Shoulder glenoid side drilling device for surgical robot

Abstract

The utility model provides a shoulder glenoid side drilling device for a surgical robot, which solves the problem that the existing shoulder glenoid handle and the existing shoulder glenoid drill sleeve can shake in the use process and further reduce the drilling precision, and adopts the technical scheme that a measurer handle is provided with a tracer interface which is electrically connected with a tracer; the measurer handle comprises an adapter, a handle and a sleeve, the inner wall of the sleeve is sleeved with a core rod with the two ends exposed, the outer wall of the sleeve is further provided with a third limiting hole, a groove is formed in the position, corresponding to the third limiting hole, of the outer wall of the core rod, and a pin is inserted into the third limiting hole and the groove so as to limit the rotation angle of the core rod; a rotating wrench is coaxially fixed to one end of the core rod through a connecting piece, an inserting rod is vertically fixed to the tail end of the other end of the core rod outwards, the side wall of the tail end extends outwards to form a third protruding part, a limiting rod parallel to the inserting rod is vertically fixed to the third protruding part outwards, and a through hole is formed in the bottom of the adapter so that the inserting rod can be fixed in a sleeved mode.

Description

Technical Field

[0001] This utility model relates to the field of artificial shoulder joint replacement technology, and in particular to a glenoid side drilling device for a surgical robot. Background Technology

[0002] Currently, with the development of medical technology, artificial shoulder joint replacement surgery has become a major means of treating shoulder joint diseases. Specifically, shoulder joint prosthesis replacement surgery can be used to treat three- or four-part fractures of the proximal humerus, congenital malformations, malignant tumors of the shoulder, and avascular necrosis of the humeral head, with significant efficacy.

[0003] During shoulder replacement surgery, a hole needs to be drilled on the glenoid side to prepare for the implantation of the glenoid prosthesis. Currently, the common drilling method during surgery is to use a handle with a square connector and a glenoid drill sleeve with a square interface to engage and cooperate. The handle is used to adjust the position of the drill sleeve for drilling.

[0004] The glenoid handle and glenoid drill sleeve described above may wobble during assembly, reducing the accuracy of the drilling position. This can lead to the implant getting stuck after drilling, requiring the surgeon to re-drill and prolonging the operation. Furthermore, it can cause the glenoid implant to deviate from its ideal position, potentially resulting in misalignment between the implant and the humeral bulb. This necessitates the surgeon to readjust the glenoid drill sleeve, drill again, and reinstall the implant, increasing surgical risks.

[0005] To address these issues, we propose a glenoid lateral drilling device for surgical robots. Utility Model Content

[0006] The technical problem to be solved by this utility model is to overcome the defects of the existing technology. This utility model proposes a glenoid side drilling device for surgical robots. Its structure is simple, the handle is firmly connected to the glenoid drill sleeve, it is not easy to shake, improve the accuracy of the drilling position, and further ensure the accuracy of the glenoid prosthesis installation position.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a shoulder glenoid lateral drilling device for a surgical robot, including a measuring handle, a lateral column drill sleeve, and a tracer. The top surface of the lateral column drill sleeve is recessed with a sloping step, and a positioning hole and multi-stage holes are formed at the step. The measuring handle is provided with a tracer interface for electrical connection with the tracer. The measuring handle includes an adapter, a handle, and a sleeve. A core rod with both ends exposed is fitted on the inner wall of the sleeve. A third limiting hole is also formed on the outer wall of the sleeve. The core rod... The outer wall has a groove corresponding to the third limiting hole. The third limiting hole and the groove are connected by a pin to limit the rotation angle of the core rod. One end of the core rod is coaxially fixed with a rotating wrench through a connector. The other end is vertically fixed with an insert rod, and a third protrusion extends outward from the side wall of this end. A limiting rod parallel to the insert rod is vertically fixed outward from the third protrusion. The bottom of the adapter has a through hole to allow the insert rod to be inserted and fixed in the same position as the insert rod in the hole. The limiting rod is inserted into the positioning hole.

[0008] Furthermore, the adapter is waist-shaped, and it has a pin hole in the direction perpendicular to the through hole for welding with the plug rod.

[0009] Furthermore, the holes are arranged from top to bottom as follows: a first hole, a second hole, and a third hole. The opening shape of the first hole corresponds to the adapter. The second hole is circular and corresponds to the first hole. The adapter can pass through the first hole and be rotated into the second hole. The shaft segment of the plug exposed by the adapter can be fitted into the third hole after the adapter is fitted into the second hole.

[0010] Furthermore, the connecting component includes a screw and a spring. The end face of the core rod near the rotating wrench has a threaded hole, and a limiting protrusion is provided on the outer wall of the shaft section corresponding to the exposed sleeve. The sleeve has a second protrusion on the end face corresponding to the rotating wrench. The outer wall of the spring has a first protrusion to engage with the second protrusion, and a second limiting hole is provided in its center to fit the limiting protrusion. One end of the rotating wrench has a first limiting hole that engages with the limiting protrusion to fit the core rod, and the other end is threadedly connected to the threaded hole to be threadedly fixed to the core rod by the screw.

[0011] Furthermore, the pin has a rotation range of 90° within the groove.

[0012] Furthermore, the angle between the step and the plane on which the step is located is 10°, and the step includes at least two steps that are symmetrically arranged on both sides of the lateral column drill sleeve. Each step is provided with a corresponding positioning hole and a multi-level hole position.

[0013] Furthermore, the lateral column drill sleeve is provided with drill holes, and the drill holes include at least three locations and are arranged in a circumferential manner around the outer end of the lateral column drill sleeve.

[0014] Compared with the prior art, the beneficial effects of this utility model include: by rotating the rotary wrench, the core rod can be driven to rotate synchronously, and the core rod then drives the adapter to rotate. The adapter can be screwed into the multi-stage hole, and with the positioning hole limiting the core rod, the lateral column drill sleeve and the glenoid measuring device handle can be firmly connected. Then, a coordinate mapping relationship can be established through the tracer, CT image and robot, and the installation position of the glenoid component prosthesis can be precisely adjusted for drilling according to the actual situation of the patient. Attached Figure Description

[0015] The disclosure of this utility model is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this utility model. In the drawings, the same reference numerals are used to refer to the same parts. Wherein:

[0016] Figure 1 The schematic diagram shows the overall structure of the device according to one embodiment of the present invention;

[0017] Figure 2 The schematic diagram shows an exploded view of the measuring instrument handle according to one embodiment of the present invention;

[0018] Figure 3 The schematic diagram shows a partial structural diagram of an adapter according to one embodiment of the present invention;

[0019] Figure 4 The schematic diagram shows a partial structural view of a connector according to one embodiment of the present invention;

[0020] Figure 5 The schematic diagram shows a partial structural view of a groove according to one embodiment of the present invention;

[0021] Figure 6 The schematic diagram shows a partial structural view of the end of the core rod according to one embodiment of the present invention;

[0022] Figure 7 The schematic diagram shows a lateral column drill sleeve structure according to one embodiment of the present invention and its AA-direction sectional view.

[0023] Figure 8 The diagram schematically shows a rotary wrench structure according to one embodiment of the present invention and its corresponding CC-direction sectional view.

[0024] The diagram is labeled as follows: 1. Shoulder gauge handle; 2. Lateral column drill sleeve; 3. Tracer; 101. Screw; 102. Turning wrench; 103. Spring; 104. Core rod; 105. Sleeve; 106. Adapter; 107. Handle; 108. Missing device interface; 201. Step; 202. Drill hole; 203. Positioning hole; 204. First hole position; 205. Second hole position; 206. Third hole position; 1021. Threaded hole; 1022. First limiting hole; 1031. First protrusion; 1032. Second limiting hole; 1041. Insert rod; 1042. Limiting protrusion; 1043. Threaded hole; 1044. Groove; 1051. Second protrusion; 1052. Third limiting hole; 1053. Third protrusion; 1054. Limiting rod; 1061. Pin hole. Detailed Implementation

[0025] It is readily understood that, based on the technical solution of this utility model, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of this utility model. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative descriptions of the technical solution of this utility model and should not be considered as the entirety of this utility model or as limitations or restrictions on the technical solution of this utility model.

[0026] According to one embodiment of the present invention, in conjunction with Figures 1-8 As shown.

[0027] Regarding the overall structure, a shoulder girdle side drilling device 202 for a surgical robot includes a measuring handle 107, a lateral column drill sleeve 2, and a tracer 3. The top surface of the lateral column drill sleeve 2 is recessed with a sloping step 201, and a positioning hole 203 and a multi-level hole are provided at the step 201. The measuring handle 107 is provided with a tracer 3 interface for electrical connection with the tracer 3.

[0028] As for the measuring instrument handle 107, such as Figure 2 , Figure 3 as well as Figure 5As shown, in this embodiment, the measuring instrument handle 107 includes an adapter 106, a handle 107, and a sleeve 105. A core rod 104 with both ends exposed is fitted onto the inner wall of the sleeve 105. A third limiting hole 1052 is also provided on the outer wall of the sleeve 105. A groove 1044 is provided on the outer wall of the core rod 104 corresponding to the third limiting hole 1052. The third limiting hole 1052 and the groove 1044 are connected by a pin to limit the rotation angle of the core rod 104. One end is coaxially fixed with a rotating wrench 102 via a connector, and the other end is vertically fixed with a plug rod 1041 extending outward. A third protrusion 1053 extends outward from the side wall of this end. A limiting rod 1054 parallel to the plug rod 1041 is vertically fixed outward from the third protrusion 1053. The bottom of the adapter 106 has a through hole to allow the plug rod 1041 to be inserted and fixed, and is fixed in the same position as the plug rod 1041 in the hole. The limiting rod 1054 is inserted into the positioning hole 203.

[0029] Furthermore, such as Figure 3 As shown, in this embodiment, the adapter 106 is waist-shaped, and it has a pin hole 1061 in the direction perpendicular to the through hole for welding with the insertion rod 1041. Correspondingly, the holes from top to bottom include a first hole 204, a second hole 205, and a third hole 206. The opening shape of the first hole 204 corresponds to that of the adapter 106. The second hole 205 is circular and corresponds to the first hole 204. The adapter 106 can pass through the first hole 204 and be rotated into the second hole 205. The shaft section of the insertion rod 1041 exposed by the adapter 106 can be fitted into the third hole 206 after the adapter 106 is fitted into the second hole 205. This structure can realize the connection and positioning of the lateral column drill sleeve 2 and the shoulder measuring instrument handle 1.

[0030] Similarly, the specific selection of the connector can actually include a variety of types. In this embodiment, the connector includes a screw 101 and a spring 103. The end face of the core rod 104 near the rotating wrench 102 is provided with a threaded hole 1043, and a limiting protrusion 1042 is provided on the outer wall of the shaft section of the corresponding exposed sleeve 105. The sleeve 105 is provided with a second protrusion 1051 on the end face of the corresponding rotating wrench 102. The outer wall of the spring 103 is provided with a first protrusion 1031 to be embedded and cooperate with the second protrusion 1051. A second limiting hole 1032 is provided in its center to fit the limiting protrusion 1042. One end of the rotating wrench 102 is provided with a first limiting hole 1022 that cooperates with the limiting protrusion 1042 to fit the core rod 104, and the other end is threadedly corresponding to the threaded hole 1043 to be threadedly fixed to the core rod 104 by the screw 101.

[0031] Furthermore, such asFigure 5 As shown, in this embodiment, the pin rotates within the groove 1044 within a range of 90°.

[0032] For the lateral column drill sleeve 2, as follows Figure 7 As shown, the angle between the step 201 and the plane containing the step 201 is 10°. The step 201 includes at least two steps symmetrically arranged on both sides of the lateral column drill sleeve 2. Each step 201 has a corresponding positioning hole 203 and a multi-level hole position. Further, the lateral column drill sleeve 2 has drill holes 202, including at least three drill holes 202 arranged in a circumferential manner around the outer end of the lateral column drill sleeve 2.

[0033] With the above structural configuration, in this solution, the adapter 106 can be inserted into the first hole 204 and rotated into the second hole 205, thereby allowing the insertion rod 1041 to enter the third hole 206. The sleeve 105 also has a third limiting hole 1052, and the insertion rod 1041 has a groove 1044. After the sleeve 105 and the insertion rod 1041 are properly fitted, a pin is inserted into the limiting hole, and the pin enters the groove 1044. The pin rotates within the groove 1044 within a 90° range. The rotation angle of the core rod 104 is limited. The corresponding working principle is as follows: First, the core rod 104 is inserted into the sleeve 105. Then, the spring piece 103 is inserted into the limiting protrusion 1042 on the core rod 104. After insertion, the spring piece 103 will not be able to rotate relative to the limiting protrusion 1042. Then, the rotating wrench 102 is fixed to the insert rod 1041 by the screw 101. After fixing, the adapter 106 is inserted into the insert rod 1041. Then, the tracer 3 is connected to the tracer 3 interface.

[0034] In practical use, first insert the adapter 106 into the first hole 204, and at the same time, the limiting rod 1054 enters the positioning hole 203. Since the insertion rod 1041 and the rotating wrench 102 cannot rotate relative to each other, when we rotate the rotating wrench 102, it can drive the core rod 104 to rotate. The core rod 104 drives the adapter 106 to rotate. After the adapter 106 enters the first hole 204, it can be rotated into the second hole 205. At this time, the lateral column drill sleeve 2 can be firmly connected to the glenoid measuring device handle 1. Then, the coordinate mapping relationship can be established through the tracer 3, CT image and robot. The installation position of the glenoid component prosthesis can be precisely adjusted according to the actual situation of the patient for drilling.

[0035] The technical scope of this utility model is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this utility model, and all such modifications and variations should fall within the protection scope of this utility model.

Claims

1. A shoulder girdle lateral drilling device for a surgical robot, comprising a measuring handle, a lateral column drill sleeve, and a tracer, wherein the top surface of the lateral column drill sleeve is recessed with a sloping step and a positioning hole and multi-stage holes are provided at the step, characterized in that: The measuring instrument handle is provided with a tracer interface for electrical connection with the tracer. The measuring instrument handle includes an adapter, a handle, and a sleeve. A core rod with both ends exposed is fitted on the inner wall of the sleeve. A third limiting hole is also provided on the outer wall of the sleeve. A groove is provided on the outer wall of the core rod corresponding to the third limiting hole. The third limiting hole and the groove are connected by a pin to limit the rotation angle of the core rod. A rotating wrench is coaxially fixed to one end of the core rod through a connector. An insert rod is vertically fixed to the other end. A third protrusion extends outward from the side wall of this end. A limiting rod parallel to the insert rod is vertically fixed to the third protrusion. A through hole is provided at the bottom of the adapter to allow the insert rod to be fitted and fixed in the same position as the insert rod in the hole. The limiting rod is fitted into the positioning hole.

2. The axilla side drilling device for a surgical robot according to claim 1, characterized in that: The adapter is waist-shaped and has a pin hole in the direction perpendicular to the through hole for welding with the plug rod.

3. The axilla-side drilling device for a surgical robot according to claim 2, characterized in that: The holes, from top to bottom, include a first hole, a second hole, and a third hole. The opening shape of the first hole corresponds to the adapter. The second hole is circular and corresponds to the first hole. The adapter can pass through the first hole and be rotated into the second hole. The exposed shaft of the plug rod can be fitted into the third hole after the adapter is fitted into the second hole.

4. The axilla-side drilling device for a surgical robot according to claim 1, characterized in that: The connector includes a screw and a spring. The end face of the core rod near the rotating wrench has a threaded hole and a limiting protrusion on the outer wall of the corresponding exposed sleeve shaft section. The sleeve has a second protrusion on the end face of the corresponding rotating wrench. The outer wall of the spring has a first protrusion to engage with the second protrusion, and a second limiting hole is provided in its center to fit the limiting protrusion. One end of the rotating wrench has a first limiting hole that engages with the limiting protrusion to fit the core rod, and the other end is threaded to the threaded hole to be threaded to the core rod by the screw.

5. A glenoid-side drilling device for a surgical robot according to any one of claims 1-4, characterized in that: The pin can rotate within the groove by 90°.

6. A glenoid-side drilling device for a surgical robot according to any one of claims 1-4, characterized in that: The angle between the step and the plane on which the step is located is 10°. The step includes at least two steps and is symmetrically arranged on both sides of the lateral column drill sleeve. Each step is provided with a corresponding positioning hole and a multi-level hole.

7. The glenoid-side drilling device for a surgical robot according to claim 6, characterized in that: The lateral column drill sleeve has drill holes, and the drill holes include at least three holes arranged in a circumferential manner around the outer end of the lateral column drill sleeve.

Images