Robotic assisted unicompartmental replacement system

Abstract

The application relates to a robot-assisted unicompartmental replacement system. The robot-assisted unicompartmental replacement system comprises a mechanical arm, an osteotomy positioner provided with a positioning part for osteotomy positioning, the osteotomy positioner being detachably connected to the mechanical arm, and the osteotomy positioner being provided with a fixing part for fixing a surgical site. The robot-assisted unicompartmental replacement system can effectively relieve the problems of limited surgical space and blocked optical tracking field of view under the premise of ensuring surgical precision.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a robot-assisted unicompartmental replacement system. Background Technology

[0002] In unicompartmental arthroplasty, robot-assisted techniques are gaining increasing importance due to their precision. Existing robot-assisted systems typically utilize a robotic arm with a dedicated osteotomy or positioning guide, which moves to a planned position under optical navigation guidance to assist the surgeon in performing critical osteotomy and drilling operations. This type of technology significantly improves the accuracy of prosthesis implantation and reduces over-reliance on the surgeon's personal experience.

[0003] However, existing robot-assisted unicompartmental surgery protocols still have significant limitations: to maintain precise positioning of the surgical guide throughout the procedure, the robotic arm typically needs to remain connected to the guide and stationary near the surgical area for most or all of the critical operational phases (such as osteotomy and drilling). While this operating mode ensures positioning accuracy, the relatively large robotic arm inevitably occupies limited space next to the operating table. This, to some extent, restricts the optimal operating position and range of motion for the surgeon and assistant, potentially affecting the ease and smoothness of their operation. Furthermore, in an optical navigation environment, the robotic arm may obstruct the optical tracking field of view, potentially interfering with the stability of the navigation system and the smoothness of the surgical process. Utility Model Content

[0004] Therefore, it is necessary to provide a robot-assisted unicompartmental replacement system to effectively alleviate the problems of limited surgical space and obstruction of optical tracking field of view while ensuring surgical accuracy.

[0005] A robot-assisted unicompartmental replacement system, the robot-assisted unicompartmental replacement system comprising:

[0006] robotic arms; and

[0007] Osteotomy locator, having a positioning part for positioning osteotomy;

[0008] The osteotomy locator is detachably connected to the robotic arm, and the osteotomy locator is provided with a fixing part for fixing to the surgical site.

[0009] In some embodiments, the robotic arm includes an operating element, and a locking element and a connecting seat connected to the operating element.

[0010] The osteotomy locator includes a mounting component having a locking surface;

[0011] The operating member and the connecting seat are movably connected. The operating member is configured to be operablely movable to switch the locking member between a first position and a second position. When the locking member is in the first position, the mounting member can be separated from the connecting seat. When the locking member is in the second position, it can abut against the locking surface to prevent the mounting member from separating from the connecting seat.

[0012] In some embodiments, the mounting member is inserted into the connector along a first direction, and the locking surface is an inclined surface relative to the first direction; the operating member is rotatably connected to the connector, and the operating member is configured to be operably rotatable to elastically push the locking member to the second position along a second direction, wherein the second direction is perpendicular to the first direction.

[0013] In some embodiments, the connector has a slot extending in the first direction and a locking groove extending in the second direction and communicating with the slot, the mounting member being inserted into the slot, and an elastic mechanism connected between the operating member and the locking member being installed in the locking groove.

[0014] In some embodiments, the elastic mechanism includes a first connector, a second connector, and an elastic member located between the first connector and the second connector, the second connector being connected to the locking member, and the first connector being connected to the operating member.

[0015] In some embodiments, the operating member has a first abutment surface and a second abutment surface, and a rotation center that rotates relative to the connecting seat. The distance between the first abutment surface and the rotation center is smaller than the distance between the second abutment surface and the rotation center. When the first abutment surface abuts against the first connecting member, the locking member is located in the first position. When the second abutment surface abuts against the first connecting member, the locking member is located in the second position.

[0016] In some embodiments, the slot has a limiting notch communicating with the slot on the slot wall near the insertion port, and a limiting post protrudes from the outer peripheral surface of the mounting member, the limiting post extending into the limiting notch.

[0017] In some embodiments, the fixing part is a fixing hole provided on the osteotomy locator, and the osteotomy locator is configured to be fixed to the surgical site through the fixing hole by a fixing member.

[0018] In some embodiments, the positioning portion includes a first osteotomy positioning groove and a first osteotomy positioning surface that extend perpendicularly.

[0019] In some embodiments, the robot-assisted unicompartmental replacement system further includes a drill positioner detachably connected to the robotic arm, the drill positioner having a first guide hole for drilling positioning.

[0020] In some embodiments, the fixing part is two second guide holes provided on the osteotomy locator, and the osteotomy locator is configured to be fixed to the surgical site through two drilling parts of the drilling device via corresponding second guide holes.

[0021] In some embodiments, the positioning portion includes a second osteotomy positioning groove.

[0022] In some embodiments, the osteotomy locator has a verification hole for inserting a verification element with optical markings.

[0023] A robot-assisted unicompartmental replacement system, the robot-assisted unicompartmental replacement system comprising:

[0024] robotic arm;

[0025] Osteotomy locator, detachably connected to the robotic arm; and

[0026] A controller, communicatively connected to the robotic arm, is used to control the movement of the robotic arm so that the osteotomy locator connected to it is in the surgical planning position; and after the osteotomy locator is fixed to the surgical site of the patient, the controller is used to control the movement of the robotic arm so that the robotic arm, which is separated from the osteotomy locator, is moved away from the surgical area.

[0027] In some embodiments, after the osteotomy locator is removed from the surgical site, the controller controls the movement of the robotic arm to position another osteotomy locator in the planned surgical position; and after the other osteotomy locator is fixed to the surgical site, the controller controls the movement of the robotic arm to move the robotic arm, which is separated from the other osteotomy locator, away from the surgical area.

[0028] In some embodiments, the robot-assisted unicompartmental replacement system further includes:

[0029] A drilling locator is detachably connected to the robotic arm and has a first guide hole;

[0030] Drilling equipment;

[0031] The controller is used to control the movement of the robotic arm so that the drill positioner connected to it is in the surgical planning position, thereby enabling the drilling equipment to perform drilling operations through the first guide hole.

[0032] In some embodiments, the robot-assisted unicompartmental replacement system further includes:

[0033] Drilling equipment with two drilling sections;

[0034] The osteotomy locator is provided with two second guide holes; the controller is used to control the movement of the robotic arm so that the osteotomy locator connected to it is in the surgical planning position, and then the two drilling parts are drilled through the two second guide holes respectively to fix the osteotomy locator to the surgical site.

[0035] In some embodiments, the controller is used to obtain the current pose of the osteotomy locator and compare it with the preset installation pose of the osteotomy locator to determine whether the osteotomy locator is installed in place.

[0036] The aforementioned robot-assisted unicompartmental osteotomy system uses a robotic arm to position the osteotomy locator at the planned surgical location. A fixation unit on the osteotomy locator allows it to be independently fixed to the patient's surgical site (bone). Once the osteotomy locator is fixed, the robotic arm can detach from it and completely withdraw from the surgical operating space. This "precise delivery-secure fixation-timely withdrawal" operating mode fundamentally solves the key bottleneck problem of traditional robot-assisted solutions requiring the robotic arm to remain in the surgical area throughout the procedure. Specifically, it significantly frees up extremely valuable and limited space next to the operating table. The withdrawal of the large robotic arm eliminates its physical encroachment on the surgeon's and assistant's optimal operating position and range of motion, allowing the surgeon to move and perform operations freely in an unobstructed and more spacious environment, greatly improving the convenience, smoothness, and overall ergonomic comfort of surgical instrument control. Furthermore, the timely removal of the robotic arm effectively avoids the potential risk of its large size obstructing the tracking field of the optical navigation equipment, ensuring the reliability of the navigation process and seamless transitions in the surgical procedure. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of a robot-assisted unicompartmental replacement system in one embodiment of this application.

[0038] Figure 2 for Figure 1 A magnified view of the area near the surgical site.

[0039] Figure 3 This is a schematic diagram of the robotic arm end effector and osteotomy locator and drilling locator in one embodiment of this application (corresponding to the fixation of a unicompartmental prosthesis).

[0040] Figure 4 for Figure 3 Enlarged view of the osteotomy locator and drilling locator (corresponding to the fixation of the unicompartmental prosthesis).

[0041] Figure 5This is a schematic diagram of the robotic arm end effector and two types of osteotomy positioners (corresponding to a movable unicompartmental prosthesis) in one embodiment of this application.

[0042] Figure 6 for Figure 3 Enlarged images of two types of osteotomy locators (corresponding to mobile unicompartmental prostheses).

[0043] Figure 7 This is a schematic diagram of the detachable structure of the robotic arm and osteotomy positioner in one embodiment of this application (in the connected state).

[0044] Figure 8 for Figure 7 A partial enlarged view of the detachable structure of the robotic arm and osteotomy positioner (the locking element is located in the second position).

[0045] Figure 9 This is a schematic diagram of the circumferential limiting structure of the robotic arm and osteotomy positioner in one embodiment of this application.

[0046] Figure 10 This is a planar schematic diagram of a fixed unicompartmental prosthesis in one embodiment of this application.

[0047] Figure 11 for Figure 10 The diagram shows a three-dimensional representation of a fixed unicompartmental prosthesis.

[0048] Figure 12 This is a schematic diagram of a movable unicompartmental prosthesis in one embodiment of this application.

[0049] Figure label:

[0050] 100. Robotic arm; 110. Connecting seat; 111. Slot; 112. Locking slot; 113. Limiting notch; 120. Operating component; 121. First abutment surface; 122. Second abutment surface; 123. Rotation center; 130. Locking component; 140. Elastic mechanism; 141. First connecting component; 142. Second connecting component; 143. Elastic component; 150. Blocking component;

[0051] 200a / 200b, osteotomy locator; 210, positioning part; 211, first osteotomy positioning groove; 212, first osteotomy positioning surface; 213, second osteotomy positioning groove; 220, fixing part; 220a, fixing hole; 220b, second guide hole; 230, mounting part; 231, groove; 2311, locking surface; 232, limiting post; 240, verification hole;

[0052] 300. Drilling locator; 310. First guide hole;

[0053] 410. Tibial tracking array; 420. Femoral tracking array; 430. Active light emission array;

[0054] 500. Fixing a unicompartmental femoral prosthesis; 510. Fixing a unicompartmental femoral prosthesis; 511. Plane 1 for fixing a unicompartmental femoral prosthesis; 512. Plane 2 for fixing a unicompartmental femoral prosthesis; 513. Plane 3 for fixing a unicompartmental femoral prosthesis; 514. Positioning post 1 for fixing a unicompartmental femoral prosthesis; 515. Positioning post 2 for fixing a unicompartmental femoral prosthesis; 520. Fixing a unicompartmental prosthesis spacer; 530. Fixing a unicompartmental tibial prosthesis; 531. Horizontal plane of a unicompartmental tibial prosthesis; 532. Vertical plane of a unicompartmental tibial prosthesis; 533. Fixation features of a unicompartmental tibial prosthesis;

[0055] 600. Mobile unicompartmental prosthesis; 610. Mobile unicompartmental femoral prosthesis; 611. Plane of mobile unicompartmental femoral prosthesis; 612. Spherical surface of mobile unicompartmental femoral prosthesis; 613. Positioning post one of mobile unicompartmental femoral prosthesis; 614. Positioning post two of mobile unicompartmental femoral prosthesis; 620. Mobile unicompartmental prosthesis spacer; 630. Mobile unicompartmental tibial prosthesis; 631. Horizontal plane of mobile unicompartmental tibial prosthesis; 632. Vertical plane of mobile unicompartmental tibial prosthesis; 633. Fixation characteristics of mobile unicompartmental tibia. Detailed Implementation

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] See Figure 1 ,as well as Figures 3 to 6An embodiment of this application provides a robot-assisted unicompartmental osteotomy system including a robotic arm 100 and osteotomy locators 200a / 200b. The osteotomy locators 200a / 200b have a positioning part 210 for positioning the osteotomy. The osteotomy locators 200a / 200b are detachably connected to the robotic arm 100, and the osteotomy locators 200a / 200b are provided with a fixing part 220 for fixing to the surgical site.

[0063] In the robot-assisted unicompartmental replacement system described above, the movement of the robotic arm 100 positions the osteotomy locators 200a / 200b in the planned surgical location. The fixation part 220 on the osteotomy locators 200a / 200b allows them to be independently fixed to the patient's surgical site (bone). Once the osteotomy locators 200a / 200b are fixed, the robotic arm 100 can detach from them and completely withdraw from the surgical operating space. This "precise delivery-firm fixation-timely withdrawal" operation mode solves the key bottleneck problem of the robotic arm 100 needing to remain in the surgical area throughout the entire process in traditional robot-assisted solutions. Specifically, it significantly frees up extremely valuable and limited space next to the operating table. The withdrawal of the large robotic arm 100 eliminates its physical encroachment on the optimal operating position and range of motion for the surgeon and assistants, allowing the surgeon to move and perform operations freely in an unobstructed and more spacious environment, greatly improving the convenience, smoothness, and overall ergonomic comfort of surgical instrument operation. Furthermore, the timely removal of the robotic arm 100 effectively avoided the potential risk of its large size obstructing the tracking field of the optical navigation equipment, ensuring the reliability of the navigation process and the seamless connection of the surgical procedure.

[0064] See Figures 7 to 9 In some embodiments, the robotic arm 100 includes an operating member 120, and a locking member 130 and a connecting seat 110 connected to the operating member 120. The osteotomy locator 200a / 200b includes a mounting member 230 having a locking surface 2311. The operating member 120 and the connecting seat 110 are movably connected, and the operating member 120 is configured to be operablely movable to switch the locking member 130 between a first position and a second position; when the locking member 130 is in the first position, the mounting member 230 is detachable from the connecting seat 110; when the locking member 130 is in the second position, it abuts against the locking surface 2311 to prevent the mounting member 230 from separating from the connecting seat 110.

[0065] Specifically, the robotic arm 100 includes an end effector joint, which comprises the aforementioned operating element 120, locking element 130, and connecting seat 110. Alternatively, these components can exist independently of the end effector joint and be mounted on it. The osteotomy locators 200a / 200b can be of two main types, corresponding to reference numerals 200a and 200b respectively. Regardless of the type, they can be detached from the robotic arm 100 using the detachable structure of this embodiment. The osteotomy procedure using these two types of osteotomy locators will be described in detail in subsequent embodiments.

[0066] In the above embodiments, the design of driving the locking member 130 to move via the operating member 120 allows the surgeon to switch the locking member 130 from the "second position" (locked state) where it is pressed against the locking surface 2311 of the mounting member 230 to the "first position" (unlocked state) where it is no longer pressed after the osteotomy locator 200a / 200b is fixed to the surgical site (bone). This direct mechanical linkage structure ensures the immediacy and certainty of the separation action. As a result, the surgeon can complete the withdrawal of the robotic arm 100 with less operating force and a shorter time while ensuring positioning accuracy, significantly improving the smoothness and convenience of the surgical procedure and avoiding the operational delays or errors that may be caused by traditional complex interfaces.

[0067] See Figures 7 to 9 In some embodiments, the mounting member 230 is inserted into the connector 110 along a first direction, and the locking surface 2311 is an inclined surface relative to the first direction; the operating member 120 is rotatably connected to the connector 110, and the operating member 120 is configured to be operably rotated to elastically push the locking member 130 to a second position along a second direction, wherein the second direction is perpendicular to the first direction.

[0068] Specifically, when the mounting member 230 approaches the connecting seat 110 along the first direction, it can be inserted into the connecting seat 110 to complete the insertion and engagement. The mounting member 230 has a groove 231, which is set as an inclined surface relative to the first direction along the side wall of the robotic arm 100, thus forming a locking surface 2311. From the perspective of the attached drawings, when the operating member 120 rotates counterclockwise, it will elastically push the locking member 130 to move along the second direction away from the operating member 120 to a second position, thereby gradually pressing against the locking surface 2311. Since the locking surface 2311 is an inclined surface relative to the first direction, when the locking surface 2311 in the second position presses against the connecting seat 110, it will apply a component force along the first direction towards the robotic arm 100, thereby preventing the mounting member 230 from dislodging from the connecting seat 110. When the operating member 120 rotates clockwise, the locking member 130 will move along the second direction toward the side opposite to the locking surface 2311 and reset to the first position, thereby reducing the tightness against the locking surface 2311, or even completely separating from the locking surface 2311. Therefore, when the locking member 130 is in the first position, the mounting member 230 can disengage from the connecting seat 110 and separate from the connecting seat 110.

[0069] In the above embodiment, during disassembly, simply rotating the operating component 120 in the opposite direction instantly releases the elastic pressure. After the locking component 130 retracts, the mounting component 230 slides smoothly out along the first direction. The entire process requires no tool assistance, and the precise reset of the elastic element ensures that the locking / releasing action is instantly controllable. This ensures the rigidity of the mechanical connection while achieving rapid and safe separation, avoiding the operational delays of traditional solutions and optimizing the continuity of the surgical procedure.

[0070] In other embodiments, the operating member 120 may be slidably connected to the connecting seat 110 along the second direction, and the locking member 130 may be elastically pushed to the second position by the movement of the operating member 120 along the second direction.

[0071] See Figures 7 to 9 In some embodiments, the connector 110 has a slot 111 extending in a first direction and a locking groove 112 extending in a second direction and communicating with the slot 111. The mounting member 230 is inserted into the slot 111, and an elastic mechanism 140 connected between the operating member 120 and the locking member 130 is installed in the locking groove 112.

[0072] Specifically, the operating member 120 is exposed on the side of the locking groove 112 away from the slot 111 for easy user operation. From the perspective of the attached drawings, when the operating member 120 is rotated counterclockwise, the operating member 120 will elastically push the locking member 130 to move via the elastic mechanism 140, extending into the slot 111 through the locking groove 112 and abutting against the locking surface 2311 to prevent the mounting member 230 from dislodging from the connecting seat 110.

[0073] In the above embodiment, the mounting component 230 achieves precise orientation when inserted into the slot 111. The elastic mechanism 140 within the vertically penetrating locking slot 112 continuously applies pressure to the inclined locking surface 2311 via the locking component 130, forming an adaptive locking mechanism. On one hand, the elastic deformation automatically compensates for component tolerances, eliminating insertion jamming; on the other hand, the continuous elastic force counteracts micro-displacements during surgery, ensuring a constant locking state. This design allows surgeons to achieve stable "zero-gap" connection and instantaneous separation of the interface with simple insertion and removal during surgery, significantly improving operational smoothness and system anti-interference capabilities.

[0074] See Figures 7 to 9 In some embodiments, the elastic mechanism 140 includes a first connector 141, a second connector 142, and an elastic member 143 located between the first connector 141 and the second connector 142. The second connector 142 is connected to the locking member 130, and the first connector 141 is connected to the operating member 120.

[0075] Specifically, both the first connecting member 141 and the second connecting member 142 are shaped to fit the locking groove 112, thereby enabling reciprocating sliding within the locking groove 112. The elastic member 143 is a spring, for example, a disc spring. Under the restoring force of the elastic member 143, the first connecting member 141 will be pushed against the operating member 120, and the second connecting member 142 will be pushed against the locking member 130. When the operating member 120 is operated, the pressure applied to the operating member 120 will be indirectly transmitted to the locking member 130 through the first connecting member 141, the elastic member 143, and the second connecting member 142, thereby causing the locking member 130 to press against the locking surface 2311.

[0076] In the above embodiments, the elastic element 143 serves as an energy storage medium, and its compression is precisely transmitted through rigid connectors (first connector 141 and second connector 142), allowing the doctor to quantitatively control the locking force by feel. Simultaneously, the guiding effect of the dual connectors ensures that the elastic force is always applied vertically along the locking groove 112, eliminating resistance or wear caused by uneven friction. Furthermore, sudden vibrations during surgery are immediately absorbed and buffered by the elastic element 143, preventing the impact force from being directly transmitted to the positioner and causing displacement. The independent replaceability of the elastic element 143 significantly reduces equipment maintenance costs.

[0077] In other embodiments, an elastic integral component can also be provided as the elastic mechanism 140, that is, the first connector 141, the second connector 142 and the elastic component 143 are integrated into an integral structure.

[0078] Preferably, in some embodiments, the locking member 130 is spherical. This ensures that the locking member 130 consistently transmits pressure uniformly through point contact, eliminating the risk of localized stress concentration or jamming that might occur with angular structures. Simultaneously, the extremely low coefficient of contact friction due to the spherical design makes the unlocking process smoother.

[0079] Correspondingly, the end of the second connector 142 near the locking member 130 is configured with a matching concave spherical shape to better contact and abut against the locking member 130.

[0080] See Figures 7 to 9 In some embodiments, the operating member 120 has a first abutting surface 121 and a second abutting surface 122, and a rotation center 123 that rotates relative to the connecting seat 110. The distance between the first abutting surface 121 and the rotation center 123 is smaller than the distance between the second abutting surface 122 and the rotation center 123. When the first abutting surface 121 abuts against the first connecting member 141, the locking member 130 is located in a first position. When the second abutting surface 122 abuts against the first connecting member 141, the locking member 130 is located in a second position.

[0081] Specifically, the first contact surface 121 and the second contact surface 122 can be planar or curved. In the embodiment shown in the attached drawings, the first contact surface 121 is planar and the second contact surface 122 is a convex curved surface. The two are arranged adjacent to each other, and the switching between the two contact surfaces can be realized when the operating member 120 rotates 90 degrees.

[0082] In the above embodiment, when the doctor rotates the operating component 120 until the second abutment surface 122 contacts the first connecting component 141, because the lever arm of the second abutment surface 122 from the rotation center 123 is longer, the same operating force can generate a larger torque, thereby driving the locking component 130 to press against the locking surface 2311 with greater radial pressure, ensuring a firm and reliable locking state. Conversely, when the operating component 120 rotates back to contact the first abutment surface 121, the short lever arm design allows the elastic force of the elastic component 143 to be quickly released with only a small operating torque, causing the locking component 130 to instantly reset to the first position. This "long arm locking, short arm unlocking" design not only significantly reduces the doctor's locking operation intensity, but its asymmetrical structure also forms an anti-accidental contact mechanism. Accidental collisions during surgery can only push the operating component 120 to move in the direction of the short lever arm, reducing the risk of accidental disengagement of the robotic arm and enhancing system safety.

[0083] See Figures 7 to 9 In some embodiments, the slot 111 has a limiting notch 113 connected to the slot 111 on the slot wall near the insertion port, and the outer peripheral surface of the mounting member 230 is provided with a limiting post 232, which extends into the limiting notch 113.

[0084] Specifically, the limiting notch 113 penetrates the side wall of the slot 111. The main body of the mounting part 230 and the slot 111 are both cylindrical. By setting the matching limiting post 232 and limiting notch 113, when the mounting part 230 is inserted into the slot 111, the limiting post 232 will extend into the limiting notch 113, thereby achieving circumferential positioning of the mounting part 230 and the connecting seat 110, suppressing the relative rotation of the two in the circumferential direction, and ensuring the reliability of the osteotomy positioner 200a / 200b and the robotic arm 100 after connection.

[0085] In addition, a blocking member 150 is provided at the bottom of the slot 111 to block the inserted mounting member 230, thereby limiting the insertion stroke of the mounting member 230. When the mounting member 230 is installed in place, the locking member 130 abuts against the locking surface 2311, causing the mounting member 230 to tend to continue to extend into the bottom of the slot 111. The blocking member 150 abuts against the end of the mounting member 230, suppressing this tendency and also causing the mounting member 230 to tend to exit the slot 111. In this way, through two opposing pushing forces, the mounting member 230 is more stably kept in the current position, resulting in higher connection reliability and positional accuracy after installation.

[0086] Next, refer to Figures 10 to 12 The structure of two types of unicompartmental prostheses is introduced.

[0087] See Figures 10 to 11 In some embodiments, the fixed unicompartmental prosthesis 500 includes a fixed unicompartmental femoral prosthesis 510, a fixed unicompartmental prosthesis spacer 520, and a fixed unicompartmental tibial prosthesis 530. The fixed unicompartmental femoral prosthesis 510 has three positioning surfaces and two positioning posts that mate with the patient's femur. The three positioning surfaces are fixed unicompartmental femoral prosthesis plane one 511, fixed unicompartmental femoral prosthesis plane two 512, and fixed unicompartmental femoral prosthesis plane three 513; the two positioning posts are fixed unicompartmental femoral prosthesis positioning post one 514 and fixed unicompartmental femoral prosthesis positioning post two 515. The fixed unicompartmental tibial prosthesis 530 has two mutually perpendicular positioning surfaces that mate with the patient's tibia: a horizontal surface 531 and a vertical surface 532. Additionally, it has a fixed unicompartmental tibial fixation feature 533 that mates with the patient's tibia. Understandably, to install the prosthesis, a locator is needed to perform osteotomy and drilling at corresponding locations on the bone at the patient's surgical site, forming osteotomy surfaces that conform to the corresponding planes, and mounting holes that mate with the corresponding positioning posts. For example, osteotomy is required at corresponding locations on the patient's femur to form a distal femoral osteotomy surface that conforms to plane 511 of the fixed unicompartmental femoral prosthesis, a posterior oblique femoral osteotomy surface that conforms to plane 512 of the fixed unicompartmental femoral prosthesis, and a posterior condylar femoral osteotomy surface that conforms to plane 513 of the fixed unicompartmental femoral prosthesis.

[0088] See Figure 12 In some embodiments, the movable unicompartmental prosthesis 600 includes a movable unicompartmental femoral prosthesis 610, a movable unicompartmental prosthesis spacer 620, and a movable unicompartmental tibial prosthesis 630. The movable unicompartmental femoral prosthesis 610 has two positioning surfaces and two positioning posts that mate with the patient's femur. The two positioning surfaces are a movable unicompartmental femoral prosthesis plane 611 and a movable unicompartmental femoral prosthesis spherical surface 612. The two positioning posts are movable unicompartmental femoral prosthesis positioning post one 613 and movable unicompartmental femoral prosthesis positioning post two 614. The movable unicompartmental tibial prosthesis 630 has two mutually perpendicular positioning surfaces that mate with the patient's tibia: a movable unicompartmental tibial prosthesis horizontal surface 631 and a movable unicompartmental tibial prosthesis vertical surface 632. Additionally, it has a movable unicompartmental tibial fixation feature 633 that mates with the patient's tibia. Similarly, to install the prosthesis, a locator is needed to perform osteotomy and drilling at the corresponding location on the bone at the patient's surgical site, forming an osteotomy surface that conforms to the corresponding plane / sphere, and an installation hole that fits into the corresponding positioning post. For example, an osteotomy is needed at the corresponding location on the patient's femur to form a posterior femoral condyle osteotomy surface that can conform to the plane 611 of the movable unicompartmental femoral prosthesis.

[0089] In the embodiments of this application, Figures 3 to 4 The drill locator 300 and multiple osteotomy locators 200a shown are used to guide and position the saw / drill bit during surgery to form at least some of the aforementioned osteotomy surfaces and mounting holes on the patient's femur and tibia, thereby enabling the installation of the fixed unicompartmental prosthesis 500. That is... Figures 3 to 4 The structure shown is mainly for osteotomy and drilling during the installation of the fixed unicompartmental prosthesis 500.

[0090] Figures 5 to 6 The multiple osteotomy locators 200a and 200b shown are used to guide and position the saw / drill bit during surgery to facilitate the formation of at least partial osteotomy surfaces and mounting holes on the patient's femur and tibia, thereby enabling the installation of the movable unicompartmental prosthesis 600. That is... Figures 5 to 6 The structure shown is mainly for osteotomy and drilling during the installation of the 600 movable unicompartmental prosthesis.

[0091] See Figures 3 to 6 In some embodiments, the fixing part 220 is a fixing hole 220a provided on the osteotomy locator 200a, and the osteotomy locator 200a is configured to be fixed to the surgical site through the fixing hole 220a by a fixing member.

[0092] Specifically, the fixing element can be a fixing pin, which fixes the osteotomy locator 200a to the surgical site through the fixing hole 220a. For example, a threaded fastener can be used as the fixing pin, and the osteotomy locator 200a can be fixed by a threaded connection. In this way, after the osteotomy locator 200a is fixed and installed, the robotic arm 100 can be separated from the osteotomy locator 200a, and the robotic arm 100 can be withdrawn from the surgical area. Preferably, the osteotomy locator 200a has multiple fixing holes 220a, and a fixing element can be used to fix it at each fixing hole 220a. In this way, multi-point fixation can improve the installation strength, making the osteotomy locator 200a less likely to fall off and ensuring a firm connection with the patient's surgical site. It should be noted that if the fixation device is fastened by a thread and connected to the fixation hole 220a by a thread, then at least one fixation hole 220a and a corresponding fixation device must be provided. If the fixation device is only inserted into the bone along the fixation hole 220a and is not fastened to the fixation hole 220a by a thread, then at least two sets of corresponding fixation holes 220a and fixation devices must be provided in order to achieve the fixed installation of the osteotomy locator 200a. Otherwise, the osteotomy locator 200a can rotate around the fixation device and its position cannot be completely fixed.

[0093] See Figures 3 to 6 ,as well as Figures 10 to 12 In some embodiments, in the osteotomy locator 200a, the positioning part 210 includes a first osteotomy positioning groove 211 and a first osteotomy positioning surface 212 extending in a perpendicular direction.

[0094] Whether Figures 3 to 4 The corresponding fixed unicompartmental prosthesis 500 installation, or Figures 5 to 6 The corresponding unicompartmental prosthesis 600 installation requires the use of osteotomy locator 200a, the difference being the specific method of use.

[0095] Specifically, Figures 3 to 4In the installation of the fixed unicompartmental prosthesis 500, the robot-assisted unicompartmental replacement system includes two symmetrically shaped osteotomy locators 200a. One osteotomy locator 200a is used for guiding and positioning when the tibia is cut with a saw to form two osteotomy surfaces that respectively conform to the horizontal plane 531 and the vertical plane 532 of the fixed unicompartmental tibia prosthesis; the other osteotomy locator 200a is used for guiding and positioning when the femur is cut with a saw to form a posterior femoral condyle osteotomy surface that conforms to the plane 511 of the fixed unicompartmental femoral prosthesis. For example, the first osteotomy positioning groove 211 on one osteotomy locator 200a can guide the saw blade, with the saw teeth extending into the first osteotomy positioning groove 211 to perform osteotomy, forming an osteotomy surface that fits against the horizontal plane 531 of the fixed unicompartmental tibial prosthesis; the first osteotomy positioning surface 212 on the same osteotomy locator 200a can guide the saw blade, with the saw teeth fitting against the first osteotomy positioning surface 212 to perform osteotomy, forming an osteotomy surface that fits against the vertical plane 532 of the fixed unicompartmental tibial prosthesis. The first osteotomy positioning groove 211 on the other osteotomy locator 200a can guide the saw blade, with the saw teeth extending into the first osteotomy positioning groove 211 to perform osteotomy, forming a posterior femoral condyle osteotomy surface that fits against the plane 511 of the fixed unicompartmental femoral prosthesis.

[0096] Understandably, for the installation of the fixed unicompartmental prosthesis 500, setting up two osteotomy locators 200a to locate the tibia and femur respectively allows the second osteotomy locator 200a to be pre-installed on the separate robotic arm 100 while the first osteotomy locator 200a is being used for osteotomy positioning. This means that after the first osteotomy locator 200a is used for positioning, it can be quickly removed. Simultaneously, the robotic arm 100 can move the other osteotomy locator 200a to the surgical site, which is more efficient than using only one osteotomy locator 200a. Furthermore, setting up two symmetrically shaped osteotomy locators 200a serves two purposes: firstly, to guide the positioning of the two osteotomy surfaces on the tibia and the distal osteotomy surface on the femur respectively; and secondly, to adapt to the symmetrical structure of the left and right legs, making it universally applicable.

[0097] Figures 5 to 6In the installation of the movable unicompartmental tibial prosthesis 600, the robot-assisted unicompartmental replacement system includes at least one osteotomy locator 200a for guiding and positioning the saw blade during tibial osteotomy to form osteotomy surfaces that respectively conform to the horizontal surface 631 and the vertical surface 632 of the movable unicompartmental tibial prosthesis. For example, a first osteotomy positioning groove 211 can guide the saw blade, with the saw teeth extending into the first osteotomy positioning groove 211 to perform osteotomy, thereby forming an osteotomy surface that conforms to the horizontal surface 631 of the movable unicompartmental tibial prosthesis; a first osteotomy positioning surface 212 on the osteotomy locator 200a can guide the saw blade, with the saw teeth conforming to the first osteotomy positioning surface 212 to perform osteotomy, thereby forming an osteotomy surface that conforms to the vertical surface 632 of the movable unicompartmental tibial prosthesis. Understandably, for the installation of the active unicompartmental prosthesis 600, the two symmetrical osteotomy locators 200a are designed to adapt to the symmetrical structure of the left and right legs. One of the corresponding osteotomy locators 200a can be selected for the leg side to be operated on as needed.

[0098] In the aforementioned embodiments, by using the mutually perpendicular first osteotomy positioning groove 211 and first osteotomy positioning surface 212 in conjunction, osteotomy of two mutually perpendicular areas can be completed with a single locator, simplifying the operation process. Furthermore, when the saw blade extends into the first osteotomy positioning groove 211 for osteotomy, the limited space of the groove effectively restricts the saw blade's position and direction, achieving more precise positioning. Conversely, when the saw blade performs osteotomy along the first osteotomy positioning surface 212, the semi-open surface facilitates adjustment of the saw blade's position. Thus, by combining two different positioning structures, osteotomy requirements at different locations can be met.

[0099] Alternatively, in some embodiments, the first osteotomy positioning groove 211 and the first osteotomy positioning surface 212 can be replaced with two first osteotomy positioning grooves 211 or two first osteotomy positioning surfaces 212, which can also achieve a similar osteotomy positioning effect.

[0100] See Figures 3 to 4 In some embodiments, for the installation of a fixed unicompartmental prosthesis 500, the robot-assisted unicompartmental replacement system also includes a drill locator 300 detachably connected to the robotic arm 100, the drill locator 300 having a first guide hole 310 for drilling positioning.

[0101] Specifically, the drilling locator 300 also has the aforementioned mounting component 230, which is also detachably connected to the robotic arm 100. The specific structure of the detachable connection is the same as the detachable connection structure between the osteotomy locators 200a / 200b and the robotic arm 100 in the aforementioned embodiment. Therefore, after removing the osteotomy locator 200a from the robotic arm 100, the drilling locator 300 can be installed on the robotic arm 100 and transported by the robotic arm 100 to the planned surgical position. Then, the drill bit passes through the first guide hole 310 to complete the drilling on the femur, thereby forming a mounting hole for the first unicompartment femoral prosthesis positioning post 514 / the second unicompartment femoral prosthesis positioning post 515. For example, the robotic arm 100 first moves the drilling locator 300 to a planned position, and the drill bit passes through the first guide hole 310 to complete drilling on the femur, forming an installation hole for the first unicompartment femoral prosthesis positioning post 514. Then the drill bit is pulled out, and the robotic arm 100 moves the drilling locator 300 to another planned position, and the drill bit passes through the first guide hole 310 to complete drilling on the femur, forming an installation hole for the second unicompartment femoral prosthesis positioning post 515.

[0102] See Figures 3 to 4 ,as well as Figures 10 to 11 In summary, for the installation of the fixed unicompartmental prosthesis 500, the two symmetrical osteotomy locators 200a, in conjunction with a saw, can be used to perform osteotomies on the two osteotomy surfaces of the tibia (corresponding to the horizontal surface 531 and vertical surface 532 of the fixed unicompartmental tibia prosthesis) and on the distal osteotomy surface of the femur (corresponding to the plane 511 of the fixed unicompartmental femoral prosthesis). The drilling locator 300 can be used to drill the two mounting holes on the femur (corresponding to the positioning post 514 and positioning post 515 of the fixed unicompartmental femoral prosthesis, respectively). Figures 10 to 11As shown, the unicompartmental fixation prosthesis 500 also has structures such as a second unicompartmental femoral prosthesis plane 512, a third unicompartmental femoral prosthesis plane 513, and a unicompartmental tibial fixation feature 533. Corresponding structures need to be formed on the patient's bones to match these structures. This process can be completed directly using the existing multi-functional locator. When performing osteotomies on the two osteotomy surfaces of the tibia (corresponding to the horizontal plane 531 and vertical plane 532 of the unicompartmental tibial prosthesis) and the distal osteotomy surface of the femur (corresponding to the plane 511 of the unicompartmental femoral prosthesis), the existing multi-functional locator may rely heavily on the doctor's visual observation, resulting in low positioning accuracy. Therefore, for these osteotomy surfaces, the osteotomy locator 200a in this embodiment is preferentially used for osteotomy positioning. After these osteotomy surfaces are formed, the remaining structures (fixed unicompartmental femoral prosthesis plane two 512, fixed unicompartmental femoral prosthesis plane three 513, fixed unicompartmental tibial fixation feature 533, etc.) can be based on the aforementioned two osteotomy surfaces on the tibia and the distal osteotomy surface on the femur as osteotomy references to ensure high positioning accuracy. Compared to using the osteotomy locator 200a in this embodiment throughout the entire process, this method of using the osteotomy locator 200a in the early stage and combining it with the existing multi-functional locator in the later stage can maximize the use of existing equipment, reduce manufacturing costs, and ensure positioning accuracy.

[0103] See Figure 5 , Figure 6 and Figure 12 In some embodiments, the fixing part 220 is two second guide holes 220b provided on the osteotomy locator 200b, and the osteotomy locator 200b is configured to be fixed to the surgical site through the two drilling parts of the drilling device via the corresponding second guide holes 220b.

[0104] Specifically, the drilling equipment has two drilling sections, each with a drill bit. After the robotic arm 100 moves the osteotomy locator 200b to the planned position, the two drill bits are driven into the bone through the two second guide holes 220b, respectively, without being removed. This allows for the fixation and installation of the osteotomy locator 200b using the two drill bits. Afterward, the robotic arm 100 and the osteotomy locator 200b can be separated, and the robotic arm 100 can be withdrawn from the surgical area. The fixation method in this embodiment is similar to the method used in the previous embodiment, where two non-threaded fixing pins are inserted into the bone through two fixing holes 220a to fix the osteotomy locator 200a. The difference is that in this embodiment, two holes are drilled simultaneously while fixing the osteotomy locator 200a (for use with the first movable unicompartment femoral prosthesis positioning post 613 and the second movable unicompartment femoral prosthesis positioning post 614), simplifying the operation and increasing efficiency.

[0105] See Figure 5 , Figure 6 and Figure 12 In some embodiments, in the osteotomy locator 200b, the positioning part 210 includes a second osteotomy positioning groove 213.

[0106] Specifically, for the installation of the movable unicompartmental femoral prosthesis 600, the robot-assisted unicompartmental replacement system includes at least one osteotomy locator 200b, used for guiding and positioning during tibial osteotomy to form a posterior femoral condyle osteotomy surface that can conform to the plane 611 of the movable unicompartmental femoral prosthesis. As mentioned above, two drill bits are driven into the bone through corresponding second guide holes 220b. While fixing the osteotomy locator 200b, two holes are also drilled simultaneously (for the placement of the first movable unicompartmental femoral prosthesis positioning post 613 and the second movable unicompartmental femoral prosthesis positioning post 614, respectively). Then, the robotic arm 100 is separated from the osteotomy locator 200b, the robotic arm 100 is withdrawn, and then the saw blade directly extends into the second osteotomy positioning groove 213 to perform osteotomy, forming a posterior femoral condyle osteotomy surface that can conform to the plane 611 of the movable unicompartmental femoral prosthesis.

[0107] Alternatively, in other embodiments, the second osteotomy positioning groove 213 can be replaced with a second osteotomy positioning surface, which can also achieve a similar osteotomy positioning function. The setting method of the second osteotomy positioning surface can refer to the first osteotomy positioning surface 212 in the aforementioned embodiments.

[0108] See Figure 5 , Figure 6 and Figure 12 In summary, for the installation of the movable unicompartment tibial prosthesis 600, the osteotomy locator 200a, in conjunction with a saw, can be used to cut the two osteotomy surfaces on the tibia (corresponding to the horizontal surface 631 and vertical surface 632 of the movable unicompartment tibial prosthesis). The osteotomy locator 200b, in conjunction with two drill bits, can be used to drill the two mounting holes on the femur (corresponding to the positioning post 613 and positioning post 614 of the movable unicompartment femoral prosthesis, respectively). Finally, the osteotomy locator 200b, in conjunction with a saw, can be used to cut the distal osteotomy surface on the femur (corresponding to the plane 611 of the movable unicompartment femoral prosthesis). Figure 12As shown, the movable unicompartmental prosthesis 600 also has structures such as the movable unicompartmental femoral prosthesis spherical surface 612 and the movable unicompartmental tibial fixation feature 633. Corresponding structures need to be formed on the patient's bones to match these structures. This process can be completed directly using existing locators (for example, by prosthesis planning, a suitable grinding plug is selected and a ball drill is used to grind the movable unicompartmental femoral prosthesis spherical surface 612). Similar to the installation of the fixed unicompartmental prosthesis 500, compared to using the osteotomy locator 200a / 200b in this application embodiment throughout the entire process, this method of using the osteotomy locator 200a / 200b in the early stage and combining it with existing locators in the later stage can maximize the use of existing equipment, reduce manufacturing costs, and ensure positioning accuracy.

[0109] See Figures 2 to 6 In some embodiments, the osteotomy locator 200a / 200b has a verification hole 240 for a verification element with an optical mark to be inserted.

[0110] Specifically, after the osteotomy locators 200a / 200b are installed on the end of the robotic arm 100 via the aforementioned detachable structure, it is necessary to verify whether the osteotomy locators 200a / 200b are installed in place to ensure installation accuracy. An active light-emitting array 430 is provided at the end joint of the robotic arm 100. A probe with an optical marker is inserted into the verification hole 240. After the probe tip contacts the bottom wall of the verification hole 240, the current position information of the optical marker is collected by an optical tracking device, and its pose relative to the active light-emitting array 430 is calculated. Combined with the known pose relationship between the optical marker and the probe tip, the pose of the probe tip (i.e., the bottom wall of the verification hole 240) relative to the active light-emitting array 430 is obtained. This pose is compared with the preset installation pose. If the two are consistent, it indicates that the osteotomy locators 200a / 200b have been installed in place.

[0111] In the above embodiments, by setting a verification hole 240 for a verification component with optical markings to extend into, and in conjunction with the active light-emitting array 430 of the end joint of the robotic arm 100, the installation position of the osteotomy locator 200a / 200b can be checked after it is installed on the robotic arm 100, thereby improving the accuracy of subsequent surgical procedures.

[0112] See Figure 2In addition, before the surgery, a tibial tracking array 410 is fixedly installed on the patient's tibia, and a femoral tracking array 420 is fixedly installed on the femur. Both arrays have optical markers that can be identified by the optical tracking device. After installation, through registration, the optical tracking device can identify the positional information of various regions on the patient's bones. Then, the robotic arm 100 can transport the osteotomy locators 200a / 200b or the drilling locator 300 to the planned surgical position (which is the target spatial pose for placing the osteotomy locator or drilling locator, determined by the robot based on the patient's preoperative imaging data and surgical plan) to ensure that the osteotomy positioning groove / osteotomy positioning surface / guide hole and other structures on the locator coincide with the pre-set osteotomy / drilling position.

[0113] See Figure 1 ,as well as Figures 3 to 6 This application provides a robot-assisted unicompartmental replacement system in one embodiment. It should be noted that the specific structures in the subsequent embodiments can refer to the foregoing embodiments.

[0114] An embodiment of this application provides a robot-assisted unicompartmental arthroplasty system comprising a robotic arm 100, osteotomy locators 200a / 200b, and a controller. The osteotomy locators 200a / 200b are detachably connected to the robotic arm 100, and the controller is communicatively connected to the robotic arm 100. The controller controls the movement of the robotic arm 100 to position the osteotomy locators 200a / 200b in the planned surgical position. After the osteotomy locators 200a / 200b are fixed to the patient's surgical site, the controller controls the movement of the robotic arm 100 to move the robotic arm 100, detached from the osteotomy locators 200a / 200b, away from the surgical area.

[0115] In the robot-assisted unicompartmental replacement system described in the above embodiment, the controller controls the movement of the robotic arm 100, positioning the osteotomy locator 200a / 200b in the planned surgical location. Once the osteotomy locator 200a / 200b is fixed to the surgical site (bone), the robotic arm 100 can detach from it and move away from the surgical area. This "precise delivery-firm fixation-timely withdrawal" operation mode solves the key bottleneck problem in traditional robot-assisted solutions where the robotic arm 100 must remain in the surgical area throughout the procedure. Specifically, it significantly frees up extremely valuable and limited space next to the operating table. The withdrawal of the large robotic arm 100 eliminates its physical encroachment on the optimal operating position and range of motion for the surgeon and assistants, allowing the surgeon to move and perform operations freely in an unobstructed and more spacious environment, greatly improving the convenience, smoothness, and overall ergonomic comfort of surgical instrument operation. Furthermore, the timely removal of the robotic arm 100 effectively avoids the potential risk of its large size obstructing the tracking field of the optical navigation equipment, ensuring the reliability of the navigation process and seamless transition of the surgical procedure.

[0116] The specific steps involved in performing the operation are as follows:

[0117] S100, Install the osteotomy locator 200a / 200b onto the robotic arm 100;

[0118] S200, the controller controls the movement of the robotic arm 100 to transport the osteotomy locator 200a / 200b to the planned surgical position;

[0119] S300, Fix the osteotomy locator 200a / 200b to the patient's surgical site;

[0120] S400, separate the osteotomy locator 200a / 200b and the robotic arm 100, and the controller controls the robotic arm 100 to move away from the surgical area.

[0121] Specifically, in step S100, the osteotomy locators 200a / 200b are mounted on the detachable connection structure of the robotic arm 100 as described in the previous embodiment. In step S200, the surgical planning position is pre-determined by the doctor based on the patient's condition before surgery. By combining the position of the active light-emitting array 430 on the robotic arm 100 collected by the optical tracking device, the osteotomy locators 200a / 200b can be controlled to reach the preset surgical planning position, ensuring that the osteotomy positioning groove / osteotomy positioning surface / guide hole and other structures on the locator coincide with the pre-set osteotomy / drilling position. In step S300, the specific method of fixing the osteotomy locators 200a / 200b to the patient's surgical site can be as mentioned in the previous embodiment, using a fixing member, or it can be done using two drill bits.

[0122] Alternatively, in steps S100 and S200, the robotic arm 100 can be moved into position first via the controller, and then the osteotomy locator 200a / 200b can be installed on the robotic arm 100. Of course, the preferred method is to first install the osteotomy locator 200a / 200b on the robotic arm 100, and then use the controller to move the robotic arm 100 to the planned surgical location. This allows for installation of the osteotomy locator 200a / 200b in locations away from the surgical area, providing more operating space; and it also allows the assistant to install the osteotomy locator 200a / 200b in other locations while the surgeon is operating in the surgical area, resulting in higher efficiency.

[0123] See Figures 3 to 6 In some embodiments, the osteotomy locator 200a / 200b is removed from the surgical site, and the controller controls the movement of the robotic arm 100 to position the other osteotomy locator 200a / 200b in the planned surgical position; and after the other osteotomy locator 200a / 200b is fixed to the surgical site, the controller controls the movement of the robotic arm 100 to move the robotic arm 100, which is separated from the other osteotomy locator 200a / 200b, away from the surgical area.

[0124] Corresponding to the operation steps, in some embodiments, after step S400, the following is also included:

[0125] S500: After the osteotomy locator 200a / 200b in step S400 has completed the positioning, the osteotomy locator 200a / 200b is removed from the surgical site.

[0126] S600, Install another osteotomy locator 200a / 200b onto the robotic arm 100;

[0127] S700, The robotic arm 100 transports another osteotomy locator 200a / 200b from step S600 to the planned surgical location;

[0128] S800, Fix the other osteotomy locator 200a / 200b from step S600 to the surgical site;

[0129] S900, separate the other osteotomy locator 200a / 200b and the robotic arm 100 from step S600, and move the robotic arm 100 away from the surgical area.

[0130] In step S500, while the surgeon completes the osteotomy positioning in the surgical area and removes the osteotomy locators 200a / 200b from the surgical site in step S400, the robotic arm 100 can simultaneously move away from the surgical area. Furthermore, the assistant can pre-install another osteotomy locator 200a / 200b on the robotic arm 100 to improve efficiency. Alternatively, the controller can position the robotic arm 100 in place before installing the other osteotomy locator 200a / 200b.

[0131] See Figures 3 to 4 In some embodiments, for the installation of a fixed unicompartmental prosthesis 500, the robot-assisted unicompartmental replacement system further includes a drill locator 300 and a drilling device. The drill locator 300 is detachably connected to the robotic arm 100 and has a first guide hole 310. A controller is used to control the movement of the robotic arm 100 to position the connected drill locator 300 in the planned surgical position, thereby enabling the drilling device to perform drilling operations through the first guide hole 310.

[0132] Corresponding to the operation steps, in some embodiments, after step S900, the robot-assisted unicompartmental replacement system further includes:

[0133] S1000, Install the drilling locator 300 onto the robotic arm 100;

[0134] S1100, The drilling locator 300 is transported to the planned surgical location by the robotic arm 100;

[0135] S1200, Drilling operation is performed using drilling equipment through the first guide hole 310 on the drilling locator 300.

[0136] Alternatively, the drill locator 300 can be installed on the robotic arm 100 after the controller has positioned it. The specific drilling method can be referred to the aforementioned embodiment. (As mentioned earlier, the osteotomy locator 200a can be removed from the robotic arm 100, and the drill locator 300 can be installed on the robotic arm 100. The robotic arm 100 then transports the drill to the planned surgical position, and the drill bit passes through the first guide hole 310 to complete the drilling on the femur, thereby forming a mounting hole for the first unicompartment femoral prosthesis positioning post 514 / the second unicompartment femoral prosthesis positioning post 515.)

[0137] See Figures 3 to 6 In some embodiments, step S300 includes:

[0138] S310. Set a fixation element and fix the osteotomy locator 200a to the surgical site via the fixation part 220.

[0139] The fixing method in this embodiment is mainly for Figure 4 and Figure 6 The osteotomy locator 200a is fixed in the same way as described in the previous embodiment. Additionally, in step S800, the other osteotomy locator 200a is fixed to the surgical site in the same manner.

[0140] See Figures 5 to 6 In other embodiments, the robot-assisted unicompartmental replacement system also includes a drilling device having two drilling sections; the osteotomy locator 200b is provided with two second guide holes 220b; and a controller is used to control the movement of the robotic arm 100 so that the osteotomy locator 200b connected thereto is in the surgical planning position, thereby causing the two drilling sections to perform drilling operations through the two second guide holes 220b respectively, so as to fix the osteotomy locator 200b to the surgical site.

[0141] Corresponding to the operation steps, in some embodiments, step S300 includes:

[0142] S350, Drilling is performed through two drilling sections of the drilling equipment via two second guide holes 220b on the osteotomy locator 200b.

[0143] S360, keep the two drilled parts in their current position, and fix the osteotomy locator 200b to the surgical site by cooperating with the corresponding second guide hole 220b.

[0144] The fixing method in this embodiment is mainly for Figure 6 The osteotomy locator 200b is fixed in the same way as described in the previous embodiment. (As mentioned earlier, the two drilling sections of the drilling equipment are two drill bits. After the robotic arm 100 moves the osteotomy locator 200b to the planned position, the two drill bits are driven into the bone through the two second guide holes 220b respectively, and the drill bits are not pulled out. In this way, the osteotomy locator 200b can be fixed and installed by the two drill bits.)

[0145] See Figures 3 to 6 In some embodiments, the controller is used to obtain the current pose of the osteotomy locator 200a / 200b and compare it with the preset installation pose of the osteotomy locator 200a / 200b to determine whether the osteotomy locator 200a / 200b is installed in place.

[0146] Corresponding to the operation steps, in some embodiments, the following steps are included after step S100 / S600:

[0147] M100: Obtain the current pose of osteotomy locator 200a / 200b, compare it with the preset installation pose of osteotomy locator 200a / 200b, and determine whether osteotomy locator 200a / 200b is installed in place.

[0148] As mentioned earlier, the probe with the optical marker is inserted into the verification hole 240. After the tip of the probe contacts the bottom wall of the verification hole 240, the current position information of the optical marker is collected by the optical tracking device, and its pose relative to the active light-emitting array 430 is calculated. Combined with the known pose relationship between the optical marker and the tip of the probe, the pose of the tip of the probe (i.e., the bottom wall of the verification hole 240) relative to the active light-emitting array 430 is obtained. This pose is compared with the preset installation pose. If the two are consistent, it means that the osteotomy locator 200a / 200b has been installed in place.

[0149] The following sections describe the specific osteotomy and drilling procedures for the fixed unicompartmental prosthesis 500 and the movable unicompartmental prosthesis 600:

[0150] See Figures 3 to 4 For the installation of a fixed unicompartmental prosthesis 500, the specific steps include the following:

[0151] S100. First, install one of the osteotomy locators 200a onto the robotic arm 100.

[0152] M100: Obtain the current pose of the osteotomy locator 200a, compare it with the preset installation pose of the osteotomy locator 200a, and determine whether the osteotomy locator 200a is installed in place.

[0153] S200, The osteotomy locator 200a is transported to the corresponding surgical planning position by the robotic arm 100;

[0154] S310. A fixation element is installed, and the osteotomy locator 200a is fixed to the surgical site via the fixation part 220 through the fixation element;

[0155] S400, the osteotomy locator 200a and the robotic arm 100 are separated, and the robotic arm 100 is moved away from the surgical area; at the same time, the osteotomy locator 200a, in conjunction with the saw, completes the osteotomy of the two osteotomy surfaces on the tibia (corresponding to the horizontal surface 531 of the unicompartmental tibial prosthesis and the vertical surface 532 of the unicompartmental tibial prosthesis).

[0156] S500. After the osteotomy of the two osteotomy surfaces on the tibia is completed, the osteotomy locator 200a is removed from the surgical site.

[0157] S600, Install another osteotomy locator 200a onto the robotic arm 100;

[0158] M100: Obtain the current pose of the other osteotomy locator 200a in step S600, compare it with the preset installation pose of the osteotomy locator 200a, and determine whether the osteotomy locator 200a is installed in place.

[0159] S700, The robotic arm 100 transports the other osteotomy locator 200a from step S600 to the corresponding surgical planning position;

[0160] S800: Set a fixation device, and fix another osteotomy locator 200a from step S600 to the surgical site through the fixation part 220 via the fixation device;

[0161] S900: Separate the other osteotomy locator 200a and the robotic arm 100 from step S600, and move the robotic arm 100 away from the surgical area; at the same time, the osteotomy of the distal femur osteotomy surface (corresponding to the plane 511 of the unicompartmental femoral prosthesis) is completed by the osteotomy of the osteotomy locator 200a in conjunction with the saw blade.

[0162] S1000, Install the drilling locator 300 onto the robotic arm 100;

[0163] M100: Obtain the current pose of the drill locator 300 in step S1000, compare it with the preset installation pose of the drill locator 300, and determine whether the drill locator 300 is installed in place.

[0164] S1100, The drilling locator 300 is transported to the corresponding surgical planning position (corresponding to the unicompartmental femoral prosthesis positioning post 514) by the robotic arm 100.

[0165] S1200, Drilling operation is performed by using drilling equipment through the first guide hole 310 on the drilling positioner 300 (drilling is performed without separating the robotic arm 100 from the drilling positioner 300).

[0166] S1200, The drilling locator 300 is transported to the corresponding surgical planning position (corresponding to the fixation of the unicompartmental femoral prosthesis positioning post 2 515) by the robotic arm 100.

[0167] S1200, Drilling operation is performed by passing a drilling device through the first guide hole 310 on the drilling positioner 300 (the robotic arm 100 is not separated from the drilling positioner 300).

[0168] Next, the drilling locator 300 and the robotic arm 100 are separated, and the existing multi-functional locator is installed on the robotic arm 100. With the help of a power tool (such as a saw), the shape corresponding to the structures of the fixed unicompartment femoral prosthesis plane 2 512, the fixed unicompartment femoral prosthesis plane 3 513, and the fixed unicompartment tibial fixation feature 533 is completed.

[0169] See Figures 5 to 6 The installation of a 600mm unicompartmental prosthesis includes the following steps:

[0170] S100. First, install the osteotomy locator 200a onto the robotic arm 100.

[0171] M100: Obtain the current pose of the osteotomy locator 200a, compare it with the preset installation pose of the osteotomy locator 200a, and determine whether the osteotomy locator 200a is installed in place.

[0172] S200, The osteotomy locator 200a is transported to the corresponding surgical planning position by the robotic arm 100;

[0173] S310. A fixation element is installed, and the osteotomy locator 200a is fixed to the surgical site via the fixation part 220 through the fixation element;

[0174] S400, the osteotomy locator 200a and the robotic arm 100 are separated, and the robotic arm 100 is moved away from the surgical area; at the same time, the osteotomy locator 200a, in conjunction with the saw, completes the osteotomy of the two osteotomy surfaces on the tibia (corresponding to the horizontal surface 631 and the vertical surface 632 of the movable unicompartment tibial prosthesis);

[0175] S500. After the osteotomy of the two osteotomy surfaces on the femur is completed, the osteotomy locator 200a is removed from the surgical site.

[0176] S600, Install the osteotomy locator 200b onto the robotic arm 100;

[0177] M100: Obtain the current pose of the osteotomy locator 200b in step S600, compare it with the preset installation pose of the osteotomy locator 200b, and determine whether the osteotomy locator 200b is installed in place.

[0178] S700, The osteotomy locator 200b from step S600 is transported to the corresponding surgical planning position by the robotic arm 100;

[0179] S350, The two drilling parts of the drilling equipment pass through the two second guide holes 220b on the osteotomy locator 200b respectively to perform drilling operations (forming two mounting holes corresponding to the movable unicompartment femoral prosthesis positioning post one 613 and the movable unicompartment femoral prosthesis positioning post two 614 respectively).

[0180] S360, keep the two drilled parts in the current position, and fix the osteotomy locator 200b to the surgical site by cooperating with the corresponding second guide hole 220b;

[0181] S900: Separate the osteotomy locator 200b and the robotic arm 100 from step S600, and move the robotic arm 100 away from the surgical area; at the same time, use the osteotomy locator 200b in conjunction with the saw to complete the osteotomy of the distal femur (corresponding to the plane 611 of the movable unicompartmental femoral prosthesis).

[0182] Subsequently, the osteotomy locator 200b and the robotic arm 100 are separated, and the existing locator is installed on the robotic arm 100. With the help of a power tool (such as a ball drill), the shape corresponding to the spherical surface 612 of the movable unicompartment femoral prosthesis and the movable unicompartment tibial fixation feature 633 is further completed.

[0183] Finally, it should be noted that although this application provides a scheme in which the osteotomy locator 200a / 200b is detachably connected to the robotic arm 100, and in the foregoing embodiments it is specified that the robotic arm 100 can be removed and moved away from the surgical area after the osteotomy locator 200a / 200b reaches the planned surgical position, the application is not limited to this. In fact, the detachable connection structure between the osteotomy locator 200a / 200b and the robotic arm 100 provided in this application only provides the preconditions for the removal and movement of the robotic arm 100. In actual application, whether to remove the robotic arm 100 can be decided by the doctor based on the surgical situation. In some scenarios, if the robotic arm 100 does not interfere with the doctor's operation, it can be left connected and the osteotomy can be completed while it is still connected to the osteotomy locator 200a / 200b. Preferably, all osteotomy surfaces can be completed without removing the robotic arm 100.

[0184] 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.

[0185] 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 robot-assisted unicompartmental replacement system, characterized in that, The robot-assisted unicompartmental replacement system includes: Robotic arm (100); and The osteotomy locator (200a / 200b) has a positioning part (210) for positioning osteotomy; The osteotomy locator (200a / 200b) is detachably connected to the robotic arm (100), and the osteotomy locator (200a / 200b) is provided with a fixing part (220) for fixing to the surgical site.

2. The robot-assisted unicompartmental replacement system according to claim 1, characterized in that, The robotic arm (100) includes an operating element (120), a locking element (130) and a connecting seat (110) connected to the operating element (120), and the osteotomy locator (200a / 200b) includes a mounting element (230) having a locking surface (2311). The operating member (120) and the connecting seat (110) are movably connected. The operating member (120) is configured to be operablely movable to switch the locking member (130) between a first position and a second position. When the locking member (130) is in the first position, the mounting member (230) can be separated from the connecting seat (110). When the locking member (130) is in the second position, it can abut against the locking surface (2311) to prevent the mounting member (230) from separating from the connecting seat (110).

3. The robot-assisted unicompartmental replacement system according to claim 2, characterized in that, The mounting member (230) is inserted into the connecting seat (110) along a first direction, and the locking surface (2311) is an inclined surface that is inclined relative to the first direction; the operating member (120) is rotatably connected to the connecting seat (110), and the operating member (120) is configured to be operably rotated to elastically push the locking member (130) to the second position along a second direction, wherein the second direction is perpendicular to the first direction.

4. The robot-assisted unicompartmental replacement system according to claim 3, characterized in that, The connector (110) has a slot (111) extending along the first direction and a locking groove (112) extending along the second direction and communicating with the slot (111). The mounting member (230) is inserted into the slot (111), and an elastic mechanism (140) connected between the operating member (120) and the locking member (130) is installed in the locking groove (112).

5. The robot-assisted unicompartmental replacement system according to claim 4, characterized in that, The elastic mechanism (140) includes a first connector (141), a second connector (142), and an elastic element (143) located between the first connector (141) and the second connector (142). The second connector (142) is connected to the locking element (130), and the first connector (141) is connected to the operating element (120).

6. The robot-assisted unicompartmental replacement system according to claim 5, characterized in that, The operating member (120) has a first abutting surface (121) and a second abutting surface (122), and a rotation center (123) that rotates relative to the connecting seat (110). The distance between the first abutting surface (121) and the rotation center (123) is smaller than the distance between the second abutting surface (122) and the rotation center (123). When the first abutting surface (121) abuts against the first connecting member (141), the locking member (130) is located in the first position. When the second abutting surface (122) abuts against the first connecting member (141), the locking member (130) is located in the second position.

7. The robot-assisted unicompartmental replacement system according to claim 4, characterized in that, The slot (111) has a limiting notch (113) on the slot wall near the insertion port, which communicates with the slot (111). The outer peripheral surface of the mounting member (230) is provided with a limiting post (232), which extends into the limiting notch (113).

8. The robot-assisted unicompartmental replacement system according to any one of claims 1 to 7, characterized in that, The fixing part (220) is a fixing hole (220a) provided on the osteotomy locator (200a), and the osteotomy locator (200a) is configured to be fixed to the surgical site through the fixing hole (220a) by a fixing member.

9. The robot-assisted unicompartmental replacement system according to claim 8, characterized in that, The positioning part (210) includes a first osteotomy positioning groove (211) and a first osteotomy positioning surface (212) with the extension direction perpendicular; Alternatively, the positioning part (210) may include two first osteotomy positioning grooves (211) extending perpendicularly; Alternatively, the positioning part (210) may include two first osteotomy positioning surfaces (212) with perpendicular extension directions.

10. The robot-assisted unicompartmental replacement system according to claim 8, characterized in that, The robot-assisted unicompartmental replacement system also includes a drill locator (300) detachably connected to the robotic arm (100), the drill locator (300) having a first guide hole (310) for drilling positioning.

11. The robot-assisted unicompartmental replacement system according to any one of claims 1 to 7, characterized in that, The fixing part (220) consists of two second guide holes (220b) provided on the osteotomy locator (200b). The osteotomy locator (200b) is configured to be fixed to the surgical site through the two drilling parts of the drilling device via the corresponding second guide holes (220b).

12. The robot-assisted unicompartmental replacement system according to claim 11, characterized in that, The positioning part (210) includes a second osteotomy positioning groove (213); Alternatively, the positioning part (210) may include a second osteotomy positioning surface.

13. The robot-assisted unicompartmental replacement system according to any one of claims 1 to 7, characterized in that, The osteotomy locator (200a / 200b) has a verification hole (240) for inserting a verification piece with an optical mark.

14. A robot-assisted unicompartmental replacement system, characterized in that, The robot-assisted unicompartmental replacement system includes: Robotic arm (100); Osteotomy locators (200a / 200b) are detachably connected to the robotic arm (100); and A controller, communicatively connected to the robotic arm (100), is used to control the movement of the robotic arm (100) so that the osteotomy locator (200a / 200b) connected thereto is in the surgical planning position; and after the osteotomy locator (200a / 200b) is fixed to the patient's surgical site, the controller is used to control the movement of the robotic arm (100) so that the robotic arm (100), which is separated from the osteotomy locator (200a / 200b), is moved away from the surgical area.

15. The robot-assisted unicompartmental replacement system according to claim 14, characterized in that, After the osteotomy locator (200a / 200b) is removed from the surgical site, the controller controls the movement of the robotic arm (100) to position the other osteotomy locator (200a / 200b) in the planned surgical position; and after the other osteotomy locator (200a / 200b) is fixed to the surgical site, the controller controls the movement of the robotic arm (100) to move the robotic arm (100) separated from the other osteotomy locator (200a / 200b) away from the surgical area.

16. The robot-assisted unicompartmental replacement system according to claim 14, characterized in that, The robot-assisted unicompartmental replacement system also includes: A drilling locator (300) is detachably connected to the robotic arm (100) and has a first guide hole (310); Drilling equipment; The controller is used to control the movement of the robotic arm (100) so that the drill locator (300) connected thereto is in the surgical planning position, thereby enabling the drilling equipment to perform drilling operations through the first guide hole (310).

17. The robot-assisted unicompartmental replacement system according to claim 14, characterized in that, The robot-assisted unicompartmental replacement system also includes: Drilling equipment with two drilling sections; The osteotomy locator (200b) is provided with two second guide holes (220b); the controller is used to control the movement of the robotic arm (100) so that the osteotomy locator (200b) connected thereto is in the surgical planning position, and then the two drilling parts are drilled through the two second guide holes (220b) respectively to fix the osteotomy locator (200b) to the surgical site.

18. The robot-assisted unicompartmental replacement system according to any one of claims 14 to 17, characterized in that, The controller is used to obtain the current position of the osteotomy locator (200a / 200b) and compare it with the preset installation position of the osteotomy locator (200a / 200b) to determine whether the osteotomy locator (200a / 200b) is installed in place.

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