CN105434048B - Robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment - Google Patents
Robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment Download PDFInfo
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- CN105434048B CN105434048B CN201610047353.6A CN201610047353A CN105434048B CN 105434048 B CN105434048 B CN 105434048B CN 201610047353 A CN201610047353 A CN 201610047353A CN 105434048 B CN105434048 B CN 105434048B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B2017/564—Methods for bone or joint treatment
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Abstract
The present invention relates to a kind of robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment.Executing agency is set it is characterized in that sliding and setting including operation table, fixing device, executing agency, mechanical arm and manipulator, on operation table, executing agency side sets clamping in mechanical arm, mechanical arm to set manipulator above fixing device, fixing device.The manipulator of the present invention is used to implement the puncture action of the 2mm draw points under rotating at a high speed, sets up final operation path.Manipulator includes draw point clamping device, quick peeler structure and axial moving mechanism, and the core operating principle of draw point clamping device therein is centrifugal principle.When quick peeler structure drives main shaft to rotate at a high speed, the centrifugation clamping device of draw point clamping device is started working, i.e. draw point clamping gear grips draw point, it is possible to achieve be segmented the action toward underlying draw point.This working method make it that manipulator possesses while reducing mechanism physical dimension and does not lose the double dominant of impulse stroke.
Description
Technical field
The present invention relates to a kind of robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment.
Background technology
Under traditional operation mode, doctor mainly determines hand by the subjective judgement of vision with the operation clinical experience of accumulation
Art path.Especially for some more hidden organs, even if experience very abundant surgeon sometimes in operation not yet
, there is certain mortality, especially highly difficult operation, such as neck in the accurate location that the fully validated operating theater instruments of energy is currently located
Vertebra is performed the operation, and there is certain death rate and disability rate.In addition, prolonged operation technique, meeting doctor can be a greatly muscle power
Fatigue easily occurs for burden, doctor, influences surgical effect.
At present, many countries are devoted to develop various operating robots in the world, to overcome the shortcomings of that human hand is operated.Hand
Art robot has the incomparable high stability of human hand and precision, has surmounted the limitation of naked eyes and human hand, and thus completes
Operation wound is smaller, less blood loss, patient recovers faster after surgery, and healing is more preferable, can shorten the hospital stays.
The construction mode of current operating robot is mainly 3-D view navigation and is combined with mechanical arm.Patent No.
02158691.8 patent, " computer aided system for locking far terminal of intramedullary nail ", using the three-dimensional navigation principle of computer vision,
The quick positioning of operation pathway is realized, so as to realize the semi-automation of Intramedullary nailing.Patent No. 200910237998.6
Patent " robot for orthopaedic surgery servicing unit and alignment system ", also realizes the bone of multiple positions using three-dimensional navigation
Ligamentopexis.
But due to using this construction mode, this kind of operating robot in use existing defects with it is not enough：1. need
Fixed reference frame is wanted, extra wound is not only brought to patient, and if shifted in frame of reference art（Sclerite movement, fracture
It is loose etc.）, then can occur positioning dislocation, influence operation precision；2. needing three-dimensional reconstruction, this not only increases the radiation of patient additionally
Exposure, IMAQ and three-dimensional reconstruction equally also increase operating time.
In order to improve the deficiencies in the prior art, we intend the operating robot of exploitation, employ a kind of innovation
Construction model -- two dimensional image navigates, and precision is high, it is low, real-time, noninvasive to radiate.The equipment is adapted to D reconstruction device, realizes
The three-dimensional navigation of extremely low radiation.
The content of the invention
It is fixed based on noninvasive type real-time surgery it is an object of the invention to provide one kind for problems of the prior art
The technical scheme of the robot for orthopaedic surgery of position navigation equipment, can fast, accurately set up the operation path of Minimally Invasive Surgery, increase
Plus operation safety, operation accuracy rate is improved, while reducing radioactive exposure and reducing operation wound.
The described robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment, it is characterised in that including hand
Slide to set on art bed, fixing device, executing agency, mechanical arm and manipulator, operation table and set above fixing device, fixing device
Executing agency is put, executing agency side sets clamping in mechanical arm, mechanical arm to set manipulator.
The described robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment, it is characterised in that：
Described operation table, it is connected with fixing device by track, has locking device on track, can appointing in track
Meaning position is locked；
Described fixing device, it includes horizontal mobile mechanism, vertical movement mechanism and limbs clamping device, moved horizontally
Mechanism is connected by track pair with operation table, the Primary Location for robot；Vertical movement mechanism is controlled by screw pair
Lifting, for being applicable the not thick patient of consubstantiality；Limbs clamping device is a pair of geometrical clamps, and geometrical clamp position energy is adjusted by handle
Enough clamp the limbs of patient；
Described executing agency, is installed on the platform of fixing device, seizure and holding for laser rays；Executing agency
Including upper planar motion mechanism and lower plane motion, upper planar motion mechanism includes plane X to travel mechanism and upper
Plane Y-direction travel mechanism, upper plane X catches panel to travel mechanism provided with upper planar laser point；Lower plane motion bag
Lower plane X is included to travel mechanism and lower plane Y-direction travel mechanism, lower plane X is provided with lower plane laser spots to travel mechanism
Catch panel；
Described mechanical arm, it is connected with executing agency, manipulator, with the free degree rotated around orthogonal two axle, rotation
Central point is on the geometrical axis of the manipulator of clamping；Mechanical arm includes mechanical arm pedestal, rotary shaft and circular arc type clamping device,
Circular arc type clamping device is arranged in mechanical arm pedestal, rotary shaft one end connection mechanical arm pedestal, in the connection of the rotary shaft other end
Plane X is to travel mechanism or lower plane X to travel mechanism, and rotary shaft can be in upper plane X to travel mechanism or lower plane X to shifting
Rotated in motivation structure；Circular arc type clamping device includes a pair of band external tooth arc pawls, little gear, back-moving spring and the tooth being oppositely arranged
Bar, little gear is rotatably arranged on by axle on the housing of circular arc type clamping device, and band external tooth arc pawl passes through little gear with rack
Engagement and with external tooth arc pawl and rack move toward one another, is provided for pair between rack and the housing sidewall of circular arc type clamping device
The back-moving spring of tooth bar resets；
Described manipulator, its clamping is arranged in the circular arc type clamping device of mechanical arm；Manipulator is clamped including draw point
Mechanism, quick peeler structure, axial moving mechanism, upper extreme position travel switch and lower limit position travel switch, wherein steel
The main shaft connection of pin clamping device and axial moving mechanism, upper extreme position travel switch and lower limit position travel switch are installed
Upper limit position and lower position in stroke；Draw point clamping device is mainly made up of claw, claw fixing axle and housing, wherein blocking
Pawl is fixed on housing by claw fixing axle；When main shaft is in high speed rotation status, the tail of the claw in draw point clamping device
Portion is outwards thrown away due to the effect of centrifugal force, and whole claw rotates around claw fixing axle, then the centripetal clamping draw point in the head of claw,
Three claws are moved simultaneously when, you can complete the holding action to draw point；Quick peeler structure is main defeated by high-speed electric expreess locomotive flexible axle
Enter axle, helical gear with spline bevel gear set into the main shaft therein with spline helical gear and axial moving mechanism passes through spline
Pair connection, helical gear is arranged on high-speed electric expreess locomotive flexible axle input shaft, and helical gear is engaged with spline helical gear, and high-speed electric expreess locomotive passes through
Flexible axle transfers power to high-speed electric expreess locomotive flexible axle input shaft, and high-speed electric expreess locomotive flexible axle input shaft drives helical gear to move again, helical gear
Drive belt spline helical gear, is finally driven the main shaft of axial moving mechanism by spline pair with spline helical gear, obtains it again
The power rotated at a high speed；Axial moving mechanism is main by axial direction electric machine flexible axle input shaft, main shaft, face gear, rack type axial direction
Mobile fuselage and angular contact bearing composition, the wherein outer ring of angular contact bearing is connected with the endoporus that rack type moves axially fuselage,
The inner ring of angular contact bearing and the axle of main shaft are connected, and axial direction electric machine transfers power to axial direction electric machine flexible axle input shaft by flexible axle
On, then by axial direction electric machine flexible axle input shaft drive face gear, face gear drives rack by way of rack pinion
Profile shaft realizes that main shaft is carried out axially while high speed rotates eventually through angular contact bearing to the axial movement of mobile fuselage
Motion；By draw point clamping device, quick peeler structure, axial moving mechanism linkage, realize 2mm draw points put pin puncture move
Make.
The described robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment, it is characterised in that on described
Planar laser point catches panel and lower plane laser spots catch the target cross point that a black is provided with panel, laser rays
The target cross point and lower plane laser spots for catching panel through upper planar laser point are caught when catching the target cross point of panel
Grasp the position of laser rays.
The fixing device of the present invention has very high operating flexibility, can be quickly by orthopaedics by horizontal mobile mechanism
Operating robot is moved near positioning laser rays, that is, shortens the seizure stroke of executing agency, bone surgery machine is increased again
The working range of device people；Also include geometrical clamp and vertical movement mechanism in fixing device, geometrical clamp therein can be with quick and convenient
Immobilized patients limbs, and vertical movement mechanism can then realize the significantly adjustment in short transverse, so as to basis
The altitudes of the limbs of patient on operation table make corresponding adjustment to robot for orthopaedic surgery in the height direction so that bone
Section's operating robot is adjusted to optimal putting position, i.e., manipulator has been adjusted into most suitable elemental height position.It is whole
Individual adjustment process is simple, convenient, reduces the pose adjustment time of robot for orthopaedic surgery, so that operation enhanced convenience.
The executing agency of the present invention includes upper planar motion mechanism and lower plane motion, wherein upper planar motion mechanism
In include planar laser point again and catch panel, include lower plane laser spots in lower plane motion again and catch panel,
Go to catch the joining of positioning laser rays and panel successively by two laser capture panels, come really by way of two points one lines
Fixed that positioning laser rays for needing to catch.So just simply realize the accurate seizure of positioning laser rays.Complete after catching,
Motor automatic locking respectively in upper planar motion mechanism and lower plane motion, just realizes the holding work(of positioning laser rays
Energy.
The mechanical arm of the present invention is connected with executing agency and manipulator respectively, with the free degree rotated around orthogonal two axle.
The present invention includes two mechanical arms, the end rotary shafts of two mechanical arms respectively with the upper planar motion mechanism in executing agency
It is connected with lower plane motion.The pivot of two mechanical arms is respectively that upper planar laser point catches panel and lower plane
Laser spots catch the laser spots that panel is captured.Wherein mechanical arm, manipulator be can disinfection parts.Mechanical arm tail end rotary shaft
Just automatic locking after executing agency is inserted, isolating for manipulator and executing agency is realized, prevents manipulator quilt in installing and using
Pollution.So just without being carried out afterwards to major parts of robot for orthopaedic surgery at the sterilizations such as thermophilic digestion before surgery
Reason, also just solves without being assembled, being dismantled to each part of robot for orthopaedic surgery afterwards before surgery, more solves bone
The problem of some parts of section's operating robot can not carry out conventional thermophilic digestion sterilization at all.
The mechanical arm of the present invention is additionally provided with automatically reset circular arc type clamping device.The circular arc type clamping device and machinery
The external arc surface precise match of hand, the fast of manipulator can be realized by the circular arc type clamping device with auto-reset function
Speed installation and removal.So doctor can change different manipulators in operation according to the demand of operation, while the displacement
The operator scheme of manipulator enhances the expansibility of robot for orthopaedic surgery again, goes for a variety of applications.
The manipulator of the present invention is mainly used in implementing the puncture action of the 2mm draw points under rotating at a high speed, sets up final hand
Art passage.The manipulator of the present invention includes draw point clamping device, quick peeler structure and axial moving mechanism, draw point therein
The core operating principle of clamping device is centrifugal principle.When quick peeler structure drives main shaft to rotate at a high speed, draw point clamping machine
The centrifugation clamping device of structure is started working, i.e. draw point clamping gear grips draw point, it is possible to achieve be segmented the action toward underlying draw point.
This working method make it that manipulator possesses while reducing mechanism physical dimension and does not lose the double dominant of impulse stroke.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation one of fixing device of the present invention；
Fig. 3 is the structural representation two of fixing device of the present invention；
Fig. 4 is the structural representation of executing agency of the present invention；
Fig. 5 is the structural representation of mechanical arm of the present invention；
Fig. 6 is the structural representation of manipulator of the present invention；
Fig. 7 is the structural representation of draw point clamping device of the present invention；
Fig. 8 is the structural representation of quick peeler structure of the present invention；
Fig. 9 is the structural representation of axial moving mechanism of the present invention；
Figure 10 is the schematic diagram of laser capture panel of the present invention；
In figure：1- operation tables；2- fixing devices；21- horizontal mobile mechanisms；22- vertical movement mechanisms；23- limbs are clamped
Device；3- executing agencies；The upper planar motion mechanisms of 31-；32- lower plane motions；The upper plane Y-direction travel mechanisms of 311-；
The upper plane X of 312- are to travel mechanism；The upper planar laser points of 313- catch panel；321- lower plane Y-directions travel mechanism；Put down under 322-
Face X is to travel mechanism；323- lower planes laser spots catch panel；4- mechanical arms；41- band external tooth arc pawls；42- little gears；43-
Back-moving spring；44- racks；45- circular arc type clamping devices；46- mechanical arm pedestals；47-Y is to axis of rotation；48-X is to rotary shaft
The heart；49- rotary shafts；5- manipulators；51- draw point clamping devices；52- quick peeler structures；53- axial moving mechanisms；The upper poles of 54-
Extreme position travel switch；55- lower limit position travel switches；511- claws；512- claw fixing axles；521- high-speed electric expreess locomotive flexible axles
Input shaft；522- helical gears；523- band spline helical gears；531- axial direction electric machine flexible axle input shafts；532- main shafts；533- plane teeths
Wheel；534- rack types move axially fuselage；535- angular contact bearings.
Embodiment
With reference to Figure of description, the invention will be further described：
As shown in figure 1, the present invention is made up of operation table 1, fixing device 2, executing agency 3, mechanical arm 4 and manipulator 5；Hand
Slide to set on art bed and executing agency is set above fixing device, fixing device, executing agency side sets mechanical arm, mechanical arm
Interior clamping sets manipulator.
Operation table 1, it is connected with fixing device 2 by track, has locking device on track, can be in any position of track
Put and locked.Other functions of operation table are achieved by the prior art.
Fixing device 2, it includes horizontal mobile mechanism 21, vertical movement mechanism 22 and limbs clamping device 23.Its reclaimed water
Flat travel mechanism 21 is connected by track pair with operation table 1, quick movement and Primary Location for the horizontal direction of robot.
Vertical movement mechanism 22 controls lifting by screw pair, for being applicable the not thick patient of consubstantiality.Filled on limbs clamping device 23
There are a pair of geometrical clamps, for clamping limbs of patient, prevent position movement of the patient in art.
On executing agency 3, the platform for being installed on fixing device 2.It includes planar motion mechanism 31 and lower plane motion
Mechanism 32, upper planar motion mechanism 31 includes plane X to travel mechanism 312 and upper plane Y-direction travel mechanism 311, wherein
Upper plane X is moved to there is in travel mechanism 312 upper planar laser point to catch panel 313 by the upper planar motion mechanism 31 of control
Dynamic upper planar laser point catches panel 313 so that positioning laser rays catches the target cross point of panel 313 with upper planar laser point
Center superposition；Lower plane motion 32 includes lower plane X to travel mechanism 322 and lower plane Y-direction travel mechanism 321, its
Middle lower plane X to there is in travel mechanism 322 lower plane laser spots to catch panel 323, by control lower plane motion 32 come
Mobile lower plane laser spots catch panel 323 so that positioning laser rays catches the target cross of panel 323 with lower plane laser spots
Dot center overlaps.That positioning laser rays for needing to catch is determined eventually through the mode of two points one lines, it is so just simple
Realize the accurate seizure of positioning laser rays.Complete after catching, in upper planar motion mechanism 31 and lower plane motion 32
Motor automatic locking respectively, just realizes the holding function of positioning laser rays.
Mechanical arm 4, it is connected with executing agency 3 and manipulator 5 respectively, with around orthogonal two axle（That is Y-direction axis of rotation
47th, X is to axis of rotation 48）The free degree of rotation.The present invention includes two mechanical arms 4, the mechanical arm pedestal of two mechanical arms 4
46 end rotary shaft 49 is connected with the upper planar motion mechanism 31 and lower plane motion 32 in executing agency 3 respectively.
Mechanical arm 4 includes mechanical arm pedestal 46, rotary shaft 49 and circular arc type clamping device 45, and circular arc type clamping device 45 is arranged on machinery
In arm pedestal 46, the one end of rotary shaft 49 connection mechanical arm pedestal 46, the upper plane X of rotary shaft other end connection to travel mechanism or under
Plane X is to travel mechanism, and rotary shaft can be rotated into travel mechanism 322 to travel mechanism 312 or lower plane X in upper plane X；
Circular arc type clamping device 45 includes a pair of band external tooth arc pawls 41, little gear 42, back-moving spring 43 and the rack 44 being oppositely arranged,
Little gear is rotatably arranged on by axle on the housing of circular arc type clamping device, and band external tooth arc pawl is engaged with rack by little gear
And with external tooth arc pawl and rack move toward one another, be provided between rack and the housing sidewall of circular arc type clamping device to rack
The back-moving spring of reset；The external arc surface precise match of circular arc type clamping device 45 and manipulator 5.During installation manipulator 5, machine
The exterior arc surface of tool hand 5 first pushes up out band external tooth arc pawl 41, and now back-moving spring 43 is compressed；When manipulator 5 is installed in place,
Back-moving spring 43 resets, and blocks manipulator 5, realizes the locking of manipulator 5.Clamped by the circular arc type with auto-reset function
Mechanism 45 can realize being rapidly assembled and disassembled for manipulator.
Manipulator 5, its clamping is arranged in the circular arc type clamping device of mechanical arm；Manipulator 5 includes draw point clamping device
51st, quick peeler structure 52, axial moving mechanism 53, upper extreme position travel switch 54 and lower limit position travel switch 55.
Wherein draw point clamping device 51 is connected with the main shaft 532 of axial moving mechanism 53.Draw point clamping device 51 it is main by claw 511,
Claw fixing axle 512 and housing composition.Wherein claw 511 is fixed on housing by claw fixing axle 512.At main shaft 532
When high speed rotation status, the afterbody of the claw 511 in draw point clamping device 51（That is hammer body part）Due to the effect of centrifugal force
Outwards throw away, therefore whole claw rotates around claw fixing axle 512, then the head of claw 511（That is claw portion）It is centripetal to clamp
Draw point.Three claws 511 are moved simultaneously when, you can complete the holding action to draw point.Quick peeler structure 52 is main by a high speed
Motor flexible axle input shaft 521, helical gear 522, band spline helical gear 523 are constituted.Band spline helical gear 523 therein is with axially moving
The main shaft 532 of motivation structure 53 is connected by spline pair.High-speed electric expreess locomotive transfers power to high-speed electric expreess locomotive flexible axle by flexible axle and inputted
Axle 521, high-speed electric expreess locomotive flexible axle input shaft 521 drives helical gear 522 to move again, the drive belt spline helical gear again of helical gear 522
523, the main shaft 532 of axial moving mechanism 53 is finally driven by spline pair with spline helical gear 523, it is obtained and rotates at a high speed
Power.Axial moving mechanism 53 is main by axial direction electric machine flexible axle input shaft 531, main shaft 532, face gear 533, rack profile shaft
Constituted to mobile fuselage 534 and angular contact bearing 535.Wherein the outer ring of angular contact bearing 535 moves axially fuselage with rack type
534 endoporus connection, the inner ring of angular contact bearing 535 is connected with the axle of main shaft 532.Axial direction electric machine is transmitted power by flexible axle
Face gear 533 is driven onto axial direction electric machine flexible axle input shaft 531, then by 531, face gear 533 passes through rack pinion
Mode drive rack type move axially fuselage 534 axial movement.Main shaft 532 is realized eventually through angular contact bearing 535
It is axially moved while high speed rotates.Other 55 points of upper extreme position travel switch 54 and lower limit position travel switch
Not Yong Yu manipulator extreme position detection.Pass through draw point clamping device 51, quick peeler structure 52, axial moving mechanism 53
Linkage, just can realize 2mm draw points 7 puts pin puncture action.
The specifically used method of the present invention is as follows：
1st, catch, hold positioning laser rays
（1）Operate noninvasive type real-time surgery positioning and navigating equipment（The part is prior art, is referred to
201310515922.1）, obtain a branch of positioning laser rays；
（2）Robot for orthopaedic surgery power supply is opened, allows robot for orthopaedic surgery to be in power-on reset state；
（3）Fixing device is moved near positioning laser rays by the horizontal mobile mechanism 21 in fixing device 2, then
Pin fixing device 2；
（4）Vertical movement mechanism 22 in regulation fixing apparatus 2, it is thick according to the body of patient, executing agency is adjusted to conjunction
Suitable height and position, finally adjusts limbs clamping device 23, fixes limbs of patient；
（5）The motion of the upper planar motion mechanism 31 in executing agency 3 is controlled, it is final to cause positioning laser rays and upper plane
The target cross dot center that laser spots catch panel 313 overlaps；
（6）The motion of the lower plane motion 32 in executing agency 3 is controlled, it is final to cause positioning laser rays and lower plane
The target cross dot center that laser spots catch panel 323 overlaps, and system completes to catch, and pins motor；
2nd, carry out 2mm draw points 7 puts pin operation
（a）Mechanical arm 4 is inserted into the corresponding aperture of executing agency 3 and locking；
（b）2 mm draw points 7 are loaded into manipulator 5, then by the high-speed electric expreess locomotive flexible axle input shaft 521 of quick peeler structure 52
Motor is connected respectively with the axial direction electric machine flexible axle input shaft 531 of axial moving mechanism 53, and manipulator 5 is finally caught in machine
In tool arm 4；
（c）Start motor, quick peeler structure drives main shaft to rotate at a high speed, the centrifugation of draw point clamping device clamps dress
Start-up operation is put, draw point clamping gear grips draw point realizes segmentation toward the action of underlying draw point.
The present invention can peripheral hardware hand held controller, carry out automation positioning and automatic put pin operation.
The fixing device of the present invention has very high operating flexibility, can be quickly by orthopaedics by horizontal mobile mechanism
Operating robot is moved near positioning laser rays, that is, shortens the seizure stroke of executing agency, bone surgery machine is increased again
The working range of device people；Also include geometrical clamp and vertical movement mechanism in fixing device, geometrical clamp therein can be with quick and convenient
Immobilized patients limbs, and vertical movement mechanism can then realize the significantly adjustment in short transverse, so as to basis
The altitudes of the limbs of patient on operation table make corresponding adjustment to robot for orthopaedic surgery in the height direction so that bone
Section's operating robot is adjusted to optimal putting position, i.e., manipulator has been adjusted into most suitable elemental height position.It is whole
Individual adjustment process is simple, convenient, reduces the pose adjustment time of robot for orthopaedic surgery, so that operation enhanced convenience.
The executing agency of the present invention includes upper planar motion mechanism and lower plane motion, wherein upper planar motion mechanism
In include planar laser point again and catch panel, include lower plane laser spots in lower plane motion again and catch panel,
Go to catch the joining of positioning laser rays and panel successively by two laser capture panels, come really by way of two points one lines
Fixed that positioning laser rays for needing to catch.So just simply realize the accurate seizure of positioning laser rays.Complete after catching,
Motor automatic locking respectively in upper planar motion mechanism and lower plane motion, just realizes the holding work(of positioning laser rays
Energy.
The mechanical arm of the present invention is connected with executing agency and manipulator respectively, with the free degree rotated around orthogonal two axle.
The present invention includes two mechanical arms, the end rotary shafts of two mechanical arms respectively with the upper planar motion mechanism in executing agency
It is connected with lower plane motion.The pivot of two mechanical arms is respectively that upper planar laser point catches panel and lower plane
Laser spots catch the laser spots that panel is captured.Wherein mechanical arm, manipulator be can disinfection parts.Mechanical arm tail end rotary shaft
Just automatic locking after executing agency is inserted, isolating for manipulator and executing agency is realized, prevents manipulator quilt in installing and using
Pollution.So just without being carried out afterwards to major parts of robot for orthopaedic surgery at the sterilizations such as thermophilic digestion before surgery
Reason, also just solves without being assembled, being dismantled to each part of robot for orthopaedic surgery afterwards before surgery, more solves bone
The problem of some parts of section's operating robot can not carry out conventional thermophilic digestion sterilization at all.
The mechanical arm of the present invention is additionally provided with automatically reset circular arc type clamping device.The circular arc type clamping device and machinery
The external arc surface precise match of hand, the fast of manipulator can be realized by the circular arc type clamping device with auto-reset function
Speed installation and removal.So doctor can change different manipulators in operation according to the demand of operation, while the displacement
The operator scheme of manipulator enhances the expansibility of robot for orthopaedic surgery again, goes for a variety of applications.
The manipulator of the present invention is mainly used in implementing the puncture action of the 2mm draw points under rotating at a high speed, sets up final hand
Art passage.The manipulator of the present invention includes draw point clamping device, quick peeler structure and axial moving mechanism, draw point therein
The core operating principle of clamping device is centrifugal principle.When quick peeler structure drives main shaft to rotate at a high speed, draw point clamping machine
The centrifugation clamping device of structure is started working, i.e. draw point clamping gear grips draw point, it is possible to achieve be segmented the action toward underlying draw point.
This working method make it that manipulator possesses while reducing mechanism physical dimension and does not lose the double dominant of impulse stroke.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that can still make
Various modifications and alterations are without departing from the spirit and scope of the present invention.Therefore, specification and drawings are considered as illustrative
And nonrestrictive, every simple deformation of the invention or equivalent transformation, it is considered that fall into protection scope of the present invention.
Claims (2)
1. the robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment, it is characterised in that including operation table, admittedly
Determine to slide on device, executing agency, mechanical arm and manipulator, operation table to set to set above fixing device, fixing device and perform
Mechanism, executing agency side sets clamping in mechanical arm, mechanical arm to set manipulator；
Described operation table, it is connected with fixing device by track, has locking device on track, can be in any position of track
Put and locked；
Described fixing device, it includes horizontal mobile mechanism, vertical movement mechanism and limbs clamping device, horizontal mobile mechanism
It is connected by track pair with operation table, the Primary Location for robot；Vertical movement mechanism controls lifting by screw pair,
For being applicable the not thick patient of consubstantiality；Limbs clamping device is a pair of geometrical clamps, and adjusting geometrical clamp position by handle can press from both sides
The limbs of tight patient；
Described executing agency, is installed on the platform of fixing device, seizure and holding for laser rays；Executing agency includes
Upper planar motion mechanism and lower plane motion, upper planar motion mechanism includes plane X to travel mechanism and upper plane Y
To travel mechanism, upper plane X catches panel to travel mechanism provided with upper planar laser point；Under lower plane motion includes
Plane X is provided with lower plane laser spots capture surface to travel mechanism and lower plane Y-direction travel mechanism, lower plane X to travel mechanism
Plate；
Described mechanical arm, it is connected with executing agency, manipulator, with the free degree rotated around orthogonal two axle, pivot
Point is on the geometrical axis of the manipulator of clamping；Mechanical arm includes mechanical arm pedestal, rotary shaft and circular arc type clamping device, circular arc
Type clamping device is arranged in mechanical arm pedestal, rotary shaft one end connection mechanical arm pedestal, the upper plane X of rotary shaft other end connection
To travel mechanism or lower plane X to travel mechanism, rotary shaft can be in upper plane X to travel mechanism or lower plane X to moving machine
Rotated in structure；Circular arc type clamping device includes a pair of band external tooth arc pawls, little gear, back-moving spring and the rack being oppositely arranged,
Little gear is rotatably arranged on by axle on the housing of circular arc type clamping device, and band external tooth arc pawl is engaged with rack by little gear
And with external tooth arc pawl and rack move toward one another, be provided between rack and the housing sidewall of circular arc type clamping device to rack
The back-moving spring of reset；
Described manipulator, its clamping is arranged in the circular arc type clamping device of mechanical arm；Manipulator include draw point clamping device,
Quick peeler structure, axial moving mechanism, upper extreme position travel switch and lower limit position travel switch, wherein draw point are clamped
The main shaft connection of mechanism and axial moving mechanism, upper extreme position travel switch and lower limit position travel switch are arranged on stroke
Upper limit position and lower position；Draw point clamping device is mainly made up of claw, claw fixing axle and housing, and wherein claw passes through
Claw fixing axle is fixed on housing；When main shaft is in high speed rotation status, the afterbody of the claw in draw point clamping device due to
The effect of centrifugal force is outwards thrown away, and whole claw rotates around claw fixing axle, then the centripetal clamping draw point in the head of claw, three cards
Pawl is moved simultaneously when, you can complete the holding action to draw point；Quick peeler structure it is main by high-speed electric expreess locomotive flexible axle input shaft, tiltedly
Gear with spline bevel gear set into, the main shaft therein with spline helical gear and axial moving mechanism is connected by spline pair,
Helical gear is arranged on high-speed electric expreess locomotive flexible axle input shaft, and helical gear is engaged with spline helical gear, and high-speed electric expreess locomotive will by flexible axle
Power is delivered to high-speed electric expreess locomotive flexible axle input shaft, and high-speed electric expreess locomotive flexible axle input shaft drives helical gear to move again, and helical gear drives again
Band spline helical gear, finally drives the main shaft of axial moving mechanism with spline helical gear by spline pair, obtains it and revolves at a high speed
The power turned；Axial moving mechanism mainly moves axially machine by axial direction electric machine flexible axle input shaft, main shaft, face gear, rack type
Body and angular contact bearing composition, the wherein outer ring of angular contact bearing are connected with the endoporus that rack type moves axially fuselage, angular contact
The inner ring of bearing and the axle of main shaft are connected, and axial direction electric machine is transferred power on axial direction electric machine flexible axle input shaft by flexible axle, then
Face gear is driven by axial direction electric machine flexible axle input shaft, face gear drives rack type axial direction by way of rack pinion
The axial movement of mobile fuselage, realizes that main shaft is axially moved while high speed rotates eventually through angular contact bearing；
By draw point clamping device, quick peeler structure, axial moving mechanism linkage, realize 2mm draw points puts pin puncture action.
2. the robot for orthopaedic surgery according to claim 1 based on noninvasive type real-time surgery positioning and navigating equipment, it is special
Levy and be that the upper planar laser point catches panel and lower plane laser spots catch the cross that a black is provided with panel
Index point, the target cross point and lower plane laser spots that laser rays catches panel through upper planar laser point catches the cross of panel
The position of laser rays is captured during index point.
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| CN201610047353.6A CN105434048B (en) | 2016-01-25 | 2016-01-25 | Robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment |
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| CN107174330B (en) * | 2017-07-04 | 2019-11-29 | 史东雷 | A kind of orthopaedic trauma of accurate positioning is clamped with replacement and fixation |
| CN107802348B (en) * | 2017-10-31 | 2023-11-10 | 嘉兴复尔机器人有限公司 | Minimally invasive spinal surgery robot |
| CN107811797B (en) * | 2017-11-10 | 2023-09-26 | 中国人民解放军总医院 | Orthopedics robot |
| CN108392271A (en) * | 2018-01-31 | 2018-08-14 | 上海联影医疗科技有限公司 | Orthopaedics operating system and its control method |
| CN108888342B (en) * | 2018-08-10 | 2023-08-18 | 杭州三坛医疗科技有限公司 | Linear laser beam path guiding device and operation positioning device |
| CN109623845B (en) * | 2019-01-29 | 2022-02-08 | 无锡市第二人民医院 | Working method of spatial multi-angle flexible bionic manipulator |
| CN112957128B (en) * | 2019-08-30 | 2022-07-01 | 上海微创医疗机器人（集团）股份有限公司 | Transmission, drive, aseptic, apparatus box subassembly and surgical instruments system, robot |
| CN110876655A (en) * | 2019-11-05 | 2020-03-13 | 深圳市微语信息技术开发有限公司 | Traction table for orthopedic diagnosis and treatment |
| CN112618049B (en) * | 2020-12-14 | 2022-03-04 | 北京锐视康科技发展有限公司 | Medical imaging equipment with laser lamp is adjusted and is fixed a position |
| CN113288431B (en) * | 2021-05-13 | 2022-08-02 | 上海微创医疗机器人（集团）股份有限公司 | Locking device, surgical instrument, sterile plate component, power box and robot system |
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| CA2594492A1 (en) * | 1999-03-07 | 2000-09-14 | Active Implants Corporation | Method and apparatus for computerized surgery |
| CN102672718B (en) * | 2012-05-03 | 2014-12-10 | 上海交通大学 | One-key locked passive seven-degree-of-freedom mechanical arm |
| CN103519902B (en) * | 2013-10-28 | 2015-09-09 | 杭州三坛医疗科技有限公司 | Noninvasive type real-time surgery positioning navigating device |
| CN104688341B (en) * | 2013-12-09 | 2017-08-25 | 苏州点合医疗科技有限公司 | A kind of vertebral column digital operation device positioned based on microgap |
| CN203885617U (en) * | 2014-02-19 | 2014-10-22 | 北京天智航医疗科技股份有限公司 | Orthopaedic robot guide needle locator and navigation device |
| CN205459036U (en) * | 2016-01-25 | 2016-08-17 | 杭州三坛医疗科技有限公司 | Bone surgery robot based on no wound formula is performed operation in real time and is fixed a position navigation equipment |
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