CN112971988B

CN112971988B - Knee joint replacement surgical robot

Info

Publication number: CN112971988B
Application number: CN202110096818.8A
Authority: CN
Inventors: 黄志俊; 赵奕东; 柏健
Original assignee: Lancet Robotics Co Ltd
Current assignee: Lancet Robotics Co Ltd
Priority date: 2021-01-25
Filing date: 2021-01-25
Publication date: 2022-04-01
Anticipated expiration: 2041-01-25
Also published as: CN112971988A

Abstract

The application provides a knee joint replacement surgery robot, it includes rotates adjusting part, rotates adjusting part and includes: the first connecting piece is provided with an arc-shaped groove; the self-locking piece is provided with a first positioning pin and a second positioning pin, the first positioning pin and the second positioning pin are embedded into the arc-shaped groove, and the length of the first positioning pin is greater than that of the second positioning pin; the second connecting piece is connected with the self-locking piece in a torsion-resistant manner; the first connecting piece and the second connecting piece can be connected in a relatively rotating mode through a pin shaft; and an elastic member pushing the self-locking piece toward the first connector so that the first and second positioning pins are inserted into the arc-shaped grooves. The mechanical arm and the execution device are connected by rotating the adjusting assembly, so that the angles of the mechanical arm and the execution device can be quickly switched and adjusted, and the angles of the mechanical arm and the execution device are locked.

Description

Knee joint replacement surgical robot

Technical Field

The application belongs to the field of medical surgical instruments, and particularly relates to a knee joint replacement surgical robot.

Background

The knee joint is the largest of the human body, the most complex of the anatomical structure and the high requirement for the movement function. Knee replacement is to cut the diseased areas of the tibia and femur and replace them with artificial prostheses to relieve knee pain and restore knee motor function. The traditional total knee joint replacement mainly determines the thickness and angle of osteotomy and the selection of prosthesis model according to preoperative imaging data, intraoperative positioning device and the clinical experience of an operator, so that the failure rate of the operation is as high as 2% -6%.

The orthopedic surgery robot in the prior art is mainly used for assisting a doctor in performing operations such as surgery channel positioning, drilling and osteotomy, can improve the accuracy and safety of surgery operation, and reduces the fatigue of the doctor.

Disclosure of Invention

The application aims at providing a knee joint replacement surgical robot, so that the angle of an executing device at the tail end of the knee joint replacement robot can be conveniently adjusted, and the operation can be smoothly and efficiently completed.

The application provides a knee joint replacement surgery robot, which comprises a mechanical arm, an executing device and a rotation adjusting quick-release connecting device, wherein the rotation adjusting quick-release connecting device enables the mechanical arm and the executing device to be rotatably connected,

rotate and adjust quick detach connecting device and include:

a rotational adjustment assembly, the rotational adjustment assembly comprising:

the first connecting piece is provided with an arc-shaped groove;

the self-locking piece is provided with a first positioning pin and a second positioning pin, the first positioning pin and the second positioning pin are embedded into the arc-shaped groove, and the length of the first positioning pin is greater than that of the second positioning pin;

a second connector, the second connector and the self-locking element being non-rotatably connected;

the first connecting piece and the second connecting piece can be connected in a relatively rotating mode through the pin shaft; and

an elastic member that pushes the self-locking piece toward the first connector such that the first and second positioning pins are fitted into the arc-shaped groove.

Preferably, the first positioning pin and the second positioning pin are located at two ends of the arc-shaped groove.

Preferably, the arc-shaped slot corresponds to a central angle of about 90 degrees or about 60 degrees.

Preferably, the arc-shaped grooves are provided with a plurality of grooves, the first positioning pins and the second positioning pins are provided with a plurality of grooves, and the number of the arc-shaped grooves is the same as that of the first positioning pins or that of the second positioning pins.

Preferably, the second connecting piece is provided with a guide groove, the self-locking piece is embedded into the guide groove, so that the self-locking piece can slide in the guide groove along the axial direction of the rotation adjusting assembly.

Preferably, the rotation adjusting assembly further comprises a stopper disposed beside the elastic member,

the axial size of the limiting piece along the rotation adjusting assembly is smaller than the length of the elastic member in a natural state, and the limiting piece can stop the self-locking piece to limit the degree of compression of the elastic member.

Preferably, the rotation adjusting quick-release connecting device also comprises a quick-release assembly,

the quick release assembly comprises:

a cross beam provided with a first positioning groove penetrating the cross beam in a first direction,

the fitting piece, the fitting piece be provided with first positioning groove complex second positioning groove, second positioning groove runs through in the second direction the fitting piece, first direction with the second direction is perpendicular, the crossbeam embedding second positioning groove, the fitting piece embedding first positioning groove makes the crossbeam with the fitting piece is in first direction with relative motion in the second direction is restricted.

Preferably, the quick release assembly comprises a locking screw, and the locking screw is fixedly connected with the cross beam and the mating piece, so that the relative movement of the cross beam and the mating piece in a third direction is limited, and the third direction is perpendicular to both the first direction and the second direction.

Preferably, the cross beam is fixedly connected to the second connector, and the mating member is used for being fixedly connected to an executing device for the orthopaedic surgical robot.

Preferably, a thickness of the cross beam in a left-right direction of the actuator is equal to a width of the second positioning groove in the left-right direction,

the width of the first positioning groove along the up-down direction of the executing device is equal to the thickness of the matching piece along the up-down direction.

Preferably, by pressing the self-locking piece, the self-locking piece overcomes the elastic force of the elastic component to move to one side in the axial direction, so that the elastic component is compressed, the second positioning pin exits from the arc-shaped groove, the limiting piece stops the self-locking piece to limit the degree of compression of the elastic component, so that the first positioning pin is kept in the arc-shaped groove, the first connecting piece and the second connecting piece rotate relatively, so that the first positioning pin moves from one end of the arc-shaped groove to the other end of the arc-shaped groove,

the self-locking piece is released, under the action of the elastic component, the self-locking piece moves towards the other side of the axial direction, the second positioning pin is embedded into the other arc-shaped groove 113, the self-locking piece cannot rotate freely, and the first connecting piece and the second connecting piece rotate relatively by the angle corresponding to the arc-shaped groove.

Preferably, the cross beam and the mating member are separated by releasing the locking screw to move the cross beam and the mating member relatively in a third direction.

By adopting the technical scheme, the mechanical arm and the execution device can be connected by rotating the adjusting component, so that the angles of the mechanical arm and the execution device can be quickly switched and adjusted, and the angles of the mechanical arm and the execution device can be locked before and after adjustment.

Drawings

Fig. 1 shows a schematic structural diagram of an orthopaedic surgical robot according to an embodiment of the present application.

Fig. 2 shows a schematic structural diagram of a rotation adjustment quick release connection device for an orthopaedic surgical robot and a power tool of the orthopaedic surgical robot according to an embodiment of the present application.

Fig. 3 shows a schematic structural diagram of a rotation adjustment quick release connection device for an orthopaedic surgical robot and a power tool of the orthopaedic surgical robot according to an embodiment of the present application.

Fig. 4 shows a schematic structural diagram of a rotation adjustment assembly of a rotation adjustment quick release connection apparatus for an orthopaedic surgical robot according to an embodiment of the present application.

Fig. 5 illustrates a cross-sectional view of a rotational adjustment assembly of a rotational adjustment quick disconnect coupling device for an orthopaedic surgical robot according to an embodiment of the present application.

Fig. 6 shows a cross-sectional view along another cut plane of a rotation adjustment assembly of a rotation adjustment quick release coupling device for an orthopaedic surgical robot according to an embodiment of the present application (no limit stop shown).

Fig. 7 illustrates an exploded view of a rotation adjustment assembly of a rotation adjustment quick disconnect coupling device for an orthopaedic surgical robot according to an embodiment of the present application.

Fig. 8 illustrates a front view of a rotational adjustment assembly (buttons not shown) of a rotational adjustment quick disconnect coupling for an orthopedic surgical robot, according to an embodiment of the present application.

Fig. 9 illustrates a front view (not shown with buttons) of another state of a rotational adjustment assembly of a rotational adjustment quick disconnect apparatus for an orthopedic surgical robot, according to an embodiment of the present application.

Fig. 10 shows a schematic view of a femur and a tibia.

Fig. 11 shows an exploded view of fig. 2.

Fig. 12 shows a cross-sectional view of fig. 2.

Fig. 13 shows a schematic structural view of an actuating device of another embodiment of an orthopaedic surgical robot according to the present application.

Fig. 14 shows an exploded view of fig. 13.

Description of the reference numerals

100 mechanical arm 101 sensor flange

200 actuator 200a electric tool 200b calibration device 201 saw blade

300 femur 400 tibia

1 rotation regulating assembly

11 first connecting member 111 bottom 112 wall 113 arc-shaped slot

12 second connecting member 121 guide groove

13 baffle

14 pin shaft

15 self-locking piece 151 first positioning pin 152 second positioning pin

16 spring

17 circlip

18 push buttons

19 position limiting piece

2 quick-release component

21 cross beam 211 first positioning groove

22 fitting member 221 first fitting member 222 second fitting member 223 second positioning groove

23 locking screw 24 front clamp 25 rear clamp 26 limit baffle

One axial side A2 of A axial direction A1 and the other axial side C of C circumferential direction A

X front-back direction Y left-right direction Z up-down direction.

Detailed Description

In order to more clearly illustrate the above objects, features and advantages of the present application, a detailed description of the present application is provided in this section in conjunction with the accompanying drawings. This application is capable of embodiments in addition to those described herein, and is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this application pertains and which fall within the limits of the appended claims. The protection scope of the present application shall be subject to the claims.

As shown in fig. 1 to 14, the present application proposes an orthopedic surgical robot, and in particular, a knee joint replacement surgical robot.

The knee joint replacement surgery robot comprises a mechanical arm 100, an executing device 200 and a rotation adjusting quick-release connecting device. The rotation adjustment quick release coupling apparatus is capable of rotatably coupling the robot arm 100 and the actuator 200. The actuating device 200 may include a power tool 200a such as a power saw or a calibration device 200b (see fig. 13, 14). The tail end of the mechanical arm 100 is provided with a sensor flange plate 101, and the sensor flange plate 101 is fixedly connected to the rotation adjusting quick-release connecting device.

The robot arm 100 may have 6 degrees of freedom, but changing the angle of the saw blade 201 by the robot arm 100 may not be flexible and convenient enough during an orthopedic procedure, such as a knee replacement procedure. As shown in FIG. 10, knee replacement surgery requires cutting 5 planes of the femur 300, such as the anterior condyle resection plane P1, the anterior condyle oblique resection plane P2, the distal femur resection plane P3, the posterior condyle oblique resection plane P4, and the posterior condyle resection plane P5, and the tibia 400 requires cutting the tibial resection plane P6. Cutting work along multiple planes may be difficult to accomplish by means of the robot arm 100 alone, requiring rotation of the power tool 200a through a certain angle.

As shown in fig. 1 and 2, the rotation adjusting quick release connecting device comprises a rotation adjusting assembly 1 and a quick release assembly 2. The rotation adjustment assembly 1 is connected to the sensor flange 101 of the robot arm 100 and the quick release assembly 2 is connected to the actuator 200.

(rotation regulating assembly)

As shown in fig. 2 to 9, the rotation adjusting assembly 1 includes a first connecting member 11, a second connecting member 12, a blocking plate 13, a pin 14, a self-locking member 15, a spring 16, a snap spring 17, a button 18, and a limiting member 19. The first connector 11 is connected to the sensor flange 101 and the second connector 12 is connected to the quick release assembly 2.

As shown in fig. 4 to 7, the first connecting member 11 includes a bottom portion 111 and a wall portion 112, the bottom portion 111 has a circular plate shape, the wall portion 112 may have a cylindrical shape with a substantially quarter circular arc, and the wall portion 112 is connected to the bottom portion 111. The bottom 111 is provided with an arc-shaped slot 113, and the corresponding central angle of the arc-shaped slot 113 can be 90 degrees. The arc-shaped slots 113 may be symmetrically provided in two.

The first connecting piece 11 and the second connecting piece 12 are connected together in a relatively rotatable manner by a pin 14, and the first connecting piece 11 and the second connecting piece 12 enclose a cavity with an opening. The self-locking piece 15, the spring 16 and the limiting piece 19 are all arranged in the cavity and are all sleeved on the pin shaft 14. The angle of the central angle corresponding to the opening may be 90 degrees. A flap 13 may be attached to the first connector 11, the flap 13 covering the opening.

After the first connecting piece 11 rotates 90 degrees relative to the second connecting piece 12, the edge of the first connecting piece 11 is abutted against the edge of the second connecting piece 12, and the first connecting piece 11 and the second connecting piece 12 can rotate relatively within the range of 90 degrees.

The self-locking element 15 is located between the first connecting element 11 and the second connecting element 12 in the axial direction a. The locking element 15 is connected to the second connecting element 12 in a rotationally fixed manner, for example, the second connecting element 12 can be provided with a guide groove 121, and the guide groove 121 can be a V-shaped groove, so that the locking element 15 is connected to the second connecting element 12 in a rotationally fixed manner. The self-locking member 15 is provided with a fitting portion capable of being fitted into the guide groove 121 so that the self-locking member 15 can rotate together with the second link 12. The depth of the guide groove 121 in the axial direction a of the rotation adjusting assembly 1 is greater than the thickness of the self-locking member 15, and the self-locking member 15 can slide in the axial direction a guided by the guide groove 121.

The self-locking member 15 is provided with a first positioning pin 151 and a second positioning pin 152, the first positioning pin 151 and the second positioning pin 152 extend in the axial direction a of the rotation adjustment assembly 1, and the length of the first positioning pin 151 is greater than that of the second positioning pin 152. Both the first and second aligning

pins

151 and 152 may be inserted into the arc-shaped groove 113. The first positioning pin 151 and the second positioning pin 152 are spaced apart in the circumferential direction C, for example, the first positioning pin 151 and the second positioning pin 152 are spaced apart by 90 degrees in the circumferential direction C. The first and second alignment pins 151 and 152 are spaced apart at an angle such that the first and second alignment pins 151 and 152 are located at both ends of the arc-shaped slot 113. In a state where both the first positioning pin 151 and the second positioning pin 152 are located in the arc-shaped groove 113, the self-locking piece 15 is locked with respect to the first link 11 so as not to rotate freely.

It will be appreciated that the angle of the corresponding central angle of the arcuate slot 113 is measured at the center of the edge profile of the arcuate slot 113. In the present embodiment, the actual central angle measured by the edge profile of the arc-shaped slot 113 is slightly larger than 90 degrees.

Similarly, the first positioning pin 151 and the second positioning pin 152 are spaced apart in the circumferential direction C by an angle measured from the centers of the first positioning pin 151 and the second positioning pin 152. In the present embodiment, the actual separation angle measured by the edge profile of the first positioning pin 151 and the second positioning pin 152 is slightly less than 90 degrees. And these two angles in other embodiments mentioned later are also obtained according to the same measurement method.

The first positioning pin 151 may pass through the arc-shaped hole 113 and be fixedly connected with the button 18, and the self-locking member 15 may be moved in the axial direction a by pressing the button 18, and the spring 16 may be compressed.

In the present embodiment, two first positioning pins 151 and two second positioning pins 152 are provided, and two first positioning pins 151 are provided opposite to each other at an interval of 180 degrees, and two second positioning pins 152 are provided opposite to each other at an interval of 180 degrees.

The spring 16 is sleeved on the pin 14, the spring 16 is a compression spring, one end of the spring 16 abuts against the second connecting member 12, and the other end of the spring 16 abuts against the self-locking member 15. So that the self-locking member 15 abuts against the bottom portion 111 of the first connecting member 11 when not being subjected to an external force (except the spring 16), and the first positioning pin 151 and the second positioning pin 152 of the self-locking member 15 remain fitted into the arc-shaped groove 113 without being withdrawn. Thereby maintaining the angular lock between the first connector 11 and the second connector 12.

The limiting member 19 may be cylindrical, the limiting member 19 is disposed beside the spring 16, for example, the spring 16 may be sleeved on the limiting member 19, and a dimension of the limiting member 19 along the axial direction a of the rotation adjusting assembly 1 is smaller than a length of the spring in a natural state. So that the stopper 19 can stop the self-locking member 15 and limit the degree to which the spring 16 is compressed when the spring 16 is compressed.

The pin 14 may pass through the second link 12 from one axial side a1 of the rotation adjustment assembly 1 and out the other axial side of the first link 11. The clamp spring 17 is mounted on the pin 14, the clamp spring 17 is located on the other axial side a2 of the first connecting member 11, and the first connecting member 11 is pressed against the clamp spring 17 under the action of the spring 16.

It is to be understood that the spring 16 is used as the elastic member in the present embodiment by way of example only, and the present application is not limited thereto, and the elastic member may be another elastic material or elastic structure.

The process of adjusting the angle of the actuator by rotating the adjustment assembly 1 will be described with reference to fig. 2, 3, 9 and 10.

Fig. 2 shows an initial state of the actuator 200, in which the adjustment assembly 1 is rotated as shown in fig. 8. First, button 18 is depressed, spring 16 is compressed, and self-locking member 15 moves axially toward side a1 against the force of spring 16, causing second detent pin 152 to exit the arcuate slot. The stopper 19 can restrict the displacement amount of the self-locking piece 15 by abutting against the self-locking piece 15, and the first positioning pin 151 is held in the arc-shaped groove.

The actuator 200 is then rotated in a counter-clockwise direction to rotate the second link 12 in a counter-clockwise direction. The self-locking member 15 and the second connecting member 12 are rotated together by 90 degrees within a limited angle range of the arc-shaped groove 113, so that the first positioning pin 151 moves from one end of the arc-shaped groove 113 to the other end of the arc-shaped groove 113. When the button 18 is released, the spring 16 is extended, and the self-locking member 15 moves to the other axial side a2 under the action of the spring 16, and the second positioning pin 152 can be inserted into the other arc-shaped groove 113, so that the self-locking member 15 cannot rotate freely. Fig. 3 shows the actuator 200 rotated 90 degrees, and the adjustment assembly 1 is rotated as shown in fig. 9. The rotation adjusting assembly 1 enables the first connecting piece 11 and the second connecting piece 12 to conveniently rotate by 90 degrees to adjust the angle, and the self-locking can be realized before and after the rotation adjustment so as to keep the current state.

As shown in fig. 10, when the power tool 200a is adjusted to the state shown in fig. 3, the saw blade 201 can cut along the femoral distal osteotomy plane P3 more easily.

It is understood that, although in the above-mentioned embodiment, the rotation adjustment assembly 1 can be rotated by 90 degrees to adjust the angle of the actuating device 200, the present invention is not limited thereto, and based on the above-mentioned structure, the rotation adjustment assembly 1 can be configured to be rotated by other angles, for example, 60 degrees. When the rotation adjusting assembly 1 can rotate 60 degrees to adjust the angle of the actuating device 200. The central angle corresponding to the arc-shaped groove may be 60 degrees, three arc-shaped grooves may be provided, 3 positioning pins and 3 positioning pins may be provided (but not limited thereto), and the angle between adjacent first positioning pins and second positioning pins may be 60 degrees.

(quick release component)

As shown in fig. 11 to 14, the quick release assembly 2 includes a cross member 21, a fitting 22 and a locking screw 23.

The cross beam 21 may be fixedly connected to the second connecting member 12 of the rotation adjusting assembly 1 by means of screws. The cross member 21 is provided with a first positioning recess 211, and the first positioning recess 211 penetrates the cross member 21 in a first direction (the left-right direction Y of the electric power tool 200 a). The first positioning recess 211 opens toward the rear side of the power tool 200 a. The first positioning recesses 211 may be provided in two in the front-rear direction X of the power tool 200 a.

The front and

rear clips

24 and 25 sandwich the power tool 200a in the left-right direction Y, and the mating member 22 can be connected to the power tool 200a through the front and

rear clips

24 and 25. The fitting member 22 is provided with a second positioning groove 223.

The fitting member 22 includes a first fitting member 221 and a second fitting member 222, and the first fitting member 221 and the second fitting member 222 are each provided with a second positioning groove 223. The opening direction of the second positioning groove 223 is opposite to the opening direction of the first positioning groove 211, for example, the opening direction of the second positioning groove 223 is toward the front side of the electric tool 200 a.

The thickness of the cross member 21 in the left-right direction Y may be equal to the width of the second positioning groove 223 in the left-right direction Y. The width of the first positioning recess 211 in the up-down direction Z (second direction) may be equal to the thickness of the fitting piece 22 in the up-down direction Z.

By moving the power tool 200a forward, the fitting member 22 fixedly connected to the power tool 200a is inserted into the first positioning recess 211 of the cross member 21, and the cross member 21 and the fitting member 22 are fitted together by means of the mortise and tenon joint structure, so that the power tool 200a can be quickly positioned and mounted. The second fitting 222 and the cross beam 21 are fixedly connected by the locking screw 23, so that the electric tool 200a can be mounted on the cross beam 21, and the electric tool 200a can be quickly mounted. When the electric power tool 200a is disassembled, the locking screw 23 is loosened, and then the electric power tool 200a is moved backward, so that the first mating member 221 and the second mating member 222 exit the first positioning groove 211. The quick removal of the power tool 200a during surgery can increase the speed of replacing the power tool, shorten the surgery time, and reduce the possibility of patient infection caused by the overlong surgery time.

As shown in fig. 13 and 14, a calibration device 200b, such as an optical mark array, may be connected to the rotation adjustment assembly 1 by a quick release assembly 2, so that the calibration device 200b may be quickly mounted to the robot arm 100 or removed from the end of the robot arm 100.

The front and

rear clamp members

24 and 25 clamp a cylindrical portion of the power tool 200a, and the limit stop 26 is connected to the front and

rear clamp members

24 and 25, the limit stop 26 extending to a handle connection of the power tool 200 a. The limit stop 26 prevents the power tool 200a from rotating, so that the power tool 200a is fixedly connected with the front and

rear clamping members

24 and 25.

The orthopaedic surgical robot may be a knee joint replacement robot, and the knee joint replacement robot includes a calibration module, a planning module, an execution module, and a control module.

The calibration module can calibrate a plurality of coordinate systems, including a femur and tibia coordinate system, a camera coordinate system, a robot coordinate system, and a cutting tool coordinate system.

The planning module is used for operation virtual planning and movement planning of the mechanical arm.

The execution module includes an electric tool at the end of the robot arm, which includes a transmission, a power device (bone drill) and a saw blade 201.

The control module comprises a numerical control system and an intelligent control terminal, the intelligent control terminal can display the boundary of the safe osteotomy range in real time and the relative position relation between the saw blade 201 and the surface of the target bone, and whether the saw blade 201 is in the safe osteotomy range or not and whether the saw blade is in a preset osteotomy plane or not can be automatically judged through a program. And the intelligent control terminal can also send a control instruction to the numerical control system through Bluetooth or a wireless network, and the numerical control system controls the power switch and the running speed of the power device according to the instruction.

For example, if the saw blade 201 is in the safe osteotomy range and has moved to the correct osteotomy plane, the intelligent control terminal sends a control command to the numerical control system through bluetooth or a wireless network, the power supply of the power device is turned on, and the saw blade 201 is operated through the movement of the transmission device. The doctor can hand bone drill handle this moment, utilizes the saw bit to cut the bone operation, if cuts bone in-process saw bit 201 and has surpassed the safe boundary (virtual safe boundary) of cutting the bone scope that control module set up, intelligent control terminal sends control command to numerical control system through bluetooth or wireless network, closes power device's power. The safety of the osteotomy procedure can be ensured in the above manner, and the saw blade 201 can be kept working within the boundary of the safe osteotomy range.

The workflow of the robot for knee joint replacement surgery will be described in detail below.

Firstly, calibrating four coordinate systems, namely a femur and tibia coordinate system, a camera coordinate system, a robot coordinate system and a cutting tool coordinate system.

(calibrating femur and tibia coordinate system)

And selecting the intercondylar notch center, the external condyle peak and the internal condyle peak by using the probe, acquiring the femoral center through leg spiral motion, completing the establishment of a femoral coordinate system, and completing femoral calibration through coordinate system conversion.

And (3) selecting a medial malleolus mark point, a lateral malleolus mark point, a tibial tuberosity point and a lateral intercondylar tuberosity by using a probe so as to complete the establishment of a tibial coordinate system, and completing the calibration of the tibia through the transformation of the coordinate system.

(calibration camera coordinate system)

Calibrating the internal parameters and the external parameters of the camera, and establishing a pose transformation relation between an image coordinate system and a world coordinate system.

(calibration robot coordinate system)

And controlling the mechanical arm to move, observing a known calibration reference object in a space at different positions, placing the known calibration reference object in front of the robot by using the grid marker, controlling the robot to move to 9 positions, and acquiring 9 groups of calibration graphs to finish the calibration of the robot coordinate system.

(calibration of cutting tools)

And calculating the conversion relation between the cutting tool coordinate system and the robot coordinate system according to the structural diagram of the cutting tool and marks such as the positioning holes, and calculating the execution position of the tail end of the mechanical arm when the cutting tool moves to the specified position.

The planning module comprises operation virtual planning and movement planning of the mechanical arm. In the pre-operation planning of the prosthesis, the size and the position of the prosthesis can be planned according to key anatomical marks and reference axes.

Wherein the femoral reference axis comprises:

1. femoral mechanical shaft: the mechanical axis of the femur is a connecting line of a hip central point and a femoral knee central point.

2. Hip center: a circle is fitted on the head of femur on the coronal plane, sagittal plane and transverse plane, and the center of the circle is the center of hip. Center of femoral knee: i.e., the points on the coronal and sagittal planes that are furthest from the trochlear groove.

3. The medial and lateral condyles (also called the condylar axis of thora) are the connection lines of the medial and lateral condyles.

4. Femoral antero-posterior axis: the anterior-posterior axis of the femur is physiologically perpendicular to the medial-lateral axis of the femur. The femoral antero-posterior axis is generally parallel to the femoral condyle antero-posterior axis, which is the line through the deepest part of the trochlear.

The tibia key point and the reference axis include:

1. mechanical shaft of shin bone: the center of the tibia and the knee is connected with the center of the ankle joint.

2. Tibial anterior-posterior axis: the tibial antero-posterior axis is defined by the "rotation marker" which is the line connecting the "posterior cruciate ligament center" and the medial tibial tubercle 1/3.

3. Tibia internal and external shafts: the "tibial internal and external axes" are physiologically perpendicular to the "tibial antero-posterior axis".

Based on the reference axis and the key anatomical points, the optimal positions and the rotation angles of the femoral component and the tibial component in the CT transverse plane, the coronal plane and the sagittal plane are respectively determined before operation.

Intraoperative, surgical virtual planning aims to apply appropriate tension for extension and flexion of the knee joint. Intraoperative planning allows the physician to obtain nearly equal internal and external clearances, as well as balanced extension and flexion clearances. The intraoperative planning can optimize and adjust the plan of preoperative planning.

In the motion planning of the mechanical arm, the probe is used for extracting the key characteristic points of the femur and the tibia, the modeling of the femur and the tibia is completed, so that a corresponding prosthesis is selected, and finally the osteotomy surface is generated by combining the key dimensions. The computer designs a virtual safe osteotomy range based on the prosthesis geometry, soft tissue structure location, and the narrowest necessary width to accommodate the saw blade 201, the standard virtual safe osteotomy range being 3mm off the prosthesis for osteotomies near the bilateral ligaments. And the motion planning system of the mechanical arm calculates the pose of each osteotomy surface, the setting of the osteotomy parameters and each osteotomy surface of the thighbone, and finishes the path planning of the osteotomy and the path planning of the tibia osteotomy surface.

When the execution module executes, a plurality of optical mark points are fixed on the femur or the tibia, the positions of the optical mark points are detected by the binocular vision tracking system, and the cutting part is determined according to the relation between the mark points and the femur and the tibia, so that the positioning purpose is achieved. In actual operation, the electric tool is aligned with a selected osteotomy plane and is located at a preset planned position through mechanical arm positioning, and after the electric tool reaches an ideal position through a display screen of the intelligent control terminal, the pressing trigger activates the saw blade 201, so that osteotomy cutting can be performed.

While the present application has been described in detail with reference to the above embodiments, it will be apparent to those skilled in the art that the present application is not limited to the embodiments described in the present specification. The present application can be modified and implemented as a modified embodiment without departing from the spirit and scope of the present application defined by the claims. Therefore, the description in this specification is for illustrative purposes and does not have any limiting meaning for the present application.

Claims

1. A knee replacement surgery robot is characterized by comprising a mechanical arm (100), an executing device (200) and a rotation adjusting quick-release connecting device, wherein the rotation adjusting quick-release connecting device enables the mechanical arm (100) and the executing device (200) to be rotatably connected,

rotate and adjust quick detach connecting device and include:

-a rotation adjustment assembly (1), the rotation adjustment assembly (1) comprising:

the first connecting piece (11), the first connecting piece (11) is provided with an arc-shaped groove (113);

the self-locking piece (15) is provided with a first positioning pin (151) and a second positioning pin (152), the first positioning pin (151) and the second positioning pin (152) are embedded into the arc-shaped groove (113), and the length of the first positioning pin (151) is greater than that of the second positioning pin (152);

a second connecting element (12), wherein the second connecting element (12) and the self-locking element (15) are connected in a rotationally fixed manner;

a pin (14), wherein the first connecting piece (11) and the second connecting piece (12) are connected in a relatively rotatable manner through the pin (14); and

an elastic member that pushes the self-locking piece (15) toward the first link (11) such that the first positioning pin (151) and the second positioning pin (152) are fitted into the arc-shaped groove (113).

2. The knee replacement surgery robot according to claim 1, characterized in that said first positioning pin (151) and said second positioning pin (152) are located at both ends of said arc-shaped slot (113).

3. The knee replacement surgery robot according to claim 1, characterized in that the arc-shaped slot (113) corresponds to a central angle of 90 degrees or 60 degrees.

4. The knee replacement surgery robot according to claim 1, characterized in that said arc-shaped slot (113) is provided in a plurality, said first positioning pin (151) and said second positioning pin (152) are each provided in a plurality, and the number of said arc-shaped slot (113) is the same as the number of said first positioning pin (151) or said second positioning pin (152).

5. Knee replacement surgery robot according to claim 1, characterised in that the second connector (12) is provided with a guide groove (121), the self-locking piece (15) being inserted into the guide groove (121) such that the self-locking piece (15) can slide in the guide groove (121) in the axial direction (A) of the rotation adjustment assembly (1).

6. The knee replacement surgery robot according to claim 1, characterized in that said rotation adjustment assembly (1) further comprises a stopper (19), said stopper (19) being disposed beside said elastic member,

the size of the limiting piece (19) along the axial direction (A) of the rotation adjusting assembly (1) is smaller than the length of the elastic component in a natural state, and the limiting piece (19) can stop the self-locking piece (15) to limit the degree of compression of the elastic component.

7. Knee replacement surgery robot according to claim 1, characterized in that the rotationally adjustable quick release connection further comprises a quick release assembly (2),

the quick release assembly (2) comprises:

a cross beam (21), wherein the cross beam (21) is provided with a first positioning groove (211), the first positioning groove (211) penetrates through the cross beam (21) in a first direction,

fitting piece (22), fitting piece (22) be provided with first positioning groove (211) complex second positioning groove (223), second positioning groove (223) run through in the second direction fitting piece (22), first direction with the second direction is perpendicular, crossbeam (21) embedding second positioning groove (223), fitting piece (22) embedding first positioning groove (211), make crossbeam (21) with fitting piece (22) are in first direction with the ascending relative motion of second direction is restricted.

8. Knee replacement surgery robot according to claim 7, characterized in that the quick release assembly (2) further comprises a locking screw (23), the locking screw (23) fixedly connecting the cross beam (21) and the mating piece (22) such that relative movement of the cross beam (21) and the mating piece (22) in a third direction, which is perpendicular to both the first and the second direction, is limited.

9. Knee replacement surgery robot according to claim 7, characterised in that the cross beam (21) is fixedly connected to the second connection (12) and the counterpart (22) is intended for fixed connection to the actuator (200).

10. The knee replacement surgery robot of claim 9,

a thickness of the cross member (21) in a left-right direction (Y) of the actuator (200) is equal to a width of the second positioning groove (223) in the left-right direction (Y),

the width of the first positioning groove (211) along the up-down direction (Z) of the actuating device (200) is equal to the thickness of the fitting piece (22) along the up-down direction (Z).

11. Knee replacement surgery robot according to claim 6,

by pressing the self-locking piece (15), the self-locking piece (15) overcomes the elastic force of the elastic component to move to one axial side (A1), so that the elastic component is compressed, the second positioning pin (152) exits the arc-shaped groove (113), the limiting piece (19) stops the self-locking piece (15) to limit the degree of compression of the elastic component, so that the first positioning pin (151) is kept in the arc-shaped groove (113), the first connecting piece (11) and the second connecting piece (12) rotate relatively, so that the first positioning pin (151) moves from one end of the arc-shaped groove (113) to the other end of the arc-shaped groove (113),

the self-locking piece (15) is released, under the action of the elastic component, the self-locking piece (15) moves to the other axial side (A2), the second positioning pin (152) is embedded into the other arc-shaped groove (113), so that the self-locking piece (15) cannot rotate freely, and the first connecting piece (11) and the second connecting piece (12) rotate relatively by the angle corresponding to the arc-shaped groove (113).

12. Knee replacement surgery robot according to claim 8,

by releasing the locking screw (23), the cross beam (21) and the mating piece (22) are relatively moved in a third direction, so that the cross beam (21) and the mating piece (22) are separated.