protrusion 502, pushing the elastic baffle 4043 so that the conical protrusion 4044 of the elastic baffle 4043 is stuck in the groove 4045, restricting the elastic pin. When it is necessary to fix the position of the lever 300, the stepper motor drives the starter plate 500 to rotate, so that the starter plate 500 rotates and the conical protrusion 4044 pops out from the groove 4045. At this time, the elastic pin pops outward under the action of the rear spring 4046. Then, according to the surgical positioning requirements, the stepper motor drives the flexible traction strap 405 to pull, thereby controlling the movement of the lever 300, realizing the precise adjustment of the prosthesis posture until the prosthesis reaches the preset surgical positioning position.

[0052] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0053] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the currently considered best mode for carrying out the invention, or those features that are not relevant to implementing the invention) may be omitted.

[0054] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0055] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A robot-assisted joint replacement surgery precision positioning device, characterized in that: include, The main body of the robotic arm (100) includes a lower limb arm (101) and an upper limb arm (102) disposed on the lower limb arm (101). The adjustment assembly (200) includes a plate column (201) disposed on the upper limb arm (102) and a connecting rod assembly 202 disposed at the lower end of the plate column (201); The angle transformation component (103) includes a first joint (1031) disposed on the lower limb arm (101), a rotating shaft (1032) disposed on the first joint (1031), and a mating shaft (1033) disposed on the upper limb arm (102) and connected to the rotating shaft (1032).

2. The robot-assisted joint replacement surgery precision positioning device as described in claim 1, characterized in that: The connecting rod assembly 202 includes a support rod (2021) connected to the lower end of the plate column (201), an upper top plate (2022) disposed at the end of the support rod (2021), and a plurality of extended bent plates (2023) disposed on the upper top plate (2022). There are three extended bent plates (2023), and each extended bent plate (2023) has a rod (204) at its lower end.

3. The robot-assisted joint replacement surgery precision positioning device as described in claim 2, characterized in that: The rod (204) includes a drive (2041) connected to the extended bending plate (2023), a swing arm (2042) rotatably connected to the drive (2041), and a locking block (2043) disposed at the lower end of the swing arm (2042). A connecting component (205) is provided between the three locking blocks (2043). The connecting component (205) includes a rotating rod (2051) rotatably connected to the locking block (2043), a swing rod (2052) rotatably connected to both ends of the rotating rod (2051), and a second rotating rod (2053) disposed at the lower end of the swing rod (2052). A horizontal plate (2055) is rotatably connected to the second rotating rod (2053), and a gripping block (2054) is provided between the several horizontal plates (2055).

4. The robot-assisted joint replacement surgery precision positioning device as described in claim 1, characterized in that: The positioning component (203) includes a support plate (2031) disposed on the gripping block (2054), a plurality of support bars (2032) rotatably connected to the support plate (2031), and a lever (300) rotatably connected to the support bars (2032). The support plate (2031) is provided with through holes (2033) that cooperate with the support bars (2032). A plurality of ear plates (2034) are provided on the outer peripheral wall of the support plate (2031). The ear plates (2034) are hinged to the lever (300) and correspond one-to-one.

5. The robot-assisted joint replacement surgery precision positioning device as described in claim 4, characterized in that: The lever (300) includes a first folding rod (301) hinged to the upper end of the support bar (2032), an extension rod (302) connected to the first folding rod (301), and a second folding rod (303) disposed at the lower end of the extension rod (302). The second folding rod (303) extends in a direction away from the extension rod (302), and a triangular plate extends from the side wall of the extension rod (302) and is hinged to the ear plate (2034).

6. The robot-assisted joint replacement surgery precision positioning device as described in claim 5, characterized in that: A number of the support bars (2032) extend downward through the perforation (2033) and are hinged to a drive plate (304). The gripping block (2054) is provided with a drive electric cylinder (305) connected to the drive plate (304). The drive plate (304) is provided with a driven limiting component (400).

7. The robot-assisted joint replacement surgery precision positioning device as described in claim 6, characterized in that: The driven limiting component (400) includes a chuck (401) disposed on the drive plate (304), a plug-in component (403) disposed on the chuck (401), a sliding rod (404) disposed on the plug-in component (403), and a flexible pull strap (405) disposed on the plug-in component (403).

8. The robot-assisted joint replacement surgery precision positioning device as described in claim 7, characterized in that: The plug-in component (403) includes an outer frame (4041) disposed on the drive plate (304), a push-out plate (4042) disposed inside the outer frame (4041), an elastic baffle (4043) disposed inside the outer frame (4041), a conical protrusion (4044) disposed on the elastic baffle (4043), a groove (4045) formed on the push-out plate (4042) and cooperating with the conical protrusion (4044), and a spring (4046) disposed between the push-out plate (4042) and the outer frame (4041). The spring (4046) is connected to the push-out plate (4042), and its other end abuts against the side wall of the outer frame (4041). The elastic baffle (4043) is disposed on both sides of the push-out plate (4042), and the sliding rod (404) is disposed on the push-out plate (4042).

9. The robot-assisted joint replacement surgery precision positioning device as described in claim 8, characterized in that: The outer frame (4041) is provided with a starter plate (500) near the protruding block (4047). A winding drum (501) is coaxially provided on the starter plate (500). The two elastic baffles (4043) are provided with protruding blocks (4047) at their rear ends. The starter plate (500) is provided with a cooperating protruding block (502) that cooperates with the protruding block (4047) on its side wall. The elastic baffle (4043) is provided with a rotating shaft. A torsion spring (503) is provided on the rotating shaft. A stepper motor is provided at the lower end of the starter plate (500). The flexible pull strip (405) is wound around the winding drum (501).

10. The robot-assisted joint replacement surgery precision positioning device as described in claim 9, characterized in that: The flexible pull strap (405) includes several rope units that are hinged in sequence. The second folding rod (303) has a mating groove (504) that mates with the sliding rod (404). The end of the sliding rod (404) is provided with an air bladder. The second folding rod (303) has a cavity that communicates with the mating groove (504).

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