Surgical robot and acetabular cup driver thereof

Abstract

The utility model relates to a surgical robot and an acetabular cup driver thereof. The acetabular cup driver comprises a rod piece, an acetabular cup connector body and an acetabular cup connector cover. The near end of the acetabular cup connector body is rotationally connected with the rod piece, and the far end of the acetabular cup connector body is used for being in threaded connection with an acetabular cup. The near end of the acetabular cup connector cover is connected with the rod piece, the far end of the acetabular cup connector cover is used for abutting against the acetabular cup, and the acetabular cup connector body is sleeved with the acetabular cup connector cover at intervals. If the thread at the far end of the acetabular cup connector body and the threaded hole in the acetabular cup are not coaxial, the near end of the acetabular cup connector body and the rod piece rotate under the action of knocking force, and therefore it is guaranteed that the acetabular cup connector cover completely abuts against the acetabular cup, and the knocking force is transmitted to the acetabular cup mainly through the acetabular cup connector cover; therefore, the problems that when the thread at the far end of the acetabular cup connector body and the threaded hole in the acetabular cup are not coaxial, part of threads are deformed or damaged, and a screw and the acetabular cup are clamped are solved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to surgical robots and their acetabular cup inserters. Background Technology

[0002] A acetabular cup inserter is typically a rod-shaped tool with a protruding screw at the front and a striking handle at the rear. During replacement surgery, the screw is threaded into the threaded hole in the center of the acetabular cup, and then the inserter is struck to implant the cup into the body.

[0003] However, both the threaded hole in the center of the mortar and the screw at the front end of the mortar inserter have machining errors, making it difficult to achieve a completely coaxial connection between the two. This will result in uneven force on the threads during hammering, deformation or damage of some threads, and jamming of the screw and the mortar. Utility Model Content

[0004] Therefore, it is necessary to provide a surgical robot and its acetabular cup inserter to address the problem that the threaded hole at the center of the acetabular cup and the screw at the front end of the acetabular cup inserter are not completely coaxial.

[0005] A mortarsal cup inserter, the mortarsal cup inserter comprising:

[0006] rods;

[0007] A mortise joint body, the proximal end of which is rotatably connected to the rod, allowing the mortise joint body to deflect relative to the rod, and the distal end of which is threadedly connected to the mortise; and

[0008] A mortarsus cup connector cover, the proximal end of which is coaxially connected to the rod, and the distal end of which is used to abut against the mortarsus cup, the mortarsus cup connector cover being spaced out of the mortarsus cup connector body.

[0009] In one embodiment, a spherical structure is provided at the proximal end of the mortise joint body, and a spherical cavity is provided on the rod. The spherical structure and the spherical cavity cooperate to form a spherical hinge structure.

[0010] In one embodiment, the main body of the mortising cup connector is provided with a plug-in portion, and the rod is provided with a slot. The plug-in portion is inserted into the slot along a first direction and is clearance-fitted with the slot. The first direction is set at an angle to the axial direction of the rod.

[0011] In one embodiment, the rod has a limiting groove that communicates with the spherical cavity and extends along the axial direction of the rod. The portion of the mortising cup connector body that connects to the spherical structure passes through the limiting groove. The diameter of the spherical structure is larger than the minimum radial dimension of the limiting groove along the rod.

[0012] In one embodiment, a first mounting groove is provided on the side wall of the rod, the first mounting groove communicating with the spherical cavity and allowing the spherical structure to enter the spherical cavity;

[0013] A second mounting groove is provided on the side wall of the rod, the second mounting groove is connected to the limiting groove, and allows part of the mortising cup connector body to enter the limiting groove.

[0014] In one embodiment, the acetabular cup connector body includes a threaded section and an intermediate section connected in sequence, the spherical structure being connected to the end of the intermediate section away from the threaded section, and the threaded section being used for threaded connection with the acetabular cup;

[0015] The mortar cup inserter also includes a first elastic element, which is sleeved outside the middle section. One end of the first elastic element abuts against the threaded section, and the other end abuts against the distal end of the rod.

[0016] In one embodiment, the first elastic element abuts against the rod via a gasket;

[0017] One of the gasket and the rod has a groove, and the other has a protrusion. The protrusion and the groove are engaged along the axial direction of the rod.

[0018] In one embodiment, the spherical structure is clearance-fitted with the spherical cavity.

[0019] In one embodiment, the rod has a first embedding groove, a second elastic element is disposed in the first embedding groove, and the mortising cup connector cover is sleeved on the outside of the rod and presses the second elastic element into the first embedding groove.

[0020] In one embodiment, the rod is a straight rod, and the proximal end of the mortising cup connector cap is coaxially connected to the rod.

[0021] In one embodiment, the rod includes a connecting portion, a bent portion, and a straight portion connected in sequence. The proximal end of the acetabular cup connector body is rotatably connected to the connecting portion, and the axis of the straight portion is parallel to or coincides with the axis of the acetabular cup connector cover.

[0022] In one embodiment, the rod includes a rotating rod that passes through a portion of the curved section and is rotatably connected to the connecting section, for driving the connecting section to rotate around its own axis via the rotating rod.

[0023] In one embodiment, the curved portion includes a plurality of straight pipe segments connected in sequence, with adjacent straight pipe segments arranged at an angle, and one end of the rotating rod passes through the straight pipe segment connected to the connecting portion.

[0024] A surgical robot includes a robotic arm and a acetabular cup inserter, the robotic arm being connected to a lever for adjusting the position of the acetabular cup inserter via the lever.

[0025] In use, the aforementioned surgical robot and its acetabular cup inserter first connect the distal end of the acetabular cup connector body to the threaded hole on the acetabular cup, while simultaneously ensuring that the distal end of the acetabular cup connector cover is fully abutted against the inner wall of the acetabular cup. When the rod is struck, it transmits force to the acetabular cup connector body and the acetabular cup connector cover. If the thread at the distal end of the acetabular cup connector body is not coaxial with the threaded hole on the acetabular cup, the proximal end of the acetabular cup connector body will rotate with the rod under the striking force. This ensures that the acetabular cup connector cover is fully abutted against the acetabular cup, allowing the striking force to be primarily transmitted to the acetabular cup through the acetabular cup connector cover. This avoids the problem of partial thread deformation or damage, and jamming of the acetabular cup connector body and the acetabular cup, caused by the thread at the distal end of the acetabular cup connector body not being coaxial with the threaded hole on the acetabular cup. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the connection between the mortarsal cup inserter and the mortarsal cup in one embodiment.

[0027] Figure 2 This is an exploded view of the mortar cup inserter in one embodiment.

[0028] Figure 3 This is a schematic diagram of the connection structure between the mortar cup connector body and the rod in one embodiment.

[0029] Figure 4 This is a schematic diagram of the structure of the mortarsal cup connector body in one embodiment.

[0030] Figure 5 This is a structural schematic diagram of a member from one perspective in one embodiment.

[0031] Figure 6 This is a structural schematic diagram of the rod from another perspective in one embodiment.

[0032] Figure 7 This is a structural schematic diagram of a rod in one embodiment.

[0033] Figure 8 for Figure 7 Sectional view of the layout of the middle member.

[0034] Reference numerals: 100, rod; 110, spherical cavity; 120, slot; 130, limiting groove; 141, first mounting groove; 142, second mounting groove; 150, first embedding groove; 160, stepped surface; 170, groove; 200, acetabular cup connector body; 210, spherical structure; 220, insertion part; 230, threaded section; 231, second embedding groove; 240, intermediate section; 300, acetabular cup connector cover; 410, first elastic element; 420, gasket; 421, protrusion; 430, second elastic element; 500, acetabular cup; 610, connecting part; 620, bent part; 621, straight pipe section; 6211, first straight pipe section; 6212, second straight pipe section; 6213, third straight pipe section; 630, straight rod part; 640, rotating rod; 641, handle; 650, universal joint. Detailed Implementation

[0035] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0036] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0037] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0039] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0041] See Figure 1 An embodiment of this application provides a mortising cup inserter, which includes a rod 100, a mortising cup connector body 200, and a mortising cup connector cover 300. The proximal end of the mortising cup connector body 200 is rotatably connected to the rod 100, allowing the mortising cup connector body 200 to deflect relative to the rod 100. The distal end of the mortising cup connector body 200 is threadedly connected to a mortising cup 500. The proximal end of the mortising cup connector cover 300 is coaxially connected to the rod 100, and the distal end of the mortising cup connector cover 300 is used to abut against the mortising cup. The mortising cup connector cover 300 is spaced out and sleeved on the outside of the mortising cup connector body 200.

[0042] In this embodiment, during use, the distal end of the acetabular cup connector body 200 is first threadedly connected to the threaded hole on the acetabular cup 500, while ensuring that the distal end of the acetabular cup connector cover 300 abuts against the inner wall of the acetabular cup 500. When the rod 100 is struck, the rod 100 transmits force to the acetabular cup connector body 200 and the acetabular cup connector cover 300. If the thread at the distal end of the acetabular cup connector body 200 is not coaxial with the threaded hole on the acetabular cup 500, then under the action of the striking force, the proximal end of the acetabular cup connector body 200 rotates with the rod 100, thereby ensuring that the acetabular cup connector cover 300 and the acetabular cup 500 are fully abutted. This allows the striking force to be mainly transmitted to the acetabular cup 500 through the acetabular cup connector cover 300, thus avoiding the problem of partial thread deformation or damage and jamming of the acetabular cup connector body 200 and the acetabular cup 500 caused by the thread on the distal end of the acetabular cup connector body 200 being coaxial with the threaded hole on the acetabular cup.

[0043] In some embodiments, the proximal end of the mortar cup connector cover 300 is detachably connected to the rod 100, facilitating the replacement of different connector covers to fit the inner wall of the mortar cup 500 from different manufacturers.

[0044] The mortarsal cup 500 has a semi-circular shell structure. A threaded hole is provided at the center of the mortarsal cup 500. The distal end of the mortarsal cup connector body 200 is used to insert into the threaded hole from the inside of the mortarsal cup 500 so that the mortarsal cup connector cover 300 abuts against the inner surface of the mortarsal cup 500.

[0045] It should be noted that the proximal end refers to the end closer to the operator during surgery, while the distal end refers to the end farther away from the operator during surgery.

[0046] Combination Figures 2-4 In some embodiments, a spherical structure 210 is provided at the proximal end of the mortise joint body 200, and a spherical cavity 110 is provided on the rod 100. The spherical structure 210 and the spherical cavity 110 cooperate to form a spherical hinge structure.

[0047] The acetabular cup connector body 200 and the rod 100 are connected by a spherical hinge, allowing the acetabular cup connector body 200 to rotate relative to the rod 100. Furthermore, due to the spherical hinge structure, when the thread on the distal end of the acetabular cup connector body 200 or the threaded hole on the acetabular cup 500 is tilted in any direction, the acetabular cup connector body 200 can still rotate relative to the rod 100, ensuring complete contact between the acetabular cup connector cover 300 and the inner wall of the acetabular cup 500.

[0048] Furthermore, in combination Figure 5 and Figure 6 The main body 200 of the mortar cup connector is provided with a plug part 220, and the rod 100 is provided with a slot 120. The plug part 220 is inserted into the slot 120 along the first direction and is clearance-fitted with the slot 120. The first direction is set at an angle to the axis of the rod 100.

[0049] In this embodiment, the spherical structure 210 has a plug-in portion 220 on at least one side along the first direction, and the spherical cavity 110 has a slot 120 on at least one side along the first direction. The plug-in portion 220 extends into the corresponding slot 120. The size of the slot 120 is larger than the size of the plug-in portion 220. Specifically, the plug-in portion 220 is a cylindrical structure, and the slot 120 is a cylindrical groove. When the plug-in portion 220 is assembled into the cylindrical groove, there is a gap between it and the cylindrical groove, so that the acetabular cup connector body 200 can deflect relative to the rod 100 toward the plug-in portion 220.

[0050] Of course, since the size of the slot 120 is larger than the size of the insertion part 220, when the rod 100 rotates around the axis, it must first idle for a certain angle before it can drive the mortise and tenon joint body 200 to rotate.

[0051] In other embodiments, the acetabular cup connector body 200 may have a spherical cavity 110 at its proximal end, and the rod 100 may have a spherical structure 210. The spherical structure 210 and the spherical cavity 110 may cooperate to form a spherical hinge structure. Correspondingly, the acetabular cup connector body 200 may have a slot, and the rod 100 may have a plug-in portion 220. The plug-in portion 220 may be inserted into the slot along a first direction and may be clearance-fitted with the slot. The first direction may be angled to the axial direction of the rod 100.

[0052] In other embodiments, the proximal end of the mortising cup connector body and the rod can also be connected by a single-section or double-section universal joint or a telescopic universal joint.

[0053] In some embodiments, a limiting groove 130 communicating with a spherical cavity 110 is provided on the rod 100. The limiting groove 130 extends along the axial direction of the rod 100. The portion of the acetabular cup connector body 200 connected to the spherical structure 210 passes through the limiting groove 130. The diameter of the spherical structure 210 is greater than the minimum radial dimension of the limiting groove 130 along the rod 100.

[0054] Specifically, the cross-section of the limiting groove 130 along the axial direction of the rod 100 can be circular, square, or other shapes. As long as the diameter of the spherical structure 210 is greater than the minimum radial dimension of the limiting groove 130 along the rod 100, the limiting groove 130 can limit the spherical structure 210 along the axial direction, so that the rod 100 can be detachably connected to the mortising cup connector body 200 along the axial direction.

[0055] It should be noted that, taking the cross-section of the limiting groove 130 as a circle as an example, the inner diameter of the limiting groove 130 is larger than the outer diameter of the acetabular cup connector body 200 inside the limiting groove 130, that is, there is a gap between the two, so that the part of the acetabular cup connector body 200 passing through the limiting groove 130 can swing within the limiting groove 130, that is, the acetabular cup connector body 200 rotates relative to the rod 100.

[0056] Furthermore, a first mounting groove 141 is provided on the side wall of the rod 100, which communicates with the spherical cavity 110 and allows the spherical structure 210 to enter the spherical cavity 110; a second mounting groove 142 is provided on the side wall of the rod 100, which communicates with the first mounting groove 141 and communicates with the limiting groove 130, allowing part of the acetabular cup connector body 200 to enter the limiting groove 130.

[0057] In this embodiment, the spherical structure 210 enters the spherical cavity 110 through the first mounting groove 141, the acetabular cup connector body 200 enters the limiting groove 130 through the second mounting groove 142, and the acetabular cup connector cover 300 is fitted over the first mounting groove 141 and the second mounting groove 142 to prevent the spherical structure 210 from completely detaching from the spherical cavity 110. During assembly, firstly, the spherical structure 210 and part of the acetabular cup connector body 200 are inserted into the rod 100 through the first mounting groove 141 and the second mounting groove 142, and then the acetabular cup connector cover 300 is fitted over the acetabular cup connector body 200 and detachably connected to the rod 100.

[0058] Among them, the slot 120 and the first mounting slot 141 can be shared. When the spherical structure 210 is provided with plug-in portions 220 on both sides along the first direction, one of the slots 120 is the first mounting slot 141, and the other slot 120 is an independent slot.

[0059] In some embodiments, the acetabular cup connector body 200 includes a threaded section 230 and an intermediate section 240 connected in sequence, and a spherical structure 210 is connected to the end of the intermediate section 240 away from the threaded section 230. The threaded section 230 is used for threaded connection with the acetabular cup. The acetabular cup inserter also includes a first elastic element 410, which is sleeved outside the intermediate section 240. One end of the first elastic element 410 abuts against the threaded section 230, and the other end abuts against the distal end of the rod 100.

[0060] In this embodiment, part of the middle section 240 extends into the limiting groove 130, and part of it is located outside the limiting groove 130. The first elastic member 410 is sleeved on the middle section 240. One end of the first elastic member 410 abuts against the threaded section 230, and the other end abuts against the far end of the rod 100. Under its own elastic force, the spring applies force to the spherical structure 210 along the axial direction to prevent the spherical structure 210 from falling out of the spherical cavity 110.

[0061] Furthermore, the spherical structure 210 and the spherical cavity 110 are fitted with a clearance.

[0062] In this embodiment, the spherical structure 210 and the spherical cavity 110 are clearance-fitted. Simultaneously, one end of the first elastic element 410 abuts against the threaded section 230, and the other end abuts against the distal end of the rod 100. This ensures that the threaded section 230 and the rod 100 remain in an elastic state. When the acetabulum 500 and the acetabulum connector cover 300 move distally under impact, the first elastic element 410 can be compressed, ensuring that the end of the acetabulum connector cover 300 always abuts against the acetabulum 500, thereby preventing damage to the threads and avoiding damage to the acetabulum inserter or the acetabulum 500, preventing metal fragments from falling off. Furthermore, the acetabulum inserter is generally mounted on the robot's robotic arm. The end of the acetabulum connector cover 300 abuts against the acetabulum 500, and the connection between the acetabulum connector cover 300 and the rod 100 ensures that there is no relative displacement between the acetabulum 500 and the rod 100, ensuring that the robot's navigation system obtains the correct acetabulum position information through magnetic or optical navigation.

[0063] In some embodiments, a second embedding groove 231 is provided on the proximal end of the threaded segment 230, and one end of the first elastic member 410 is embedded in the second embedding groove 231.

[0064] A washer 420 is also fitted on the middle section 240. The washer 420 can slide on the upper middle section 240. The other end of the first elastic member 410 abuts against the rod 100 through the washer 420.

[0065] Specifically, a protrusion 421 is provided on the side of the washer 420 near the rod 100, and a groove 170 is formed on the end of the rod 100 near the washer 420. The protrusion 421 and the groove 170 are axially engaged with each other along the rod 100 to make the washer 420 coaxial with the rod. Specifically, the protrusion 421 has a bevel, which slopes from the outer periphery of the washer toward the axis of the washer.

[0066] In some embodiments, the mortar cup connector cover 300 is detachably connected to the rod 100.

[0067] In actual use, for mortars from different manufacturers, corresponding connector caps are required so that the end face of the connector cap is compatible with the inner arc surface of the mortar. The mortar joint cap 300 is detachably connected to the rod 100, so the mortar joint cap 300 can be replaced as needed.

[0068] In some embodiments, a first embedding groove 150 is provided on the outside of the rod 100, and a second elastic member 430 is provided in the first embedding groove 150. The mortising cup connector cover 300 is sleeved on the outside of the rod 100 and presses the second elastic member 430 into the first embedding groove 150.

[0069] In this embodiment, combined with Figure 3 The rod 100 has a stepped surface 160. The acetabular cup connector cover 300 is fitted over the rod 100, with its proximal end abutting against the stepped surface 160. The second elastic element 430 is compressed within the first embedded groove 150, thereby increasing the friction between the acetabular cup connector cover 300 and the rod 100 through its own elastic force, preventing the acetabular cup connector cover 300 from falling out of the rod 100. Specifically, the first embedded groove 150 is an annular groove, and the second elastic element 430 is a C-shaped spring ring, a C-shaped spring sheet, or an elastic washer.

[0070] Of course, in other embodiments, the mortar cup connector cover 300 can also be connected to the rod 100 by a snap-fit. For example, the mortar cup connector cover 300 is provided with a snap-fit, the rod 100 is provided with a snap-fit ​​groove, and the mortar cup connector cover 300 is snapped into the snap-fit ​​groove.

[0071] In some embodiments, combined with Figure 2 The rod 100 is a straight rod, and the proximal end of the mortar cup connector cover 300 is coaxially connected to the rod 100.

[0072] In this embodiment, the acetabular cup connector cover 300 is coaxially connected to the rod 100. This ensures that when the end of the rod 100 away from the acetabular cup connector cover 300 strikes the rod 100, the impact force on the rod 100 can be evenly transmitted along the axis to the end face of the acetabular cup connector cover 300. This allows the distal end of the acetabular cup connector cover 300 to fully abut against the inner wall of the acetabular cup 500, preventing incomplete abutment due to the impact force being skewed relative to the axial direction of the rod 100, which would increase the local thread load and damage the threads. Furthermore, the rod 100 is a straight rod, and the proximal end of the acetabular cup connector cover 300 is coaxially connected to the rod 100. That is, by rotating the straight rod, the acetabular cup connector body 200 can be rotated, thereby achieving a threaded connection between the acetabular cup connector body 200 and the acetabular cup 500. The coaxial connection between the mortar cup connector cover 300 and the rod 100 can be understood as a completely coaxial connection or an approximate coaxial connection within the allowable error range.

[0073] In other embodiments, combined with Figure 7 The rod 100 includes a connecting portion 610, a bent portion 620, and a straight portion 630 connected in sequence. The proximal end of the acetabular cup connector body 200 is rotatably connected to the connecting portion 610. The axis of the straight portion 630 is parallel to or coincident with the axis of the acetabular cup connector cover 300. Parallelism of the axes can be understood as complete parallelism or, within an acceptable error range, approximate parallelism; similarly, coincidence of the axes can be understood as complete coincidence or, within an acceptable error range, approximate coincidence.

[0074] In this embodiment, a spherical cavity 110 is provided on the connecting part 610. The spherical structure 210 and the spherical cavity 110 cooperate to form a spherical hinge structure, thereby realizing the rotatable connection between the proximal end of the acetabular cup connector body 200 and the connecting part 610. A curved part 620 is provided to form a clearance position to prevent interference between the rod 100 and the body when a straight rod 100 is used directly, which would prevent the acetabular cup 500 from being inserted into the set position of the human body at the required angle. For example, when it is necessary to insert the acetabular cup 500 into the ankle, the straight rod interferes with the leg. At this time, a rod 100 with a curved part 620 can be used so that the leg is located in the clearance position formed by the curved part 620.

[0075] It should also be noted that the axis of the straight rod 630 is parallel or coincident with the axis of the mortar cup connector cover 300, in order to ensure that the force of the striking rod 100 can be evenly transmitted to the end face of the mortar cup connector cover 300, and to ensure that the far end of the mortar cup connector cover 300 is fully in contact with the inner wall of the mortar cup 500.

[0076] Of course, if the axis of the straight rod 630 and the axis of the mortising cup connector cover 300 are within the error range, and the axis of the straight rod 630 and the axis of the mortising cup connector cover 300 are set at an angle, this is also a case where the axis of the straight rod 630 and the axis of the mortising cup connector cover 300 are parallel or coincident.

[0077] The connecting part 610 has a first embedding groove 150 on its outside, and a second elastic member 430 is provided in the first embedding groove 150. The mortising cup connector cover 300 is sleeved on the outside of the connecting part 610 and presses the second elastic member 430 into the first embedding groove 150, thereby realizing the detachable connection between the mortising cup connector cover 300 and the connecting part 610.

[0078] Furthermore, the rod 100 includes a rotating rod 640, which passes through a portion of the bent portion 620 and is rotatably connected to the connecting portion 610, and is used to drive the connecting portion 610 to rotate around its own axis via the rotating rod 640.

[0079] In this embodiment, the rod 100 includes a connecting portion 610, a bent portion 620, and a straight portion 630 connected in sequence. Therefore, when the straight portion 630 is rotated to drive the acetabular cup connector body 200 to rotate, the bent portion 620 will interfere with the body parts. At this time, the rotating rod 640 passes through part of the bent portion 620 and is rotatably connected to the connecting portion 610. The connecting portion 610 is rotatably connected to the acetabular cup connector body 200, thereby enabling the rotating rod 640 to drive the acetabular cup connector body 200 to rotate around its own axis.

[0080] To facilitate rotation, a handle 641 is provided at one end of the rotating rod 640.

[0081] Specifically, the rotating rod 640 and the connecting part 610 are rotatably connected by a ball joint or by a universal joint 650.

[0082] In one embodiment, combined Figure 8 The bending section 620 includes a plurality of straight pipe sections 621 connected in sequence, with adjacent straight pipe sections 621 arranged at an angle, and one end of the rotating rod 640 passes through the straight pipe section 621 connected to the connecting section 610.

[0083] Specifically, the bend 620 includes three straight pipe sections 6211, 6212, and 6213 connected in sequence. The first straight pipe section 6211, the second straight pipe section 6212, and the third straight pipe section 6213 are connected in sequence to form a clearance position on one side of the bend 620. The end of the first straight pipe section 6211 away from the second straight pipe section 6212 is connected to the connecting part 610. One end of the rotating rod 640 is exposed outside the first straight pipe section 6211, and the other end passes through the first straight pipe section 6211 and is rotatably connected to the connecting part 610 through a universal joint 650.

[0084] With this configuration, the rotating rod 640 passes through the straight pipe section 621 connected to the connecting part 610, so that the rotating rod 640 can rotate within the straight pipe section 621, so as to transmit the torque through the connecting section to the acetabular cup connector body 200, thereby enabling the rotating rod 640 to drive the acetabular cup connector body 200 to rotate around its own axis.

[0085] Of course, in other embodiments, the bending portion 620 may also be a curved tube, in which case the rotating rod 640 includes a plurality of rod segments rotatably connected by universal joints so that torque can be transmitted to the acetabular cup joint body 200 through the connecting segments via the universal joints.

[0086] One embodiment of this application also provides a surgical robot, including a robotic arm and a acetabular cup 500 inserter. The robotic arm is connected to a lever 100 for adjusting the position of the acetabular cup 500 inserter via the lever 100, so as to accurately implant the acetabular cup 500 into the desired body part via the acetabular cup 500 inserter.

[0087] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0088] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A mortar cup inserter, characterized in that, The mortarsal cup inserter includes: Member (100); A mortising cup connector body (200), the proximal end of which is rotatably connected to the rod (100) to allow the mortising cup connector body (200) to deflect relative to the rod (100), and the distal end of which is threadedly connected to the mortising cup (500); and A mortarsus cup connector cover (300) is provided, the proximal end of which is connected to the rod (100), the distal end of which is used to abut against the mortarsus cup (500), and the mortarsus cup connector cover (300) is spaced out of the mortarsus cup connector body (200).

2. The mortar cup inserter according to claim 1, characterized in that, The near end of the main body (200) of the mortise joint is provided with a spherical structure (210), and a spherical cavity (110) is provided on the rod (100). The spherical structure (210) and the spherical cavity (110) cooperate to form a spherical hinge structure.

3. The mortar cup inserter according to claim 2, characterized in that, The main body (200) of the mortar cup connector is provided with a plug-in part (220), and the rod (100) is provided with a slot (120). The plug-in part (220) is inserted into the slot (120) along a first direction and is clearance-fitted with the slot (120). The first direction is set at an angle to the axial direction of the rod (100).

4. The mortar cup inserter according to claim 2, characterized in that, The rod (100) is provided with a limiting groove (130) that communicates with the spherical cavity (110), and the limiting groove (130) extends along the axial direction of the rod (100); The portion of the mortising cup connector body (200) connected to the spherical structure (210) passes through the limiting groove (130); the diameter of the spherical structure (210) is greater than the minimum radial dimension of the limiting groove (130) along the rod (100).

5. The mortar cup inserter according to claim 4, characterized in that, The rod (100) has a first mounting groove (141) on its side wall. The first mounting groove (141) communicates with the spherical cavity (110) and allows the spherical structure (210) to enter the spherical cavity (110). The rod (100) has a second mounting groove (142) on its side wall that communicates with the first mounting groove (141). The second mounting groove (142) communicates with the limiting groove (130) and allows part of the acetabular cup connector body (200) to enter the limiting groove (130).

6. The mortar cup inserter according to claim 2, characterized in that, The mortising cup connector body (200) includes a threaded section (230) and an intermediate section (240) connected in sequence. The spherical structure (210) is connected to the end of the intermediate section (240) away from the threaded section (230). The threaded section (230) is used for threaded connection with the mortising cup (500). The mortar cup inserter also includes a first elastic element (410), which is sleeved outside the middle section (240). One end of the first elastic element (410) abuts against the threaded section (230), and the other end abuts against the distal end of the rod (100).

7. The mortar cup inserter according to claim 6, characterized in that, The first elastic element (410) abuts against the rod (100) via a gasket (420); One of the gasket (420) and the rod (100) has a groove (170) and the other has a protrusion (421), the protrusion (421) and the groove (170) are engaged along the axial direction of the rod (100).

8. The mortar cup inserter according to claim 6, characterized in that, The spherical structure (210) and the spherical cavity (110) are fitted with a clearance.

9. The mortar cup inserter according to claim 1, characterized in that, The rod (100) has a first embedding groove (150) on its outside. A second elastic element (430) is provided in the first embedding groove (150). The mortising cup connector cover (300) is sleeved on the rod (100) and presses the second elastic element (430) into the first embedding groove (150).

10. The mortar cup (500) inserter according to any one of claims 1-9, characterized in that, The rod (100) is a straight rod, and the proximal end of the mortar cup (500) connector cap (300) is coaxially connected to the rod (100).

11. The mortar cup (500) inserter according to any one of claims 1-9, characterized in that, The rod (100) includes a connecting part (610), a bent part (620) and a straight part (630) connected in sequence. The proximal end of the acetabular cup connector body (200) is rotatably connected to the connecting part (610). The axis of the straight part (630) is parallel to or coincides with the axis of the acetabular cup (500) connector cover (300).

12. The mortar cup (500) inserter according to claim 11, characterized in that, The rod (100) includes a rotating rod (640) that passes through a portion of the curved portion (620) to be rotatably connected to the connecting portion (610), and is used to drive the connecting portion (610) to rotate around its own axis via the rotating rod (640).

13. The mortar cup (500) inserter according to claim 12, characterized in that, The curved section (620) includes a plurality of straight pipe sections (621) connected in sequence, with adjacent straight pipe sections (621) arranged at an angle, and one end of the rotating rod (640) passes through the straight pipe section (621) connected to the connecting section (610).

14. A surgical robot, characterized in that, The device includes a robotic arm and a mortarsile inserter as described in any one of claims 1-13, wherein the robotic arm is connected to the rod (100) and is used to adjust the position of the mortarsile inserter via the rod (100).

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