WO2024016700A1 - Reaming device of surgical instrument, surgical instrument, and surgical robot - Google Patents

Abstract

The present application discloses a reaming device of a surgical instrument, a surgical instrument, and a surgical robot. The surgical instrument comprises: the reaming device of the surgical instrument, used for mounting an acetabular reamer and transferring power; a clamping module, used for fixing the reaming device of the surgical instrument; an end connecting flange, fixedly connected to the clamping module, the clamping module being transmittingly connected to a robotic arm of an external surgical robot by means of the end connecting flange; and a power system, transmittingly connected to the reaming device of the surgical instrument and used for outputting power for the reaming device of the surgical instrument. The technical problems that manual acetabular fossa reaming does not have high accuracy, is prone to being limited by space, and lacks a torque feedback function are solved.

Description

Surgical instrument filing devices, surgical instruments and surgical robots

Cross-references to related applications

This application claims priority to the Chinese patent application with application number 202210870359.9 and titled "Filing Device for Surgical Instruments, Surgical Instruments and Surgical Robots" submitted on July 22, 2022, which is fully incorporated herein by reference.

Technical field

The present application relates to the technical field of orthopedic surgical robots. Specifically, it relates to a rasp device for surgical instruments, surgical instruments and a surgical robot.

Background technique

Surgical robot-assisted total hip prosthesis replacement is an emerging technology for the treatment of hip joint lesions. This surgery requires cutting off the patient's diseased femoral head, removing it, and installing a corresponding hip prosthesis. Usually before installing the prosthesis, the patient's acetabular socket needs to be ground and filed first, and then the acetabular cup trial is carried out. When the filed human acetabular socket fits the outer dimensions of the acetabular prosthesis, the The acetabular cup is pressed into the acetabular socket. After the acetabular cup is fixed, the liner, femoral stem and femoral head are implanted into the patient's body based on the position of the acetabular cup.

Traditionally, artificial acetabular socket grinding is relied on. The strength, depth, and angle of the grinding are difficult to control well, which makes it difficult to accurately grind the patient's acetabular socket. This is greatly affected by operating experience factors. Moreover, if the patient's acetabular socket is not accurately filed, it is difficult for the acetabular cup prosthesis to be matched to the optimal position. The incidence of complications such as prosthesis dislocation, prosthesis loosening, and postoperative pain is greatly increased, and the surgical effect is greatly reduced. Difference.

Contents of the invention

To this end, this application provides a rasping device for surgical instruments, surgical instruments and a surgical robot to solve the technical problem of low accuracy in the existing art of relying on manual acetabular fossa grinding. The robot assists the acetabulum. With the nest grinding file, the strength, depth and angle of the grinding file can be better controlled and can Achieve more precise filing of the patient's acetabular socket, which can improve the probability of prosthesis matching, ensure that the acetabular cup prosthesis is placed in the optimal position, and reduce complications such as prosthesis dislocation, prosthesis loosening, and postoperative pain. It can reduce the incidence of symptoms, reduce the patient’s postoperative pain, quickly restore the ability to exercise, and improve the surgical effect.

In order to achieve the above objectives, this application provides the following technical solutions:

According to the first aspect of the present application, a rasping device for surgical instruments is provided, including:

The inner shell has a curved installation space; the curved installation space includes a first space, a second space and a third space that are successively connected;

A middle rod, one end of which is located inside the first space; a third rotating shaft is fixedly connected to one end of the middle rod, and the third rotating shaft is universally connected to a first rotating shaft at an end away from the middle rod;

A connecting rod is provided inside the second space; the connecting rod includes a first connecting rod and a second connecting rod, the first connecting rod is fixedly connected to the first rotating shaft, and the third connecting rod is fixedly connected to the first rotating shaft. A torque sensor is provided between a connecting rod and the second connecting rod, and a second rotating shaft is fixedly connected to the end of the second connecting rod away from the torque sensor;

A quick release head, one end of which is located inside the third space; a universal rotation connection between one end of the quick release head and an end of the second rotating shaft away from the second connecting rod;

The axis of the quick-release head and the axis of the middle rod are parallel to each other, and there is a variable transmission angle between the axis of the connecting rod and the axis of the quick-release head and the axis of the middle rod.

As a further solution of the present application, one end of the middle rod and one end of the third rotating shaft are detachably and fixedly connected through the first top screw; the other end of the third rotating shaft is connected to the first A first universal block is disposed between one end of the rotating shaft, and the third rotating shaft and the first rotating shaft are connected to each other through the first universal block.

One end of the first connecting rod is detachably fixed to the other end of the first rotating shaft through the second jackscrew, and the torque sensor is detachably fixed to the first connecting rod through a screw. between the other end of the second connecting rod and one end of the second connecting rod, and the torque sensor feedback detects the grinding torque value.

The other end of the second connecting rod and one end of the second rotating shaft are detachably and fixedly connected through the third jackscrew, and the other end of the second rotating shaft and one end of the quick release head are connected. A second universal block is disposed therebetween, and the second rotating shaft and the quick release head are universally rotatably connected through the second universal block.

As a further solution of the present application, the third rotating shaft is equipped with a first ball bearing and a second ball bearing respectively, and both the first ball bearing and the second ball bearing are connected with the first space. The transmission assembly between the inner walls.

The quick-release head is respectively equipped with a third ball bearing and a fourth ball bearing, and the third ball bearing and the fourth ball bearing are both driven and assembled with the inner wall of the third space.

A slider is slidably sleeved on the outside of one end of the middle rod, the first space extends to the outside of the slider, and the inner wall of the first space and the slider are assembled and fixed.

As a further solution of the present application, the part of the inner shell corresponding to the slider and the part of the inner shell corresponding to the third ball bearing and the fourth ball bearing are arranged in parallel, and the inner shell An inclined portion with an inclination angle of 150° is provided between the two parts of the body, and the variable transmission angle is limited to a maximum of 150° by the inner shell.

As a further solution of the present application, the filing device of the surgical instrument also includes a pull ring, a return spring, a bayonet and a stopper.

The outer sliding sleeve of the quick release head is provided with a pull ring, and the pull ring is provided with a first shaft pin and a second shaft pin with an interference fit at one end of the quick release head away from the second rotating shaft. .

The return spring is provided inside the quick release head, and a bayonet is provided between the pull ring and the quick release head. One end of the return spring is limited by the bayonet, and the pull ring is limited at the same time. Functional position; the quick-release head is also fixedly connected with a limiter at the other end corresponding to the return spring, and the other end of the return spring is limited by the limiter.

According to a second aspect of the present application, a surgical instrument is provided, including the rasping device of the surgical instrument; the inner shell includes a first inner shell and a second inner shell that are detachably fixed.

The surgical instruments also include:

Clamping module, including clamping components;

The middle rod extends through the clamping component. The other side of the clamping component is fixedly connected to the limiting front end. There are two grooves inside the limiting front end. The first inner shell and the The second inner shell is provided with first limiting bolts and second limiting bolts extending outward in one-to-one correspondence, and the first limiting bolts and the second limiting bolts are respectively placed in one-to-one correspondence. within two of said grooves;

An end connecting flange is fixedly connected to the clamping component, and the clamping component is drivingly connected to the mechanical arm of the external surgical robot through the end connecting flange;

The power system is transmission-connected to the grinding and filing device of the surgical instrument;

The middle rod has an extension direction, and the middle rod has a first end and a second end respectively along its extension direction. The second end of the middle rod is fixedly connected to the third rotating shaft. First in the middle pole The end extends through the clamping module and is drivingly connected to the power output end of the power system.

As a further solution of the present application, the clamping module further includes a base, a handle is fixed on the top of the base, and the handle is fixed to one bottom of the clamping component.

The end connection flange includes a flange plate, a calibration component, a locking knob, a shell and an anti-separation bolt.

The lower part of the flange is fixedly connected to the mechanical arm in the external robot system, and the upper part of the flange is fixed to a positioning groove; the lower part of the housing is fixed to a positioning block, and the flange is fixed to the mechanical arm of the external robot system. The shells are fixedly connected through the anti-separation bolts, and the positioning blocks and the positioning grooves are matched with each other; the upper part of the shell and the base are fixedly connected, and the upper part of the shell is fixedly connected to the base. The upper part is also screwed and fixed with positioning pins.

A connecting piece is fixed on the side of the housing; the calibration component is fixed to the connecting piece through the locking knob.

The calibration assembly includes a front-end tool calibration frame, four reflective balls and four reflective ball mounting posts.

The four reflective ball mounting posts are detachably and fixedly connected to the front tool calibration frame through threads, and the four reflective balls are fixed to the four reflective ball mounting posts in one-to-one correspondence.

According to a third aspect of the present application, a feedback method applied to the surgical instrument as described above is provided, in which the torque value during acetabular fossa rasping is detected in real time through the rasping device of the surgical instrument, and the actual measured torque value is It is transmitted to the data acquisition and processing module in the external surgical system. After data processing, the grinding torque value is converted into a digital signal and fed back to the power system. When the torque value is higher than a specific threshold, it is initially judged that the patient has been ground. The hard bone part, at this time, the motor part in the power system will reduce the speed and increase the torque, reducing the speed to ensure that the patient's acetabular socket will not be excessively ground away.

According to the fourth aspect of the present application, a feedback system applied to the surgical instrument as described above is provided. The acetabular rasp feedback system includes a power module, an industrial computer, a drive module, a data conversion module, an information storage module and LCD module; the power module is connected to the industrial computer, the drive module, the rasping device of the surgical instrument, the power system and the LCD module respectively through circuits.

The power module includes a power cable, an air switch, a filter, a switching power supply, and a battery.

The power cable of the external robot system is connected to the 220V AC network power supply, passes through the air switch and the filter, and is transmitted to the switching power supply. The switching power supply converts 220V AC power into 24V and 12V DC power; the switching power supply It has one input interface and six output interfaces, and the six output ports include three 24V DC output interfaces and three 12V DC output interfaces; the battery is connected to the 24V DC output interface for storing electric energy.

The filing device of the surgical instrument is used to connect the acetabular file and the power system, and the torque sensor inside the filing device of the surgical instrument collects the torque value generated during the filing process of the acetabular fossa in real time.

The power system has a motor, and the kinetic energy output end of the motor is transmission connected with the rasping device of the surgical instrument, and is used to provide power for the rasping device of the surgical instrument when performing acetabular rasping.

The industrial computer uses the 24V DC output from the switching power supply and is located in the main control trolley. It is mainly used to send control signals to the drive module of the power system according to the control instructions input by the doctor, and is used to receive and process all the control signals. The data information fed back by the torque sensor is received; when the data information fed back by the torque sensor is received, the torque value fed back by the torque sensor is compared in real time. When the torque value is higher than a specific threshold, the motor in the power system slows down and increases torque.

The specific threshold value of the torque is set according to the bone composition of the acetabular fossa. The purpose of acetabular fossa grinding is to remove osteophytes and cartilage parts. The grinding torque value of osteophytes and cartilage parts is higher than the grinding torque of hard bone parts. The value is small, and the median of the grinding torque value of the hard bone part is calculated through a large number of experiments. The median of this torque value is the specific threshold value.

The drive module is connected to the industrial computer and the power system through circuits respectively. The drive module uses the 12V direct current output by the switching power supply. When the acetabular fossa grinding torque value is higher than a specific threshold, The driving module receives the control command issued by the industrial computer. At this time, the driving module changes the input current of the power system, and adjusts the running speed of the motor in the power system by changing the input current value.

The data conversion module is connected to the torque sensor and the industrial computer through circuits respectively. The data conversion module is used to convert the voltage value output by the torque sensor into a digital signal, and convert the digital value of the torque value into a digital signal. The signal is output to the industrial computer.

The information storage module is connected to the industrial computer through a circuit and is used to store the torque data generated during acetabular fossa grinding. After surgery, the patient's bone characteristics are analyzed based on the stored torque data.

The LCD module is connected to the industrial computer through a circuit and is used to display the status of the power system and display the power system start or stop status.

According to the fifth aspect of the present application, a surgical robot system is provided, including the surgical instrument, and the surgical robot system further includes:

The main control trolley is used to send control commands according to the input control commands;

A robotic arm trolley is used to execute control commands issued by the main control trolley and assist in completing the acetabular fossa grinding and filing work. The robotic arm trolley is provided with a robotic arm;

Pelvic reference frame, used to calibrate the patient's pelvic position;

Femoral positioning frame, used to calibrate the patient's femoral position;

NDI trolley, used to identify the positions of the pelvic reference frame and the femoral positioning frame, and send the position information to the main control trolley;

The main control trolley, the robotic arm trolley, the NDI trolley, the surgical instruments, the acetabular file, the pelvis reference frame and the femoral positioning frame are connected through electrical circuits.

This application has the following beneficial effects:

1. Compared with traditional manual grinding and filing rods, the filing device of surgical instruments can effectively change the shape of the surgical instrument through the universal connection between the third rotating shaft and the first rotating shaft and between the second rotating shaft and the quick-release head. The external power is output to the power transmission direction after the middle rod, which can effectively reduce the spatial restrictions of the patient's position or human tissue on the rasp tool, effectively avoid the patient's human tissue, and enable the acetabular rasp tool to accurately reach the patient's In the acetabular fossa, this can significantly improve the accuracy of the operation and improve the efficiency of the operation. At the same time, the torque sensor can be used as a force feedback module when grinding the acetabular fossa, detecting the strength of the grinding file in real time, and controlling the torque output by the grinding power system to avoid wearing the acetabular socket and damaging the human body structure.

2. Provide a surgical robot system that can effectively improve the accuracy of acetabular grinding, improve the accuracy of prosthesis implantation, reduce the incidence of complications such as prosthesis dislocation, prosthesis loosening, and postoperative pain, and at the same time reduce The patient's post-operative pain can be restored quickly, and the surgical effect can be improved.

Description of drawings

In order to more clearly explain the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to describe the embodiments or the prior art. The structures and proportions shown in this specification , size, etc., are only used to match the content disclosed in the instructions for the understanding and reading of people familiar with this technology. Any structural modifications, changes in proportions, or adjustments in size will not affect the effectiveness of this application. and the purpose that can be achieved, it should still fall within the scope of the technical content disclosed in this application.

FIG. 1 is a schematic diagram of the overall internal structure of a rasping device for surgical instruments provided by an embodiment of the present application.

Figure 2 is an exploded schematic diagram of the overall structure of the filing device of the surgical instrument provided by the embodiment of the present application.

Figure 3 is a schematic diagram of the overall isometric structure of the surgical instrument provided by the embodiment of the present application.

Figure 4 is a schematic structural diagram of a clamping module in a surgical instrument provided by an embodiment of the present application.

Figure 5 is a schematic structural diagram of the position of the limiting groove of the clamping module in the surgical instrument provided by the embodiment of the present application at the front end of the limiting position.

Figure 6 is an exploded schematic diagram of the internal structure of the end connecting flange of the surgical instrument provided by the embodiment of the present application.

Figure 7 is a schematic isometric structural view of the calibration component of the end connection flange in the surgical instrument provided by the embodiment of the present application.

Figure 8 is a schematic flow chart of the acetabular burr feedback method provided by the embodiment of the present application.

Figure 9 is a schematic diagram of the basic composition and principles of the acetabular burr feedback system provided by the embodiment of the present application.

Figure 10 is a schematic diagram of the overall composition and principle of the surgical robot system provided by the embodiment of the present application.

In the drawings, the parts represented by each number are listed as follows:
Crank grinding and filing rod 100: middle rod 101, first inner shell 102, second inner shell 103, slider 104,
The first ball bearing 105, the second ball bearing 106, the first jackscrew 107, the return spring 108, the pull ring 109, the bayonet 110, the first shaft pin 111, the quick release head 112, the second shaft pin 113, the first thousandth Directional block 114, first rotating shaft 115, second jackscrew 116, first connecting rod 117, torque sensor 118, second connecting rod 119, second rotating shaft 120, second universal block 121, limiter 122, third Ball bearing 123, fourth ball bearing 124, third rotating shaft 125, first limiting bolt 126, second limiting bolt 127, third jackscrew 128;
Clamping module 200: base 201, limiting front end 202, limiting groove 2021, clamping component 203,
handle 204;
End connection flange 300: flange plate 301, positioning groove 302, calibration component 303, front tool calibration frame 3031, reflective ball 3032, reflective ball mounting column 3033, locking knob 304, first connector 305, snap ring 306 , the second connecting piece 307, the shell 308, the positioning pin 309, the anti-separation bolt 310, the positioning block 311;
Power system 400;
Main control trolley 01, robotic arm trolley 02, robotic arm 0201, NDI trolley 03, surgical instrument 04,
Acetabular file 05, pelvic reference frame 06, femoral positioning frame 07.

Detailed ways

The implementation of the present application will be described below with specific examples. Those familiar with this technology Other advantages and effects of the present application can be easily understood from the content disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

Terms such as "upper", "lower", "left", "right", and "middle" cited in this specification are only for convenience of description and are not used to limit the scope of the application. Changes or adjustments to the relationship, provided there is no substantial change in the technical content, shall also be deemed to be within the scope of the implementation of this application.

First of all, it should be noted that, for the convenience of description, the above rasping device of the surgical instrument will be described below using a crank rasping rod as an example.

Next, as shown in FIGS. 1 to 7 , the embodiment of the present application provides a surgical instrument, including a crank rasping rod 100 , a clamping module 200 , an end connecting flange 300 and a power system 400 , to achieve the above functions. The cooperation between the structures can significantly improve the automation of acetabular rasping surgery, thereby effectively improving the accuracy of acetabular rasping and improving the positional accuracy of acetabular cup prosthesis implantation; at the same time, with the help of the crank rasping rod 100, it can Based on the curve shape, the space restriction of the patient's posture or human tissue on the rasp tool can be more effectively reduced, thereby improving the efficiency and effect of the operation; in addition, a force feedback module for acetabular fossa rasp can also be added to the crank rasp bar 100 , detects the strength of the grinding file in real time, and controls the torque output by the grinding file power system, reducing the risk of surgical injury to the patient. The specific settings are as follows:

Please refer to Figures 1 to 2. The crank grinding and filing rod 100 is used to install an acetabular file. The crank grinding and filing rod 100 includes an inner housing, a middle rod 101, a connecting rod and a quick release head 112.

Wherein, the inner shell has a curved installation space, and the curved installation space includes a first space, a second space and a third space that are continuously connected in sequence.

One end of the middle rod 101 is located inside the first space, and a third rotating shaft 125 is fixedly connected to one end of the middle rod 101. The third rotating shaft 125 rotates universally at an end away from the middle rod 101. The first rotating shaft 115 is connected.

The connecting rod is provided inside the second space, and the connecting rod includes a first connecting rod 117 and a second connecting rod 119. The first connecting rod 117 is fixedly connected to the first rotating shaft 115. are connected, and a torque sensor 118 is provided between the first connecting rod 117 and the second connecting rod 119. The second connecting rod 119 is fixedly connected with the second rotating shaft 120 at one end away from the torque sensor 118 .

One end of the quick release head 112 is disposed inside the third space, and is universally connected to an end of the second rotating shaft 120 away from the second connecting rod 119 . ; The axis of the quick-release head 112 and the axis of the middle rod 101 are parallel to each other, and there is a variable transmission between the axis of the connecting rod 101 and the axis of the quick-release head 112 and the axis of the middle rod 101 angle.

The above arrangement can effectively change the power transmission direction after the external power is output to the middle pole 101 through the universal connection between the third rotating shaft 125 and the first rotating shaft 115 and between the second rotating shaft 120 and the quick release head 112, thereby enabling It effectively reduces the space restrictions of the patient's posture or human tissue on the rasp tool, and can effectively avoid the patient's human tissue, allowing the acetabular rasp tool to accurately reach the patient's acetabular fossa, which can significantly improve the accuracy of the surgery. , improving the efficiency of surgery. At the same time, the torque sensor 118 can be used as a force feedback module when rasping the acetabular fossa, detecting the intensity of the rasping in real time, and controlling the torque output by the rasping power system to avoid wearing the acetabular fossa and damaging the human body structure. More specifically:

The crank grinding and filing rod 100 also includes a first ball bearing 105, a second ball bearing 106, a first jackscrew 107, a return spring 108, a pull ring 109, a bayonet 110, a first shaft pin 111, and a second shaft pin 113. , first universal block 114, first rotating shaft 115, second jackscrew 116, torque sensor 118, second rotating shaft 120, second universal block 121, limiter 122, third ball bearing 123, fourth ball bearing 124. The third rotating shaft 125, the first limiting bolt 126, the second limiting bolt 127 and the third jackscrew 128.

The inner shell includes a first inner shell 102 and a second inner shell 103 assembled by screws, and the inner shell is a curved shell with a curved installation space inside.

The middle rod 101 has an extension direction. One end of the middle rod 101 along its extension direction and one end of the third rotating shaft 125 are detachably and fixedly connected through the first top screw 107. The third The other end of the third rotating shaft 125 and one end of the first rotating shaft 115 are rotatably connected to the first universal block 114 through positioning pins, so as to achieve universal rotation between the third rotating shaft 125 and the first rotating shaft 115 .

A slider 104 is set outside one end of the middle rod 101 along its extension direction. The first space of the inner shell extends to the outside of the slider 104, and the inner wall of the first space is in contact with the slider. The blocks 104 are assembled and fixed with each other; the other end of the middle rod 101 along its extension direction extends through the clamping module 200 and is drivingly connected to the power output end of the power system 400 .

The first connecting rod 117 and the second connecting rod 119 are both disposed inside the second space, and one end of the first connecting rod 117 and the other end of the first rotating shaft 115 pass through the second space. The two jackscrews 116 are detachably and firmly connected. The second connecting rod 119 is provided at the other end of the first connecting rod 117 away from the first rotating shaft 115 , and the first connecting rod 117 and the second connecting rod 117 are connected to each other in a detachable manner. The torque sensor 118 is detachably fixed between one end of the two connecting rods 119 through screws. The torque sensor 118 is used as the functional basis of the force feedback module during acetabular fossa grinding, and the feedback is detected in real time and used as a basis. Controlling the torque output by the rasp power system reduces the surgical risk of harm to the patient and improves surgical safety.

The other end of the second connecting rod 119 and one end of the second rotating shaft 120 are detachably and fixedly connected through the third jackscrew 128 , and the other end of the second rotating shaft 120 is connected to the quick release shaft 120 . The heads 112 are rotatably connected to the second universal block 121 through positioning pins, thereby realizing universal rotation between the second rotating shaft 120 and the quick-release head 112, thereby improving the flexibility of the transmission function.

The pull ring 109 is provided on the outer sliding sleeve of the quick release head 112. The pull ring 109 is provided with the pull ring 109 with an interference fit at one end of the quick release head 112 away from the second rotating shaft 120. The first shaft pin 111 and the second shaft pin 113 are used to effectively position and install the grinding tool through the first shaft pin 111 and the second shaft pin 113 with the quick release head 112; the quick release head 112 is provided with certain internal The return spring 108, the pull ring 109 and the quick release head 112 are provided with a bayonet 110 to resist one end of the return spring 108 while restricting the pull ring 109 to always be in the functional position to prevent it from springing to the In the direction away from the return spring 108 , the quick-release head 112 is also fixedly connected with a limiter 122 at the other end corresponding to the return spring 108 to resist the other end of the return spring 108 through the limiter 122 .

The first ball bearing 105 and the second ball bearing 106 are respectively assembled on the outside of the third rotating shaft 125, and the first space of the inner housing extends to the first ball bearing 105 and the second ball bearing 106. The outer side of the ball bearing 106, and the first ball bearing 105 and the second ball bearing 106 are both driven and assembled with the inner wall of the first space.

The third ball bearing 123 and the fourth ball bearing 124 are respectively assembled on the outside of the quick release head 112, and the third space of the inner housing extends to the third ball bearing 123 and the third ball bearing 124. The outer side of the fourth ball bearing 124, and the third space is fixedly connected to the transmission assembly between the third ball bearing 123 and the fourth ball bearing 124, so as to wrap the intermediate structural member.

The part of the inner shell corresponding to the slider 104 and the part of the inner shell corresponding to the third ball bearing 123 and the fourth ball bearing 124 are arranged in parallel, and the two parts of the inner shell There is an inclined portion with an inclination angle of 150°, and the inner housing limits the variable transmission angle to a maximum of 150°. The axis of the quick release head 112 and the axis of the middle rod 101 in its extension direction are parallel to each other. .

The first inner shell 102 and the second inner shell 103 are respectively provided with second limiting bolts 127 and first limiting bolts 126 extending outward in one-to-one correspondence for passing the second limiting bolts 127 and the first limiting bolt 126 limits the position of the crank sharpening rod 100 relative to the clamping module 200 .

Please refer to FIGS. 4 to 5 . The clamping module 200 is used to clamp the crank grinding and filing rod 100 . The clamping module 200 includes a base 201 , a limiting front end 202 , a clamping assembly 203 and a handle 204 .

Among them, the handle 204 is fixed by welding on the top of the base 201, the handle 204 is welded and fixed to the bottom of one side of the clamping component 203, and the other side of the clamping component 203 is fixed by screws. The limiting front end 202 is fixedly provided, and the middle rod 101 extends through the clamping assembly 203; two grooves 2021 are also provided inside the limiting front end 202, and the first limiting bolt 126 and the second limiting bolt 127 are respectively placed in the two grooves 2021 in a one-to-one correspondence to effectively limit the axial position of the crank grinding rod 100 and the rotational position of the housing body.

Please refer to FIGS. 6 to 7 . The end connection flange 300 is used to enable the clamping module 200 to be connected to the mechanical arm of the surgical robot through the end connection flange 300 . The end connection flange 300 includes a flange plate 301 , positioning groove 302, calibration component 303, locking knob 304, first connecting piece 305, snap ring 306, second connecting piece 307, shell 308, positioning pin 309, anti-separation bolt 310 and positioning block 311.

The lower part of the flange 301 is connected to the mechanical arm 0201 in the robot system through bolts, and the upper part of the flange 301 is fixed with the positioning groove 302 through screws, and the upper part of the housing 308 is connected to the The bases 201 are fixed with screws, and the upper part of the shell 308 is also screwed with the positioning pin 309, and the lower part of the shell 308 is fixed with the positioning block 311 with screws; the method The orchid plate 301 and the housing 308 are connected through anti-separation bolts 310. Fixedly connected, the positioning block 311 and the positioning groove 302 are correspondingly matched; the snap ring 306 is made of plastic material, and the snap ring 306 is provided on the inside of the housing 308 using an interference fit; the housing The first connecting piece 305 and the second connecting piece 307 are respectively welded and fixed on both sides of 308; the calibration component 303 is fixed to the first connecting piece 305 through the locking knob 304 for calibration. Real-time location of surgical instruments.

The calibration component 303 includes a front-end tool calibration frame 3031, a reflective ball 3032 and a reflective ball mounting post 3033; wherein the reflective ball mounting post 3033 is detachably and fixedly connected to the front-end tool calibration component 3031 through threads, and the The reflective ball 3032 is fixedly installed on the reflective ball mounting post 3033.

Please refer to Figure 8. This embodiment of the present application also provides an acetabular burr feedback method, which specifically includes the following processes:

The crank rasping rod 100 detects the torque value when rasping the acetabular fossa in real time, and transmits the measured torque value to the data acquisition and processing module of the industrial computer in the surgical system. After data processing, the rasping torque value is converted into a digital signal. , and feedback to the power system 400. When the torque value is higher than the threshold a, it can be initially judged that the hard bone part of the patient has been ground. At this time, the motor part in the power system 400 will reduce the speed and increase the torque. The reduced speed can ensure that the patient The acetabular socket will not be ground away too much.

Please refer to Figure 9. The embodiment of the present application also provides an acetabular grinding feedback system. The acetabular grinding feedback system is actually a torque feedback system, which includes a power module, an industrial computer, a drive module, and a crank grinding rod. 100. Power system 400, data conversion module, information storage module and LCD module.

Among them, the power module is connected to the industrial computer, the drive module, the crank grinding rod 100, the power system 400 and the LCD module through circuits. The power module includes a power cable, an air switch, a filter, a switching power supply, Battery; the power cable of the robot system is connected to the 220V AC network power supply, passes through the air switch and the filter, and is transmitted to the switching power supply. The switching power supply converts 220V AC power into 24V and 12V DC power; the switch The power supply has one input interface and six output interfaces, and the six output interfaces include three 24V DC output interfaces and three 12V DC output interfaces; the battery is connected to the 24V DC output interface for storing electric energy.

The crank grinder rod 100 is used to connect the acetabular file and the power system 400, and the crank grinder The torque sensor 118 inside the file rod 100 can collect the torque value generated during the acetabular fossa grinding process in real time.

The power system 400 has a motor, and the kinetic energy output end of the motor is transmission connected with the crank grinding and filing rod 100, and is used to provide power for the crank grinding and filing rod 100 to perform acetabular grinding and filing.

The industrial computer uses the 24V DC output from the switching power supply and is located in the main control trolley 01. It is mainly used to send control signals to the drive module of the power system 400 according to the control instructions input by the doctor, and is used to receive and Process the data information fed back by the torque sensor 118; when receiving the data information fed back by the torque sensor 118, compare the torque value fed back by the torque sensor 118 in real time. When the torque value is higher than the threshold a, the motor part in the power system 400 will Decrease speed and increase torque. The torque threshold a is set according to the bone composition of the acetabular fossa. The purpose of acetabular fossa grinding is mainly to remove osteophytes and cartilage parts. The grinding torque value of osteophytes and cartilage parts is higher than the grinding torque of hard bone parts. The value is small. Through a large number of experiments, the median grinding torque value of the hard bone part is obtained. The median value of this torque value is the threshold value a.

The drive module is connected to the industrial computer and the power system 400 through circuits respectively. The drive module uses the 12V direct current output by the switching power supply. When the acetabular fossa grinding torque value is higher than the threshold a , the driving module receives the control command issued by the industrial computer. At this time, the driving module will change the input current of the power system 400, and then adjust the input current value of the power system 400 by changing the value of the input current. The operating speed of the motor.

The data conversion module is respectively connected to the torque sensor 118 and the industrial computer through circuits. The data conversion module is used to convert the voltage value output by the torque sensor 118 into a digital signal, and convert the torque value into a digital signal. The digital signal is output to the industrial computer.

The information storage module is connected to the industrial computer through a circuit and is used to store the torque data generated during acetabular fossa grinding. After surgery, the patient's bone characteristics can be preliminarily analyzed based on the stored torque data.

The LCD module is connected to the industrial computer through a circuit and is used to display the status of the power system, mainly displaying the start or stop status of the power system.

Please refer to Figure 10. The embodiment of the present application also provides a hip replacement surgery system, including a main control trolley 01, a robotic arm trolley 02, an NDI trolley 03, surgical instruments 04, and an acetabular file 05 connected through a circuit. , pelvic reference frame 06 and femoral positioning frame 07.

Among them, the main control trolley 01 is used to send control commands to the robotic arm trolley 02 according to the control instructions input by the doctor.

The robotic arm trolley 02 is used to execute the instructions issued by the main control trolley 01 and assist the doctor in completing the acetabular fossa grinding and filing work. The robotic arm trolley 02 is provided with a robotic arm 0201.

The NDI trolley 03 is used to identify the positions of the pelvis reference frame 06 and the femoral positioning frame 07 and send the position information to the main control trolley 01 .

Acetabular files 05 of different sizes are installed on the quick-release head 112 of the surgical instrument 04 for grinding the patient's acetabular fossa.

The pelvic reference frame 06 is used to calibrate the patient's pelvic position.

The femoral positioning frame 07 is used to calibrate the position of the patient's femur.

Although the present application has been described in detail with general descriptions and specific examples above, it is obvious to those skilled in the art that some modifications or improvements can be made based on the present application. Therefore, these modifications or improvements made without departing from the spirit of this application shall fall within the scope of protection claimed by this application.

Claims (10)

A rasping device for surgical instruments, including: The inner shell has a curved installation space; the curved installation space includes a first space, a second space and a third space that are successively connected; A middle rod, one end of which is located inside the first space; a third rotating shaft is fixedly connected to one end of the middle rod, and the third rotating shaft is universally connected to a first rotating shaft at an end away from the middle rod; A connecting rod is provided inside the second space; the connecting rod includes a first connecting rod and a second connecting rod, the first connecting rod is fixedly connected to the first rotating shaft, and the third connecting rod is fixedly connected to the first rotating shaft. A torque sensor is provided between a connecting rod and the second connecting rod, and a second rotating shaft is fixedly connected to the end of the second connecting rod away from the torque sensor; A quick release head, one end of which is located inside the third space; a universal rotation connection between one end of the quick release head and an end of the second rotating shaft away from the second connecting rod; The axis of the quick-release head and the axis of the middle rod are parallel to each other, and there is a variable transmission angle between the axis of the connecting rod and the axis of the quick-release head and the axis of the middle rod. The filing device for surgical instruments according to claim 1, wherein one end of the middle rod and one end of the third rotating shaft are detachably and fixedly connected through a first top screw; A first universal block is provided between the other end and one end of the first rotating shaft, and the third rotating shaft and the first rotating shaft are connected to each other through the first universal block; One end of the first connecting rod is detachably fixed to the other end of the first rotating shaft through the second jackscrew, and the torque sensor is detachably fixed to the first connecting rod through a screw. between the other end of the second connecting rod and one end of the second connecting rod, and the torque sensor feedback detects the grinding torque value; The other end of the second connecting rod and one end of the second rotating shaft are detachably and fixedly connected through the third jackscrew, and the other end of the second rotating shaft and one end of the quick release head are connected. A second universal block is disposed therebetween, and the second rotating shaft and the quick release head are universally rotatably connected through the second universal block. The filing device for surgical instruments according to claim 2, wherein the third rotating shaft is equipped with a first ball bearing and a second ball bearing respectively, and the first ball bearing and the second ball bearing are both connected to a transmission assembly between the inner walls of the first space; The quick release head is respectively equipped with a third ball bearing and a fourth ball bearing, and the third ball bearing and the fourth ball bearing are both driven and assembled with the inner wall of the third space; A slide block is slidably sleeved on the outside of one end of the middle rod, the first space extends to the outside of the slide block, and the inner wall of the first space and the slide block are assembled and fixed. The filing device for surgical instruments according to claim 3, wherein a portion of the inner housing corresponding to the slider and a portion of the inner housing corresponding to the third ball bearing and the fourth ball bearing They are arranged parallel to each other, and an inclined portion with an inclination angle of 150° is provided between the two parts of the inner casing, and the variable transmission angle is limited to a maximum of 150° by the inner casing. The filing device for surgical instruments according to claim 2, wherein the filing device for surgical instruments further includes a pull ring, a return spring, a bayonet and a limiting member; The outer sliding sleeve of the quick release head is provided with a pull ring, and the pull ring is provided with a first shaft pin and a second shaft pin with an interference fit at one end of the quick release head away from the second rotating shaft. ; The return spring is provided inside the quick release head, and a bayonet is provided between the pull ring and the quick release head. One end of the return spring is limited by the bayonet, and the pull ring is limited at the same time. Functional position; the quick-release head is also fixedly connected with a limiter at the other end corresponding to the return spring, and the other end of the return spring is limited by the limiter. A surgical instrument, including the rasping device of the surgical instrument according to any one of claims 1 to 5; the inner shell includes a first inner shell and a second inner shell that are detachable and fixed to each other; The surgical instruments also include: Clamping module, including clamping components; The middle rod extends through the clamping component. The other side of the clamping component is fixedly connected to the limiting front end. There are two grooves inside the limiting front end. The first inner shell and the The second inner shell is provided with first limiting bolts and second limiting bolts extending outward in one-to-one correspondence, and the first limiting bolts and the second limiting bolts are respectively placed in one-to-one correspondence. within two of said grooves; An end connecting flange is fixedly connected to the clamping component, and the clamping component is drivingly connected to the mechanical arm of the external surgical robot through the end connecting flange; The power system is transmission-connected to the grinding and filing device of the surgical instrument; The middle rod has an extension direction, and the middle rod has a first end and a second end respectively along its extension direction. The second end of the middle rod is fixedly connected to the third rotating shaft. The first end of the middle rod extends through the clamping module and is drivingly connected to the power output end of the power system. The surgical instrument according to claim 6, wherein the clamping module further includes a base, a handle is fixed on the top of the base, and the handle is fixed to the bottom of one side of the clamping assembly; The end connection flange includes a flange plate, a calibration component, a locking knob, a shell and an anti-separation bolt; The lower part of the flange is fixedly connected to the mechanical arm in the external robot system, and the upper part of the flange is fixed to a positioning groove; the lower part of the housing is fixed to a positioning block, and the flange is fixed to the mechanical arm of the external robot system. The shells are fixedly connected through the anti-separation bolts, and the positioning blocks and the positioning grooves are matched with each other; the upper part of the shell and the base are fixedly connected, and the upper part of the shell is fixedly connected to the base. The upper part is also screwed with positioning pins; A connecting piece is fixed on the side of the housing; the calibration component is fixed to the connecting piece through the locking handle; The calibration assembly includes a front-end tool calibration frame, four reflective balls and four reflective ball mounting posts; The four reflective ball mounting posts are detachably and fixedly connected to the front tool calibration frame through threads, and the four reflective balls are fixed to the four reflective ball mounting posts in one-to-one correspondence. A feedback method applied to the surgical instrument as claimed in any one of claims 6-7, in which the torque value during acetabular fossa rasping is detected in real time through the rasping device of the surgical instrument, and the actual measured torque value is transmitted To the data acquisition and processing module in the external surgical system, after data processing, the grinding torque value is converted into a digital signal and fed back to the power system. When the torque value is higher than a specific threshold, it is initially determined that the patient's bone has been ground. For the hard bone part, at this time, the motor part in the power system will reduce the speed and increase the torque, reducing the speed to ensure that the patient's acetabular socket will not be ground away too much. A feedback system applied to the surgical instrument according to any one of claims 6-7, the feedback system includes a power supply module, an industrial computer, a drive module, a data conversion module, an information storage module and an LCD module; the power supply The modules are connected to the industrial computer, drive module, surgical instrument grinding device, power system and LCD module through circuits; The power module includes a power cable, an air switch, a filter, a switching power supply, and a battery; The power cable of the external robot system is connected to the 220V AC network power supply, passes through the air switch and the filter, and is transmitted to the switching power supply. The switching power supply converts 220V AC power into 24V and 12V DC power; the switching power supply It has one input interface and six output interfaces, and the six output ports include three 24V DC output interfaces and three 12V DC output interfaces; the battery is connected to the 24V DC output interface for storing electric energy; The rasping device of the surgical instrument is used to connect the acetabular file and the power system, and the torque sensor inside the rasping device of the surgical instrument collects the torque value generated during the acetabular fossa rasping process in real time; The power system has a motor, and the kinetic energy output end of the motor is connected to the grinding wheel of the surgical instrument. The filing devices are connected by transmission, and are used to provide power for the filing device of the surgical instrument when performing acetabular grinding; The industrial computer uses the 24V DC output from the switching power supply and is located in the main control trolley. It is mainly used to send control signals to the drive module of the power system according to the control instructions input by the doctor, and is used to receive and process all the control signals. The data information fed back by the torque sensor is received; when the data information fed back by the torque sensor is received, the torque value fed back by the torque sensor is compared in real time. When the torque value is higher than a specific threshold, the motor in the power system slows down and increases torque; The specific threshold value of the torque is set according to the bone composition of the acetabular fossa. The purpose of acetabular fossa grinding is to remove osteophytes and cartilage parts. The grinding torque value of osteophytes and cartilage parts is higher than the grinding torque of hard bone parts. The value is small, and the median of the grinding torque value of the hard bone part is calculated through a large number of experiments. The median of this torque value is the specific threshold; The drive module is connected to the industrial computer and the power system through circuits respectively. The drive module uses the 12V direct current output by the switching power supply. When the acetabular fossa grinding torque value is higher than a specific threshold, The drive module receives the control command issued by the industrial computer. At this time, the drive module changes the input current of the power system and adjusts the operating speed of the motor in the power system by changing the input current value; The data conversion module is connected to the torque sensor and the industrial computer through circuits respectively. The data conversion module is used to convert the voltage value output by the torque sensor into a digital signal, and convert the digital value of the torque value into a digital signal. The signal is output to the industrial computer; The information storage module is connected to the industrial computer through a circuit and is used to store the torque data generated during acetabular fossa grinding. After surgery, the patient's bone characteristics are analyzed based on the stored torque data; The LCD module is connected to the industrial computer through a circuit and is used to display the status of the power system and display the power system start or stop status. A surgical robot system, including the surgical instrument according to any one of claims 6-7, the surgical robot system further comprising: The main control trolley is used to send control commands according to the input control commands; A robotic arm trolley is used to execute control commands issued by the main control trolley and assist in completing the acetabular fossa grinding and filing work. The robotic arm trolley is provided with a robotic arm; Pelvic reference frame, used to calibrate the patient's pelvic position; Femoral positioning frame, used to calibrate the patient's femoral position; NDI trolley is used to identify the positions of the pelvic reference frame and the femoral positioning frame, and transfer the positions The information is sent to the main control trolley; The main control trolley, the robotic arm trolley, the NDI trolley, the surgical instruments, the acetabular file, the pelvis reference frame and the femoral positioning frame are connected through electrical circuits.