Guide device for joint surgery and surgical robot

Abstract

The utility model provides a guiding device for joint surgery and a surgical robot. The guiding device for the joint surgery comprises a connecting rod, the connecting rod is provided with a first end and a second end, the second end is the opposite end of the first end, the first end is provided with a connector used for being connected with a first power device or a robot arm, and the second end is provided with a first guiding hole and a first guiding groove; the first guide hole is used for guiding the first execution piece, the first guide groove is used for guiding the saw blade, the first execution piece is a rotary execution piece, and the first execution piece and / or the saw blade are / is execution pieces of a second power device. According to the embodiment of the invention, combined osteotomy of various power devices can be realized, and the operation time is shortened.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and more specifically, to a guide device and a surgical robot for joint surgery. Background Art

[0002] With the advent of the era of population aging, every year a large number of patients suffer from joint diseases due to joint wear, aging and other reasons. Artificial joint replacement surgery can treat the above diseases. Joint replacement surgery mainly includes knee replacement and hip replacement. For example, in knee surgery with the participation of surgical robots, the power device (such as an oscillating saw, a drill bit) is installed on the robot arm. Usually, the power device installed at the end of the robot arm is an oscillating saw, which is used to complete the osteotomy operation that accounts for the main part of the operation. However, when it comes to positions that are difficult for the oscillating saw to reach, it needs to be replaced with a reciprocating saw, or it needs to be replaced with a drill for drilling and abrasive grinding. At present, in joint surgery, there is the problem of inconvenience in replacing the power device and difficulty in achieving combined osteotomy of multiple power devices. Utility Model Content

[0003] The present application provides a guide device and a surgical robot for joint surgery. The following introduces various aspects of the embodiments of the present application.

[0004] In a first aspect, a guide device for joint surgery is provided, comprising: a connecting rod having a first end and a second end, the second end being the opposite end of the first end, the first end being provided with an interface, the interface being used to connect to a first power device or a robot arm, the second end being provided with a first guide hole and a first guide groove, the first guide hole being used for guiding a first actuator, the first guide groove being used for guiding a saw blade, the first actuator being a rotating actuator, the first actuator and / or the saw blade being actuators of a second power device.

[0005] In a possible implementation, a first guide sleeve is installed in the first guide hole, the first guide sleeve is provided with a circular first through hole, the first through hole is used for guiding the first actuator, and the outer contour of the first guide sleeve matches the inner contour of the first guide hole.

[0006] In a possible embodiment, the first guide sleeve is any one of a plurality of guide sleeves, the outer contour patterns of the plurality of guide sleeves match the inner contour patterns of the first guide hole, and at least one of the position, inner diameter, and angle parameters of the through holes of the plurality of guide sleeves is different.

[0007] In a possible implementation, the first guide sleeve is provided with a plurality of through holes, and the first through hole is any through hole among the plurality of through holes. The inner diameters of the plurality of through holes are the same or different, and / or the plurality of through holes are parallel or non-parallel.

[0008] In a possible implementation manner, a groove is provided on the outer side surface of the first guide sleeve, and the guide device further includes: a first fixing member having a plunger matching the groove, and the plunger is pressed into the groove to axially limit the first guide sleeve.

[0009] In a possible implementation manner, the inner contour of the first guide hole is a circular or non-circular shape.

[0010] In a possible implementation, the interface is provided with a second fixing member, and the second fixing member is used to fasten and / or release the connecting member, and the connecting member is a connecting member of the first power device or the robot arm.

[0011] In a possible embodiment, one or more through fixing holes are provided around the first guide hole, and / or one or more through fixing holes are provided around the first guide groove, and the fixing holes are used to connect the guide device to the patient's bone.

[0012] In a possible implementation, the first guide hole is any one of a plurality of guide holes disposed at the second end, and / or the first guide groove is any one of a plurality of guide grooves disposed at the second end.

[0013] In a possible implementation manner, the guide device further includes: a tracer for locating and tracking the first guide hole and / or the first guide groove.

[0014] In a possible implementation, the first power device and the second power device are any one of a plurality of power devices, the first power device is different from the second power device, and the plurality of power devices include at least two of an oscillating saw, a reciprocating saw, a grinding drill, and a forming file.

[0015] In a second aspect, a surgical robot is provided, comprising: a robotic arm; a guiding device as described in the first aspect, wherein an interface of the guiding device is connected to an end of the robotic arm, and / or the robotic arm is connected to a first power device, and the first power device is connected to an interface of the guiding device; and a control system for controlling the movement of the robotic arm.

[0016] In the joint surgery involving the surgical robot, the interface of the first end is connected to the first power device or the robot arm. When the second power device is needed during the osteotomy process, the first guide hole or the first guide groove of the second end can guide the second power device without replacing the power device during the surgery. The embodiment of the present application helps to realize the combined osteotomy of multiple power devices, shorten the operation time, help to perform the operation flexibly and conveniently, and ensure a sterile operating environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of a guide device for joint surgery provided in an embodiment of the present application.

[0018] Figure 2 yes Figure 1 A schematic diagram of a possible connection method of the interface of the first end of the guide device.

[0019] Figure 3 It is a schematic diagram of a possible connection method of the first fixing member.

[0020] Figure 4 yes Figure 1 A schematic diagram of a possible implementation of the second end of the guide device. 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] With the arrival of the aging population, every year a large number of patients suffer from joint diseases due to joint wear and aging. Lower limb joint diseases include knee osteoarthritis, hip osteoarthritis, femoral neck fracture and femoral head necrosis, etc. These diseases seriously affect the patient's normal walking and lower limb activities. Artificial joint replacement surgery can treat the above diseases. For severely diseased joints, joint replacement has the effect of relieving joint pain, maintaining joint mobility, maintaining joint stability or improving lower limb deformities. Joint replacement surgery mainly includes knee replacement and hip replacement.

[0023] For example, in total knee arthroplasty (TKA), the distal femur and proximal tibia that constitute the knee joint need to be processed to form a shape and size suitable for prosthesis implantation. The processing of the femur and tibia mainly involves cutting multiple planes with a saw. The shape of the processed bone basically determines the accuracy of knee joint prosthesis implantation, so the processing accuracy of each plane determines the accuracy of prosthesis implantation.

[0024] In knee surgery, a variety of power devices are generally required for osteotomy. For example, in total knee replacement, an oscillating saw (vector saw) is mainly used to cut the femur and tibia, and a drill is also needed to grind the condyle. For another example, in unicompartmental replacement, an oscillating saw, a reciprocating saw, and a drill are generally required to complete the osteotomy. The drill is mainly used to drill holes to install the shaping file grinding guide or as the installation hole of the unicompartmental prosthesis.

[0025] In knee surgery with the participation of surgical robots, especially in scenarios where the power device (such as an oscillating saw or a drill bit) is installed on the robot arm, the power device installed at the end of the robot arm is usually an oscillating saw, which is used to complete the osteotomy operation that accounts for the main part of the surgery. However, when it comes to positions that are difficult for the oscillating saw to reach, it needs to be replaced with a reciprocating saw, or it needs to be replaced with a drill bit for drilling or a grinder for grinding. The connection between the robot arm and the power device usually uses multiple fasteners, and disassembly and replacement takes a long time. In addition, the newly replaced power device needs to be isolated from the robot arm for bacteria to ensure a sterile surgical environment. Therefore, in knee surgery, there is the problem of inconvenience in replacing the power device, and it is difficult to achieve combined osteotomy with multiple power devices.

[0026] It should be noted that the above-mentioned problem of difficulty in achieving combined osteotomy of multiple power devices in knee joint surgery is only an example. The embodiments of the present application can be applied to any type of scenario in which it is difficult to achieve combined osteotomy of multiple power devices in joint surgery. Of course, it does not exclude the scenario of using the guide device of the present application alone to perform certain surgical operations (such as osteotomy, drilling).

[0027] Therefore, it is necessary to design a technical solution that facilitates the combined application of multiple power devices in joint surgery.

[0028] Based on this, an embodiment of the present application proposes a guiding device for joint surgery. Figure 1 The schematic diagram of the guide device for joint surgery proposed in the embodiment of the application. The guide device 100 is an external osteotomy guide device (guide). For example, in knee joint surgery involving a surgical robot, the guide device 100 can be used to provide guidance for drilling tools, reciprocating saws and other tools, and perform osteotomy with a combination of multiple power devices, which helps to perform surgical operations flexibly and conveniently. Figure 1 The guiding device of the embodiment of the present application is described in detail. Figure 1 As shown, the guiding device 100 may include: a connecting rod 110 .

[0029] The connecting rod 110 has a first end and a second end, and the second end is an opposite end to the first end.

[0030] The first end is provided with an interface 120, and the interface 120 is used for detachably connecting with the first power device or the robot arm.

[0031] The second end is provided with a first guide hole 130 and a first guide groove 140, wherein the first guide hole 130 is used for guiding the first actuator, and the first guide groove 140 is used for guiding the saw blade. The first actuator is a rotating actuator, and the first actuator and / or the saw blade are actuators of the second power device. The rotating actuator may be, for example, a drill bit or a grinding wheel. Since it is used for guiding, it can be understood that the first guide hole 130 is a through hole, and the first guide groove 140 is a through groove that passes through the second end. The first guide groove 140 may be an open groove or a closed-loop groove. If it is a closed-loop groove, the length of the outline of the first guide groove 140 should be greater than the width of the saw blade, so that the saw blade can pass through the first guide groove 140 easily. The length of the connecting rod 110 may be set according to a plurality of applicable power devices, and the embodiment of the present application does not specifically limit this.

[0032] In some implementations, the first power device and the second power device are any of a plurality of power devices, and the first power device is different from the second power device. The plurality of power devices may include at least two of an oscillating saw, a reciprocating saw, a grinder, a drill, and a forming file. For example, the first power device is an oscillating saw, and the second power device is a reciprocating saw; for another example, the first power device is an oscillating saw, and the second power device is a drill (drill bit).

[0033] In the joint surgery involving the surgical robot, the interface of the first end is connected to the first power device or the robot arm. When the second power device is needed during the osteotomy process, the first guide hole or the first guide groove of the second end can guide the second power device without replacing the power device during the surgery. The embodiment of the present application helps to realize the combined osteotomy of multiple power devices, shorten the operation time, help to perform the operation flexibly and conveniently, and ensure a sterile operating environment.

[0034] For example, in a knee joint surgery involving a surgical robot, the interface 120 at the first end is connected to an oscillating saw. When a drill is needed to drill during the osteotomy process, the first guide hole 130 at the second end can guide the drill held by the operator.

[0035] There are many types of rotating actuators, and their sizes are also different. The first guide hole 130 with a fixed size can only meet the requirements of a part of rotating actuators.

[0036] In some implementations, the guide device 100 may further include a first guide sleeve 160. The first guide sleeve 160 is installed in the first guide hole 130. The first guide sleeve 160 is provided with a circular first through hole, and the first through hole is used for guiding the first actuator, such as the first through hole for guiding the drill bit. The outer contour of the first guide sleeve 160 matches the inner contour of the first guide hole 130.

[0037] In some implementations, the first guide sleeve 160 can be any guide sleeve among a plurality of guide sleeves, and the outer contour graphics of the plurality of guide sleeves match the inner contour graphics of the first guide hole 130, that is, any guide sleeve can be installed in the first guide hole 130. The outer contour graphics of the guide sleeve is the cross-sectional contour graphics along the height direction of the guide sleeve. The first guide sleeve 160 and the first guide hole 130 are combined to form a rotating actuator for guiding. At least one of the position, inner diameter, and angle parameters of the through holes of the plurality of guide sleeves is different. By replacing the guide sleeves, the guiding requirements of the matching rotating actuators can be met. In addition, if the inner wall of the first through hole is worn, it is also convenient to replace.

[0038] In some application scenarios, multiple holes need to be drilled or multiple mounting posts need to be installed. For example, a unicompartmental prosthesis with two mounting posts has different diameters. If the positioning is performed twice, the deviation will undoubtedly be magnified, and the drill bit is prone to deviation when drilling.

[0039] In some implementations, a plurality of through holes may be provided in the first guide sleeve 160, and the first through hole is any through hole among the plurality of through holes. The inner diameters of the plurality of through holes may be the same or different, and / or the plurality of through holes may be parallel or non-parallel, which helps to meet the guidance requirements of multi-hole scenarios. The plurality of through holes may be provided to meet the scenarios requiring multiple mounting posts. For example, for a single condylar prosthesis with two mounting posts, it is more convenient to guide the two holes at the same time, and the requirements can be met with only one positioning, and the spacing positioning of the two holes is also more accurate.

[0040] The outer contour of the first guide sleeve 160 with a single through hole is usually circular, and the inner contour of the first guide hole 130 can be circular. If the outer contour of the first guide sleeve 160 with multiple through holes is circular, it will take up more space. In some application scenarios, the spacing requirements of multiple holes are unevenly distributed.

[0041] In some implementations, the inner contour of the first guide hole 130 may be circular or non-circular. For example, the inner contour of the first guide hole may be elliptical, and the outer contour of the first guide sleeve 160 matching the first guide hole 130 is also elliptical. This helps the first guide sleeve 160 to set multiple through holes in a smaller space.

[0042] When the first through hole guides the rotating actuator, the rotating actuator contacts the first guide sleeve 160. If the first guide sleeve 160 is not firmly fixed, it will cause the first guide sleeve 160 to move, thereby affecting the guidance and positioning accuracy.

[0043] In some implementations, a rib may be provided at one end of the first guide sleeve 160, or the first guide sleeve 160 is a rib sleeve structure. In some implementations, a groove is provided on the outer side of the first guide sleeve 160, and the groove may be a groove that is fully through the outer circumference, or a groove that is partially provided along the outer circumference. The guide device 100 may also include a first fixing member, which may also be called a first fixing unit. The first fixing member is mounted on the side wall of the first guide hole 130. The first fixing member has a plunger that matches the groove, and the plunger is pressed into the groove to axially limit the first guide sleeve 160 to prevent it from falling off or moving.

[0044] The groove may be, for example, an arc-shaped groove, and the plunger may be an arc-shaped plunger. The arc-shaped plunger may be, for example, a spherical plunger or a sphere. The first fixing member may have a variety of fixing types. The first fixing member may be rigidly fixed, for example, fastened with a screw, the screw being mounted on the side wall of the first guide hole 130, and the head of the screw having an arc-shaped plunger. For another example, the first fixing member may be elastically fixed, the head of the screw being provided with an inner hole for mounting an elastic member, the arc-shaped plunger being pressed into the arc-shaped groove by the pressure of the elastic member, which helps to avoid excessive pressure causing deformation of the first guide sleeve 160. The elastic member may be, for example, an elastic retaining ring, rubber, a spring, a spring, or a leaf spring.

[0045] The interface 120 at the first end is detachably connected to the first power device or the robot arm. In some implementations, the first side of the interface 120 is provided with at least two protrusions, and the at least two protrusions are used to match and connect with the grooves of the connecting member of the first power device or the robot arm. The protrusion is also called a coupling portion or a matching portion, and the contour of the protrusion can be a rectangle, a trapezoid, a triangle, an arc, etc., which helps to achieve positioning along two dimensions (directions). At least two protrusions help to improve the stability and reliability of the connection.

[0046] In some implementations, the interface 120 may be provided with a second fixing member, which may be referred to as a second fixing unit. The second fixing member is used to lock and / or release the connecting member, which is a connecting member of the first power device or the robot arm. For example, a second fixing member is provided on the second side of the interface 120, and the second side is the opposite side of the first side. The second fixing member may be fastened with a screw, for example. This helps to achieve quick connection and / or disconnection between the interface 120 and the connecting member of the first power device or the robot arm.

[0047] In some implementations, in order to improve the stability of the second fixing member, the second fixing member may be provided with a pad, and the pad is used to contact the connecting member of the first power device or the robot arm to increase the contact area and improve stability. If the connecting member of the first power device or the robot arm can be provided with symmetrical connecting grooves on both sides, at least two protrusions similar to the first side can be provided on the pad to match and connect with the connecting groove of the connecting member, and the pad can be slidably matched with the screw.

[0048] In some implementations, one or more through fixing holes 170 may be provided around the first guide hole 130 at the second end, and / or one or more through fixing holes 170 may be provided around the first guide groove 140, that is, the fixing holes are through holes. The fixing holes 170 are used to connect the guide device 100 to the patient's bone to assist in fixing the guide device. In some embodiments, the inner diameter of the fixing hole 170 may be smaller than the inner diameter of the first guide hole or the first through hole. The inner diameters of multiple fixing holes 170 may be the same or different. For example, screws / Kirschner wires may be used to pass through the fixing holes to connect the guide device 100 to the patient's bone to assist in fixing the guide device, which helps to improve the accuracy of positioning.

[0049] A surgical robot system generally has a tracking device. The tracking device in the surgical robot system can be used to locate and track the first guide hole 130 and / or the first guide groove 140. When the power device needs to be replaced, the position of the first guide hole 130 and / or the first guide groove 140 can be tracked.

[0050] In some implementations, the guide device 100 may include a tracer 150. The tracer 150 is used to locate and track the first guide hole 130 and / or the first guide groove 140. The tracer 150 may be fixed to the first side of the connecting rod and between the first end and the second end. The cross section of the connecting rod may be, for example, rectangular, and the first side may be any side of the multiple sides of the connecting rod.

[0051] The tracer 150 is generally an array composed of a plurality of tracer elements, each of which 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 150 is at least 50 mm, and the difference in the spacing between the center points is at least 5 mm. The tracer 150 can send the position information of the first guide hole 130 or the first guide groove 140 to the locator in the surgical robot system, and the locator is usually fixed in the surgical space. The locator is a device for receiving position information, and through the setting of the three tracer elements, the position information of the first guide hole 130 or the first guide groove 140 can be identified in a variety of postures.

[0052] The guide device 100 can be used in a variety of joint surgeries. For example, in a unicompartmental surgery, the first guide sleeve 160 is installed in the first guide hole 130, and the guide device 100 is connected to the medial / lateral condyle of the femur through the fixing hole 170 and then a hole is drilled. The hole can be used to install a guide pin to assist the shaping file to grind the medial / lateral condyle to prepare the shape for installing a unicompartmental prosthesis, or as a mounting hole for a prosthesis mounting column, or as a nail hole for mounting and positioning a conventional guide osteotomy plate.

[0053] In some implementations, the first guide hole 130 may be any one of the plurality of guide holes provided at the second end, and / or the first guide groove 140 may be any one of the plurality of guide grooves provided at the second end. The plurality of guide holes may have a plurality of directions, and / or the plurality of guide grooves may have a plurality of directions to meet the requirements of different guide positions. In other words, the sizes of the plurality of guide holes may be the same or different, and the directions of the plurality of guide holes may be the same or different. The sizes of the plurality of guide grooves may be the same or different, and the directions of the plurality of guide grooves may be the same or different.

[0054] In the joint surgery involving the surgical robot, the interface of the first end of the present application is connected to the first power device or the robot arm. When the second power device is needed during the operation in the hand (such as the osteotomy process), the first guide hole 130 at the second end or the through hole of the first guide sleeve 160 can guide the actuator of the second power device (such as a drill bit), or the first guide groove 140 can guide the actuator of the second power device (such as a saw blade) without replacing the power device during the operation. The embodiment of the present application helps to realize the combined osteotomy of multiple power devices, shorten the operation time, help to ensure a sterile operating environment, and perform surgical operations flexibly and conveniently.

[0055] The embodiments of the present application are further described below in conjunction with some possible implementation methods of the embodiments of the present application.

[0056] Figure 2 yes Figure 1 A schematic diagram of a possible connection method of the interface at the first end of the guide device. Figure 2 As shown, two protrusions 121 are provided on the first side of the interface 120 at the first end of the connecting rod, and the contour of the protrusion 121 may be an arc or a triangle. The two protrusions 121 are used to match and connect with the grooves of the connecting piece of the first power device 210, which helps to achieve positioning along two dimensions (directions) and helps to improve the stability and reliability of the connection. A second fixing member 122 is provided on the opposite side of the first side of the interface 120, and the second fixing member 122 may be a screw type, by which the connection with the first power device 210 can be tightened and / or released. The use of the interface type helps to achieve quick connection and / or disconnection with the connecting piece of the first power device or the robot arm.

[0057] Figure 3 is a schematic diagram of a possible connection method of the first fixing member. Figure 3As shown, the first guide sleeve 160 with a rib is installed in the first guide hole. A through hole 161 is provided in the first guide sleeve 160, and an arc groove 162 is provided on the outer side of the first guide sleeve 160. The arc groove 162 can be a groove that is fully through along the outer circumference. The first fixing member 300 is installed in the threaded hole of the side wall of the first guide hole 130. The first fixing member 300 may include a screw 310, a spherical plunger 320 and a spring 330.

[0058] The head of the screw 310 is provided with an inner hole for installing a spring 330, one end of the spring 330 is located at the bottom of the inner hole, and the other end is in contact with the spherical plunger 320. The spherical plunger 320 can be a sphere, and the spherical plunger 320 matches the curvature of the arc-shaped groove 162. The spherical plunger 320 is pressed into the arc-shaped groove 162 to axially limit the first guide sleeve 160 to prevent it from falling off or axially moving. The use of elastic fixation helps to avoid excessive pressure causing deformation of the first guide sleeve 160.

[0059] Figure 4 yes Figure 1 A schematic diagram of a possible implementation of the second end of the guide device. Figure 4 As shown, the inner contour of the first guide hole 130 can be an ellipse, and the outer contour of the first guide sleeve 160 matching the first guide hole 130 is also an ellipse. Two through holes 161 can be set in the first guide sleeve 160, and the inner diameters of the two through holes can be the same or different. It is helpful to set multiple through holes in the first guide sleeve 160 in a smaller space. Setting two through holes can adapt to the scene where two mounting posts are required. The following is an example of a unicompartmental prosthesis with two mounting posts.

[0060] The two mounting posts of the unicompartmental prosthesis need to be installed in corresponding mounting holes prepared on the femur. Since the first guide sleeve 160 can guide the two holes at the same time, the two holes are positioned at one time, avoiding secondary positioning. Therefore, it is more convenient for the guide device to guide the two holes, and the distance between the two holes is more accurate.

[0061] An embodiment of the present application provides a surgical robot, which may include a robot arm, a guiding device as described in any of the above, and a control system.

[0062] The interface of the guide device is connected to the end of the robot arm, and / or the robot arm is connected to the first power device, and the first power device is connected to the interface of the guide device.

[0063] The control system is used to control the movement of the robot arm.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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. A guide device for joint surgery, characterized in that: include: A connecting rod having a first end and a second end, wherein the second end is an opposite end to the first end; The first end is provided with an interface, which is used to connect to a first power device or a robot arm, and the second end is provided with a first guide hole and a first guide groove, the first guide hole is used for guiding the first actuator, and the first guide groove is used for guiding the saw blade. The first actuator is a rotating actuator, and the first actuator and / or the saw blade are actuators of the second power device.

2. The guide device according to claim 1, characterized in that: Also includes: The first guide sleeve is installed in the first guide hole. The first guide sleeve is provided with a circular first through hole. The first through hole is used for guiding the first actuator. The outer contour of the first guide sleeve matches the inner contour of the first guide hole.

3. The guide device according to claim 2, characterized in that: The first guide sleeve is any one of a plurality of guide sleeves, the outer contours of the plurality of guide sleeves match the inner contours of the first guide hole, and at least one of the position, inner diameter, and angle parameters of the through holes of the plurality of guide sleeves is different.

4. The guide device according to claim 2, characterized in that: The first guide sleeve is provided with a plurality of through holes, and the first through hole is any through hole among the plurality of through holes.

5. The guide device according to claim 2, characterized in that: The outer side surface of the first guide sleeve is provided with a groove, and the guide device further comprises: A first fixing member is installed on the side wall of the first guide hole. The first fixing member includes a plunger matching the groove. The plunger is pressed into the groove to axially limit the first guide sleeve.

6. The guide device according to claim 1, characterized in that: The interface is provided with a second fixing member, and the second fixing member is used to fasten and / or release a connecting member, and the connecting member is a connecting member of the first power device or the robot arm.

7. The guide device according to claim 1, characterized in that: One or more through fixing holes are provided around the periphery of the first guide hole, and / or one or more through fixing holes are provided around the periphery of the first guide groove, and the fixing holes are used to connect the guide device to the patient's bone.

8. The guide device according to claim 1, characterized in that: Also includes: A tracer is used to locate and track the first guide hole and / or the first guide groove.

9. The guide device according to claim 1, characterized in that: The first guide hole is any one of the plurality of guide holes provided at the second end, and / or, The first guide groove is any one of a plurality of guide grooves provided at the second end.

10. A surgical robot, characterized in that: include: Robotic arm; The guide device according to any one of claims 1 to 9, wherein the interface of the guide device is connected to the end of the robot arm, and / or the robot arm is connected to a first power device, and the first power device is connected to the interface of the guide device; and a control system for controlling the movement of the robot arm.

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