Surgical auxiliary instrument and surgical robot

Abstract

The utility model provides a surgical auxiliary instrument and surgical robot wherein the surgical auxiliary instrument comprises: a guider, which comprises a guider base, a locking piece and a tracer fixing piece, the guider base is provided with a mounting hole, the locking piece is arranged in the mounting hole, and the tracer fixing piece is arranged on the guider base; the functional assembly comprises a rod shaft and a functional structure arranged on the rod shaft, the rod shaft is detachably inserted into the mounting hole, the rod shaft is provided with a locking structure used for being matched with the locking piece in a limiting mode, and the rod shaft is fixed relative to the guider base when the locking piece limits the locking structure. The functional assembly and the guider can be quickly disassembled and assembled, so that the functional assembly can be quickly replaced, the operation time is shortened, and the operation quality is improved; the functional assembly can be compatible with hip joint prostheses of different manufacturers, so that the orthopedic surgical robot has a wider application range; the optical tracer can be fixed through the tracer fixing piece, the position and posture of the auxiliary instrument can be adjusted in time, and accurate positioning is achieved.

Description

Technical Field

[0001] This utility model relates to the technical field of surgical robots, and more specifically, to a surgical aid and a surgical robot. Background Technology

[0002] Orthopedic surgical robots require high positioning accuracy and more efficient and precise surgical aids. In hip replacement surgery, precise reaming of the pelvis and acetabulum, as well as precise implantation of the acetabular prosthesis, are necessary. Both acetabular reaming and prosthesis implantation are performed using the same base. Different acetabular reaming and implantation instruments are required for patients of varying weights. Different manufacturers' acetabular prostheses have different acetabular cup connection thread specifications, necessitating implantation instruments with different thread specifications. Furthermore, the surgical process using an orthopedic surgical robot should be monitorable and controllable. Therefore, to meet these requirements, the following requirements are set for hip replacement surgical aids: 1) The product's functional components must allow for rapid replacement to reduce surgical time and improve surgical quality; 2) The product structure must be simple and effective, ensuring portability and ease of use; 3) The product must possess sufficient rigidity and stability to guarantee its performance; 4) It must be compatible with hip prostheses from different manufacturers, enabling a wider range of applications for orthopedic surgical robots. Fifth, the optical tracer should be installed in the same position as the auxiliary instrument, so that the surgical robot can track the position of the auxiliary instrument in real time and adjust the position of the auxiliary instrument in a timely manner to achieve precise positioning. Utility Model Content

[0003] The purpose of this invention is to provide a surgical aid and a surgical robot to solve the technical problems of low efficiency in replacing functional components, poor applicability, and low positioning accuracy of existing surgical aids.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0005] Firstly, a surgical aid device is provided, comprising:

[0006] A guide includes a guide base, a locking member, and a tracer fixing member. The guide base has a mounting hole, the locking member is disposed in the mounting hole, and the tracer fixing member is disposed on the guide base.

[0007] A functional component includes a rod shaft and a functional structure disposed on the rod shaft. The rod shaft is detachably inserted into the mounting hole. The rod shaft is provided with a locking structure for limiting and engaging with the locking member. The rod shaft is fixed relative to the guide base when the locking member limits the locking structure.

[0008] By adopting the above technical solution:

[0009] First, the functional components and guides can be quickly disassembled and assembled, allowing for rapid replacement of functional components, thereby reducing surgical time and improving surgical quality;

[0010] Secondly, the functional components and guides have a simple and effective structure, which ensures that the functional components are lightweight and easy to use, while meeting the requirements of sufficient rigidity and stability of surgical auxiliary instruments, thus ensuring the performance of the product.

[0011] Furthermore, the functional components are compatible with hip joint prostheses from different manufacturers, enabling orthopedic surgical robots to have a wider range of applications.

[0012] Finally, the tracker fixing component can secure the optical tracker, and the tracker's installation position follows the surgical auxiliary instrument, allowing the surgical robot to track the position of the auxiliary instrument in real time and adjust its position promptly to achieve precise positioning. In one embodiment, the guide further includes a rotating sleeve disposed inside the guide base. A bearing is provided between the rotating sleeve and the wall of the mounting hole, allowing the rotating sleeve to rotate around an axis within the guide base. A locking component is disposed on the rotating sleeve, and the rotating sleeve is fixedly connected to the rod shaft when the locking component locks the locking structure.

[0013] In one embodiment, the rotating sleeve is provided with a locking hole, and the locking element includes a locking sleeve sleeved on the rotating sleeve, an unlocking sleeve sleeved on the locking sleeve, and a locking pin disposed in the locking hole. The locking pin is capable of moving radially within the locking hole. When the locking sleeve moves relative to the rotating sleeve to the locking position, it pushes the locking pin out of the locking hole, thereby locking the rod shaft. When the unlocking sleeve moves relative to the rotating sleeve to the unlocking position, it drives the locking pin to retract into the locking hole, thereby unlocking the rod shaft.

[0014] In one embodiment, the guide further includes an unlocking elastic element connected to the unlocking sleeve and a locking elastic element connected to the locking sleeve. The unlocking elastic element is used to drive the unlocking sleeve to a non-unlocked position, and the unlocking sleeve is driven by an external force and resists the elastic force of the unlocking elastic element to move the unlocking sleeve to an unlocked position. The locking elastic element is used to drive the locking sleeve to a locked position.

[0015] In one embodiment, the number of tracer fixtures is two, and the two tracer fixtures are arranged symmetrically on both sides of the guide base about the axis of the guide base.

[0016] In one embodiment, the front end of the guide base is provided with a mating groove for rotating with the rod shaft.

[0017] In one embodiment, the groove wall of the mating groove is provided with a plurality of positioning holes that mate with the positioning pins on the rod shaft.

[0018] In one embodiment, the functional component further includes a rotating structure disposed on the rod shaft. The rotating structure is fixedly connected to the mating groove when the locking structure and the locking member are in a limiting engagement. The rotating structure enables the rod shaft to rotate around the axis. The rotating structure is spaced apart from the rotating sleeve.

[0019] In one embodiment, the functional component further includes a positioning pin disposed on the rod shaft, the positioning pin being fixedly connected to the positioning hole when the locking structure and the locking member are engaged.

[0020] In a second aspect, a surgical robot is provided, including a tracer and the aforementioned surgical aids, wherein the tracer is disposed on the surgical aids. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a front view of the surgical aid device provided in this embodiment of the utility model.

[0023] Figure 2 This is a cross-sectional view of the surgical aid provided in this embodiment of the utility model.

[0024] Figure 3 This is a cross-sectional view of the guide provided in an embodiment of this utility model.

[0025] Figure 4 This is a cross-sectional view of the functional components provided in Embodiment 1 of this utility model.

[0026] Figure 5 yes Figure 3 Enlarged view of section "A" in the image.

[0027] Figure 6 This is an exploded view of the functional components provided in Embodiment 1 of this utility model.

[0028] Figure 7 yes Figure 4 Enlarged view of section "B" in the image.

[0029] Figure 8 This is a three-dimensional structural diagram of the functional components provided in Embodiment 2 of this utility model.

[0030] Figure 9 This is a cross-sectional view of the functional components provided in Embodiment 3 of this utility model.

[0031] Figure 10 yes Figure 9 Enlarged view of point "C" in the image.

[0032] The labels for the attached figures are as follows:

[0033] 1. Guide; 2. Functional components;

[0034] 11. Guide base; 12. Locking element; 13. Tracker fixing element; 14. Rotating sleeve; 15. Bearing; 16. Unlocking elastic element; 17. Locking elastic element; 21. Rod shaft; 22. Functional structure; 23. Rotating structure; 24. Power input part; 25. Fixing part; 26. File part; 9. Adapter part;

[0035] 111. Mounting hole; 112. Mating groove; 113. Positioning hole; 141. Locking hole; 121. Locking sleeve; 122. Unlocking sleeve; 123. Locking pin; 211. Locking structure; 212. Positioning pin; 213. Adapter groove; 214. Unlocking groove; 251. Engaging groove; 261. Engaging shaft; 281. Bearing retaining sleeve; 291. Threaded part; 292. Insertion part;

[0036] 1111, Limiting step; 1112, Gap adjustment shim; 1211, Locking end; 1221, Unlocking end; 1222, Unlocking handle; 2111, Locking end face; 2141, Adapter button; 2142, Adapter elastic element; 2921, Insert locking groove; 21411, Limiting protrusion. Detailed Implementation

[0037] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0038] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be located directly on or indirectly on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component.

[0039] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or the number of technical features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. The specific implementation of this utility model is described in more detail below with reference to specific embodiments:

[0041] like Figure 1 and Figure 2 As shown in the illustration, this utility model provides a surgical aid instrument applied in hip replacement surgery for precise grinding of the pelvic acetabulum and precise implantation of the acetabular prosthesis. The grinding and implantation of the acetabulum are performed on the same base. The surgical aid instrument includes a guide and functional components. The guide can direct the surgical direction of the functional components, improving the accuracy of surgical positioning. Simultaneously, the functional components can be detachably connected to the guide, enabling rapid assembly and disassembly. The following detailed description illustrates the specific implementation:

[0042] Please refer to the following: Figure 3 and Figure 4 The surgical aids in this embodiment include:

[0043] The guide 1 includes a guide base 11, a locking member 12 and a tracer fixing member 13. The guide base 11 is provided with a mounting hole 111, the locking member 12 is provided in the mounting hole 111, and the tracer fixing member 13 is provided on the guide base 11.

[0044] Functional component 2 includes a rod shaft 21 and a functional structure 22 disposed on the rod shaft 21. The rod shaft 21 is detachably inserted into the mounting hole 111. The rod shaft 21 is provided with a locking structure 211 for limiting and cooperating with the locking member 12. When the locking member 12 limits the locking structure 211, the rod shaft 21 is fixed relative to the guide base 11.

[0045] Here, it can be understood that guide 1 refers to a device used to guide the surgical direction of functional component 2; guide 1 includes guide base 11, locking member 12, and tracer fixing member 13; wherein, guide base 11 refers to a base for detachable connection with functional component 2, and guide base 11 also serves as a base for fixing tracer, guide base 11 is provided with mounting hole 111, mounting hole 111 is provided through guide base 11 along the axis of guide base 11; locking member 12 refers to a component for locking functional component 2, locking member 12 is provided in mounting hole 111, so that functional component 2 can be locked when inserted into mounting hole 111; tracer fixing member 13 refers to a fixing member for fixing tracer, tracer fixing member 13 is provided on guide base 11, so that tracer can guide the surgical direction of functional component 2;

[0046] Functional component 2 refers to the component used to realize surgical functions. Functional component 2 includes a rod shaft 21 and a functional structure 22. The rod shaft 21 is a shaft used to support the functional structure 22. The rod shaft 21 is detachably inserted into the mounting hole 111. The rod shaft 21 is provided with a locking structure 211. Here, the locking structure 211 includes, but is not limited to, a boss structure or a groove structure. The locking structure 211 cooperates with the locking member 12 through a convex-concave fit. That is, the locking member 12 can abut against the locking structure 211 to limit the locking structure 211, thereby limiting the rod shaft 21, so that the rod shaft 21 is fixed relative to the guide base 11. The functional structure 22 refers to the structure used to realize grinding and implantation. That is, the functional structure 22 includes, but is not limited to, a straight file rod structure, a curved file rod structure, a straight rod structure, or a curved rod structure. The user can select one functional structure 22 to install on the rod shaft 21 to realize the corresponding function.

[0047] The working principle of the surgical aid device provided in this embodiment is as follows:

[0048] Select the corresponding functional component 2 and connect it to the guide 1 according to the surgical requirements. When the rod shaft 21 is inserted into the mounting hole 111, the locking structure 211 on the rod shaft 21 is limited by the locking member 12, thereby realizing the connection between the functional component 2 and the guide 1. Connect the tracer to the tracer fixing member 13, so that the surgical auxiliary instrument has the function of surgical tracking and positioning.

[0049] By adopting the above technical solution:

[0050] First, the functional component 2 and the guide 1 can be quickly disassembled and assembled, which allows for the rapid replacement of the functional component 2, thereby reducing surgical time and improving surgical quality.

[0051] Secondly, the simple and effective structure of functional component 2 and guide 1 ensures that functional component 2 is lightweight and easy to use, while meeting the requirements of sufficient rigidity and stability of surgical auxiliary instruments, thus ensuring the performance of the product.

[0052] Furthermore, functional component 2 is compatible with hip joint prostheses from different manufacturers, enabling the orthopedic surgical robot to have a wider range of applications.

[0053] Finally, the tracker fixture 13 can fix the optical tracker, and the installation position of the tracker follows the surgical auxiliary instrument, which can enable the surgical robot to track the position of the auxiliary instrument in real time and adjust the position and posture of the auxiliary instrument in a timely manner to achieve precise positioning.

[0054] In one embodiment, the guide 1 further includes a rotating sleeve 14 disposed inside the guide base 11. A bearing 15 is provided between the rotating sleeve 14 and the wall of the mounting hole 111, so that the rotating sleeve 14 can rotate around the axis inside the guide base 11. A locking member 12 is disposed on the rotating sleeve 14, and the rotating sleeve 14 is fixedly connected to the rod shaft 21 when the locking member 12 locks the locking structure 211.

[0055] Here, it can be understood that the rotating sleeve 14 refers to a sleeve used for fixed connection with the rod shaft 21, so that the rod shaft 21 can rotate around the axis within the guide base 11; wherein, the rotating sleeve 14 is located inside the guide base 11, that is, the rotating sleeve 14 is located in the mounting hole 111, and a bearing 15 is provided between the rotating sleeve 14 and the hole wall of the mounting hole 111, so that the rotating sleeve 14 can rotate around the axis within the guide base 11. Here, the guide base 11 defines an axis, and the rotating sleeve 14 can rotate around this axis; when the locking member 12 locks the locking structure 211 on the rod shaft 21, the rotating sleeve 14 is fixedly connected to the rod shaft 21, that is, the two can rotate around the axis synchronously.

[0056] By adopting the above technical solution, the functional component 2 can rotate around the axis after being connected to the guide 1.

[0057] In one embodiment, the rotating sleeve 14 is provided with a locking hole 141, and the locking member 12 includes a locking sleeve 121 sleeved on the rotating sleeve 14, an unlocking sleeve 122 sleeved on the locking sleeve 121, and a locking pin 123 disposed in the locking hole 141. The locking pin 123 is capable of moving radially within the locking hole 141. When the locking sleeve 121 moves to the locking position relative to the rotating sleeve 14, it pushes the locking pin 123 out of the locking hole 141, thereby locking the rod shaft 21. When the unlocking sleeve 122 moves to the unlocking position relative to the rotating sleeve 14, it drives the locking pin 123 to retract into the locking hole 141, thereby unlocking the rod shaft 21.

[0058] Here, it can be understood that the guide base 11 refers to the base used to connect with the rod shaft 21; the guide base 11 is provided with a mounting hole 111, which is used to mount the rod shaft 21. Specifically, the rod shaft 21 passes through the mounting hole 111, and both ends of the rod shaft 21 protrude from the mounting hole 111.

[0059] Locking component 12 refers to the component used to lock the rod shaft 21 in the mounting hole 111; locking component 12 includes unlocking sleeve 122, locking sleeve 121, rotating sleeve 14 and locking pin 123;

[0060] The unlocking sleeve 122 is a sleeve used to unlock the rod shaft 21. The unlocking sleeve 122 is located on the wall of the mounting hole 111 and can move relative to the rotating sleeve 14. The locking sleeve 121 is a sleeve used to lock the rod shaft 21 and is located inside the locking sleeve 121.

[0061] Locking sleeve 121 refers to the sleeve used for locking the rod shaft 21, and locking sleeve 121 is located inside unlocking sleeve 122;

[0062] The rotating sleeve 14 is a component used to limit the locking pin 123, so that the locking pin 123 can move within a preset range, thereby realizing the locking and unlocking of the rod shaft 21; the rotating sleeve 14 is located inside the unlocking sleeve 122, and the rotating sleeve 14 is provided with a locking hole 141, which is used to accommodate the locking pin 123 and is connected to the mounting hole 111.

[0063] Locking pin 123 is a component used to lock and unlock rod shaft 21. Locking pin 123 can move radially along guide base 11 within locking hole 141. Thus, locking pin 123 can protrude outside locking hole 141, locking rod shaft 21. Here, rod shaft 21 is provided with locking structure 211, for example, locking structure 211. Locking pin 123 protrudes outside locking hole 141, allowing locking pin 123 to engage in locking structure 211. Thus, the limiting effect between locking structure 211 and locking pin 123 fixes rod shaft 21 relative to guide base 11, achieving locking of rod shaft 21.

[0064] The locking sleeve 121 can move to the locking position relative to the rotating sleeve 14. When the locking sleeve 121 moves to the locking position, the locking sleeve 121 pushes against the locking pin 123, causing the locking pin 123 to protrude out of the locking hole 141, thereby allowing the locking pin 123 to be engaged in the locking structure 211 of the rod shaft 21, thus locking the rod shaft 21. When the unlocking sleeve 122 moves to the unlocking position relative to the rotating sleeve 14, it drives the locking pin 123 to retract into the locking hole 141, thereby unlocking the rod shaft 21.

[0065] The working principle of the guide 1 provided in this embodiment is as follows:

[0066] The rod shaft 21 is inserted into the mounting hole 111 of the guide base 11. The locking structure 211 of the rod shaft 21 is moved to a position directly opposite the locking hole 141, and the locking sleeve 121 is moved to the locking position, so that the locking pin 123 protrudes out of the locking hole 141, thereby allowing the locking pin 123 to be engaged in the locking structure 211, thereby locking the rod shaft 21.

[0067] Move the unlocking sleeve 122 to the unlocking position so that the locking pin 123 can retract into the locking hole 141, thereby allowing the locking pin 123 to disengage from the locking structure 211 and unlocking the rod shaft 21.

[0068] The tracer is mounted on the tracer fixture 133 to achieve the positioning and tracking of the rod shaft 21.

[0069] By adopting the above technical solution, rapid assembly and disassembly between the rod shaft 21 and the guide 1 are realized, and the positioning and tracking of the rod shaft 21 during surgery are achieved, thereby improving the accuracy of positioning.

[0070] In one embodiment, a locking cavity for accommodating the locking sleeve 121 is provided between the unlocking sleeve 122 and the rotating sleeve 14. The locking hole 141 connects the locking cavity and the mounting hole 111. The radial length of the locking hole 141 is less than the radial length of the locking pin 123. The locking sleeve 121 is provided with a locking end 1211, which can move within the locking cavity. When the locking end 1211 moves to the locking position, it pushes against the locking pin 123, causing the locking pin 123 to protrude beyond the locking hole 141.

[0071] Here, it can be understood that the locking cavity refers to the cavity for the locking sleeve 121 to move; the locking cavity is formed between the unlocking sleeve 122 and the rotating sleeve 14, and the locking sleeve 121 is located between the unlocking sleeve 122 and the rotating sleeve 14, so that the locking sleeve 121 can move within the locking cavity; the locking hole 141 connects the locking cavity and the mounting hole 111, and the radial length of the locking hole 141 in the guide base 11 is less than the radial length of the locking pin 123; the locking sleeve 121 is provided with a locking end 1211, which can move with the locking sleeve 121. When the locking end 1211 moves to the locking position, the locking end 1211 pushes against the locking pin 123, so that the locking pin 123 protrudes out of the locking hole 141.

[0072] By adopting the above technical solution, the locking function component 210 of locking pin 123 was realized.

[0073] In one embodiment, the locking hole 141 extends obliquely from the locking end 1211 along an axis close to the mounting hole 111.

[0074] Here, it can be understood that the locking hole 141 is inclined, that is, the depth direction of the locking hole 141 forms an angle of less than 90° with the axis of the guide base 11. In this way, the hole wall of the locking hole 141 can work together with the locking end 1211 to drive the locking pin 123 to move in a preset direction.

[0075] By adopting the above technical solution, the locking hole 141 can guide the movement direction of the locking pin 123, so that the locking pin 123 moves in a directional manner, thereby improving the smoothness of the movement of the locking pin 123.

[0076] In one embodiment, the unlocking sleeve 122 has an unlocking end 1221 for unlocking the locking pin 123 in the locking cavity. The unlocking end 1221 has an unlocking hole for accommodating the locking pin 123. The unlocking end 1221 can move in the locking cavity. When the unlocking end 1221 moves to the unlocking position, the unlocking hole is aligned with the locking hole 141, so that the locking pin 123 can retract into the locking hole 141.

[0077] Here, it can be understood that the unlocking sleeve 122 is provided with an unlocking end 1221, which is used to unlock the functional component 2; the unlocking end 1221 is located in the locking cavity, and the unlocking end 1221 can move relative to the rotating sleeve 14 in the locking cavity along with the unlocking sleeve 122; the unlocking end 1221 is provided with an unlocking hole, and when the unlocking end 1221 moves to the unlocking position, the unlocking hole is directly opposite the locking hole 141, that is, the locking end 1221 no longer pushes against the locking pin 123, and the locking pin 123 can retract into the locking hole 141.

[0078] By adopting the above technical solution, the unlocking function component 2 of the locking sleeve 121 is realized.

[0079] In one embodiment, the guide 1 further includes an unlocking elastic element 16 connected to the unlocking sleeve 122 and a locking elastic element 17 connected to the locking sleeve 121. The unlocking elastic element 16 is used to drive the unlocking sleeve 122 to the unlocked position; the locking elastic element 17 is used to drive the locking sleeve 121 to the locked position.

[0080] By adopting the above technical solution, the unlocking elastic element 16 is used to provide the elastic force for the movement of the unlocking sleeve 122, and the locking elastic element 17 is used to provide the elastic force for the movement of the locking sleeve 121. In this way, the unlocking sleeve 122 and the locking sleeve 121 have the function of automatic movement.

[0081] It needs further explanation that the unlocking sleeve 122 is also connected to an unlocking handle 1222, which is held by the user. The user can push or pull the unlocking handle 1222. When no external force is applied to the unlocking handle 1222, the locking elastic element 17 drives the locking sleeve 121 to move to the locked position and maintains it in the locked position. When the user pulls the unlocking handle 1222, the unlocking handle 1222 drives the unlocking sleeve 122 to move to the unlocked position and maintains it in the unlocked position. The locking sleeve 121 and the unlocking sleeve 122 can be kept in a preset position by setting a limiting structure, such as setting a limiting block, and the limiting effect is achieved by the friction between the limiting block and the wall of the mounting hole 111.

[0082] like Figure 5 As shown, in one embodiment, the wall of the mounting hole 111 is provided with a limiting step 1111 for the limiting bearing 15, and a gap adjustment shim 1112 is detachably provided between the limiting step 1111 and the bearing 15.

[0083] Here, it can be understood that the relative position of the rotating sleeve 14 in the axial direction is adjustable, so that the functional component 2 can be adjusted in the axial direction after being fixed to the guide 1, thus making the position of the functional component 2 adjustable.

[0084] By adopting the above technical solution, the flexibility of adjusting the position of functional component 2 is improved.

[0085] In one embodiment, there are two tracer fixtures 13, which are arranged symmetrically on both sides of the guide base 11 about the axis of the guide base 11.

[0086] Here, it can be understood that the guide 1 is installed at the end of the surgical robot's robotic arm, and is installed in a left or right manner, corresponding to the left or right side of the human body during surgery. Therefore, the two tracer fixing parts 13 on the guide base 11 correspond to the left and right sides of the human body, respectively.

[0087] By adopting the above technical solution, the applicability of guide 1 has been improved.

[0088] Please refer to it again. Figure 3 In one embodiment, the front end of the guide base 11 is provided with a mating groove 112 for rotating with the rod shaft 21.

[0089] By adopting the above technical solution, the stability of functional component 2 when rotating around the axis is improved.

[0090] In one embodiment, the groove wall of the mating groove 112 is provided with a plurality of positioning holes 113 that mate with the positioning pins on the rod shaft 21.

[0091] Here, it can be understood that the positioning hole 113 is used to cooperate with the positioning pin, and the hole wall of the positioning hole 113 can limit the rotation of the positioning pin around the axis.

[0092] By adopting the above technical solution, the flexibility of the guide 1 and the functional component 2 in cooperation is improved.

[0093] like Figure 4 and Figure 6 As shown, in one embodiment, the functional component 2 further includes a rotating structure 23 disposed on the rod shaft 21. The rotating structure 23 is fixedly connected to the mating groove 112 when the locking structure 211 and the locking member 12 are in a limiting engagement. The rotating structure 23 enables the rod shaft 21 to rotate around the axis. The rotating structure 23 and the rotating sleeve 14 are spaced apart.

[0094] Here, it can be understood that the functional component 2 is provided with a rotating structure 23 installed in the mating groove 112. The rotating structure 23 can be a bearing 15 structure, so that at least two bearings 15 jointly support the rotation of the functional component 2 around the axis.

[0095] By adopting the above technical solution, the stability of functional component 2 when rotating around the axis is improved.

[0096] In one embodiment, functional component 2 of this embodiment includes:

[0097] The rod shaft 21 can be a file shaft 21, which is defined by having a first end and a second end;

[0098] The power input unit 24 is connected to the first end and is used to connect to the power mechanism.

[0099] The fixing part 25 is connected to the second end, and the fixing part 25 is provided with a plurality of engaging grooves 251 in sequence around its own axis;

[0100] The file 26 is detachably connected to the fixing part 25. The file 26 is used to perform the filing function. Multiple engaging shafts 261 are arranged around its own axis. The engaging shafts 261 can be engaged in the engaging grooves 251 one by one.

[0101] The locking structure 211 is provided on the file shaft 21 and located between the first end and the second end. The locking structure 211 is used to cooperate with the locking pin 123 of the guide base 11 of the surgical instrument.

[0102] Rotating structure 23 is provided on file shaft 21 and located between the first end and locking structure 211. Rotating structure 23 is used to rotate with guide base 11.

[0103] Here, it can be understood that the file shaft 21 refers to the shaft of the functional component 2. The file shaft 21 is used to transmit power from the power mechanism so that the power can be transmitted to the file part 26 through the file shaft 21. The file shaft 21 is defined with a first end and a second end. In this embodiment, the file shaft 21 has two opposite ends, one end being the first end and the other end being the second end.

[0104] The power input section 24 refers to the component used to receive power transmitted from the power mechanism; the power input section 24 is connected to the first end. In this embodiment, the power input section 24 is formed on the file shaft 21, that is, the power input section 24 and the file shaft 21 are integrally formed.

[0105] The fixing part 25 refers to the component used to fix it to the file shaft 21; the fixing part 25 is connected to the second end and is used to connect the file shaft 21 and the file part 26; the fixing part 25 is provided with a plurality of engaging grooves 251 in sequence around its own axis, that is, the plurality of engaging grooves 251 are arranged in sequence along the circumference of the fixing part 25.

[0106] The file 26 refers to the component used to realize the filing function; the surface of the file 26 is provided with multiple file protrusions, which can realize the grinding of the acetabulum; the file 26 is provided with multiple engaging shafts 261 in sequence around its own axis, that is, the multiple engaging shafts 261 are arranged in sequence along the circumference of the file 26, and the engaging shafts 261 can be engaged in the engaging grooves 251 one by one;

[0107] Locking structure 211 refers to a component used to lock the file shaft 21 onto the guide base 11; locking structure 211 is provided on the file shaft 21, and locking structure 211 is also located between the first end and the second end; locking structure 211 is used to cooperate with the locking pin 123 of the guide base 11 of the surgical auxiliary instrument.

[0108] The rotating structure 23 is used to enable the file shaft 21 to rotate around the axis when it is used in conjunction with the guide base 11, thereby enabling the file shaft 21 to drive the file part 26 to rotate around the axis and realize the basic function of the file.

[0109] The working principle of functional component 2 provided in this embodiment is as follows:

[0110] Align the file 26 with the acetabulum to be operated on, and connect the power mechanism to the power input unit 24. In this way, the power output by the power mechanism can be applied to the file 26 through the file shaft 21, so that the file 26 acts on the acetabulum. At the same time, the file shaft 21 is fixed to the guide base 11 by the locking structure 211, so that the file shaft 21 and the guide base 11 are axially fixed relative to each other. In addition, the file shaft 21 can rotate relative to the guide base 11 through the rotation structure 23, which facilitates the file 26 to rotate around the axis according to the actual surgical needs. Finally, the file 26 and the fixing part 25 are detachable through the engaging shaft 261 and the engaging groove 251, so that the file 26 can be cleaned and replaced. This allows files from different manufacturers to be fixed to the fixing part 25 by engaging, improving the applicability of the functional component 2.

[0111] By adopting the above technical solution, the file 26 of the functional component 2 can be quickly replaced, reducing operation time and improving the quality of operation. At the same time, the functional component 2 has a simple and effective structure, ensuring that it is lightweight and easy to use. In addition, the functional component 2 also meets the requirements of sufficient rigidity and stability, ensuring the performance of the product.

[0112] In one embodiment, the locking structure 211 is provided with a locking end face 2111 for abutting against the locking pin 123, and the locking end face 2111 is arranged in a direction away from the first end.

[0113] Here, it can be understood that the locking end face 2111 refers to the surface used to abut against the locking pin 123. The locking end face 2111 is set in the direction away from the first end, that is, the locking end face 2111 is located on the surface of the locking structure 211 away from the first end. In other words, after the locking end face 2111 abuts against the locking pin 123, the locking pin 123 is set opposite to the locking end face 2111. The locking pin 123 can limit the axial movement of the locking end face 2111, thereby limiting the movement of the file shaft 21.

[0114] By adopting the above technical solution, the limiting cooperation between the locking structure 211 and the locking pin 123 is achieved.

[0115] like Figure 7 As shown, in one embodiment, the rotating structure 23 includes a bearing retaining sleeve 281, a bearing 15 disposed within the bearing retaining sleeve 281, and a clearance adjusting shim 1112; the bearing retaining sleeve 281 is disposed on the file shaft 21, the outer ring of the bearing 15 is connected to the bearing retaining sleeve 281, the inner ring of the bearing 15 is connected to the file shaft 21, and the clearance adjusting shim 1112 is disposed between the inner ring and the file shaft 21.

[0116] Here, it can be understood that the rotating structure 23 includes a bearing retaining sleeve 281, a bearing 15, and a clearance adjusting shim 1112. The bearing retaining sleeve 281 is used to fix the bearing 15, so that the bearing 15 can be connected to the file shaft 21. The bearing 15 includes an outer ring and an inner ring, wherein the outer ring is connected to the bearing retaining sleeve 281, and the inner ring is connected to the file shaft 21, so that the file shaft 21 can rotate around the axis relative to the bearing retaining sleeve 281. In addition, since there is a gap between the inner ring and the file shaft 21, a clearance adjusting shim 1112 is provided in the gap. In this way, the gap between the inner ring and the file shaft 21 is adjustable, which is beneficial to the cooperation between the file shaft 21 and the bearing 15 and reduces the error when the file shaft 21 moves.

[0117] By adopting the above technical solution, the flexibility of adjusting the file shaft 21 is improved.

[0118] like Figure 8 As shown, in one embodiment, the functional component 2 further includes a positioning pin 212 disposed on the rod shaft 21, which is fixedly connected to the positioning hole 113 when the locking structure 211 and the locking member 12 are in a limiting engagement.

[0119] By adopting the above technical solution, a fixed connection between the rod shaft 21 and the guide body 1 is achieved.

[0120] like Figure 9 and Figure 10 As shown, in one embodiment, the functional component 2 provided in this embodiment includes:

[0121] The rod shaft 21 can be a cup-placement rod shaft 21, and a transition portion 29 is provided at one end of the cup-placement rod shaft 21. The cup-placement rod shaft 21 has a transition groove 213 and an unlocking groove 214 penetrating the groove wall of the transition groove 213. One end of the transition portion 29 has a threaded portion 291 for threaded connection with the prosthetic implant 3, and the other end of the transition portion 29 has an insertion portion 292 for insertion into the transition groove 213. The insertion portion 292 has an insertion locking groove 2921. The unlocking groove 214 has a transition... The adapter button 2141 and the adapter elastic member 2142 are provided. The adapter button 2141 is provided with a limiting protrusion 21411 for engaging with the insertion locking groove 2921 to limit the insertion part 292. The adapter elastic member 2142 is connected to the adapter button 2141 and is used to drive the limiting protrusion 21411 into the insertion locking groove 2921. The limiting protrusion 21411 can disengage from the insertion locking groove 2921 when the adapter button 2141 is pressed, so that the insertion part 292 can disengage from the adapter groove 213.

[0122] Here, it can be understood that the cup-holding rod shaft 21 refers to the shaft part in the functional component 2; the cup-holding rod shaft 21 is used to transmit power; wherein, the cup-holding rod shaft 21 is provided with a transition groove 213 and an unlocking groove 214, the transition groove 213 is opened on the cup-holding rod shaft 21, and the unlocking groove 214 is also opened on the cup-holding rod shaft 21 and is set through the transition groove 213;

[0123] The adapter 29 is a component used for connecting the prosthetic implant 3; the adapter 29 connects the prosthetic implant 3 and the cup-mounting rod shaft 21, so that the prosthetic implant 3 can be fixed on the cup-mounting rod shaft 21; the adapter 29 is located at one end of the cup-mounting rod shaft 21; the adapter 29 has two opposing ends, one end of which is provided with a threaded portion 291 for threaded connection with the prosthetic implant 3, and the other end is provided with an insertion portion 292 for insertion into the adapter groove 213, and the insertion portion 292 is provided with an insertion locking groove 2921; the unlocking groove 214 is provided with an adapter button 2141 and an adapter elastic member 2142; wherein, the adapter button 2141 is provided with a limiting protrusion 21411 for engaging with the insertion locking groove 2921, and when the limiting protrusion 21411 engages with the insertion locking groove 2921, the button 2141 is engaged with the insertion locking groove 2921. When the slot 2921 is engaged, the limiting protrusion 21411 limits the movement of the insertion part 292, thereby fixing the adapter 29 onto the cup rod shaft 21. The elastic member 2142 of the adapter is connected to the adapter button 2141. The elastic member 2142 is used to drive the limiting protrusion 21411 into the insertion locking slot 2921. Specifically, the elastic force of the elastic member 2142 can drive the limiting protrusion 21411 of the adapter button 2141 into the insertion locking slot 2921. In addition, when the adapter button 2141 is pressed, the adapter button 2141 drives the limiting protrusion 21411 to disengage from the insertion locking slot 2921. At this time, the limiting protrusion 21411 no longer limits the insertion part 292, thereby unlocking the adapter 29 and realizing the replacement of the adapter 29 and the prosthesis implant 3.

[0124] The working principle of functional component 2 provided in this embodiment is as follows:

[0125] First, select the corresponding adapter 29 according to the model and specifications of the implant 3. Specifically, different implants 3 correspond to adapters 29 with different threaded portions 291. Second, after threading the implant 3 to the corresponding adapter 29, insert the insertion portion 292 of the adapter 29 into the adapter groove 213. At the same time, the elastic force of the elastic element 2142 of the adapter drives the adapter button 2141 to drive the limiting protrusion 21411 into the insertion locking groove 2921 of the insertion portion 292. In this way, the adapter 29 and the cup rod shaft 21 are fixedly connected. Finally, the user can press the adapter button 2141. In this way, the adapter button 2141 drives the limiting protrusion 21411 to disengage from the insertion locking groove 2921, so that the limiting protrusion 21411 no longer limits the insertion portion 292, thereby unlocking the adapter 29 and realizing the replacement of the adapter 29 and the implant 3.

[0126] By adopting the above technical solution, the functional component 2 is provided with a connecting part 29, one end of which is detachably connected to the cup rod shaft 21, and the other end is threadedly connected to the prosthesis implant 3. This allows the functional component 2 to be compatible with prostheses 3 (hip joint prostheses) from different manufacturers, thus enabling the orthopedic surgical robot to have a wider range of applications. In addition, the functional component 2 uses the connecting part button 2141 to unlock the connecting part 29, which makes the disassembly and assembly of the prosthesis implant 3 highly efficient.

[0127] Secondly, a surgical robot is provided, including a tracer and the aforementioned surgical aids, wherein the tracer is disposed on the surgical aids.

[0128] By adopting the above technical solution, the surgical robot of this embodiment, in addition to having the advantages of the surgical auxiliary device of the above embodiment, also has the advantages of being easy to operate and having a high degree of positioning accuracy.

[0129] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A surgical aid device, characterized in that, include: A guide includes a guide base, a locking member, and a tracer fixing member. The guide base has a mounting hole, the locking member is disposed in the mounting hole, and the tracer fixing member is disposed on the guide base. A functional component includes a rod shaft and a functional structure disposed on the rod shaft. The rod shaft is detachably inserted into the mounting hole. The rod shaft is provided with a locking structure for limiting and engaging with the locking member. The rod shaft is fixed relative to the guide base when the locking member limits the locking structure.

2. The surgical aid device as described in claim 1, characterized in that, The guide also includes a rotating sleeve disposed inside the guide base. A bearing is provided between the rotating sleeve and the wall of the mounting hole, so that the rotating sleeve can rotate around an axis within the guide base. The locking member is disposed on the rotating sleeve, and the rotating sleeve is fixedly connected to the rod shaft when the locking member locks the locking structure.

3. The surgical aid device as described in claim 2, characterized in that, The rotating sleeve is provided with a locking hole. The locking element includes a locking sleeve sleeved on the rotating sleeve, an unlocking sleeve sleeved on the locking sleeve, and a locking pin disposed in the locking hole. The locking pin is capable of moving radially within the locking hole. When the locking sleeve moves relative to the rotating sleeve to the locking position, it pushes the locking pin out of the locking hole, thereby locking the rod shaft. When the unlocking sleeve moves relative to the rotating sleeve to the unlocking position, it drives the locking pin to retract into the locking hole, thereby unlocking the rod shaft.

4. The surgical aid device as described in claim 3, characterized in that, The guide further includes an unlocking elastic element connected to the unlocking sleeve and a locking elastic element connected to the locking sleeve. The unlocking elastic element is used to drive the unlocking sleeve to the non-unlocked position. The unlocking sleeve is driven by an external force and resists the elastic force of the unlocking elastic element to move the unlocking sleeve to the unlocked position. The locking elastic element is used to drive the locking sleeve to the locked position.

5. The surgical aid device as described in claim 1, characterized in that, The number of tracer fixing components is two, and the two tracer fixing components are symmetrically arranged on both sides of the guide base with respect to the axis of the guide base.

6. The surgical aid device according to any one of claims 2 to 4, characterized in that, The front end of the guide base is provided with a mating groove for rotating with the rod shaft.

7. The surgical aid device as described in claim 6, characterized in that, The groove wall of the mating groove is provided with a plurality of positioning holes that mate with the positioning pins on the rod shaft.

8. The surgical aid device as described in claim 6, characterized in that, The functional component also includes a rotating structure disposed on the rod shaft. The rotating structure is fixedly connected to the mating groove when the locking structure and the locking member are in a limiting engagement. The rotating structure enables the rod shaft to rotate around the axis. The rotating structure and the rotating sleeve are spaced apart.

9. The surgical aid device as described in claim 6, characterized in that, The functional component also includes a positioning pin disposed on the rod shaft, wherein the positioning pin is fixedly connected to the positioning hole when the locking structure and the locking member are engaged in a limiting cooperation.

10. A surgical robot, characterized in that, It includes a tracer and a surgical aid device according to any one of claims 1 to 9, wherein the tracer is disposed on the surgical aid device.

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