CN107397590A - A kind of mechanical arm for spinal operation - Google Patents
A kind of mechanical arm for spinal operation Download PDFInfo
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- CN107397590A CN107397590A CN201710599941.5A CN201710599941A CN107397590A CN 107397590 A CN107397590 A CN 107397590A CN 201710599941 A CN201710599941 A CN 201710599941A CN 107397590 A CN107397590 A CN 107397590A
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- 230000033001 locomotion Effects 0.000 claims abstract description 150
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 33
- 210000003857 wrist joint Anatomy 0.000 claims description 47
- 210000002310 elbow joint Anatomy 0.000 claims description 45
- 210000000323 shoulder joint Anatomy 0.000 claims description 42
- 241000894006 Bacteria Species 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 6
- 230000001105 regulatory effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 44
- 238000001356 surgical procedure Methods 0.000 description 15
- 238000000034 method Methods 0.000 description 14
- 210000004556 brain Anatomy 0.000 description 9
- 230000008859 change Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000006399 behavior Effects 0.000 description 3
- 210000000245 forearm Anatomy 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000002594 fluoroscopy Methods 0.000 description 2
- 208000015181 infectious disease Diseases 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 206010010356 Congenital anomaly Diseases 0.000 description 1
- 208000020307 Spinal disease Diseases 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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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
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
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- Heart & Thoracic Surgery (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of mechanical arm for spinal operation, described mechanical arm is provided with fixed pedestal, rotating basis, first mechanical arm, second mechanical arm, three-mechanical arm, motion arm, operation device, rotating shaft, described rotating basis is arranged on the bottom of fixed pedestal, described first mechanical arm one end is connected with rotating basis, the other end is connected with second mechanical arm, described second mechanical arm one end is connected with first mechanical arm, the other end is connected with three-mechanical arm, described three-mechanical arm one end is connected with second mechanical arm, the other end is connected with motion arm, described motion arm one end is connected with three-mechanical arm, the other end is connected with operation device.It the advantage is that, each joint of mechanical arm ensures the spatial movement ability of mechanical arm, it is possessed enough radius of clean-up, can carry out individually regulation or integrally-regulated to each joint as needed, meet operation needs.
Description
Technical field
The present invention relates to medical robot technical field, is a kind of mechanical arm for spinal operation specifically.
Background technology
Spinal surgery is that the clinical speciality of spinal disorders is handled for major way to perform the operation, due to the special knot of backbone
Structure and function, its characteristics of having orthopaedics and neurosurgery concurrently of performing the operation.Spinal surgery removes and requires that patient skillfully grasps backbone
Outside anatomical knowledge, also require that patient has very strong space imagination and space orientation power, stable gimmick and sensitive feel
And abundant surgical experience.And the learning curve of spinal operation is long, culture difficulty is big, and manual operation is slipped up unavoidably, especially
Fatigue, divert one's attention, neglect when be easier to cause operational error.In the free-hand operation technique of doctor high-precision Fluoroscopy location ability and
The shortcoming of fine movement operation is to restrict the important bottleneck of the raising of spinal surgery processing safety and improved efficiency.Have benefited from
The advantages that accurate space orientation ability of robot, non-jitter, the precise motion ability without fatigue and high motion automaticity, outside
Section's operating robot technology is able to fast-developing and comprehensive clinical application.
Current spinal operation robot control mode majority requires patient's remote-controlled robot or terminated in robot motion
Coordinate robot manipulation.Although these robots can reach higher accuracy in positional information aspect, due to operation
The missing of force information is operated, the shortcoming with " man-robot " interactive mode, the mode of operation of these robots is mechanical single, and one
Aspect causes the learning curve of patient to extend, and on the other hand limits the application in complicated operation.Such as spinal operation
Robot most typically represents SpineAssist robots, and it is when in use first with planning in the preoperative CT of fluoroscopy during operation registration
Nail direction is put, position is automatically moved to by position control machinery arm, nail direction is put in guiding, aids in putting nail in spinal surgery
Operation, can significantly improve the positioning precision of operation technique and the stability of surgical quality.But due to the equipment parallel institution band
The limitation of the working space, motion flexibility ratio that come, is particularly it and uses the simple position control method inputted based on position command
Congenital inferior position, Renaissance is only capable of putting nail operation in thoracic vertebrae and all kinds of scenes of lumbar vertebrae auxiliary spinal surgeries, can not
Auxiliary upper cervical spine puts the complexity such as nail and puts tack operation task, can not perform cutting increasingly complex in spinal surgery, reset
Deng operation.
Chinese invention patent CN201510567721.5, publication date 2016.01.13, a kind of mechanical arm is disclosed, including
Slide unit, the first rotary joint, tilting member, the second rotary joint, slide unit, the first rotary joint, tilting member,
Two rotary joints are sequentially connected with, and tilting member includes connecting rod and pull bar, and the both ends of connecting rod are revolved with the first rotary joint, second respectively
Turn joint to be connected, the both ends of pull bar are connected with first rotary joint and second rotary joint respectively, form four companies
Contact, the line that four points of connection is sequentially connected form parallelogram.The mechanical arm has four-degree-of-freedom, can flexibly adjust
Whole installation and the operation of the arm tool on the second rotary joint are pointed to.But the mechanical arm is limited to working space, can not be applicable
In the operating room of narrow space, and the cutwork of complexity can not be carried out.
Chinese invention patent CN201410374568.X, publication date 2016.02.10, a kind of mechanical arm is disclosed, including
Stroller (100), lifting column (201), lifting column (202) rotating mechanism (300), manipulator (400), stroller (100) and lifting column
(202) connect, lifting column (202) is connected with lifting column (201), and lifting column (201) is connected with rotating mechanism (300), whirler
Structure (300) is connected with manipulator (400).The various motions of conduit robot are realized by operating each button, are met in surgical procedure
Required status requirement, reach the manipulation effect of optimal comfort, improve success rate of operation, reduce labor intensity, save human cost.
But the mechanical arm space is larger, and the free degree is relatively low, stroller can only be relied on to move to change robotic arm manipulation scope, office
It is sex-limited larger.
Therefore, it is high to need a kind of free degree badly, space is small, easy to operation suitable for various operating room environments, Neng Gougeng
Operating theater instruments, the mechanical arm of reply complicated operation operation are changed, and is had not been reported at present on this mechanical arm.
The content of the invention
The purpose of the present invention is to be directed to deficiency of the prior art, there is provided a kind of mechanical arm for spinal operation.
To achieve the above object, the present invention adopts the technical scheme that：
A kind of mechanical arm for spinal operation, described mechanical arm are provided with fixed pedestal, rotating basis, the first machinery
Arm, second mechanical arm, three-mechanical arm, motion arm, operation device, rotating shaft, described rotating basis are arranged on fixed pedestal
Bottom, described first mechanical arm one end is connected with rotating basis, the connection of the other end and second mechanical arm, the described second machinery
Arm one end is connected with first mechanical arm, the other end is connected with three-mechanical arm, described three-mechanical arm one end and the second machinery
Arm connection, the other end and motion arm are connected, and described motion arm one end is connected with three-mechanical arm, the other end and operation device connect
Connect, described rotating shaft is separately positioned on the junction of first mechanical arm and rotating basis, first mechanical arm and second mechanical arm
Junction, second mechanical arm and the junction of three-mechanical arm；Described first mechanical arm is provided with shoulder joint, elbow joint, described
Shoulder joint be arranged on the near-end of first mechanical arm, described elbow joint is arranged on the distal end of first mechanical arm；Described second
Mechanical arm is provided with elbow joint, small shoulder joint, wrist joint, and described elbow joint is arranged on the near-end of second mechanical arm, and described is small
Shoulder joint is arranged on the middle near-end of second mechanical arm, and described wrist joint is arranged on the distal end of second mechanical arm；Described the 3rd
Mechanical arm is provided with wrist joint, department of assembly, and described wrist joint is arranged on the near-end of three-mechanical arm, and described department of assembly is arranged on
The distal end of three-mechanical arm；Described motion arm is provided with connecting portion, and described connecting portion is arranged on the near-end of motion arm, described
Operation device is arranged on the distal end of motion arm；Described operation device be provided with standing groove, rotating shaft, bearing, shell, locking device,
Encoder, described operation device from inside to outside be respectively standing groove, rotating shaft, bearing, shell, described locking device and coding
Device links together, and is co-located on the bottom of operation device；Described rotating basis is connected with fixed pedestal, and described first
The shoulder joint of mechanical arm is connected with rotating basis, and the elbow joint of described first mechanical arm and the elbow joint of second mechanical arm connect
Connect, the wrist joint of described second mechanical arm is connected with the wrist joint of three-mechanical arm, the department of assembly of described three-mechanical arm
It is connected with the connecting portion of motion arm, described motion arm is connected with operation device；Described mechanical arm can carry out X-direction, Y
Direction of principal axis, Z-direction rotation.
As a kind of perferred technical scheme, described motion arm is additionally provided with the first motion arm, the second motion arm, described
Connecting portion is arranged on the near-end of the first motion arm, and the second described motion arm is arranged on the distal end of the first motion arm, and described
One motion arm is hinged with the second motion arm, and described operation device is arranged on the distal end of the second motion arm.
As a kind of perferred technical scheme, described motion arm is additionally provided with the first motion arm, the second motion arm, described
Connecting portion is hinged with the first motion arm, the second motion arm, and described operation device sets and is separately positioned on the remote of the first motion arm
End, the distal end of the second motion arm.
As a kind of perferred technical scheme, rotating basis carries out 360 ° of rotations, first mechanical arm centered on Z-direction
Shoulder joint carried out centered on Y direction 180 ° rotation, the elbow joint of first mechanical arm and the elbow joint of second mechanical arm are with Y
360 ° of rotations are carried out centered on direction of principal axis, small shoulder joint carries out 360 ° of rotations centered on X-direction, and the wrist of second mechanical arm closes
Section is carried out 360 ° with the wrist joint of three-mechanical arm centered on Y direction and rotated, and the rotating shaft of operation device is using Z-direction in
The heart carries out 360 ° of rotations.
As a kind of perferred technical scheme, rotating basis carries out 360 ° of rotations, first mechanical arm centered on Z-direction
Shoulder joint carried out centered on Y direction 180 ° rotation, the elbow joint of first mechanical arm and the elbow joint of second mechanical arm are with Y
360 ° of rotations are carried out centered on direction of principal axis, small shoulder joint carries out 360 ° of rotations centered on X-direction, and the wrist of second mechanical arm closes
The wrist joint of section and three-mechanical arm carries out 360 ° of rotations centered on Y direction, and the second motion arm is entered centered on Z-direction
180 ° of rotations of row, the rotating shaft of operation device carry out 360 ° of rotations centered on Z-direction.
As a kind of perferred technical scheme, rotating basis carries out 360 ° of rotations, first mechanical arm centered on Z-direction
Shoulder joint carried out centered on Y direction 180 ° rotation, the elbow joint of first mechanical arm and the elbow joint of second mechanical arm are with Y
360 ° of rotations are carried out centered on direction of principal axis, small shoulder joint carries out 360 ° of rotations centered on X-direction, and the wrist of second mechanical arm closes
The wrist joint of section and three-mechanical arm carries out 360 ° of rotations centered on Y direction, and the first motion arm is entered centered on Z-direction
90 ° of rotations of row, the second motion arm carry out 90 ° of rotations centered on Z-direction, and the rotating shaft of operation device is centered on Z-direction
Carry out 360 ° of rotations.
As a kind of perferred technical scheme, described motion arm is to be detachably connected with three-mechanical arm.
As a kind of perferred technical scheme, described fixed pedestal, rotating basis, first mechanical arm, second mechanical arm,
Electrical structure is equipped between each junction of three-mechanical arm, described electrical structure is provided with controller, motor, limiter, system
Dynamic device, sensor, described controller are coupled with motor, limiter, brake, sensor by cable respectively, each electrically knot
Coupled between structure by cable, controller controlled motor is rotated, and when rotating shaft rotation touching is to limiter, controller controlled motor is stopped
Only work；Each joint position of Sensor monitoring.
As a kind of perferred technical scheme, the connected mode of described locking device and encoder connects for gear, compiles
Code device can record the anglec of rotation of rotating shaft by the gear anglec of rotation.
As a kind of perferred technical scheme, the department of assembly of described three-mechanical arm, motion arm, operation device are machinery
The sterile part of arm, the remainder of described mechanical arm are to have bacterium part.
The invention has the advantages that：
1st, each joint of mechanical arm ensures the spatial movement ability of mechanical arm, it is possessed enough radius of clean-up, can basis
Need to carry out each joint individually regulation or integrally-regulated, meet operation needs；Mechanical arm has 6 frees degree, can meet
The requirement of spatial movement；
2nd, mechanical arm, which is divided into, bacterium part and sterile part, ensures that the part that mechanical arm contacts with patient is sterile part,
Operation is met hygienic requirements, make patient from infection；
3rd, mechanical arm can be arranged on ceiling or movable operation platform as needed, can reduce mechanical arm to space region
The requirement of domain size, suitable for various occasions；
4th, mechanical arm is operated by computer of performing the operation so that operation becomes more meticulous；
5th, it can be needed to change operating theater instruments according to operation technique, mechanical arm is cut, put the operation such as nail；
6th, motion arm can be made up of the first motion arm and the second motion arm, be hinged between the first motion arm and the second motion arm
Connection, the second motion arm can carry out 180 ° of rotations around hinged place, and the operation radius of expansion, improve mechanical arm uses model
Enclose；
7th, motion arm can be also made up of the first motion arm, the second motion arm, and the first motion arm, the second motion arm can be independent
Operation, the operation device of each motion arm connection can be used for placing different operating theater instruments, can make mechanical arm simultaneously different
Place is operated, and improves procedure efficiency；
8th, operation is uncomplicated, and patient easily grasps mode of operation, mitigates patient's labor intensity, improves procedure efficiency, improves hand
Art success rate.
Brief description of the drawings
Accompanying drawing 1 is the schematic diagram of the mechanical arm for spinal operation of embodiment 1.
Accompanying drawing 2 is the schematic diagram of the first mechanical arm of the mechanical arm for spinal operation.
Accompanying drawing 3 is the schematic diagram of the second mechanical arm of the mechanical arm for spinal operation.
Accompanying drawing 4 is the schematic diagram of the three-mechanical arm of the mechanical arm for spinal operation.
Accompanying drawing 5 is the motion arm of the mechanical arm for spinal operation and the schematic diagram of operation device of embodiment 1.
Accompanying drawing 6 is the other shapes schematic diagram of the motion arm of the mechanical arm for spinal operation of embodiment 1.
Accompanying drawing 7 is the sectional view of the operation device of the mechanical arm for spinal operation.
Accompanying drawing 8 is each part assembling schematic diagram of the mechanical arm for spinal operation of embodiment 1.
Accompanying drawing 9 is the schematic diagram of the direction of rotation of the mechanical arm for spinal operation of embodiment 1.
Accompanying drawing 10 is the schematic diagram of the electrical structure of the mechanical arm for spinal operation.
Accompanying drawing 11 is the use state diagram of the mechanical arm for spinal operation.
Accompanying drawing 12 is the schematic diagram of the mechanical arm for spinal operation of embodiment 2.
Accompanying drawing 13 is the motion arm of the mechanical arm for spinal operation and the schematic diagram of operation device of embodiment 2.
Accompanying drawing 14 is each part assembling schematic diagram of the mechanical arm for spinal operation of embodiment 2.
Accompanying drawing 15 is the schematic diagram of the direction of rotation of the mechanical arm for spinal operation of embodiment 2.
Accompanying drawing 16 is the schematic diagram of the mechanical arm for spinal operation of embodiment 3.
Accompanying drawing 17 is the motion arm of the mechanical arm for spinal operation and the schematic diagram of operation device of embodiment 3.
Accompanying drawing 18 is each part assembling schematic diagram of the mechanical arm for spinal operation of embodiment 3.
Accompanying drawing 19 is the schematic diagram of the direction of rotation of the mechanical arm for spinal operation of embodiment 3.
Embodiment
Embodiment provided by the invention is elaborated below in conjunction with the accompanying drawings.
The reference and part being related in accompanying drawing are as follows：
1. the rotating basis of fixed pedestal 2.
3. the second mechanical arm of first mechanical arm 4.
5. the motion arm of three-mechanical arm 6.
7. the rotating shaft of operation device 8.
31. the elbow joint of shoulder joint 32.
41. 42. small shoulder joint of elbow joint
43. wrist joint
51. the department of assembly of wrist joint 52.
61. the motion arm of connecting portion 63. first
64. the second motion arm
71. the rotating shaft of standing groove 72.
73. the shell of bearing 74.
75. the encoder of locking device 76.
Embodiment 1
Reference picture 1, Fig. 1 are the schematic diagrames of the mechanical arm for spinal operation of the present embodiment.A kind of use of the present embodiment
In the mechanical arm of spinal operation, described mechanical arm is provided with fixed pedestal 1, rotating basis 2, first mechanical arm 3, second mechanical arm
4th, three-mechanical arm 5, motion arm 6, operation device 7, rotating shaft 8, described rotating basis 2 are arranged on the bottom of fixed pedestal 1, institute
The one end of first mechanical arm 3 stated is connected with rotating basis 2, the other end and second mechanical arm 4 connect, described second mechanical arm 4
One end is connected with first mechanical arm 3, the other end is connected with three-mechanical arm 5, described one end of three-mechanical arm 5 and the second machinery
Arm 4 is connected, the other end and motion arm 6 connect, and described one end of motion arm 6 is connected with three-mechanical arm 5, the other end fills with operation
7 connections are put, described rotating shaft 8 is separately positioned on the junction of first mechanical arm 3 and rotating basis 2, first mechanical arm 3 and second
The junction of the junction of mechanical arm 4, second mechanical arm 4 and three-mechanical arm 5.
Reference picture 2, Fig. 2 are the schematic diagrames of first mechanical arm.Described first mechanical arm 3 is provided with shoulder joint 31, elbow joint
32, described shoulder joint 31 is arranged on the near-end of first mechanical arm 3, and described elbow joint 32 is arranged on the remote of first mechanical arm 3
End.
Reference picture 3, Fig. 3 are the schematic diagrames of second mechanical arm.Described second mechanical arm 4 is provided with elbow joint 41, forearm closes
Section 42, wrist joint 43, described elbow joint 41 are arranged on the near-end of second mechanical arm 4, and described small shoulder joint 42 is arranged on the
The middle near-end of two mechanical arms 4, described wrist joint 43 are arranged on the distal end of second mechanical arm 4.
Reference picture 4, Fig. 4 are the schematic diagrames of three-mechanical arm.Described three-mechanical arm 5 is provided with wrist joint 51, department of assembly
52, described wrist joint 51 is arranged on the near-end of three-mechanical arm 5, and described department of assembly 52 is arranged on the remote of three-mechanical arm 5
End.
Reference picture 5,7, Fig. 5 are motion arm and the schematic diagram of operation device, and Fig. 7 is the sectional view of operation device.Described
Motion arm 6 is provided with connecting portion 61, and described connecting portion 61 is arranged on the near-end of motion arm 6, and described operation device 7 is arranged on behaviour
Make the distal end of arm 6, described operation device 7 is provided with standing groove 71, rotating shaft 72, bearing 73, shell 74, locking device 75, coding
Device 76, described operation device 7 distinguish standing groove 71, rotating shaft 72, bearing 73, shell 74, described locking device from inside to outside
75 link together with encoder 76, are co-located on the bottom of operation device 7.
It should be further stated that reference picture 6, Fig. 6 is the schematic diagram of the other shapes of motion arm.Described motion arm
6 shape can also be broken line type, curved in addition to linear type.
Reference picture 8, Fig. 8 are the installation diagrams of each part.Described rotating basis 2 is connected with fixed pedestal 1, described shoulder joint
Section 31 is connected with rotating basis 2, and described elbow joint 32 is connected with elbow joint 41, and described wrist joint 43 connects with wrist joint 51
Connect, described department of assembly 52 is connected with connecting portion 61, and described motion arm 6 is connected with operation device 7.
Reference picture 9, Fig. 9 are the schematic diagrames of the direction of rotation of mechanical arm.Rotating basis 2 is carried out centered on Z-direction
360 ° of rotations, shoulder joint 31 carry out 180 ° of rotations centered on Y direction, and elbow joint 32 and elbow joint 41 are using Y direction in
The heart carries out 360 ° of rotations, and small shoulder joint 42 carries out 360 ° of rotations centered on X-direction, and wrist joint 43 is with wrist joint 51 with Y-axis
360 ° of rotations are carried out centered on direction, rotating shaft 72 carries out 360 ° of rotations centered on Z-direction.
It should be further stated that described motion arm 6 is to be detachably connected with three-mechanical arm 5.
Reference picture 10, Figure 10 are the schematic diagrames of electrical structure.It should be further stated that described fixed pedestal 1, rotation
Turn pedestal 2, first mechanical arm 3, second mechanical arm 4, three-mechanical arm and be equipped with electrical structure between 5 each junction, it is described
Electrical structure be provided with controller, motor, limiter, brake, sensor, described controller respectively with motor, limiter, system
Dynamic device, sensor are coupled by cable, are coupled between each electrical structure by cable, and controller controlled motor rotates, rotating shaft rotation
When turning touching to limiter, controller controlled motor is stopped；Each joint position of Sensor monitoring.
It should be further stated that described locking device 75 is connected with the connected mode of encoder 76 for gear, compile
Code device 76 can record the anglec of rotation of rotating shaft 72 by the gear anglec of rotation.
It should be further stated that the department of assembly 52 of described three-mechanical arm 5, motion arm 6, operation device 7 are machine
The sterile part of tool arm, the remainder of described mechanical arm are to have bacterium part.
Reference picture 11, Figure 11 are the use state diagrams of the mechanical arm of the present embodiment.The present embodiment is used for backbone hand
The mechanical arm of art on the ceiling, or on moveable operating desk, can make mechanical arm exist by the upside-down mounting of firm banking 1
Used under various scene environments；By the rotation in different joints, mechanical arm can be made to possess the larger radius of clean-up, mechanical arm is existed
It is interior in a big way to be performed the operation.
The application method of the mechanical arm for spinal operation of the present embodiment is that mechanical arm is passed through into the upside-down mounting of fixed pedestal 1
On the ceiling, the controller inside fixed pedestal is attached by cable and electrosurgical brain；It is right on electrosurgical brain
Mechanical arm carries out parameter setting, and each part of mechanical arm is adjusted；Operating theater instruments is penetrated into standing groove 71, makes operating theater instruments
Expose from one end of operation device 7；Patient can be manually rotated operating theater instruments, make turning for operation device 7 according to the needs of surgery location
Axle 72 moves therewith；After adjusting angle, locked using locking device 75, now, encoder 76 is according to the rotation of locking device 75
Gyration, record the anglec of rotation of operating theater instruments；Then, it is operated by electrosurgical brain control machinery arm；In hand
During art, replacement operation arm 6, it can make to keep germ-free condition in surgical procedure according to operation needs；Carrying out different operation behaviour
When making, operating theater instruments can be changed, satisfaction is cut, resetted, putting the operation such as nail.
Advantage of this embodiment is that each joint of mechanical arm ensures the spatial movement ability of mechanical arm, it is set to possess enough
The radius of clean-up, can as needed to each joint carry out individually regulation or it is integrally-regulated, meet operation needs；Mechanical arm has
6 frees degree, can meet the requirement of spatial movement；Mechanical arm, which is divided into, bacterium part and sterile part, ensures mechanical arm and patient
The part of contact is sterile part, operation is met hygienic requirements, makes patient from infection；Mechanical arm can be arranged on as needed
On ceiling or movable operation platform, requirement of the mechanical arm to area of space size can be reduced, suitable for various occasions；Pass through
Operation computer operates to mechanical arm so that operation becomes more meticulous；It can be needed to change operating theater instruments according to operation technique, make machinery
Arm can be cut, put the operation such as nail；Operate uncomplicated, patient easily grasps mode of operation, mitigates patient's labor intensity, improves hand
Art efficiency, improve success rate of operation.
Embodiment 2
Reference picture 12, Figure 12 are the schematic diagrames of the mechanical arm for spinal operation of the present embodiment.One kind of the present embodiment
For the mechanical arm of spinal operation, described mechanical arm is provided with fixed pedestal 1, rotating basis 2, the machinery of first mechanical arm 3, second
Arm 4, three-mechanical arm 5, motion arm 6, operation device 7, rotating shaft 8, described rotating basis 2 are arranged on the bottom of fixed pedestal 1,
Described one end of first mechanical arm 3 is connected with rotating basis 2, the other end and second mechanical arm 4 connect, described second mechanical arm
4 one end are connected with first mechanical arm 3, the other end is connected with three-mechanical arm 5, described one end of three-mechanical arm 5 and the second machine
Tool arm 4 is connected, the other end and motion arm 6 connect, and described one end of motion arm 6 is connected with three-mechanical arm 5, the other end and operation
Device 7 connects, and described rotating shaft 8 is separately positioned on the junction of first mechanical arm 3 and rotating basis 2, first mechanical arm 3 and
The junction of the junctions of two mechanical arms 4, second mechanical arm 4 and three-mechanical arm 5.
Reference picture 2, Fig. 2 are the schematic diagrames of first mechanical arm.Described first mechanical arm 3 is provided with shoulder joint 31, elbow joint
32, described shoulder joint 31 is arranged on the near-end of first mechanical arm 3, and described elbow joint 32 is arranged on the remote of first mechanical arm 3
End.
Reference picture 3, Fig. 3 are the schematic diagrames of second mechanical arm.Described second mechanical arm 4 is provided with elbow joint 41, forearm closes
Section 42, wrist joint 43, described elbow joint 41 are arranged on the near-end of second mechanical arm 4, and described small shoulder joint 42 is arranged on the
The middle near-end of two mechanical arms 4, described wrist joint 43 are arranged on the distal end of second mechanical arm 4.
Reference picture 4, Fig. 4 are the schematic diagrames of three-mechanical arm.Described three-mechanical arm 5 is provided with wrist joint 51, department of assembly
52, described wrist joint 51 is arranged on the near-end of three-mechanical arm 5, and described department of assembly 52 is arranged on the remote of three-mechanical arm 5
End.
Reference picture 7, Figure 13, Fig. 7 are the sectional views of operation device, and Figure 13 is motion arm and the schematic diagram of operation device.Institute
The motion arm 6 stated is provided with connecting portion 61, the first motion arm 62, the second motion arm 63, and described connecting portion 61 is arranged on the first behaviour
Make the near-end of arm 62, the second described motion arm 63 is arranged on the distal end of the first motion arm 62, the first described motion arm 62 with
Second motion arm 63 is be hinged, and described operation device 7 is arranged on the distal end of the second motion arm 63, and described operation device 7 is provided with
Standing groove 71, rotating shaft 72, bearing 73, shell 74, locking device 75, encoder 76, described operation device 7 are distinguished from inside to outside
Standing groove 71, rotating shaft 72, bearing 73, shell 74, described locking device 75 link together with encoder 76, are co-located on
The bottom of operation device 7.
Reference picture 14, Figure 14 are the installation diagrams of each part.Described rotating basis 2 is connected with fixed pedestal 1, described shoulder
Joint 31 is connected with rotating basis 2, and described elbow joint 32 is connected with elbow joint 41, and described wrist joint 43 connects with wrist joint 51
Connect, described department of assembly 52 is connected with connecting portion 61, and the second described motion arm 63 is connected with operation device 7.
Reference picture 15, Figure 15 are the schematic diagrames of the direction of rotation of mechanical arm.Rotating basis 2 is carried out centered on Z-direction
360 ° of rotations, shoulder joint 31 carry out 180 ° of rotations centered on Y direction, and elbow joint 32 and elbow joint 41 are using Y direction in
The heart carries out 360 ° of rotations, and small shoulder joint 42 carries out 360 ° of rotations centered on X-direction, and wrist joint 43 is with wrist joint 51 with Y-axis
360 ° of rotations are carried out centered on direction, the second motion arm 63 carries out 180 ° of rotations centered on Z-direction, and rotating shaft 72 is with Z axis side
360 ° of rotations are carried out centered on.
It should be further stated that described motion arm 6 is to be detachably connected with three-mechanical arm 5.
Reference picture 10, Figure 10 are the schematic diagrames of electrical structure.It should be further stated that described fixed pedestal 1, rotation
Turn pedestal 2, first mechanical arm 3, second mechanical arm 4, three-mechanical arm and be equipped with electrical structure between 5 each junction, it is described
Electrical structure be provided with controller, motor, limiter, brake, sensor, described controller respectively with motor, limiter, system
Dynamic device, sensor are coupled by cable, are coupled between each electrical structure by cable, and controller controlled motor rotates, rotating shaft rotation
When turning touching to limiter, controller controlled motor is stopped；Each joint position of Sensor monitoring.
It should be further stated that described locking device 75 is connected with the connected mode of encoder 76 for gear, compile
Code device 76 can record the anglec of rotation of rotating shaft 72 by the gear anglec of rotation.
It should be further stated that the department of assembly 52 of described three-mechanical arm 5, motion arm 6, operation device 7 are machine
The sterile part of tool arm, the remainder of described mechanical arm are to have bacterium part.
The application method of the mechanical arm for spinal operation of the present embodiment is that mechanical arm is passed through into the upside-down mounting of fixed pedestal 1
On the ceiling, the controller inside fixed pedestal is attached by cable and electrosurgical brain；It is right on electrosurgical brain
Mechanical arm carries out parameter setting, and each part of mechanical arm is adjusted；Operating theater instruments is penetrated into standing groove 71, makes operating theater instruments
Expose from one end of operation device 7；Patient can be manually rotated operating theater instruments, make turning for operation device 7 according to the needs of surgery location
Axle 72 moves therewith；After adjusting angle, locked using locking device 75, now, encoder 76 is according to the rotation of locking device 75
Gyration, record the anglec of rotation of operating theater instruments；Then as needed, the second motion arm 63 is adjusted so that the second motion arm 63
With the first motion arm 62 at an angle；Then, it is operated by electrosurgical brain control machinery arm；In surgical procedure
In, replacement operation arm 6, it can make to keep germ-free condition in surgical procedure according to operation needs；When carrying out different operation techniques,
Operating theater instruments can be changed, satisfaction is cut, resetted, putting the operation such as nail.
Advantage of this embodiment is that motion arm is made up of the first motion arm and the second motion arm, the first motion arm and
It is articulated and connected between two motion arms, the second motion arm can carry out 180 ° of rotations around hinged place, the operation radius of expansion, improve
The use range of mechanical arm.
Embodiment 3
Reference picture 16, Figure 16 are the schematic diagrames of the mechanical arm for spinal operation of the present embodiment.One kind of the present embodiment
For the mechanical arm of spinal operation, described mechanical arm is provided with fixed pedestal 1, rotating basis 2, the machinery of first mechanical arm 3, second
Arm 4, three-mechanical arm 5, motion arm 6, operation device 7, rotating shaft 8, described rotating basis 2 are arranged on the bottom of fixed pedestal 1,
Described one end of first mechanical arm 3 is connected with rotating basis 2, the other end and second mechanical arm 4 connect, described second mechanical arm
4 one end are connected with first mechanical arm 3, the other end is connected with three-mechanical arm 5, described one end of three-mechanical arm 5 and the second machine
Tool arm 4 is connected, the other end and motion arm 6 connect, and described one end of motion arm 6 is connected with three-mechanical arm 5, the other end and operation
Device 7 connects, and described rotating shaft 8 is separately positioned on the junction of first mechanical arm 3 and rotating basis 2, first mechanical arm 3 and
The junction of the junctions of two mechanical arms 4, second mechanical arm 4 and three-mechanical arm 5.
Reference picture 2, Fig. 2 are the schematic diagrames of first mechanical arm.Described first mechanical arm 3 is provided with shoulder joint 31, elbow joint
32, described shoulder joint 31 is arranged on the near-end of first mechanical arm 3, and described elbow joint 32 is arranged on the remote of first mechanical arm 3
End.
Reference picture 3, Fig. 3 are the schematic diagrames of second mechanical arm.Described second mechanical arm 4 is provided with elbow joint 41, forearm closes
Section 42, wrist joint 43, described elbow joint 41 are arranged on the near-end of second mechanical arm 4, and described small shoulder joint 42 is arranged on the
The middle near-end of two mechanical arms 4, described wrist joint 43 are arranged on the distal end of second mechanical arm 4.
Reference picture 4, Fig. 4 are the schematic diagrames of three-mechanical arm.Described three-mechanical arm 5 is provided with wrist joint 51, department of assembly
52, described wrist joint 51 is arranged on the near-end of three-mechanical arm 5, and described department of assembly 52 is arranged on the remote of three-mechanical arm 5
End.
Reference picture 7, Figure 17, Fig. 7 are the sectional views of operation device, and Figure 17 is motion arm and the schematic diagram of operation device.Institute
The motion arm 6 stated is provided with connecting portion 61, the first motion arm 62, the second motion arm 63, the described motion arm of connecting portion 61 and first
62nd, the second motion arm 63 is be hinged, and described operation device 7 sets the distal end for being separately positioned on the first motion arm 62, the second operation
The distal end of arm 63, described operation device 7 are provided with standing groove 71, rotating shaft 72, bearing 73, shell 74, locking device 75, encoder
76, described operation device 7 distinguishes standing groove 71, rotating shaft 72, bearing 73, shell 74, described locking device 75 from inside to outside
Linked together with encoder 76, be co-located on the bottom of operation device 7.
Reference picture 18, Figure 18 are the installation diagrams of each part.Described rotating basis 2 is connected with fixed pedestal 1, described shoulder
Joint 31 is connected with rotating basis 2, and described elbow joint 32 is connected with elbow joint 41, and described wrist joint 43 connects with wrist joint 51
Connect, described department of assembly 52 is connected with connecting portion 61, the operation device 7 respectively with the first motion arm 62, the second motion arm 63
Connection.
Reference picture 19, Figure 19 are the schematic diagrames of the direction of rotation of mechanical arm.Rotating basis 2 is carried out centered on Z-direction
360 ° of rotations, shoulder joint 31 carry out 180 ° of rotations centered on Y direction, and elbow joint 32 and elbow joint 41 are using Y direction in
The heart carries out 360 ° of rotations, and small shoulder joint 42 carries out 360 ° of rotations centered on X-direction, and wrist joint 43 is with wrist joint 51 with Y-axis
360 ° of rotations are carried out centered on direction, the first motion arm 62 carries out 90 ° of rotations centered on Z-direction, and the second motion arm 63 is with Z
90 ° of rotations are carried out centered on direction of principal axis, rotating shaft 72 carries out 360 ° of rotations centered on Z-direction.
It should be further stated that described motion arm 6 is to be detachably connected with three-mechanical arm 5.
Reference picture 10, Figure 10 are the schematic diagrames of electrical structure.It should be further stated that described fixed pedestal 1, rotation
Turn pedestal 2, first mechanical arm 3, second mechanical arm 4, three-mechanical arm and be equipped with electrical structure between 5 each junction, it is described
Electrical structure be provided with controller, motor, limiter, brake, sensor, described controller respectively with motor, limiter, system
Dynamic device, sensor are coupled by cable, are coupled between each electrical structure by cable, and controller controlled motor rotates, rotating shaft rotation
When turning touching to limiter, controller controlled motor is stopped；Each joint position of Sensor monitoring.
It should be further stated that described locking device 75 is connected with the connected mode of encoder 76 for gear, compile
Code device 76 can record the anglec of rotation of rotating shaft 72 by the gear anglec of rotation.
It should be further stated that the department of assembly 52 of described three-mechanical arm 5, motion arm 6, operation device 7 are machine
The sterile part of tool arm, the remainder of described mechanical arm are to have bacterium part.
The application method of the mechanical arm for spinal operation of the present embodiment is that mechanical arm is passed through into the upside-down mounting of fixed pedestal 1
On the ceiling, the controller inside fixed pedestal is attached by cable and electrosurgical brain；It is right on electrosurgical brain
Mechanical arm carries out parameter setting, and each part of mechanical arm is adjusted；Operating theater instruments is penetrated into standing groove 71, makes operating theater instruments
Expose from one end of operation device 7；Patient can be manually rotated operating theater instruments, make turning for operation device 7 according to the needs of surgery location
Axle 72 moves therewith；After adjusting angle, locked using locking device 75, now, encoder 76 is according to the rotation of locking device 75
Gyration, record the anglec of rotation of operating theater instruments；Then as needed, the first motion arm 62, the second motion arm 63 are adjusted respectively
Angle；Then, it is operated by electrosurgical brain control machinery arm；In surgical procedure, can according to operation needs,
Replacement operation arm 6, make to keep germ-free condition in surgical procedure；When carrying out different operation techniques, operating theater instruments can be carried out more
Change, satisfaction is cut, resetted, putting the operation such as nail.
Advantage of this embodiment is that motion arm is made up of the first motion arm, the second motion arm, the first motion arm, second
Motion arm can be individually operated, and the operation device of each motion arm connection can be used for placing different operating theater instruments, can make machinery
Arm is operated in different places simultaneously, improves procedure efficiency.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, on the premise of the inventive method is not departed from, can also make some improvement and supplement, and these are improved and supplement also should be regarded as
Protection scope of the present invention.
Claims (10)
- A kind of 1. mechanical arm for spinal operation, it is characterised in that described mechanical arm be provided with fixed pedestal, rotating basis, First mechanical arm, second mechanical arm, three-mechanical arm, motion arm, operation device, rotating shaft, described rotating basis are arranged on solid Determine the bottom of pedestal, described first mechanical arm one end is connected with rotating basis, the connection of the other end and second mechanical arm, described Second mechanical arm one end is connected with first mechanical arm, the other end is connected with three-mechanical arm, described three-mechanical arm one end with Second mechanical arm connection, the other end and motion arm are connected, and described motion arm one end is connected with three-mechanical arm, the other end and behaviour Make device connection, described rotating shaft is separately positioned on the junction of first mechanical arm and rotating basis, first mechanical arm and second Junction, second mechanical arm and the junction of three-mechanical arm of mechanical arm；Described first mechanical arm is provided with shoulder joint, elbow closes Section, described shoulder joint are arranged on the near-end of first mechanical arm, and described elbow joint is arranged on the distal end of first mechanical arm；It is described Second mechanical arm be provided with elbow joint, small shoulder joint, wrist joint, described elbow joint is arranged on the near-end of second mechanical arm, institute The small shoulder joint stated is arranged on the middle near-end of second mechanical arm, and described wrist joint is arranged on the distal end of second mechanical arm；It is described Three-mechanical arm be provided with wrist joint, department of assembly, described wrist joint is arranged on the near-end of three-mechanical arm, described department of assembly It is arranged on the distal end of three-mechanical arm；Described motion arm is provided with connecting portion, and described connecting portion is arranged on the near-end of motion arm, Described operation device is arranged on the distal end of motion arm；Described operation device is provided with standing groove, rotating shaft, bearing, shell, locking Device, encoder, described operation device from inside to outside be respectively standing groove, rotating shaft, bearing, shell, described locking device Linked together with encoder, be co-located on the bottom of operation device；Described rotating basis is connected with fixed pedestal, described The shoulder joint of first mechanical arm be connected with rotating basis, the elbow joint of described first mechanical arm and the elbow of second mechanical arm close Section connection, the wrist joint of described second mechanical arm are connected with the wrist joint of three-mechanical arm, the dress of described three-mechanical arm Connected with the connecting portion of portion and motion arm, described motion arm is connected with operation device；Described mechanical arm can carry out X-axis side To, Y direction, Z-direction rotation.
- 2. the mechanical arm according to claim 1 for spinal operation, it is characterised in that described motion arm is additionally provided with One motion arm, the second motion arm, described connecting portion are arranged on the near-end of the first motion arm, and the second described motion arm is arranged on The distal end of first motion arm, the first described motion arm are hinged with the second motion arm, and described operation device is arranged on the second behaviour Make the distal end of arm.
- 3. the mechanical arm according to claim 1 for spinal operation, it is characterised in that described motion arm is additionally provided with One motion arm, the second motion arm, described connecting portion are hinged with the first motion arm, the second motion arm, and described operation device is set Put the distal end for being separately positioned on the first motion arm, the distal end of the second motion arm.
- 4. the mechanical arm according to claim 1 for spinal operation, it is characterised in that rotating basis using Z-direction as Center carries out 360 ° of rotations, and the shoulder joint of first mechanical arm carries out 180 ° of rotations, the elbow of first mechanical arm centered on Y direction The elbow joint of joint and second mechanical arm carries out 360 ° of rotations centered on Y direction, and small shoulder joint is entered centered on X-direction 360 ° of rotations of row, the wrist joint of second mechanical arm and the wrist joint of three-mechanical arm carry out 360 ° of rotations centered on Y direction, The rotating shaft of operation device carries out 360 ° of rotations centered on Z-direction.
- 5. the mechanical arm according to claim 2 for spinal operation, it is characterised in that rotating basis using Z-direction as Center carries out 360 ° of rotations, and the shoulder joint of first mechanical arm carries out 180 ° of rotations, the elbow of first mechanical arm centered on Y direction The elbow joint of joint and second mechanical arm carries out 360 ° of rotations centered on Y direction, and small shoulder joint is entered centered on X-direction 360 ° of rotations of row, the wrist joint of second mechanical arm and the wrist joint of three-mechanical arm carry out 360 ° of rotations centered on Y direction, Second motion arm carries out 180 ° of rotations centered on Z-direction, and the rotating shaft of operation device carries out 360 ° of rotations centered on Z-direction Turn.
- 6. the mechanical arm according to claim 3 for spinal operation, it is characterised in that rotating basis using Z-direction as Center carries out 360 ° of rotations, and the shoulder joint of first mechanical arm carries out 180 ° of rotations, the elbow of first mechanical arm centered on Y direction The elbow joint of joint and second mechanical arm carries out 360 ° of rotations centered on Y direction, and small shoulder joint is entered centered on X-direction 360 ° of rotations of row, the wrist joint of second mechanical arm and the wrist joint of three-mechanical arm carry out 360 ° of rotations centered on Y direction, First motion arm carries out 90 ° of rotations centered on Z-direction, and the second motion arm carries out 90 ° of rotations, behaviour centered on Z-direction The rotating shaft for making device carries out 360 ° of rotations centered on Z-direction.
- 7. according to any described mechanical arms for spinal operation of claim 1-6, it is characterised in that described motion arm and Three-mechanical arm is to be detachably connected.
- 8. the mechanical arm according to claim 7 for spinal operation, it is characterised in that described fixed pedestal, rotation Electrical structure, described electric knot are equipped between pedestal, first mechanical arm, second mechanical arm, each junction of three-mechanical arm Structure be provided with controller, motor, limiter, brake, sensor, described controller respectively with motor, limiter, brake, Sensor is coupled by cable, is coupled between each electrical structure by cable, and controller controlled motor rotates, rotating shaft rotation touching During to limiter, controller controlled motor is stopped；Each joint position of Sensor monitoring.
- 9. the mechanical arm according to claim 8 for spinal operation, it is characterised in that described locking device and coding The connected mode of device connects for gear, and encoder can record the anglec of rotation of rotating shaft by the gear anglec of rotation.
- 10. the mechanical arm according to claim 9 for spinal operation, it is characterised in that described three-mechanical arm Department of assembly, motion arm, the sterile part that operation device is mechanical arm, the remainder of described mechanical arm are to have bacterium part.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710599941.5A CN107397590A (en) | 2017-07-21 | 2017-07-21 | A kind of mechanical arm for spinal operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710599941.5A CN107397590A (en) | 2017-07-21 | 2017-07-21 | A kind of mechanical arm for spinal operation |
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| CN201710599941.5A Pending CN107397590A (en) | 2017-07-21 | 2017-07-21 | A kind of mechanical arm for spinal operation |
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| CN108272509A (en) * | 2018-02-08 | 2018-07-13 | 哈尔滨工业大学深圳研究生院 | A kind of suspension type multioperation arm system |
| CN108309389A (en) * | 2018-02-05 | 2018-07-24 | 俞俊越 | A kind of hemostatic clamp that there is supporting rack and hemostasis step can be recorded |
| CN108338840A (en) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | A kind of laparoscopic surgery holds robot system with endoscope |
| CN108992182A (en) * | 2018-08-07 | 2018-12-14 | 华志微创医疗科技（北京）有限公司 | A kind of cranial surgery stereotactic apparatus and locking means with double locking function |
| CN109199592A (en) * | 2018-11-07 | 2019-01-15 | 哈尔滨理工大学 | A kind of micro-wound operation robot of high flexibility |
| CN110522491A (en) * | 2018-05-24 | 2019-12-03 | 上海联影医疗科技有限公司 | Medical equipment |
| CN112773504A (en) * | 2020-12-31 | 2021-05-11 | 苏州迪凯尔医疗科技有限公司 | Adjustable connecting rod and navigation system auxiliary positioning device |
| WO2021128757A1 (en) * | 2019-12-27 | 2021-07-01 | 苏州微创畅行机器人有限公司 | Positioning tool, mechanical arm system, operation system and registration method |
| CN116725688A (en) * | 2023-05-22 | 2023-09-12 | 哈尔滨工业大学 | Bedside type spine operation auxiliary robot |
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