End effector for hip joint surgery

Abstract

The utility model relates to an end effector for hip joint surgery, and relates to the field of hip joint surgery medical instruments, the end effector comprises a placing rod and a connector, the connector comprises a cylinder, a connecting rod and a mounting seat, one end of the connecting rod is fixed on the cylinder, the other end of the connecting rod is fixed on the mounting seat, the cylinder comprises an outer cylinder, an inner cylinder and a sliding cylinder, and the connecting rod is fixedly connected with the outer cylinder; the inner cylinder is fixed in the outer cylinder, the sliding cylinder is arranged outside the inner cylinder in a sleeving mode, a plurality of through holes are formed in the inner cylinder, a ball is arranged in each through hole, the balls are used for stretching out of the through holes, connecting grooves are formed in the placing rods, and the balls are used for being clamped in the connecting grooves. The connecting device has the effect that the placing rod and the connector can be conveniently and rapidly connected.

Description

Technical Field

[0001] The present application relates to the field of medical instruments for hip joint surgery, and in particular to an end effector for hip joint surgery. Background Art

[0002] When treating hip joint lesions, artificial hip prosthesis replacement is required as a treatment option when the lesions are severe. During the operation, the acetabulum needs to be placed against the lesion site. By fixing the acetabulum on the bone at the lesion site, the acetabulum replaces the diseased femoral head in the patient's body.

[0003] Existing hip replacement surgery requires the use of an actuator, which includes a placement rod and a connector. One end of the placement rod is detachably connected to the acetabulum, and the other end is detachably connected to the connector. The connector is fixedly connected to a robotic arm. The user can control the acetabulum through the robotic arm to move it to the lesion in the patient's body to complete the surgery.

[0004] The above-mentioned related technical solutions have the following defects: the existing connection structure between the placement rod and the connector is fixed by fasteners such as bolts, and the installation and disassembly of the placement rod and the connector are relatively cumbersome, which increases the time consumption of the operation. Utility Model Content

[0005] In order to enable the placement rod and the connector to be connected conveniently and quickly, the present application provides an end effector for hip joint surgery.

[0006] The present application provides an end effector for hip joint surgery that adopts the following technical solution:

[0007] A terminal effector for hip joint surgery comprises a placement rod and a connector, wherein the connector comprises a cylinder, a connecting rod and a mounting seat, wherein one end of the connecting rod is fixed to the cylinder, and the other end is fixed to the mounting seat, wherein the cylinder comprises an outer cylinder, an inner cylinder and a sliding cylinder, wherein the connecting rod is fixedly connected to the outer cylinder, the inner cylinder is fixed in the outer cylinder, the sliding cylinder is sleeved outside the inner cylinder, a plurality of through holes are formed on the inner cylinder, a ball is provided in each through hole, the ball is used to extend out from the through hole, a connecting groove is formed on the placement rod, and the ball is used to be snapped into the connecting groove.

[0008] By adopting the above technical solution, by arranging a ball in the inner cylinder, the ball can slide radially along the cylinder body in the cylinder body. In a natural state, the slide cylinder abuts against the ball, so that the ball extends out from the through hole of the inner cylinder. At this time, the ball can be engaged with the connecting groove of the placement rod, thereby making it difficult to pull the placement rod out of the cylinder body. When the user pulls the slide cylinder, the slide cylinder and the ball are out of the abutment state. At this time, the ball can be retracted into the through hole of the inner cylinder, thereby making it possible to pull the placement rod out of the cylinder body, making it convenient for the user to install the placement rod in the cylinder body, thereby improving the surgical efficiency.

[0009] Optionally, a convex circle is connected to the end of the slide cylinder, the diameter of the convex circle is larger than the diameter of the outer cylinder, and the convex circle is used to abut against the end surface of the outer cylinder.

[0010] By adopting the above technical solution, a convex circle is arranged at the end of the slide cylinder so that the edge of the convex circle protrudes from the cylinder body, thereby making it convenient for users to push the convex circle and drive the slide cylinder to slide.

[0011] Optionally, an inclined surface is provided on the inner wall of the slide cylinder, and the inner diameter of the slide cylinder on the side close to the convex circle is smaller, while the inner diameter of the slide cylinder on the side away from the convex circle is larger.

[0012] By adopting the above technical solution, by opening an inclined surface on the inner wall of the slide cylinder, different positions on the inner wall of the slide cylinder contact the ball when the slide cylinder slides. When the position with a larger inner diameter of the slide cylinder is at the same position as the ball, the ball can be received between the slide cylinder and the inner cylinder. At this time, the user pulls out the placing rod, and the placing rod can push the ball so that the ball is completely received in the through hole of the inner cylinder. The ball is located in the slide cylinder and is always engaged with the through hole of the inner cylinder, thereby reducing the probability of the ball escaping from the through hole of the inner cylinder.

[0013] Optionally, a return spring is sleeved on the inner cylinder, and the return spring is located in the slide cylinder. One end of the return spring abuts against the inner cylinder, and the other end abuts against the slide cylinder. The return spring makes the convex circle abut against the end of the outer cylinder in a natural state.

[0014] By adopting the above technical solution, a return spring is arranged on the inner cylinder so that the return spring can abut between the inner cylinder and the sliding cylinder, so that the sliding cylinder is always located in the outer cylinder in a natural state. At this time, the convex circle is stuck on the end face of the outer cylinder. When the user pulls the sliding cylinder out of the outer cylinder, the sliding cylinder and the inner cylinder jointly squeeze the return spring, and the placement rod can be pulled out of the cylinder body. The user releases the sliding cylinder, and the sliding cylinder can automatically slide driven by the return spring. During the artificial hip joint surgery, the return spring always supports the sliding cylinder, which can reduce the chance of the sliding cylinder sliding, so that the placement rod can always be stably connected to the cylinder body.

[0015] Optionally, a limiting rod is fixed on the inner wall of the slide cylinder, a limiting groove is provided on the inner cylinder, the length direction of the limiting groove is parallel to the length direction of the inner cylinder, and the limiting rod is clamped in the limiting groove.

[0016] By adopting the above technical solution, a limit rod is arranged in the slide cylinder, so that the limit rod is stuck in the limit groove. When the user pulls the slide cylinder, the slide cylinder slides relative to the inner cylinder, and the limit rod is stuck in the limit groove, making it difficult for the slide cylinder to rotate on the inner cylinder, thereby reducing the probability of the slide cylinder rotating and wearing relative to the ball, inner cylinder and outer cylinder.

[0017] Optionally, the inner wall of the outer cylinder is provided with an anti-wear sleeve, and the anti-wear sleeve is used to contact the outer wall of the placement rod.

[0018] By adopting the above technical solution, by arranging an anti-wear sleeve on the outer cylinder, when the placing rod is inserted into the cylinder body, the end of the placing rod contacts the inner wall of the outer cylinder. When the placing rod is inserted and pulled out of the cylinder body many times, the placing rod and the end of the outer cylinder are easily worn, causing the inner diameter of the outer cylinder to change, and then the placing rod has a chance to shake in the cylinder body, affecting the accuracy of installing the acetabulum. By arranging an anti-wear sleeve in the outer cylinder, the anti-wear sleeve is arranged on the inner wall of the outer cylinder, and then the anti-wear sleeve contacts the placing rod. When the anti-wear sleeve is worn, the user can set a new anti-wear sleeve in the outer cylinder to keep the cylinder body at a better dimensional accuracy.

[0019] Optionally, the end of the placing rod is threadedly connected with a fixing screw sleeve, and the fixing screw sleeve is used to abut against the end surface of the cylinder.

[0020] By adopting the above technical solution, a fixing screw sleeve is provided at the end of the placement rod, so that the fixing screw sleeve plays the role of fixing the placement rod. When the placement rod is inserted into the barrel, the user can connect the mortar cup at one end of the placement rod and install the fixing screw sleeve at the other end of the placement rod. At this time, even if the ball is retracted between the inner cylinder and the sliding cylinder, since the fixing screw sleeve is stuck at the end of the barrel, it is difficult for the installation rod to be disconnected from the barrel, thereby improving the safety of the operation.

[0021] Optionally, a plurality of connecting bolts are provided on the mounting seat, the connecting bolts penetrate the mounting seat, and a preload spring is sleeved on the connecting bolts.

[0022] By adopting the above technical solution, a connecting bolt is arranged on the mounting seat, so that the connecting bolt passes through the mounting seat and can be threadedly connected to the mechanical arm, and a pre-tensioning spring is sleeved on the connecting bolt. When the connecting bolt is fixed on the mechanical arm, the pre-tensioning spring contracts, and the two ends of the pre-tensioning spring respectively abut against the mounting seat and the connecting bolt, thereby reducing the probability of the connecting bolt and the mechanical arm loosening and disconnecting.

[0023] In summary, the beneficial technical effects of this application are:

[0024] 1. By arranging a ball in the inner cylinder, the ball can slide radially along the cylinder in the cylinder. In a natural state, the slide cylinder abuts against the ball, so that the ball extends out from the through hole of the inner cylinder. At this time, the ball can be engaged with the connecting groove of the placement rod, making it difficult to pull the placement rod out of the cylinder. When the user pulls the slide cylinder, the slide cylinder and the ball are out of the abutment state. At this time, the ball can be retracted into the through hole of the inner cylinder, so that the placement rod can be pulled out of the cylinder, which is convenient for the user to install the placement rod in the cylinder, thereby improving the efficiency of surgery;

[0025] 2. By opening an inclined surface on the inner wall of the slide tube, different positions on the inner wall of the slide tube contact the ball when the slide tube slides. When the position with a larger inner diameter of the slide tube is at the same position as the ball, the ball can be stored between the slide tube and the inner tube. At this time, the user pulls out the placement rod, and the placement rod can push the ball so that the ball is completely stored in the through hole of the inner tube. The ball is located in the slide tube and is always engaged with the through hole of the inner tube, thereby reducing the probability of the ball coming out of the through hole of the inner tube;

[0026] 3. By arranging a return spring on the inner cylinder, the return spring can abut between the inner cylinder and the sliding cylinder, so that the sliding cylinder is always located in the outer cylinder in a natural state. At this time, the convex circle is stuck on the end face of the outer cylinder. When the user pulls the sliding cylinder out of the outer cylinder, the sliding cylinder and the inner cylinder jointly squeeze the return spring, and the placement rod can be pulled out of the cylinder body. The user releases the sliding cylinder, and the sliding cylinder can automatically slide driven by the return spring. During the artificial hip joint surgery, the return spring always supports the sliding cylinder, which can reduce the chance of the sliding cylinder sliding, so that the placement rod can always be stably connected to the cylinder body. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the overall structure of the embodiment of the present application. Figure 1 .

[0028] Figure 2 This is a schematic diagram of the overall structure of the embodiment of the present application. Figure 2 .

[0029] Figure 3 It is a schematic diagram of the structure of the placement rod of the embodiment of the present application.

[0030] Figure 4 It is a cross-sectional view of the cylinder of an embodiment of the present application.

[0031] Figure 5 It is a schematic structural diagram of the inner cylinder of an embodiment of the present application.

[0032] Figure 6 It is a cross-sectional view of the slide barrel according to an embodiment of the present application.

[0033] Figure numerals: 1. placing rod; 11. connecting groove; 12. fixing screw sleeve; 2. cylinder; 21. outer cylinder; 211. limiting pin; 212. anti-wear sleeve; 22. inner cylinder; 221. ball; 222. return spring; 223. limiting groove; 23. sliding cylinder; 231. convex circle; 232. inclined surface; 233. limiting rod; 3. connecting rod; 31. weight reduction groove; 4. mounting seat; 41. cavity; 42. connecting bolt; 43. preload spring. DETAILED DESCRIPTION

[0034] The present application is further described in detail below in conjunction with the accompanying drawings.

[0035] The present application embodiment discloses an end effector for hip joint surgery, referring to Figure 1 , Figure 2 and Figure 3 , including a placement rod 1 and a connector, the connector including a cylinder 2, a connecting rod 3 and a mounting seat 4, one end of the connecting rod 3 is fixedly connected to the cylinder 2, and the other end is fixedly connected to the mounting seat 4, the cylinder 2 is detachably connected to the placement rod 1, and the mounting seat 4 is detachably connected to the mechanical arm. The user installs the placement rod 1 on the mechanical arm through the connector, so that the mechanical arm can drive the placement rod 1 to move, and then the acetabulum set at the end of the placement rod 1 can abut against the patient's lesion, so that the acetabulum replaces the patient's lesioned femoral head, and completes the hip joint surgery.

[0036] Reference Figure 3 One end of the placement rod 1 is detachably connected to the mortar cup, and the other end is provided with a fixing screw sleeve 12. The outer surface of the end of the placement rod 1 is provided with a thread, and the fixing screw sleeve 12 is sleeved on the end of the placement rod 1 and is threadedly connected with the placement rod 1. After the user inserts the placement rod 1 into the cylinder 2, by installing the fixing screw sleeve 12 on the end of the placement rod 1, the fixing screw sleeve 12 can be stuck on the end of the cylinder 2, thereby improving the structural stability of the connection between the placement rod 1 and the cylinder 2.

[0037] Reference Figure 4 , Figure 5 and Figure 6 The cylinder 2 includes an outer cylinder 21, an inner cylinder 22 and a slide cylinder 23, and the outer cylinder 21, the inner cylinder 22 and the slide cylinder 23 are all cylindrical structures. The outer cylinder 21 is fixedly connected to the connecting rod 3. The inner cylinder 22 is coaxially fixed in the outer cylinder 21, and the slide cylinder 23 is sleeved outside the inner cylinder 22 and located in the outer cylinder 21. The slide cylinder 23 is located on one side of the cylinder 2, and the length of the slide cylinder 23 is smaller than that of the outer cylinder 21. The placement rod 1 is a round rod structure, and a connection groove 11 is provided on the placement rod 1. The connection groove 11 is coaxially arranged with the placement rod 1. The diameter of the placement rod 1 at the connection groove 11 is smaller. A plurality of balls 221 are provided on the inner cylinder 22. A plurality of through holes are provided on the inner cylinder 22. The plurality of through holes are provided at equal intervals along the circumference of the inner cylinder 22. Each ball 221 is clamped in a through hole. The slide cylinder 23 is used to abut against the ball 221, so that the ball 221 extends out from the through hole of the inner cylinder 22. When the placement rod 1 is inserted into the inner cylinder 22, the ball 221 can be clamped in the connection groove 11, so that the placement rod 1 is fixedly connected to the cylinder body 2. The user slides the slide cylinder 23 to push the ball 221 into the space between the inner cylinder 22 and the outer cylinder 21, and the placement rod 1 can be removed from the inner cylinder 22.

[0038] Reference Figure 4 , Figure 5 and Figure 6The outer cylinder 21 is provided with a limit pin 211, which penetrates the outer cylinder 21 and the inner cylinder 22, so that the outer cylinder 21 and the inner cylinder 22 can be fixedly connected. The end of the outer cylinder 21 away from the slide cylinder 23 is sleeved with an anti-wear sleeve 212, which is made of a rubber material with good wear resistance. The anti-wear sleeve 212 is a cylindrical structure and is arranged on the inner wall of the outer cylinder 21. When the user inserts the placement rod 1 into the cylinder body 2, the placement rod 1 rubs against the end of the outer cylinder 21. By arranging the anti-wear sleeve 212 in the outer cylinder 21, the inner wall of the outer cylinder 21 can maintain the dimensional accuracy.

[0039] Reference Figure 4 , Figure 5 and Figure 6 , the diameter of the through hole of the inner cylinder 22 is smaller than the diameter of the ball 221. When the ball 221 is set in the through hole of the inner cylinder 22, the ball 221 cannot pass through the through hole on the inner cylinder 22. A return spring 222 is sleeved on the inner cylinder 22. The inner cylinder 22 is provided with an outer convex circle, and the slide cylinder 23 is provided with an inner convex circle. One end of the return spring 222 abuts on the outer convex circle of the inner cylinder 22, and the other end abuts on the inner convex circle of the slide cylinder 23. The return spring 222 plays the role of resetting the slide cylinder 23. When the user installs the placement rod 1 on the cylinder body 2, the user pulls out the slide cylinder 23, and the return spring 222 is squeezed at this time. After the user completes the installation of the placement rod 1, the slide cylinder 23 can automatically slide into the outer cylinder 21 driven by the return spring 222, so that the placement rod 1 and the cylinder body 2 can maintain a tight connection during the installation of the artificial hip joint.

[0040] Reference Figure 4 The end of the slide 23 is provided with a convex circle 231, the diameter of which is larger than the diameter of the slide 23 and the outer cylinder 21, and the convex circle 231 is used to be clamped on the end surface of the outer cylinder 21. The user can push the convex circle 231, thereby making the slide 23 slide on the inner cylinder 22. The inner wall of the slide 23 is provided with an inclined surface 232, and the inclined surface 232 makes the inner diameter of the slide 23 gradually change. The inner diameter of the slide 23 is smaller on the side close to the convex circle 231, and the inner diameter is larger on the side away from the convex circle 231. When the user pulls out the slide 23, the part with a larger inner diameter in the slide 23 moves to a position in contact with the ball 221, and at this time the ball 221 can be received in the space between the slide 23 and the inner cylinder 22, and the placement rod 1 can slide freely in the inner cylinder 22. When the user releases the slide cylinder 23 , the slide cylinder 23 is retracted into the outer cylinder 21 under the action of the return spring 222 . At this time, the portion of the slide cylinder 23 with a smaller inner diameter abuts against the ball 221 , and the ball 221 protrudes from the through hole of the inner cylinder 22 .

[0041] Reference Figure 4 , Figure 5 and Figure 6The slide 23 is provided with a limit rod 233, which is fixed on the inner wall of the slide 23. The inner cylinder 22 is provided with a limit groove 223, which is a waist groove structure. The length direction of the limit groove 223 is parallel to the length direction of the inner cylinder 22, and the limit rod 233 is inserted into the limit groove 223. When the slide 23 slides, the limit rod 233 slides in the limit groove 223. The limit groove 223 plays a limiting role, making it difficult for the slide 23 to rotate on the inner cylinder 22, reducing the wear of the contact surface between the slide 23 and the outer cylinder 21 and the inner cylinder 22.

[0042] Reference Figure 1 and Figure 2 A weight-reducing groove 31 is provided on the connecting rod 3. The weight-reducing groove 31 is a blind groove structure. The weight-reducing groove 31 is used to reduce the volume and weight of the connecting rod 3, thereby reducing the overall weight of the actuator.

[0043] Reference Figure 1 and Figure 2 The mounting seat 4 is a hemispherical structure, and a cavity 41 is provided at the bottom of the mounting seat 4. The robot arm is used to be inserted into the cavity 41 and connected to the mounting seat 4. A plurality of connecting bolts 42 are provided on the mounting seat 4, and the connecting bolts 42 penetrate the mounting seat 4. The user can fix the mounting seat 4 on the robot arm through the connecting bolts 42. A pre-tightening spring 43 is sleeved on the connecting bolt 42. When the connecting bolt 42 is connected to the robot arm, one end of the pre-tightening spring 43 abuts against the surface of the mounting seat 4, and the other end abuts against the column head of the connecting bolt 42. The pre-tightening spring 43 remains in a contracted state, thereby improving the connection stability of the connecting bolt 42.

[0044] The implementation principle of the embodiment of the present application is: by opening a connecting groove 11 on the placing rod 1, a ball 221 is arranged in the cylinder 2, so that the ball 221 can protrude from the inner wall of the inner cylinder 22 through the slide cylinder 23, and then the ball 221 can be stuck in the connecting groove 11 of the placing rod 1, so that the placing rod 1 can be conveniently and quickly connected to the cylinder 2.

[0045] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An end effector for hip joint surgery, characterized in that: The invention comprises a placement rod (1) and a connector, wherein the connector comprises a cylinder (2), a connecting rod (3) and a mounting seat (4), wherein one end of the connecting rod (3) is fixed to the cylinder (2), and the other end is fixed to the mounting seat (4), wherein the cylinder (2) comprises an outer cylinder (21), an inner cylinder (22) and a sliding cylinder (23), wherein the connecting rod (3) is fixedly connected to the outer cylinder (21), wherein the inner cylinder (22) is fixed in the outer cylinder (21), wherein the sliding cylinder (23) is sleeved outside the inner cylinder (22), wherein the inner cylinder (22) is provided with a plurality of through holes, wherein each through hole is provided with a ball (221), wherein the ball (221) is used to extend out of the through hole, and wherein a connecting groove (11) is provided on the placement rod (1), wherein the ball (221) is used to be clamped in the connecting groove (11).

2. The end effector for hip joint surgery according to claim 1, characterized in that: The end of the slide cylinder (23) is connected to a convex circle (231); the diameter of the convex circle (231) is greater than the diameter of the outer cylinder (21); the convex circle (231) is used to abut against the end surface of the outer cylinder (21).

3. The end effector for hip joint surgery according to claim 2, characterized in that: An inclined surface (232) is provided on the inner wall of the slide cylinder (23); the inner diameter of the side of the slide cylinder (23) close to the convex circle (231) is smaller, and the inner diameter of the side of the slide cylinder (23) away from the convex circle (231) is larger.

4. The end effector for hip joint surgery according to claim 3, characterized in that: The inner cylinder (22) is sleeved with a return spring (222), which is located in the slide cylinder (23). One end of the return spring (222) abuts against the inner cylinder (22), and the other end abuts against the slide cylinder (23). The return spring (222) causes the convex circle (231) to abut against the end of the outer cylinder (21) in a natural state.

5. The end effector for hip joint surgery according to claim 4, characterized in that: A limiting rod (233) is fixed on the inner wall of the slide cylinder (23), a limiting groove (223) is provided on the inner cylinder (22), the length direction of the limiting groove (223) is parallel to the length direction of the inner cylinder (22), and the limiting rod (233) is clamped in the limiting groove (223).

6. The end effector for hip joint surgery according to claim 1, characterized in that: The inner wall of the outer cylinder (21) is provided with an anti-wear sleeve (212), and the anti-wear sleeve (212) is used to contact the outer wall of the placement rod (1).

7. The end effector for hip joint surgery according to claim 1, characterized in that: The end of the placement rod (1) is threadedly connected to a fixing screw sleeve (12), and the fixing screw sleeve (12) is used to abut against the end surface of the cylinder (2).

8. The end effector for hip joint surgery according to claim 1, characterized in that: A plurality of connecting bolts (42) are provided on the mounting seat (4), the connecting bolts (42) penetrate the mounting seat (4), and a preload spring (43) is sleeved on the connecting bolts (42).

Images