Acetabular prosthesis installation actuator and surgical robot

Abstract

The utility model provides an acetabular prosthesis installation actuator and a surgical robot. The acetabular prosthesis installation actuator comprises a rod body, a first end of the rod body is used for being connected with an acetabular prosthesis, and a second end of the rod body is used for being connected with the acetabular prosthesis. The positioning frame is connected to the peripheral face of the rod body in a sleeving mode, the positioning frame is used for installing a tracing element, and the tracing element is used for providing position information; the adjusting device is used for adjusting the connecting state of the positioning frame and the rod body, when the adjusting device is in a first state, the positioning frame can rotate around the rod body, and when the adjusting device is in a second state, the positioning frame is circumferentially fixed relative to the rod body. According to the embodiment of the invention, the acetabular prosthesis installation actuator can be always in the visual range of a navigator in a surgical robot system.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and more specifically, to an acetabular prosthesis installation actuator and a surgical robot. Background Art

[0002] In robot-assisted hip replacement surgery, the acetabular prosthesis and the robot arm are connected to the acetabular impactor respectively, and the tracer on the acetabular impactor provides spatial position information to the navigator. The acetabular impactor is connected to the positioning frame on which the tracer is installed. One end of the acetabular prosthesis is rigidly connected to the acetabular impactor as a whole. Rotating the acetabular impactor can adjust the position of the nail hole of the acetabular prosthesis. However, when performing this operation, the positioning frame will also rotate, and the tracer may deviate from the optimal viewing angle of the navigator or even exceed the visual range. Utility Model Content

[0003] The present application provides an acetabular prosthesis installation actuator and a surgical robot. The following introduces various aspects involved in the embodiments of the present application.

[0004] In a first aspect, an acetabular prosthesis installation actuator is provided, comprising: a rod body, a first end of the rod body being used to connect to an acetabular prosthesis; a positioning frame sleeved on the outer circumferential surface of the rod body, the positioning frame being used to install a tracing element, the tracing element being used to provide position information; an adjusting device being used to adjust the connection state between the positioning frame and the rod body, the positioning frame being able to rotate around the rod body when the adjusting device is in a first state, and the positioning frame being circumferentially fixed relative to the rod body when the adjusting device is in a second state.

[0005] In a possible implementation manner, the positioning frame is provided with a mounting portion for sleeve-engaging with the rod body, the mounting portion is a through hole, and the through hole and the rod body are clearance-fitted.

[0006] In a possible implementation, the adjusting device includes an adjusting member, a first limiting portion provided on the rod body, and a second limiting portion provided on the positioning frame.

[0007] In a possible embodiment, the rod body is provided with a coupling shaft, the positioning frame is provided with a mounting portion for being sleeved with the coupling shaft, the mounting portion is a circular through hole, the rod body is provided with a first end face adjacent to the coupling shaft or the fixing sleeve, the fixing sleeve is rigidly sleeved on the outer peripheral surface of the coupling shaft and is located on the side of the coupling shaft away from the first end, the first end face is provided with a plurality of recessed portions, the first end face corresponds to the first limiting portion, the positioning frame is provided with a second end face on one side of the through hole, the second end face is provided with at least one protrusion, the protrusion matches the recessed portion, the second end face corresponds to the second limiting portion, and when the adjusting device is in the second state, the at least one protrusion is pressed into and contacts the recessed portion, and the first end face contacts the second end face.

[0008] In a possible implementation manner, the contours of the recessed portion and the raised portion are any one of the following shapes: an involute tooth shape, an arc tooth shape, a trapezoid, a triangle, or a rectangle.

[0009] In a possible embodiment, the acetabulum prosthesis mounting actuator also includes: a retaining ring, which is fixed to the outer periphery of the rod body, and the retaining ring is located between the joint between the rod body and the positioning frame and the first end; the adjustment device is an elastic member, which is sleeved on the outer periphery of the rod body, one end of the elastic member is connected to the positioning frame, and the other end of the elastic member is connected to the retaining ring.

[0010] In a possible implementation manner, the elastic member is a spring.

[0011] In a possible implementation manner, the rod body is provided with a hammer cap and a handle, the hammer cap is located at the opposite end of the first end, and the handle is adjacent to the hammer cap.

[0012] In a possible implementation manner, the handle is located between the hammer cap and the combining shaft.

[0013] In a possible implementation, the through hole is a regular polygonal hole, the axial projection figure of the portion of the rod body combined with the through hole is a regular polygon, and the through hole and the rod body are clearance-fitted.

[0014] In a second aspect, a surgical robot is provided, comprising: the acetabular prosthesis installation actuator as described in the first aspect; a robot arm for carrying the acetabular prosthesis installation actuator; and a control system for controlling the robot arm and / or the acetabular prosthesis installation actuator to execute a predetermined surgical plan.

[0015] In the present application, when the adjustment device is in the first state, the positioning frame can rotate around the rod body to adjust the position of the tracing element on the positioning frame. When the adjustment device is in the second state, the positioning frame cannot rotate around the rod body. The embodiment of the present application helps to ensure that the acetabular prosthesis installation actuator is always within the visual range of the navigator in the surgical robot system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a surgical system.

[0017] Figure 2 A schematic diagram of an acetabular prosthesis.

[0018] Figure 3 It is a schematic diagram of an acetabular prosthesis installation actuator provided in an embodiment of the present application.

[0019] Figure 4 yes Figure 3 Schematic diagram of a possible implementation of an actuator for mounting an acetabular prosthesis.

[0020] Figure 5 for Figure 4 A section view of a view. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The same or similar reference numerals are used in the drawings to represent the same or similar modules. It should be understood that the drawings are only schematic, and the protection scope of the present application is not limited thereto.

[0022] In robot-assisted hip replacement surgery, the acetabular prosthesis (acetabular cup) and the robot arm are connected to the acetabular impactor (acetabular prosthesis installation actuator), and the tracer on the acetabular impactor provides spatial position information to the navigator. According to the surgical plan, the operator uses the acetabular impactor to implant the acetabular prosthesis into the preset position of the patient's acetabular socket, using the position information presented on the display screen by the navigator as a reference, thereby completing a high-precision operation.

[0023] Take navigation-assisted hip surgery as an example. Figure 1 is a schematic diagram of a surgical system. Figure 1As shown, the acetabular impactor 110 is provided with a positioning frame 112 carrying a reflective ball (reflective marking point), and the reflective ball provides position information to the navigator 130. Usually, the acetabular impactor is rigidly connected to the positioning frame 112 on which the tracer (reflective ball) is installed. The acetabular impactor 110 is also called a navigation acetabular impactor. The positioning frame 112 of the navigation acetabular impactor equipped with a surgical instrument (such as an acetabular cup) is adjusted to within the visual range of the navigator 130, and the surgical operation is performed according to the surgical plan. The visual range of the navigator 130 usually has certain distance and angle value requirements.

[0024] The acetabular impactor 110 may include a cup holding rod 111, a positioning frame 112, a handle 113, and a hammering cap 114. The acetabular impactor 110 is connected to the acetabular prosthesis 140. The operator uses a bone hammer to strike the hammering cap 114, and the hammering force is transmitted to the acetabular prosthesis 140 through the cup holding rod 111, thereby hammering the acetabular prosthesis 140 to a preset position for surgery.

[0025] Figure 2 is a schematic diagram of an acetabular prosthesis. Figure 2 As shown, the acetabular prosthesis 140 is provided with an acetabular prosthesis nail hole 141. After the acetabular prosthesis 140 is implanted in place, the acetabular prosthesis 140 is fixed by installing a fixing nail. The fixing nail passes through the nail hole 141 and is connected to the acetabular prosthesis 140, and then is implanted into the bone and firmly connected to the bone. In order to facilitate the operation, after the prosthesis is implanted, the position of the nail hole 141 must be convenient for the installation operation of the fixing nail. Therefore, during the operation, the acetabular impactor 110 is often rotated to make the nail hole 141 in the desired position.

[0026] Since one end of the acetabular prosthesis 140 is rigidly connected to the acetabular impactor 110, the position of the nail hole 141 can be adjusted by holding the handle 113 and rotating the acetabular impactor 110. However, when performing this operation, the positioning frame 112 will also rotate with it, deviating from the best visual angle of the navigator or even exceeding the visual range. Therefore, after adjusting the position of the nail hole 141, it may be necessary to correct the angle of the positioning frame 112 so that it is within the visual range of the navigator. However, in the current acetabular prosthesis 140, the angle of the positioning frame 112 relative to the nail hole 141 is difficult to adjust.

[0027] Therefore, it is necessary to design a technical solution for an acetabular impactor with an adjustable positioning frame angle to ensure that the spatial position of the acetabular impactor can be captured by a navigator in real time during surgery.

[0028] Based on this, an embodiment of the present application proposes an acetabular prosthesis installation actuator. Figure 3 Schematic diagram of the acetabular prosthesis installation actuator proposed in the embodiment of the application. The acetabular prosthesis installation actuator is also called an acetabular cup prosthesis inserter, an acetabular prosthesis inserter, an acetabular inserter, or a navigation acetabular inserter. Figure 3The acetabular prosthesis installation actuator of the embodiment of the present application is described in detail. Figure 3 As shown, the acetabular prosthesis installation actuator 300 may include a rod body 310 , a positioning frame 320 and an adjustment device 330 .

[0029] The first end of the rod body 310 is used to connect to the acetabular prosthesis 340 (acetabular cup).

[0030] In some implementations, the rod body 310 may be provided with a coupling shaft 311. The coupling shaft 311 may be a cylindrical shaft or a stepped cylindrical shaft. The coupling shaft 311 is a portion of the rod body used to couple with the positioning frame 320. The coupling shaft 311 may be referred to as a cup holding rod, or a portion of the rod body between the coupling shaft 311 and the first end may be referred to as a cup holding rod. Alternatively, one end of the cup holding rod is the first end, and the other end of the cup holding rod is provided as the coupling shaft 311. This embodiment of the present application does not specifically limit this.

[0031] The positioning frame 320 is sleeved on the outer circumference of the rod body 310. For example, the positioning frame 320 can be provided with a through hole, and the positioning frame 320 is sleeved on the outer circumference of the coupling shaft 311 through the through hole. The positioning frame 320 is used to install a tracing element 321 or a tracer, and the tracing element 321 is used to provide position information. The tracing element 321 can be a reflective ball or a reflective marking point. The reflective ball has a special reflective coating, which is composed of tens of thousands of micro beads, and can reflect infrared light during the tracking process.

[0032] In some implementations, the tracer is generally an array composed of a plurality of tracer elements 321, and each tracer element 321 can emit optical or electromagnetic signals in an active or passive manner. In some embodiments, the spacing between the center points of the three tracer elements distributed on a positioning surface of the tracer is at least 50 mm, and the difference in the spacing between the center points is at least 5 mm. The tracer can send the position information of the rod 310 or the acetabular prosthesis 340 to the navigator (i.e., the locator) in the surgical robot system, and the navigator is usually fixed in the surgical space. The navigator is a device for receiving position information, and through the setting of at least three tracer elements 321, the position information of the rod 310 or the acetabular prosthesis 340 can be identified in a variety of postures.

[0033] In some implementations, the positioning frame 320 is provided with a mounting portion for sleeve engagement with the rod body 310 , and the mounting portion is a through hole, and the through hole and the rod body 310 are clearance-fitted.

[0034] In some implementations, the through hole of the positioning frame 320 can be a circular hole, the coupling shaft 311 can be a cylindrical shaft, and the through hole and the coupling shaft 311 are clearance-fitted. In some embodiments, when the through hole of the positioning frame 320 and the coupling shaft 311 are in a mating position, if there are no other constraints, the positioning frame 320 can rotate around the coupling shaft 311. In other embodiments, if there are other constraints, the positioning frame 320 is circumferentially fixed relative to the coupling shaft 311, that is, the positioning frame 320 cannot rotate around the coupling shaft 311. The cylindrical shaft hole is mechanically matched, and the size of the through hole of the positioning frame 320 (or the shaft diameter of the coupling shaft 311) is smaller while ensuring the same strength, which helps to reduce the size of the parts. The shaft-hole fit is stable and reliable, which helps to ensure the installation accuracy of the positioning frame 320.

[0035] In other implementations, the through hole of the positioning frame 320 can be a regular polygon hole, the axial projection figure of the part of the rod body combined with the through hole is a regular polygon, and the through hole and the rod body 310 are clearance fit. In some embodiments, the axial projection figure of the coupling shaft 311 can be a regular polygon, and the through hole and the coupling shaft 311 are clearance fit. When the through hole of the positioning frame 320 and the coupling shaft 311 are in the matching position, the positioning frame 320 is circumferentially fixed relative to the coupling shaft 311, that is, the positioning frame 320 cannot rotate around the coupling shaft 311. Relative rotation can only occur after the through hole of the positioning frame 320 and the coupling shaft 311 exit the matching position. The shaft hole mechanical matching area usually needs to have a certain height to ensure the installation accuracy of the positioning frame 320 and the stability of the connection.

[0036] The adjusting device 330 is used to adjust the connection state between the positioning frame 320 and the rod body 310. When the adjusting device 330 is in the first state, the positioning frame 320 can rotate around the rod body 310. The positioning frame 320 is rotated to adjust its angle so that it is located within the visual range of the navigator. When the adjusting device 330 is in the second state, the positioning frame 320 is circumferentially fixed relative to the rod body 310, that is, the positioning frame 320 cannot rotate around the rod body 310. In other words, the adjusting device 330 allows the positioning frame 320 to have both a rotatable state and a non-rotatable state relative to the rod body 310.

[0037] In the embodiment of the present application, when the adjustment device 330 is in the first state, the positioning frame 320 can rotate around the rod 310 to adjust the position of the tracing element on the positioning frame 320. When the adjustment device 330 is in the second state, the positioning frame 320 cannot rotate around the rod 310. The embodiment of the present application helps to ensure that the acetabular prosthesis installation actuator 300 is always within the visual range of the navigator in the surgical robot system.

[0038] In some implementations, the adjusting device 330 may include an adjusting member, a first limiting portion disposed on the rod body 310 , and a second limiting portion disposed on the positioning bracket 320 .

[0039] In some implementations, the rod body 310 is provided with a coupling shaft 311, and the positioning frame 320 is provided with a mounting portion for sleeved with the coupling shaft 311, and the mounting portion is a circular through hole. The rod body 310 is provided with a first end face 312 adjacent to the coupling shaft 311 or the fixed sleeve, wherein the fixed sleeve is rigidly sleeved on the outer peripheral surface of the coupling shaft 311 and is located on the side of the coupling shaft 311 away from the first end. The first end face 312 may be provided with a plurality of recessed portions, and the first end face 312 corresponds to the first limiting portion, or in other words, the plurality of recessed portions of the first end face 312 constitute the first limiting portion. In other words, the first end face 312 and the plurality of recessed portions constitute the first limiting portion. The positioning frame 320 is provided with a second end face 322 on the side of the through hole away from the first end, and the second end face 322 may be provided with at least one protrusion, and the protrusion matches the recessed portion. The second end face 322 corresponds to the second limiting portion, or in other words, at least one protrusion of the second end face 322 constitutes the second limiting portion. In other words, the second end face 322 and at least one protrusion constitute a second limiting portion. When the adjusting device 330 is in the second state, the at least one protrusion is pressed into and contacts the recess, and the first end face 312 contacts the second end face 322, and the positioning frame 320 cannot rotate around the rod body 310. When the adjusting device 330 is in the first state, the first end face 312 is separated from the second end face 322, the protrusion is separated and staggered from the recess, and the positioning frame 320 can rotate around the rod body 310. Since the matching height of the protrusion and the recess is generally smaller than the matching height of the through hole and the coupling shaft, the use of a matching structure of the protrusion and the recess helps to reduce the adjustment distance of the adjusting device 330 and achieve rapid separation and / or combination of the two.

[0040] It is understandable that the case where the rod body 310 is directly provided with the first end surface 312 can be a special form of integrating the shaft 311 and the fixing sleeve. As an independent part, the fixing sleeve is simple and convenient to process the first end surface 312 with multiple recessed parts (such as teeth), and can be rigidly connected to the rod body 310 after processing.

[0041] In some implementations, the contours of the recessed portion and the raised portion may be any one of the following: an involute tooth profile, an arc tooth profile, a trapezoid, a triangle, or a rectangle.

[0042] In some implementations, the first end surface 312 can be set as a tooth surface, and the second end surface 322 can be set as a tooth surface, and through meshing, a tooth-shaped meshing mechanism can be formed. The tooth-shaped meshing mechanism helps to evenly bear force, accurately adjust the rotation angle of the positioning frame 320 relative to the rod body 310, improve the stability of the connection, and improve the positioning accuracy of the positioning frame 320.

[0043] Similarly, in some implementations, the first end surface 312 may be provided with at least one recessed portion. The second end surface 322 may be provided with at least a plurality of protrusions, and the protrusions match the recessed portions. When the adjustment device 330 is in the second state, some of the plurality of protrusions are pressed into and contact the recessed portions, and the first end surface 312 contacts the second end surface 322, and the positioning frame 320 cannot rotate around the rod body 310. When the adjustment device 330 is in the first state, the first end surface 312 is separated from the second end surface 322, the protrusions are separated from the recessed portions, and the positioning frame 320 can rotate around the rod body 310.

[0044] In some implementations, the acetabular prosthesis mounting actuator 300 may further include a retaining ring 350. The retaining ring 350 is fixed to the outer periphery of the rod body 310, and the retaining ring 350 is located between the joint of the rod body 310 and the positioning frame 320 and the first end. For example, the retaining ring 350 is located between the first end and the coupling shaft 311. In some embodiments, the retaining ring 350 can be radially fixed to the outer periphery of the rod body 310 by a set screw. In other embodiments, the retaining ring 350 can be an elastic retaining ring for the shaft. In some embodiments, the retaining ring 350 can be a shoulder provided on the rod body 110. The adjusting device 330 may include an elastic member. That is, the adjusting member is an elastic member. The elastic member is sleeved on the outer periphery of the rod body 310, one end of the elastic member is connected to one side of the through hole of the positioning frame 320, and the other end of the elastic member is connected to the retaining ring 350. The elastic member can always be in a compressed state, and the pressure of the elastic member in the first state is greater than the pressure in the second state.

[0045] In some implementations, the elastic member may be a spring.

[0046] In some implementations, the adjustment device 330 may include an adjustment screw. For example, the adjustment screw may be a bidirectional screw, and the adjustment screw is respectively connected to a first threaded hole provided on the positioning frame 320 and a second threaded hole provided on the rod body 310, such as a second threaded hole provided on the retaining ring 350, wherein the second threaded hole and the second threaded hole are left-handed threads respectively. For another example, the nut of the adjustment screw may be connected to a limiting portion provided on the rod body 310, and the limiting portion may limit the nut of the adjustment screw from producing axial displacement, and the adjustment screw is connected to a threaded hole provided on the positioning frame 320. By rotating the adjustment screw, the first end face 312 and the second end face 322 may be separated or approached, and the protrusion and the recess may be separated or combined.

[0047] In some implementations, the rod body 310 may be provided with a hammer cap 315 and a grip 314. The hammer cap 315 is located at the opposite end of the first end, that is, the hammer cap 315 is located at the top of the rod body 310. The grip 314 or handle is adjacent to the hammer cap 315. In some embodiments, the grip 314 is located between the hammer cap 315 and the coupling shaft 311, so that the user can hold and operate.

[0048] The following is a further description of the use process of the acetabular prosthesis installation actuator 300.

[0049] During the operation, the acetabular prosthesis installation actuator 300 is connected to the acetabular prosthesis 340. The operator uses a bone hammer to strike the hammer cap 315, and the hammering force is transmitted to the acetabular prosthesis 340 through the cup holding rod, thereby hammering the acetabular prosthesis to the preset position of the operation. At this time, the adjustment device 330 is in the second state, for example, the first end face 312 is in contact with the second end face 322, and the positioning frame 320 cannot rotate around the rod body 310.

[0050] like Figure 3 As shown, the acetabular prosthesis 340 is provided with a nail hole 341 of the acetabular prosthesis. When the acetabular prosthesis 340 is implanted in place, the acetabular prosthesis 340 is fixed by a fixing nail. The fixing nail passes through the nail hole 341 and is connected to the acetabular prosthesis 340, and then is implanted into the patient's bone to be firmly connected to the bone. In order to facilitate the operation, after the acetabular prosthesis 340 is implanted, the position of the nail hole 341 must be convenient for the installation operation of the fixing nail. Therefore, during the operation, it is often necessary to rotate the acetabular prosthesis installation actuator 300 so that the nail hole 341 is in the desired position.

[0051] By holding the handle 314 and rotating the rod body 310, the position of the nail hole 341 can be adjusted. When performing this operation, the positioning frame 320 will also rotate accordingly, which will deviate from the optimal visual angle of the navigator or even exceed the visual range. Therefore, after adjusting the position of the nail hole 341, the adjustment device 330 is placed in the first state, for example, the first end face 312 is separated from the second end face 322, and the positioning frame 320 can rotate around the rod body 310. That is, the relative angle between the positioning frame 320 and the rod body 310 is adjusted so that it is located within the visual range of the navigator.

[0052] In the embodiment of the present application, when the adjustment device 330 is in the first state, the positioning frame 320 can rotate around the rod body 310 to adjust the position of the tracer element on the positioning frame 320. When the adjustment device 330 is in the second state, the positioning frame 320 cannot rotate around the rod body 310. The embodiment of the present application helps to ensure that the acetabular prosthesis installation actuator 300 is always within the visual range of the navigator in the surgical robot system. The embodiment of the present application uses a stable and reliable shaft-hole mechanical matching method, which is simple and reliable to operate, helps to ensure the installation accuracy of the positioning frame 320, and ensures high surgical accuracy.

[0053] The embodiments of the present application are further described below in combination with some possible implementation methods of the embodiments of the present application.

[0054] Figure 4 yes Figure 3 Schematic diagram of a possible implementation of an actuator for mounting an acetabular prosthesis. Figure 5 for Figure 4 A section view of a view. Figure 4 , Figure 5 As shown, the acetabular prosthesis installation actuator 300 may include: a coupling shaft 311 , a fixing sleeve 313 , a positioning frame 320 and a spring 331 .

[0055] The coupling shaft 311 can be a cylindrical shaft or a stepped cylindrical shaft. The coupling shaft 311 is also called a cup holding rod, and one end of the cup holding rod is a first end. The first end is used to connect the acetabular prosthesis 340 (acetabular cup).

[0056] The positioning frame 320 is provided with a through hole, and the positioning frame 320 is sleeved on the outer peripheral surface of the coupling shaft 311 through the through hole. The positioning frame 320 is used to install the tracing element 321, and the tracing element 321 is used to provide position information.

[0057] The through hole of the positioning frame 320 can be a circular hole, and the through hole and the coupling shaft 311 are clearance-matched, non-rigidly connected, and relatively rotatable. The stable and reliable shaft-hole mechanical matching method can ensure the installation accuracy of the positioning frame 320.

[0058] The fixing sleeve 313 is rigidly sleeved on the outer peripheral surface of the coupling shaft 311 and is located on the side of the coupling shaft 311 away from the first end. The fixing sleeve 313 is provided with a first end face 312, and the first end face 312 can be set as a tooth surface. The positioning frame 320 is provided with a second end face 322 on the side of the through hole adjacent to the fixing sleeve 313, and the second end face 322 can be set as a tooth surface. Through meshing, the first end face 312 and the second end face 322 can form a toothed meshing mechanism, which helps to ensure uniform force, accurately adjust the rotation angle of the positioning frame 320 relative to the rod body 310, improve the stability of the connection, and improve the positioning accuracy of the positioning frame 320.

[0059] In other words, the shoulder end face of the coupling shaft 311 is rigidly connected to the upper end face of the fixing sleeve 313. The first end face (i.e., the lower end face) of the fixing sleeve 313 is provided with a tooth shape (such as an arc tooth shape) along the circumferential direction, and this tooth shape is meshed with the tooth shape provided on the positioning frame 320 to form a tooth meshing mechanism.

[0060] The acetabular prosthesis installation actuator 300 may further include a retaining ring 350. The retaining ring 350 is fixed to the outer periphery of the rod body 310, and the retaining ring 350 is located between the first end and the coupling shaft 311. For example, the retaining ring 350 may be fixed to the outer periphery of the rod body 310 in the radial direction by a set screw.

[0061] The adjustment device 330 may include a spring 331. The spring 331 is sleeved on the outer periphery of the rod body 310, one end of the spring 331 is connected to the lower side of the through hole of the positioning frame 320, and the other end of the spring 331 is connected to the retaining ring 350 (or the shoulder of the rod body 310). In any working condition, the spring 331 can always be in a compressed state, and the pressure of the elastic member in the first state is greater than the pressure in the second state.

[0062] When the adjusting device 330 is in the first state, that is, the spring 331 is in the first state, after the meshing tooth surface of the toothed meshing mechanism is separated, the positioning frame 320 can rotate around the rod body 310 and finally reach the desired position. The positioning frame 320 is rotated to adjust its angle so that it is located within the visual range of the navigator. When the adjusting device 330 is in the second state, that is, the spring 331 is in the second state, the spring 331 provides upward pressure to the positioning frame 320, so that the second end surface on it is tightly matched with the tooth surface of the fixing sleeve 313, the toothed meshing structure is in a meshing state, and the positioning frame 320 cannot rotate around the rod body 310.

[0063] It can be seen that the rotation mechanism of the positioning frame 320 can complete stable engagement, separation and rotation under the action of the spring 331. This process is simple to operate, stable and reliable.

[0064] In the embodiment of the present application, when the adjustment device 330 is in the first state, the positioning frame 320 can rotate around the rod body 310 to adjust the position of the tracer element on the positioning frame 320. When the adjustment device 330 is in the second state, the positioning frame 320 cannot rotate around the rod body 310. The embodiment of the present application helps to ensure that the acetabular prosthesis installation actuator 300 is always within the visual range of the navigator in the surgical robot system. The embodiment of the present application uses a stable and reliable shaft-hole mechanical matching method, which is simple and reliable to operate, helps to ensure the installation accuracy of the positioning frame 320, and ensures high surgical accuracy.

[0065] An embodiment of the present application provides a surgical robot, which may include an acetabular prosthesis installation actuator, a robot arm, and a control system as described above.

[0066] The robotic arm is used to carry the actuator for installing the acetabular prosthesis.

[0067] The control system is used to control the robot arm and / or the acetabular prosthesis installation actuator to execute a predetermined surgical plan.

[0068] The robotic arm is equivalent to the surgeon's arm, which can hold surgical tools and position them with high precision. The control system is equivalent to the surgeon's brain, storing the surgical plan internally.

[0069] The surgical robot may also include a navigation system. The navigation system is equivalent to the surgeon's eyes. In conjunction with the tracer connected to the surgical tool and the patient's tissue, it can measure the position of the surgical tool and the patient's tissue in real time. The navigation system can be based on optical or electromagnetic signals. The control system calculates the route and / or the position to be reached of the robot arm through the information obtained by the navigation system, and can actively control the movement of the robot arm, or manually push the robot arm to move along the route, surface or body defined by the virtual boundary after setting the virtual boundary of the robot arm through the force feedback mode.

[0070] In the description of the embodiments of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the embodiments of the present application, the meaning of "plurality" is at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0071] It should be noted that, in the embodiments of the present application, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements that are not clearly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements.

[0072] In the description of the embodiments of the present application, it needs to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0073] In the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0074] It should be understood that when describing the structure of a component, when a layer or a region is referred to as being "on" or "over" another layer or another region, it may mean that it is directly on the other layer or another region, or that other layers or regions are included between it and the other layer or another region. Moreover, if the component is turned over, the layer or a region will be "below" or "beneath" another layer or another region.

[0075] It should be understood that the term "and / or" used in the embodiments of the present application is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the embodiments of the present application generally indicates that the associated objects before and after are in an "or" relationship.

[0076] In the description of the embodiments of the present application, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the description of the embodiments of the present application, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradicting each other.

[0077] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An acetabular prosthesis installation actuator, characterized in that: include: A rod body, wherein a first end of the rod body is used for connecting to an acetabular prosthesis; A positioning frame, sleeved on the outer peripheral surface of the rod body, the positioning frame is used to install a tracing element, and the tracing element is used to provide position information; The adjusting device is used to adjust the connection state between the positioning frame and the rod body. When the adjusting device is in a first state, the positioning frame can rotate around the rod body. When the adjusting device is in a second state, the positioning frame is circumferentially fixed relative to the rod body.

2. The acetabular prosthesis installation actuator according to claim 1, characterized in that: The positioning frame is provided with a mounting portion for sleeve-connecting with the rod body, the mounting portion is a through hole, and the through hole and the rod body are clearance-matched.

3. The acetabular prosthesis installation actuator according to claim 1, characterized in that: The adjusting device comprises an adjusting member, a first limiting portion arranged on the rod body, and a second limiting portion arranged on the positioning frame.

4. The acetabular prosthesis installation actuator according to claim 3, characterized in that: The rod body is provided with a coupling shaft, and the positioning frame is provided with a mounting portion for being sleeved with the coupling shaft, the mounting portion is a through hole, and the rod body is provided with a first end face adjacent to the coupling shaft or the fixing sleeve, the fixing sleeve is rigidly sleeved on the outer circumferential surface of the coupling shaft and is located on the side of the coupling shaft away from the first end, the first end face is provided with a plurality of recessed portions, the first end face corresponds to the first limiting portion, the positioning frame is provided with a second end face on one side of the through hole, the second end face is provided with at least one protrusion, the protrusion matches the recessed portion, the second end face corresponds to the second limiting portion, and when the adjusting device is in the second state, the at least one protrusion is pressed into and contacts the recessed portion, and the first end face contacts the second end face.

5. The acetabular prosthesis installation actuator according to claim 4, characterized in that: The contour patterns of the concave portion and the convex portion are any one of the following patterns: Involute tooth profile, circular arc tooth profile, trapezoid, triangle, rectangle.

6. The acetabular prosthesis installation actuator according to claim 3, characterized in that: Also includes: A retaining ring, fixed on the outer periphery of the rod body, and the retaining ring is located between the connecting portion of the rod body and the positioning frame and the first end; The adjusting member is an elastic member, which is sleeved on the outer periphery of the rod body, one end of the elastic member is connected to the positioning frame, and the other end of the elastic member is connected to the retaining ring.

7. The acetabular prosthesis installation actuator according to claim 6, characterized in that: The elastic member is a spring.

8. The acetabular prosthesis installation actuator according to claim 1, characterized in that: The rod body is provided with a hammer cap and a handle, the hammer cap is located at the opposite end of the first end, and the handle is adjacent to the hammer cap.

9. The acetabular prosthesis installation actuator according to claim 2, characterized in that: The through hole is a regular polygonal hole, the axial projection figure of the part of the rod body combined with the through hole is a regular polygon, and the through hole and the rod body are clearance-fitted.

10. A surgical robot, characterized in that: include: An acetabular prosthesis installation actuator according to any one of claims 1 to 9; A robot arm, used for carrying the acetabular prosthesis installation actuator; A control system is used to control the robot arm and / or the acetabular prosthesis installation actuator to execute a predetermined surgical plan.

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