Osteotomy guide, osteotomy guide tool and osteotomy system

Abstract

The application relates to an osteotomy guide plate, an osteotomy guide tool and an osteotomy system. The osteotomy guide plate comprises a guide plate, at least three guide grooves are arranged on the guide plate, the angle between any two adjacent guide grooves is an acute angle, and different guide grooves are used for corresponding different osteotomy surfaces. During osteotomy, first, one of the guide grooves is made parallel to the corresponding osteotomy surface, and then the osteotomy tool is passed through the guide groove to perform osteotomy on the osteotomy surface; after the osteotomy of one osteotomy surface is completed, when the guide plate is moved to the next osteotomy surface by a mechanical arm, since the guide plate is provided with at least three guide grooves and the angle between any two adjacent guide grooves is an acute angle, the guide groove with a direction close to the inclination direction of the next osteotomy surface can be selected to guide the next osteotomy surface, that is, in this way, the guide plate can be reduced or even not rotated by the mechanical arm, thereby the waiting time of the operation can be reduced and the mechanical arm can avoid shielding the navigation marker.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to osteotomy guide plates, osteotomy guiding tools, and osteotomy systems. Background Technology

[0002] In joint replacement surgery, osteotomy guides and osteotomy tools are required. The osteotomy guide is mounted at the end of a robotic arm, which moves the guide. The guide has a guiding structure that provides limiting and guiding for the osteotomy tools, precisely controlling the position and angle of the osteotomy. Taking knee replacement surgery as an example, during the operation, guided by the osteotomy guide, the osteotomy tools need to precisely cut multiple surfaces of the distal femur to create a suitable bone bed for installing the artificial knee joint prosthesis.

[0003] In related technologies, when changing the osteotomy surface, the robotic arm needs to move the osteotomy guide plate significantly to adjust it. This increases the waiting time during the operation, and the large movement of the robotic arm can also obstruct the navigation marks of the osteotomy tool, leading to navigation failure. Utility Model Content

[0004] Therefore, it is necessary to provide an osteotomy guide plate, an osteotomy guide tool, and an osteotomy system to address the problem that the robotic arm needs to make large-scale movements and adjustments to the osteotomy guide when changing the osteotomy surface.

[0005] An osteotomy guide plate includes a guide plate with at least three guide grooves. The angle between any two adjacent guide grooves is an acute angle. Different guide grooves are used to correspond to different osteotomy surfaces. The guide grooves are used to slide with an osteotomy tool to guide the osteotomy tool to cut bone and form the osteotomy surface corresponding to the guide groove.

[0006] In one embodiment, the same guide groove is used to correspond to multiple osteotomy surfaces.

[0007] In one embodiment, the guide plate extends along a first direction, and on the cross-section of the guide plate along the first direction, at least three guide grooves include a first guide groove, a second guide groove, and a third guide groove arranged sequentially along the circumferential direction. The angle between the first guide groove and the second guide groove is in the range of 30°-60°, and the angle between the second guide groove and the third guide groove is in the range of 30°-60°.

[0008] In one embodiment, the angle between the first guide groove and the second guide groove is 45°, and the angle between the second guide groove and the third guide groove is 45°.

[0009] In one embodiment, one end of the first guide groove, one end of the second guide groove, and one end of the third guide groove intersect at the same intersection point.

[0010] In one embodiment, at least three of the guide grooves further include a fourth guide groove, the fourth guide groove being at an angle of 90° to the second guide groove.

[0011] In one embodiment, the fourth guide groove simultaneously traverses the first guide groove, the second guide groove, and the third guide groove.

[0012] In one embodiment, the fourth guide groove is located at one end of the second guide groove near the intersection point.

[0013] In one embodiment, the guide plate includes a first guide portion, a second guide portion, and a third guide portion. The first guide groove is formed on the first guide portion, the second guide groove is formed on the second guide portion, and the third guide groove is formed on the third guide portion. A spacer groove is provided between the first guide portion and the second guide portion, and a spacer groove is provided between the second guide portion and the third guide portion.

[0014] An osteotomy guide tool includes a robotic arm and an osteotomy guide plate disposed at the end of the robotic arm.

[0015] An osteotomy system includes a left osteotomy guide tool and a right osteotomy guide tool, the left and right osteotomy guide tools being osteotomy guide tools, wherein the guide groove on the osteotomy guide plate in the left osteotomy guide tool and the guide groove on the osteotomy guide plate in the right osteotomy guide tool extend in opposite directions.

[0016] The aforementioned osteotomy guide plate, osteotomy guide tool, and osteotomy system, during osteotomy, first move the guide plate using a robotic arm to align one of the guide grooves parallel to the corresponding osteotomy surface. Then, the osteotomy tool passes through the guide groove to perform the osteotomy on that surface. After completing the osteotomy on one surface, when the robotic arm moves the guide plate to the next surface, since the guide plate has at least three guide grooves, and the angle between any two adjacent guide grooves is acute, a guide groove with a similar inclination direction to the next osteotomy surface can be selected. This guide groove guides the next osteotomy surface, reducing or even eliminating the need for the robotic arm to rotate the guide plate (when the inclination angle of the guide groove is parallel to the next osteotomy surface, rotation of the guide plate is unnecessary). Compared to the prior art, which only has one guide groove on the guide plate and requires significant robotic arm movement to guide different osteotomy surfaces, this application reduces the adjustment angle of the robotic arm, decreases surgical waiting time, and avoids the robotic arm obstructing navigation markers. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating the correspondence between the osteotomy surfaces on the tibia and femur and the osteotomy guide plate in one embodiment.

[0018] Figure 2 This is a schematic diagram of the structure during a knee replacement surgery on the right leg in one embodiment.

[0019] Figure 3 As one embodiment Figure 2 A schematic diagram of the structure at point A in the middle.

[0020] Figure 4 This is a schematic diagram of the structure of the left osteotomy guide tool and the right osteotomy guide tool in one embodiment.

[0021] Figure 5 This is a schematic diagram of the structure when the end joints of the robotic arms in the left osteotomy guide tool and the right osteotomy guide tool structure overlap in one embodiment.

[0022] Figure reference numerals: 11. Left osteotomy guide tool; 12. Right osteotomy guide tool; 20. Osteotomy guide plate; 30. Robotic arm; 31. Terminal joint; 40. Connecting plate; 50. Tibia; 51. Tibial surface; 60. Femur; 61. Posterior condylar surface; 62. Posterior oblique surface; 63. Distal surface; 64. Superior oblique surface; 65. Anterior condylar surface; 70. Osteotomy tool; 80. Navigation marker;

[0023] 100. Guide plate; 110. First guide section; 120. Second guide section; 130. Third guide section; 140. Spacing groove;

[0024] 200, guide groove; 210, first guide groove; 220, second guide groove; 230, third guide groove; 240, fourth guide groove; 250, intersection point. Detailed Implementation

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] In related technologies, taking knee replacement surgery as an example, during the operation, guided by the osteotomy guide plate, the osteotomy tool needs to precisely cut multiple surfaces of the distal femur to create a suitable bone bed for installing the artificial knee joint prosthesis. However, the guide plate only has one guide groove. When changing the osteotomy surface, the robotic arm needs to move the osteotomy guide plate significantly to adjust it. This increases the intraoperative waiting time excessively. Furthermore, the significant movement of the robotic arm can easily obstruct the navigation marks of the osteotomy tool, leading to navigation failure.

[0032] See Figures 1-4 An embodiment of this application provides an osteotomy guide plate 20, which includes a guide plate 100. The guide plate 100 has at least three guide grooves 200. The angle between any two adjacent guide grooves 200 is an acute angle. Different guide grooves 200 are used to correspond to different osteotomy surfaces. The guide grooves 200 are used to slide with osteotomy tools to guide the osteotomy tools to cut bone, so as to form the osteotomy surface corresponding to the guide groove 200.

[0033] In this embodiment, during osteotomy, the guide plate 100 is first moved by the robotic arm 30 so that one of the guide grooves 200 is parallel to the corresponding osteotomy surface. Then, the osteotomy tool 70 passes through the guide groove 200 to perform osteotomy on the osteotomy surface. After the osteotomy of one osteotomy surface is completed, when the robotic arm 30 moves the guide plate 100 to the next osteotomy surface, since the guide plate 100 has at least three guide grooves 200 and the angle between any two adjacent guide grooves 200 is an acute angle, a guide groove 200 with an inclination direction close to that of the next osteotomy surface can be selected so that the guide groove 200 guides the next osteotomy surface. That is, this method can reduce or even eliminate the need for the robotic arm 30 to rotate the guide plate 100 (when the inclination angle of the guide groove 200 is parallel to the next osteotomy surface, the robotic arm 30 does not need to rotate the guide plate 100), and the guide groove 200 can guide the next osteotomy surface. Compared to the existing technology that only opens a guide groove 200 on the guide plate, which requires the robotic arm 30 to move significantly when guiding different osteotomy surfaces, this application can reduce the adjustment angle of the robotic arm 30, reduce surgical waiting time, and avoid the robotic arm 30 obstructing the navigation mark 80.

[0034] For example, at least three guide grooves 200 include a first guide groove 210, a second guide groove 220, and a third guide groove 230. The distal end of the femur 60 has a distal surface 63, a posterior slope 62, and a posterior condylar surface 61. The first guide groove 210 corresponds to the posterior condylar surface 61, the second guide groove 220 corresponds to the posterior slope 62, and the third guide groove 230 corresponds to the distal surface 63. Before osteotomy, the robotic arm 30 is first rotated until the first guide groove 210 is parallel to the posterior condylar surface 61. Then, the osteotomy tool 70 passes through the first guide groove 210 to perform osteotomy on the posterior condylar surface 61. Next, the robotic arm 30 drives the guide plate 100 to move so that the second guide groove 220 is parallel to the posterior inclined surface 62. Then, the osteotomy tool 70 passes through the second guide groove 220 to perform osteotomy on the posterior inclined surface 62. Then, the robotic arm 30 drives the guide plate 100 to move so that the third guide groove 230 is parallel to the distal surface 63. Then, the osteotomy tool 70 passes through the first guide groove 210 to perform osteotomy on the distal surface 63.

[0035] In some embodiments, the same guide groove 200 is used to correspond to multiple osteotomy surfaces.

[0036] For example, the distal end of the femur 60 has an anterior condylar surface 65, a superior oblique surface 64, a distal surface 63, a posterior oblique surface 62, and a posterior condylar surface 61 in sequence, and the proximal end of the tibia 50 has a tibial surface 51. The inclination angles of the tibial surface 51, the posterior condylar surface 61, and the anterior condylar surface 65 are similar (the difference in inclination angle is within the range of 0°-5°), so that one guide groove 200 can simultaneously correspond to the tibial surface 51, the posterior condylar surface 61, and the anterior condylar surface 65.

[0037] For example, consider a first guide groove 210 that simultaneously corresponds to the tibial surface 51, the posterior condyle surface 61, and the anterior condyle surface 65. During osteotomy, the guide plate 100 is first moved by the robotic arm 30 to align the first guide groove 210 with the tibial surface 51. After the osteotomy of the femur 60 on the tibial surface 51 is completed, the guide plate 100 is translated to the posterior condyle surface 61 by the robotic arm 30 and rotated by a small angle (less than 5°) to align the first guide groove 210 with the posterior condyle surface 61. After the osteotomy of the posterior condyle surface 61 is completed, the guide plate 100 is translated to the anterior condyle surface 65 by the robotic arm 30 and rotated by a small angle (less than 5°) to align the first guide groove 210 with the anterior condyle surface 65, and then the osteotomy of the anterior condyle surface 65 is completed. That is, the robotic arm 30 only needs to translate a small distance and then rotate a small angle each time to achieve the guiding function; and the same guide groove 200 corresponds to multiple osteotomy surfaces, which can reduce the number of guide grooves 200 to be opened.

[0038] In some embodiments, the guide plate 100 extends along a first direction, and on the cross-section of the guide plate 100 along the first direction, at least three guide grooves 200 include a first guide groove 210, a second guide groove 220 and a third guide groove 230 arranged sequentially along the circumferential direction. The angle between the first guide groove 210 and the second guide groove 220 is in the range of 30°-60°, and the angle between the second guide groove 220 and the third guide groove 230 is in the range of 30°-60°.

[0039] The guide plate 100 is a long strip, and its length direction is the first direction. The cross-section of the guide plate 100 along its length is an approximate fan-shaped structure. The first guide groove 210, the second guide groove 220, and the third guide groove 230 extend radially along the fan-shaped structure, and are arranged sequentially along the circumferential direction of the fan-shaped structure. Of course, in other embodiments, the cross-section of the guide plate 100 can also be other shapes. In this case, the first guide groove 210, the second guide groove 220, and the third guide groove 230 are arranged sequentially along the circumferential direction of a virtual circular structure on the cross-section.

[0040] For example, consider a first guide groove 210 corresponding to the posterior condyle surface 61, a second guide groove 220 corresponding to the posterior inclined surface 62, and a third guide groove 230 corresponding to the distal end surface 63. The angle between the first guide groove 210 and the second guide groove 220 is 30°, and the angle between the second guide groove 220 and the third guide groove 230 is 30°. The angular interval between the distal end surface 63 and the posterior inclined surface 62 is 45°, and the angular interval between the posterior inclined surface 62 and the posterior condyle surface 61 is 45°. During osteotomy, firstly, the first guide groove 210 is aligned with the posterior condyle surface 61, and the posterior condyle surface 61 is cut from the femur 60 using the guiding effect of the first guide groove 210. Then, the robotic arm 30 moves the guide plate 100 to the position of the posterior oblique surface 62. Since the angle between the first guide groove 210 and the second guide groove 220 is 30°, and the angle interval between the posterior oblique surface 62 and the posterior condyle surface 61 is 45°, rotating the guide plate 100 15° forward will align the second guide groove 220 with the posterior oblique surface 62. The second guide groove 220 guides the cutting of the posterior inclined surface 62 on the femur 60. Finally, the robotic arm 30 drives the guide plate 100 to translate to the position of the distal surface 63. Since the angle between the second guide groove 220 and the third guide groove 230 is 30° and the angle interval between the distal surface 63 and the posterior inclined surface 62 is 45°, the guide plate 100 is rotated 15° forward so that the third guide groove 230 corresponds to the distal surface 63. The distal surface 63 is cut on the femur 60 by the guiding action of the second guide groove 220.

[0041] For example, the angle between the first guide groove 210 and the second guide groove 220 is 60°, and the angle between the second guide groove 220 and the third guide groove 230 is 60°. The angular interval between the distal surface 63 and the posterior oblique surface 62 is 45°, and the angular interval between the posterior oblique surface 62 and the posterior condyle surface 61 is 45°. During osteotomy, firstly, the first guide groove 210 is aligned with the posterior condyle surface 61, and the posterior condyle surface 61 is cut on the femur 60 using the guiding effect of the first guide groove 210. Then, the guide plate 100 is translated to the position of the posterior oblique surface 62 by the robotic arm 30. Since the angle between the first guide groove 210 and the second guide groove 220 is 60°, and the angular interval between the posterior oblique surface 62 and the posterior condyle surface 61 is 45°, the guide plate 100 is rotated 15° in the opposite direction to align the second guide groove 220 with the posterior oblique surface 62. The second guide groove 220 guides the cutting of the posterior inclined surface 62 on the femur 60. Finally, the robotic arm 30 drives the guide plate 100 to translate to the position of the distal surface 63. Since the angle between the second guide groove 220 and the third guide groove 230 is 60° and the angle interval between the distal surface 63 and the posterior inclined surface 62 is 45°, the guide plate 100 is rotated 15° in the opposite direction so that the third guide groove 230 corresponds to the distal surface 63. The distal surface 63 is cut off on the femur 60 by the guiding action of the second guide groove 220.

[0042] In the two embodiments above, "forward" and "reverse" do not refer to a specific direction; they can simply be two opposite directions.

[0043] In some embodiments, the angle between the first guide groove 210 and the second guide groove 220 is 45°, and the angle between the second guide groove 220 and the third guide groove 230 is 45°.

[0044] For example, during osteotomy, firstly, the first guide groove 210 is aligned with the posterior condyle surface 61, and the posterior condyle surface 61 is cut on the femur 60 by the guiding action of the first guide groove 210. Next, since the angle between the first guide groove 210 and the second guide groove 220 is 45°, and the angle between the posterior slope surface 62 and the posterior condyle surface 61 is also 45°, the guide plate 100 only needs to be translated to the position of the posterior slope surface 62 by the robotic arm 30 without rotation, so that the second guide groove 220 aligns with the posterior slope surface 62. Guided by the second guide groove 220, the posterior inclined surface 62 is cut off on the femur 60. Finally, since the angle between the second guide groove 220 and the third guide groove 230 is 45°, and the angle between the posterior inclined surface 62 and the distal surface 63 is also 45°, the guide plate 100 only needs to be moved to the position of the distal surface 63 by the robotic arm 30 without rotation, so that the third guide groove 230 corresponds to the distal surface 63, which facilitates the cutting off of the distal surface 63 on the femur 60 by the guiding action of the second guide groove 220.

[0045] When the angle between the first guide groove 210 and the second guide groove 220 is 45°, and the angle between the second guide groove 220 and the third guide groove 230 is 45°, after the guide plate 100 completes the guiding function of one osteotomy surface, the robotic arm 30 only needs to be translated to the next osteotomy surface without rotation, so that one of the guide grooves 200 corresponds to the next osteotomy surface, thereby minimizing the posture adjustment of the robotic arm 30, reducing the surgical waiting time, and avoiding the robotic arm 30 from obstructing the navigation mark 80.

[0046] In some embodiments, one end of the first guide groove 210, one end of the second guide groove 220, and one end of the third guide groove 230 intersect at the same intersection point 250.

[0047] This design allows the guide groove 200 to meet the length requirements while minimizing the cross-sectional area of ​​the guide plate 100, thus miniaturizing the guide plate 100, reducing its weight, and facilitating a stable connection with the robotic arm 30.

[0048] In some embodiments, at least three guide grooves 200 further include a fourth guide groove 240, the angle between the fourth guide groove 240 and the second guide groove 220 being 90°.

[0049] In this embodiment, the angle between the fourth guide groove 240 and the second guide groove 220 is 90°, and the angle between the distal end surface 63 and the posterior condyle surface 61 is 90°±5°, which facilitates the guidance of the upper inclined surface 64 through the fourth guide groove 240.

[0050] Specifically, the angle between the first guide groove 210 and the second guide groove 220 is 45°, the angle between the second guide groove 220 and the third guide groove 230 is 45°, and the angle between the fourth guide groove 240 and the second guide groove 220 is 90°. The first guide groove 210 is used to correspond to one of the three surfaces: the tibial surface 51, the posterior condyle surface 61, and the anterior condyle surface 65, so as to cut out the tibial surface 51, the posterior condyle surface 61, and the anterior condyle surface 65; the second guide groove 220 is used to correspond to the posterior oblique surface 62, so as to cut out the posterior oblique surface 62; the third guide groove 230 is used to correspond to the distal surface 63, so as to cut out the distal surface 63; and the fourth guide groove 240 is used to correspond to the superior oblique surface 64, so as to cut out the superior oblique surface 64. Therefore, after the robotic arm 30 drives the guide plate 100 to complete the positioning of the first osteotomy surface, when switching to any next osteotomy surface, the end of the robotic arm 30 only needs to perform translation, or translation and a very small angle (within 5°) adjustment to complete the positioning of the second surface, thus avoiding the situation where the robotic arm 30 moves and adjusts significantly when switching between different osteotomy surfaces.

[0051] Furthermore, the fourth guide groove 240 simultaneously traverses the first guide groove 210, the second guide groove 220, and the third guide groove 230.

[0052] In this embodiment, based on the first guide groove 210, the second guide groove 220 and the third guide groove 230 provided on the guide plate 100, there is no need to increase the cross-sectional area of ​​the guide plate 100. The fourth guide groove 240 can directly pass through the first guide groove 210, the second guide groove 220 and the third guide groove 230 at the same time, which is conducive to the miniaturization of the guide plate 100.

[0053] In some embodiments, the guide plate 100 includes a first guide portion 110, a second guide portion 120, and a third guide portion 130. A first guide groove 210 is formed on the first guide portion 110, a second guide groove 220 is formed on the second guide portion 120, and a third guide groove 230 is formed on the third guide portion 130. A spacer groove 140 is provided between the first guide portion 110 and the second guide portion 120, and a spacer groove 140 is provided between the second guide portion 120 and the third guide portion 130.

[0054] With this configuration, the spacer slot 140 can further reduce the weight of the guide plate 100.

[0055] Specifically, the fourth guide groove 240 simultaneously traverses the first guide groove 210, the second guide groove 220, and the third guide groove 230. The fourth guide groove 240 is located on the side of the second guide groove 220 closer to the intersection point 250, and the spacer groove 140 is located on the side of the fourth guide groove 240 away from the intersection point 250. This arrangement can reduce weight without affecting the guiding function of each guide groove 200.

[0056] The guide plate 100 of this application has a palm-shaped structure. In other embodiments, the guide plate 100 may have other structures, such as a triangle, quadrilateral, pentagon, circle or polygonal star structure.

[0057] One embodiment of this application discloses an osteotomy guide tool, including a robotic arm 30 and an osteotomy guide plate 20, wherein the osteotomy guide plate 20 is disposed at the end of the robotic arm 30.

[0058] With this configuration, the robotic arm 30 can be a 6-DOF robotic arm 30, with the osteotomy guide plate 20 located at the end of the robotic arm 30. Navigation markers 80 are provided on the robotic arm 30, the osteotomy tool 70, and the osteotomy site on the patient. Guided by the navigation markers 80, the robotic arm 30 can automatically locate the osteotomy surface at the osteotomy site, thereby moving the guide plate 100 to the corresponding osteotomy surface, ensuring that the corresponding guide groove 200 is parallel to the osteotomy surface. Then, guided by the navigation markers 80, the osteotomy tool 70 passes through the guide groove 200 to cut the required osteotomy surface.

[0059] Combination Figure 4 and Figure 5 One embodiment of this application discloses an osteotomy system, which includes a left osteotomy guide tool 11 and a right osteotomy guide tool 12. Both the left osteotomy guide tool 11 and the right osteotomy guide tool 12 include a robotic arm 30 and an osteotomy guide plate 20. The osteotomy guide plate 20 is disposed at the end of the corresponding robotic arm 30. The guide groove 200 on the osteotomy guide plate 20 in the left osteotomy guide tool 11 and the guide groove 200 on the osteotomy guide plate 20 in the right osteotomy guide tool 12 extend in opposite directions.

[0060] Specifically, the end joint 31 of the robotic arm 30 is connected to the corresponding osteotomy guide plate 20 via a connecting plate 40. The connection angle between the robotic arm 30 and the connecting plate 40 in the left osteotomy guide tool 11 and the right osteotomy guide tool 12 is the same. The guide groove 200 on the osteotomy guide plate 20 in the left osteotomy guide tool 11 and the guide groove 200 on the osteotomy guide plate 20 in the right osteotomy guide tool 12 extend in opposite directions. It can be considered that when the connecting plate 40 of the left osteotomy guide tool 11 and the connecting plate 40 of the right osteotomy guide tool 12 coincide, the osteotomy guide plate 20 in the left osteotomy guide tool 11 and the osteotomy guide plate 20 in the right osteotomy guide tool 12 are symmetrical about the central axis of the end joint 31 of the robotic arm 30.

[0061] This configuration allows for the use of the left osteotomy guide tool 11 when performing knee replacement surgery on the patient's left leg, and the right osteotomy guide tool 12 when performing knee replacement surgery on the patient's right leg. This avoids the problem of the robotic arm 30 obstructing the navigation marker 80 during left-sided knee replacement surgery, whereas it obstructs the navigation marker 80 during right-sided knee replacement surgery, when only one osteotomy guide tool is used. By differentiating between the left and right osteotomy guide tools 11 and 12, the entire osteotomy process—including the navigation marker 80 of the osteotomy tool 70, the end-effector navigation marker 80 of the robotic arm 30, the femoral 60 navigation marker 80, and the tibial 50 navigation marker 80—is visualized regardless of whether a left or right knee replacement surgery is performed, thus improving the accuracy of the joint replacement surgery.

[0062] Of course, in other embodiments, the osteotomy guide plate 20, osteotomy guide tool and osteotomy system of this application can also be used in other joint replacement surgeries, such as hip replacement, shoulder replacement, ankle replacement, elbow replacement, wrist replacement, etc. In this case, it is only necessary to change the number of guide grooves 200 and the angle of guide grooves 200 so that they correspond to the osteotomy surfaces in the corresponding bone joints.

[0063] 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.

[0064] 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. An osteotomy guide plate (20), characterized in that, The osteotomy guide plate (20) includes a guide plate (100), and at least three guide grooves (200) are provided on the guide plate (100) respectively penetrating the guide plate (100). The angle between any two adjacent guide grooves (200) is an acute angle, and different guide grooves (200) are used to correspond to different osteotomy surfaces. The guide groove (200) is used to slide with the osteotomy tool to guide the osteotomy tool to cut bone, so as to form the osteotomy surface corresponding to the guide groove (200).

2. The osteotomy guide plate (20) according to claim 1, characterized in that, The guide plate (100) extends along a first direction. On the cross-section of the guide plate (100) along the first direction, at least three guide grooves (200) include a first guide groove (210), a second guide groove (220), and a third guide groove (230) arranged sequentially along the circumferential direction. The angle between the first guide groove (210) and the second guide groove (220) is in the range of 30°-60°, and the angle between the second guide groove (220) and the third guide groove (230) is in the range of 30°-60°.

3. The osteotomy guide plate (20) according to claim 2, characterized in that, The angle between the first guide groove (210) and the second guide groove (220) is 45°, and the angle between the second guide groove (220) and the third guide groove (230) is 45°.

4. The osteotomy guide plate (20) according to claim 2, characterized in that, One end of the first guide groove (210), one end of the second guide groove (220), and one end of the third guide groove (230) intersect at the same intersection point (250).

5. The osteotomy guide plate (20) according to claim 2, characterized in that, The at least three guide grooves (200) further include a fourth guide groove (240) at an angle of 90° to the second guide groove (220).

6. The osteotomy guide plate (20) according to claim 5, characterized in that, The fourth guide groove (240) simultaneously traverses the first guide groove (210), the second guide groove (220), and the third guide groove (230).

7. The osteotomy guide plate (20) according to claim 6, characterized in that, The fourth guide groove (240) is located at one end of the second guide groove (220) near the intersection point (250).

8. The osteotomy guide plate (20) according to claim 3, characterized in that, The guide plate (100) includes a first guide portion (110), a second guide portion (120), and a third guide portion (130). The first guide groove (210) is formed on the first guide portion (110), the second guide groove (220) is formed on the second guide portion (120), and the third guide groove (230) is formed on the third guide portion (130). A spacer groove (140) is provided between the first guide portion (110) and the second guide portion (120), and a spacer groove (140) is provided between the second guide portion (120) and the third guide portion (130).

9. An osteotomy guide tool, characterized in that, The osteotomy guide tool includes a robotic arm (30) and an osteotomy guide plate (20) as described in any one of claims 1-8, wherein the osteotomy guide plate (20) is disposed at the end of the robotic arm (30).

10. An osteotomy system, characterized in that, The osteotomy system includes a left osteotomy guide tool (11) and a right osteotomy guide tool (12), which are osteotomy guide tools as described in claim 9. The guide groove (200) on the osteotomy guide plate (20) in the left osteotomy guide tool (11) and the guide groove (200) on the osteotomy guide plate (20) in the right osteotomy guide tool (12) extend in opposite directions.

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