Acetabular cup striking device and hip replacement surgery robot

Abstract

The application relates to a hip cup knocking device and a hip replacement surgery robot, which comprises a holding assembly, a knocking part, a connecting part and a holding part which are sequentially connected in a first direction, the connecting part is further provided with a connecting arm to be connected with a mechanical hand of a surgery robot, the connecting arm extends in a second direction, the second direction intersects with the first direction, a knocking rod penetrates through the holding assembly in the first direction, one end of the knocking rod extends out of the knocking part, the other end of the knocking rod extends out of the holding part and is configured to be connected with a hip cup, a verification point is arranged on the knocking rod close to the hip cup, and the verification point has a preset shape matched with a probe. The technical scheme can reduce surgery errors.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to an acetabular cup percussion device and a hip replacement surgery robot. Background Technology

[0002] Hip replacement surgery is one of the achievements of modern medicine. For patients with hip joint injuries caused by congenital malformations, femoral neck fractures, alcoholism, hormone use, trauma, etc., hip replacement surgery can significantly improve hip joint function and enhance their quality of life. Hip replacement surgery involves removing the damaged hip joint and implanting a prosthetic hip joint, such as a metal hip joint, to restore or partially restore hip joint function.

[0003] With the development of surgical robot technology, hip replacement surgery is now mainly performed by hip replacement surgical robots. Hip replacement surgical robots have the advantages of high precision, less trauma, and more personalized treatment.

[0004] In existing hip replacement surgical robot products, the striking rod in the acetabular cup striking device is prone to deformation during handling or use. Utility Model Content

[0005] In view of this, this application provides an acetabular cup percussion device and a hip replacement surgery robot to solve at least one problem existing in the prior art.

[0006] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0007] In a first aspect, embodiments of this application provide a acetabular cup percussion device, comprising:

[0008] The gripping assembly includes a striking part, a connecting part, and a gripping part that are sequentially connected in a first direction. The connecting part is further provided with a connecting arm for connection with the robotic arm of a surgical robot. The connecting arm extends along a second direction, which intersects with the first direction.

[0009] A striking rod extends through the holding assembly in a first direction, with one end of the striking rod extending out of the striking part and the other end extending out of the holding part, and is configured to connect to the acetabular cup;

[0010] The verification point is located on the striking rod near the acetabular cup; the verification point has a preset shape adapted to the probe.

[0011] Optionally, the verification point is a groove provided on the outer peripheral surface of the striking rod.

[0012] Optionally, the cross-sectional area of ​​the bottom of the groove is smaller than the cross-sectional area of ​​the opening of the groove.

[0013] Optionally, the cross-sectional area of ​​the groove gradually increases from the bottom outwards.

[0014] Optionally, the groove is a cone shape with a small bottom and a large opening.

[0015] Optionally, the bottom diameter of the groove is 1mm-3mm.

[0016] Optionally, multiple verification points are provided and arranged along the first direction.

[0017] Optionally, the connecting part is also equipped with a tracer for monitoring the position of the acetabular cup percussion device.

[0018] Secondly, embodiments of this application provide a hip replacement surgery robot, comprising:

[0019] robotic arm;

[0020] Any of the acetabular cup percussion devices described above, wherein the acetabular cup percussion device is connected to the robotic arm.

[0021] The acetabular cup percussion device and hip replacement surgery robot provided in this application include: a holding assembly comprising a percussion part, a connecting part, and a holding part sequentially connected in a first direction; the connecting part further comprising a connecting arm for connection with the robotic arm of the surgical robot; the connecting arm extending in a second direction intersecting the first direction; a percussion rod penetrating the holding assembly in the first direction, one end of the percussion rod extending out of the percussion part and the other end extending out of the holding part, and configured to connect with the acetabular cup; and a verification point disposed on the percussion rod near the acetabular cup; the verification point having a preset shape adapted to a probe. It can be seen that the acetabular cup percussion device and hip replacement surgery robot of this application, by setting a verification point on the percussion rod, can determine the degree of deformation of the percussion rod by verifying the position of the verification point. This allows for a simple and quick determination of the degree of deformation of the percussion rod, reducing surgical errors. Therefore, the acetabular cup percussion device and hip replacement surgery robot of this application can quickly and easily determine the degree of deformation of the percussion rod, reducing surgical errors.

[0022] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0024] Figure 1 A schematic diagram of the acetabular cup percussion device provided in the embodiments of this application;

[0025] Figure 2 An exploded view (dissolved diagram) of the acetabular cup percussion device provided in the embodiments of this application;

[0026] Figure 3 This is a cross-sectional schematic diagram of the verification point in the acetabular cup percussion device provided in the embodiments of this application.

[0027] Explanation of reference numerals in the attached figures:

[0028] 10. Holding component; 11. Striking part; 12. Connecting part; 121. Connecting arm; 13. Holding part; 20. Striking rod; 21. Verification point; 30. Tracer; 40. Acral cup. Detailed Implementation

[0029] To make the technical solution and beneficial effects of this application more apparent and understandable, a detailed description is provided below by listing specific embodiments. The accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application pertains.

[0030] In the description of this application, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used for the purpose of simplifying the description of this application and do not indicate that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. In other words, they should not be construed as limitations on this application.

[0031] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating the relative importance of the indicated features or the number of indicated technical features. Therefore, a feature specified as "first" or "second" may explicitly include at least one of those features. In the description of this application, "multiple" means at least two, such as two, three, etc.; "several" means at least one, such as one, two, three, etc., unless otherwise explicitly specified.

[0032] In this application, unless otherwise expressly defined, the terms "installation," "connection," "linking," "fixing," "setting," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can also refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0033] In this application, unless otherwise expressly defined, the terms "above," "on top of," "over," "above," "below," "below," "below," or "below" for "first feature over second feature" can refer to the first and second features being in direct contact, or to the first and second features being in indirect contact through an intermediate medium. Furthermore, "above," "over," and "below" for "first feature over second feature" can mean the first feature is directly above or diagonally above the second feature, or simply indicates that the horizontal height of the first feature is higher than the horizontal height of the second feature. Similarly, "below," "below," and "below" for "first feature over second feature" can mean the first feature is directly below or diagonally below the second feature, or simply indicates that the horizontal height of the first feature is lower than the horizontal height of the second feature.

[0034] To fully understand this application, detailed steps and structures will be presented in the following description to illustrate the technical solution of this application. Preferred embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may have other implementation methods.

[0035] The applicant of this application discovered during the research and development that, in the use of surgical robots, the positions of surgical tools such as probes, marker pins, and saw blades can all be determined through verification point 21. Similarly, if the striking rod 20 in the acetabular cup striking device is also equipped with verification point 21, then the deformation of the striking rod 20 can also be detected through changes in the position of verification point 21.

[0036] Therefore, based on further research and development by the applicant, the following technical solution was proposed.

[0037] This application provides an acetabular cup percussion device, with reference to... Figure 1 and Figure 2 The acetabular cup percussion device includes:

[0038] The gripping assembly 10 includes a striking part 11, a connecting part 12, and a gripping part 13 that are connected sequentially in a first direction. The connecting part 12 is further provided with a connecting arm 121 for connection with the robotic arm of the surgical robot. The connecting arm 121 extends along a second direction, which intersects with the first direction.

[0039] A striking rod 20 extends through the holding assembly 10 in a first direction. One end of the striking rod 20 extends out of the striking part 11, and the other end extends out of the holding part 13, and is configured to connect with the acetabular cup 40.

[0040] Verification point 21 is located on the striking rod 20 near the acetabular cup 40; verification point 21 has a preset shape adapted to the probe.

[0041] Understandably, the holding assembly 10 is fixed relative to the robotic arm and is used to mount components such as the striking rod 20; it can be understood as the frame of the acetabular cup striking device. Since the robotic arm typically connects to other moving parts via a cantilever, a large contact area is required at the connection point to ensure a secure connection. Therefore, the connecting portion 12 can be the part with the largest cross-sectional area in the holding assembly 10. Furthermore, the inner cavity of the connecting portion 12 can accommodate limiting components for the striking rod 20, thus requiring a large inner cavity space, which further increases the cross-sectional area of ​​the connecting portion 12.

[0042] Understandably, since the striking rod 20 needs to transmit the striking force, one end of the striking rod 20 needs to be outside the proximal end of the striking part 11, and the other end needs to be outside the distal end of the holding part 13, so that the striking force can be transmitted from the proximal end to the distal end. That is, the striking rod 20 is a relatively fixed whole along its axial length from the striking part 11 to the holding part. The striking rod 20 and the holding assembly 10 are relatively separate, reducing the impact of the striking force on the holding assembly 10 and even the robot arm.

[0043] Specifically, the impact of striking force on the gripping assembly 10, or even the robotic arm, can be reduced by incorporating an elastic element in the limiting part of the striking rod 20 to buffer the transmission of force.

[0044] Specifically, the preset shape that matches the probe can be a shape that makes it easy for the probe to touch or retract, such as a protrusion, a groove, etc.

[0045] The probe is a positioning tool that is optically / electrically connected to the surgical robot, and its spatial position is recorded by the surgical robot. Therefore, the position where the probe tip touches the striking rod 20 can also be recorded by the surgical robot. Furthermore, the shape of the striking rod 20 that meets the specified requirements is also preset in the surgical robot. If the position where the probe tip touches the striking rod 20 is inconsistent with the preset position, it is considered that the deformation of the striking rod 20 exceeds the specified requirements.

[0046] For example, before use, place the tip of the probe at the verification point 21 of the striking rod 20 to verify the position. If the verification is successful, the surgery can proceed normally. If the verification fails, the deformation of the striking rod 20 needs to be checked.

[0047] The acetabular cup percussion device of this application embodiment, by setting a verification point 21 on the percussion rod 20, can determine the degree of deformation of the percussion rod 20 by verifying the position of the verification point 21. This allows for a simple and quick assessment of the degree of deformation of the percussion rod 20, determining whether the percussion rod needs to be replaced or can continue to be used, thereby reducing surgical errors.

[0048] In some other embodiments of this application, the verification point 21 is a groove provided on the outer peripheral surface of the striking rod 20.

[0049] This makes processing convenient and reduces costs.

[0050] In some other embodiments of this application, the cross-sectional area of ​​the bottom of the groove is smaller than the cross-sectional area of ​​the opening of the groove.

[0051] That is, the inside is smaller and the outside is larger, which is conducive to the probe entering.

[0052] In some other embodiments of this application, the cross-sectional area of ​​the groove gradually increases from the bottom outwards.

[0053] This facilitates processing. For example, it allows for machining into a tapered or arc shape using boring methods.

[0054] In other embodiments of this application, reference is made to Figure 3 The groove is a cone shape with a small bottom and a large opening.

[0055] Conical shapes are easier to process and have lower costs.

[0056] In some other embodiments of this application, the bottom diameter of the groove is 1mm-3mm.

[0057] This is a design solution that works well with the probe while requiring minimal machining. The bottom diameter is... Figure 3 The middle part is marked as D1.

[0058] In some other embodiments of this application, multiple verification points 21 are provided and arranged along a first direction.

[0059] In this way, by using multiple verification points 21, the deformation of the striking rod 20 can be determined more comprehensively.

[0060] In other embodiments of this application, reference is made to Figure 1 and Figure 2 The connecting part 12 is also equipped with a tracer 30 for monitoring the position of the acetabular cup percussion device.

[0061] This allows for monitoring of the position of the acetabular cup percussion device during surgery, reducing the impact on the procedure due to changes in the position of the acetabular cup percussion device.

[0062] In some other embodiments of this application, the distance between the verification point 21 and the acetabular cup 40 in the first direction is less than 50 mm.

[0063] Practice shows that setting the verification point 21 closer to the front end of the acetabular cup 40 results in more accurate position confirmation. This allows for better confirmation of whether the striking rod 20 has any positional deviation, which is beneficial for the precise execution of the surgery.

[0064] This application also provides a hip replacement surgery robot, including:

[0065] robotic arm;

[0066] The acetabular cup percussion device described above is connected to the robotic arm.

[0067] The hip replacement surgery robot can drive the movement of the robotic arm, which in turn drives the acetabular cup percussion device. After the acetabulum of the patient has been ground down, the acetabular cup 40 prosthesis is percussed into the acetabular fossa using the acetabular cup percussion device.

[0068] As can be seen, the hip replacement surgery robot of this application embodiment, by setting a verification point 21 on the striking rod 20, can determine the degree of deformation of the striking rod 20 by verifying the position of the verification point 21. This allows for a simple and quick determination of the degree of deformation of the striking rod 20, reducing surgical errors.

[0069] It should be understood that the above embodiments are exemplary and are not intended to encompass all possible implementations of the technical solutions of this application. Various modifications and changes can be made to the above embodiments without departing from the scope of this application. Similarly, the various technical features of the above embodiments can be arbitrarily combined to form other embodiments of this application that may not be explicitly described. Therefore, the above embodiments only illustrate several implementations of this application and do not limit the scope of protection of this patent application.

Claims

1. A percussion device for an acetabular cup, characterized in that, include: The gripping assembly includes a striking part, a connecting part, and a gripping part that are sequentially connected in a first direction. The connecting part is further provided with a connecting arm for connection with the robotic arm of a surgical robot. The connecting arm extends along a second direction, which intersects with the first direction. A striking rod extends through the holding assembly in a first direction, with one end of the striking rod extending out of the striking part and the other end extending out of the holding part, and is configured to connect to the acetabular cup; The verification point is located on the striking rod near the acetabular cup; the verification point has a preset shape adapted to the probe.

2. The acetabular cup percussion device according to claim 1, characterized in that, The verification point is a groove located on the outer circumferential surface of the striking rod.

3. The acetabular cup percussion device according to claim 2, characterized in that, The cross-sectional area at the bottom of the groove is smaller than the cross-sectional area at the opening of the groove.

4. The acetabular cup percussion device according to claim 2, characterized in that, The cross-sectional area of ​​the groove gradually increases from the bottom outwards.

5. The acetabular cup percussion device according to claim 2, characterized in that, The groove is cone-shaped with a small bottom and a large opening.

6. The acetabular cup percussion device according to claim 5, characterized in that, The bottom diameter of the groove is 1mm-3mm.

7. The acetabular cup percussion device according to claim 1, characterized in that, Multiple verification points are set up and arranged along the first direction.

8. The acetabular cup percussion device according to any one of claims 1-7, characterized in that, The connecting part is also equipped with a tracer for monitoring the position of the acetabular cup percussion device.

9. A hip replacement surgery robot, characterized in that, include: robotic arm; The acetabular cup percussion device according to any one of claims 1-8, wherein the acetabular cup percussion device is connected to the robotic arm.

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