CN104323861B - Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot - Google Patents
Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot Download PDFInfo
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- CN104323861B CN104323861B CN201410670205.0A CN201410670205A CN104323861B CN 104323861 B CN104323861 B CN 104323861B CN 201410670205 A CN201410670205 A CN 201410670205A CN 104323861 B CN104323861 B CN 104323861B
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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
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1657—Bone breaking devices
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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
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1659—Surgical rasps, files, planes, or scrapers
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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
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B2017/1602—Mills
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Abstract
The invention provides a kind of Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot.Solve doctor's operation level in existing prosthetic joint displacement technique uneven, the problem that overall precision is low.The present invention includes workbench, vertical mechanism and horizontal mechanism are set on workbench, abrasive drilling mechanism is set on horizontal mechanism, horizontal mechanism totally two, it is separately positioned on the both sides of vertical mechanism, vertically mechanism includes vertical slide unit and vertically drives assembly, horizontal mechanism includes horizontal sliding table and horizontal drive assembly, vertically the both sides of slide unit are connected linking arm, the outer end of linking arm is hinged on the horizontal sliding table of respective side, horizontal mechanism forward extends out pawl arm, the front end of pawl arm arranges the collar, the collar of both sides horizontal mechanism extension is stacked up and down forms the trepanning being connected, the cross-under of abrasive drilling mechanism is in trepanning, trepanning inwall forms slidingtype with abrasive drilling mechanism outer wall and contacts.The present invention uses three-legged structure to realize the accurate stroke of three dimensions track by robot, promotes facies articularis ossium cutting precision.
Description
Technical field
The invention belongs to technical field of surgical instruments, relate to the mill bone operation in a kind of prosthetic joint replacement operation, particularly a kind of
Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot.
Background technology
Artificial joint replacement refers to use the materials such as metal, high-molecular polythene, pottery, according to form, the structure of human synovial
Make and function makes artificial joint prosthesis, implant in human body by surgical technic, replace diseased joints function, reach to alleviate joint
Pain, recovers the purpose of function of joint.
The Surgical technique of doctor is required the highest by artificial joint replacement.First except will be to joint in artificial joint replacement
Focus excise beyond, need the kinematic principle in profound understanding joint, the prosthese of joint prosthesis be arranged on position accurately
Put, prosthese can be made to obtain good stability, the proper motion in joint can be recovered again.Secondly, artificial joint replacement is wanted
Use substantial amounts of tool implement.Doctor must grasp the design principle of tool implement, is familiar with using method, and this is accomplished by a large number
Theory study and clinical practice.In China, an also feature, i.e. most of patients is when seeking joint replacement, joint disease
To late period, there is the situations such as serious joint deformity and Cranial defect.This has sturdy theoretical foundation and abundant with greater need for doctor
Clinical experience, could process the complex situations occurred in operation flexibly.
The maximum difficult point of joint replacement is to need to go out the facies articularis ossium coincideing with prosthese, to ensure prosthese in correct position grinding
With the cooperation of people's bone, result for the treatment of depends critically upon operation precision.The precision of joint prosthesis plastic operation at present depends on doctor
Raw experience, adds the uncertainty of operation undoubtedly, have impact on the installation accuracy of prosthese.
Summary of the invention
It is an object of the invention to there are the problems referred to above for existing technology, it is proposed that a kind of face flat by mechanical engagement realization, vertical
Three dimensions cut operation, the Three Degree Of Freedom serial-parallel mirror being realized the most precisely mill bone effect by the machine action of self-action is closed
Joint plastic operation robot.
The purpose of the present invention can be realized by following technical proposal: Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot, bag
Include workbench, described workbench arranges vertical mechanism and horizontal mechanism, described horizontal mechanism arranges abrasive drilling mechanism, described water
Flattening mechanism totally two, is separately positioned on the both sides of vertical mechanism, and described vertical mechanism includes vertical slide unit and drives vertical slide unit liter
That drops vertically drives assembly, and described horizontal mechanism includes horizontal sliding table and drives the horizontal drive assembly of horizontal sliding table translation, described
Vertically the both sides of slide unit are connected linking arm, and the outer end of described linking arm is hinged on the horizontal sliding table of respective side, described horizontal mechanism
Forward extending out pawl arm, the front end of described pawl arm arranges the collar, and the stacked formation up and down of the collar of both sides horizontal mechanism extension is connected
Trepanning, the cross-under of described abrasive drilling mechanism is in trepanning, and described trepanning inwall forms slidingtype with abrasive drilling mechanism outer wall and contacts.
In this Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot, linking arm includes upper and lower two parallel bars, above parallel
The outer end of bar is connected to above horizontal sliding table by steering bearing, and the outer end of parallel bar below is connected to water by steering bearing
Below somoothing board, and upper lower link point is positioned on a vertical curve.Vertically the linking arm of slide unit both sides is in shifting to install up and down,
Two horizontal mechanisms connected from there through linking arm have and misplace up and down, formed when both extensions intersect at some stacked and not
Interfere.Both sides linking arm and two horizontal sliding tables by slide unit vertical in vertical mechanism form triangular structure, wherein vertical machine
The lifting positioning of structure forms the free degree of a series connection, and the mutually translation positioning of two horizontal sliding table linear extendibles forms two parallel connections
The free degree.Thus vertically the lifting of mechanism and the translation of horizontal mechanism combine, and reach the action of arbitrarily transposing in three dimensions,
Finally realize abrasive drilling mechanism by the bone cutting operation of given trace.Full symmetric parallel institution has preferable isotropism,
Perseverance is rigid triangle mechanism, and rigidity is high, and bearing capacity is big, is suitable to need the bone grinding occasion of bigger cutting force.
In above-mentioned Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot, described abrasive drilling mechanism includes abrasive drilling motor and abrasive drilling
Bracing frame, described abrasive drilling motor is connected by motor cabinet between abrasive drilling bracing frame, and the rotating shaft of described abrasive drilling motor is stretched into abrasive drilling and propped up
Be connected in support an abrasive drilling axle, is socketed with abrasive drilling bearing between described abrasive drilling axle and abrasive drilling bracing frame, fixed in described abrasive drilling axle cuts
Cutting head, described cutting head stretches out abrasive drilling bracing frame.Cutting head by tail end insert stretch in abrasive drilling axle, and on the outer wall of abrasive drilling axle insert stretch
Entering jackscrew, jackscrew is vertical with cutting head to offset, thus it is fixing that cutting head and abrasive drilling axle are formed one.
In above-mentioned Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot, described abrasive drilling bracing frame includes tub, described cylinder
The periphery socket protection sleeve of frame, the center of described tub is offered pilot hole, described abrasive drilling bearing and abrasive drilling axle and is arranged at assembling
In hole, installing positioning sleeve between one end and the motor cabinet of described tub, the other end installs end cap.Totally two, abrasive drilling bearing, abrasive drilling
The two ends of axle are respectively socketed an abrasive drilling bearing, are installed by the rotational positioning at two ends, promote the stability that abrasive drilling axle rotates.Tub
Both ends all formed by screw and motor cabinet or end cap and be fixedly mounted with.
In above-mentioned Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot, described vertical driving assembly includes erectting bridge,
Vertical motor, a vertical screw rod and at least upright guide rail, described vertical motor drive connection are set on described setting bridge
Vertically screw rod, is all socketed vertical bearing between two ends and the setting bridge of described vertical screw rod, described vertical slide unit is offered vertically
Screw and vertical slide opening, the vertical nut of cross-under in described vertical screw, described vertical nut sleeve forms screw thread even on vertical screw rod
Connecing, cross-under vertical slide guide cylinder in described vertical slide opening, described vertical slide guide jacket casing is formed on upright guide rail and is slidably connected.This reality
Executing two upright guide rails of employing in example, two upright guide rails lay respectively at the both sides of vertical screw rod.By vertical slide unit and vertical spiral shell
Bar, the socket of upright guide rail coordinate, and under the driving of vertical motor, the rotation of vertical screw rod change into the lifting of vertical slide unit
Motion.
In above-mentioned Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot, the upper-lower position of described setting bridge is respectively provided with perpendicular
Straight limit sensors, the upper-lower position of described vertical slide unit is respectively provided with and vertically triggers catch, the described automatically controlled company of vertical limit sensors
Connecing vertical motor, described vertical triggering catch touches vertical limit sensors, described vertical limit under the lifting of vertical slide unit drives
Level sensor controls vertical motor stopping by the signal of telecommunication.Upper and lower two vertical limit sensors are arranged on the inner side of arbitrary vertical rod
On, two vertical triggering catch up and down of vertical slide unit are arranged on same side, so that in the lifting of vertical slide unit operates,
Once vertically slide unit arrives upper extreme position or lower limit position, and the vertically triggering catch of correspondence position will touch vertical spacing biography
Sensor so that vertically motor stopping, vertical slide unit stop motion, the beneficially safety of stroke.
In above-mentioned Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot, described setting bridge includes be positioned at both sides two
Vertical rod, the bottom of described vertical rod arranges mounting seat, and be connected between the top of two vertical rods upper backup pad, is connected lower between bottom
Fagging, described vertical motor is installed on upper backup pad, and the drive shaft of described vertical motor is socketed vertical driving pulley, described
Vertically the end of screw rod is socketed vertical driven pulley, and described vertical driving pulley connects the most Tong Bu with the periphery of vertical driven pulley
Band.Vertically screw rod is separately mounted on upper backup pad, lower supporting plate with the two ends of upright guide rail.Two vertical rods and upper backup pad,
Lower supporting plate is all connected by screw and assembles.Offer installing hole in the mounting seat of bottom of upright rod, penetrate installing hole and work by bolt
Station forms the assembling that is connected.The both sides of vertical rod arrange reinforcement, thus promote setting bridge strength and stability on the table.
In above-mentioned Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot, described horizontal drive assembly includes horizontal bridge,
Horizontal motor, a horizontal screw bolt and at least horizontal guide rail, described horizontal motor drive connection are set on described horizontal bridge
Horizontal screw bolt, is all socketed horizontal bearing between two ends and the horizontal bridge of described horizontal screw bolt, described horizontal sliding table offers level
Screw and horizontal slide opening, the horizontal nut of cross-under in described horizontal screw, described horizontal helical mother set forms screw thread even on horizontal screw bolt
Connecing, cross-under horizontal slide guide cylinder in described horizontal slide opening, described horizontal slide guide jacket casing is formed on horizontal guide rail and is slidably connected.This reality
Executing two horizontal guide rails of employing in example, two horizontal guide rails lay respectively at the both sides of horizontal screw bolt.By horizontal sliding table and horizontal helical
Bar, horizontal guide rail socket coordinate, under the driving of horizontal motor, the rotation of horizontal screw bolt is changed into horizontal sliding table relative to
The translational motion of horizontal drive assembly, thus order about integral level mechanism and do linear extendible motion.
In above-mentioned Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot, before and after described horizontal bridge, position is respectively provided with water
Flat limit sensors, before and after described horizontal sliding table, position is respectively provided with level and triggers catch, the described automatically controlled company of Horizontal limiting sensor
Connecing horizontal motor, described level triggers catch and touches Horizontal limiting sensor under the translation of horizontal sliding table drives, and described level limits
Level sensor controls horizontal motor by the signal of telecommunication and shuts down.Former and later two Horizontal limiting sensors are arranged on the inner side of arbitrary cross bar
On, before and after horizontal sliding table, two levels trigger catch and are arranged on same side, so that in the translation of horizontal sliding table operates,
Extreme position or rear extreme position before once horizontal sliding table arrives, the level of correspondence position triggers catch will touch Horizontal limiting biography
Sensor so that horizontal motor is shut down, the safety of horizontal sliding table stop motion, beneficially stroke.
In above-mentioned Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot, described horizontal bridge includes be positioned at upper and lower sides two
Root cross bar, be connected between the front end of two cross bars front end panel, and be connected between rear end rear bearing sheet, and described horizontal motor is installed on
On rear bearing sheet, the drive shaft of described horizontal motor is socketed horizontal driving pulley, the end sleeve water receiving of described horizontal screw bolt flat from
Movable belt pulley, described horizontal driving pulley is connected horizontal synchronization band with the periphery of horizontal driven pulley.Horizontal screw bolt and horizontal guide rail
Two ends are separately mounted on front end panel, rear bearing sheet.Two cross bars are all connected by screw with front end panel, rear bearing sheet and fill
Join.
In above-mentioned Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot, described workbench includes the equipment region of phase split
With operative region, described vertical mechanism and horizontal mechanism are arranged in equipment region, described abrasive drilling mechanism extends to hand by pawl arm
The top in art region.
Compared with prior art, this Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot has the advantage that
One, the serial-parallel mirror mechanism structure of the present invention is compact, and full symmetric parallel institution has preferable isotropism, and perseverance is
Rigid triangle mechanism, rigidity is high, and bearing capacity is big, is suitable to need the bone grinding occasion of bigger cutting force；Linear series machine
Structure is without accumulated error, and precision is higher, flexible operation, runs mild, and stability is strong, and working space is big, and security is high, is closing
Three-degree-of-freedom motion is realized in joint displacement technique operative space.
Two, the present invention can realize operation minimal damage, improve medical diagnosis on disease and the precision of operative treatment and quality, makes operation
Security is improved, and shortens treatment time, reduces medical treatment cost；Doctor's working strength can be alleviated simultaneously, improve doctor
Teacher's operating efficiency, it is to avoid the injury that doctor is caused by x-ray, decreases the misery of patient, shortens recovery time,
Reduce the incidence of disease of complication.
Accompanying drawing explanation
Fig. 1 is the main TV structure figure of this Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot.
Fig. 2 is the plan structure figure of this Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot.
Fig. 3 is the side block diagram of this Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot.
Fig. 4 is the structure chart of vertical mechanism in this Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot.
Fig. 5 is the structure chart of horizontal mechanism in this Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot.
Fig. 6 is the structure chart of abrasive drilling mechanism in this Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot.
In figure, 1, workbench；2, vertical mechanism；201, vertical rod；202, mounting seat；203, upper backup pad；204, under
Gripper shoe；205, vertical motor；206, vertical driving pulley；207, vertical Timing Belt；208, vertical driven pulley；209、
Vertically bearing；210, vertical screw rod；211, vertical nut；212, upright guide rail；213, vertical slide guide cylinder；214, vertical
Slide unit；215, vertical limit sensors；216, catch is vertically triggered；3, linking arm；4, horizontal mechanism；401, cross bar；
402, front end panel；403, rear bearing sheet；404, horizontal motor；405, horizontal driving pulley；406, horizontal synchronization band；
407, horizontal driven pulley；408, horizontal bearing；409, horizontal screw bolt；410, horizontal nut；411, horizontal guide rail；412、
Horizontal slide guide cylinder；413, horizontal sliding table；414, Horizontal limiting sensor；415, level triggers catch；5, abrasive drilling mechanism；
501, abrasive drilling motor；502, motor cabinet；503, positioning sleeve；504, tub；505, protection sleeve；506, abrasive drilling bearing；
507, abrasive drilling axle；508, jackscrew；509, end cap；510, cutting head；6, reinforcement.
Detailed description of the invention
The following is the specific embodiment of the present invention and combine accompanying drawing, technical scheme is further described, but this
Bright it is not limited to these embodiments.
As shown in Figures 1 to 6, this Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot includes workbench 1, workbench 1
On vertical mechanism 2 and horizontal mechanism 4 are set, horizontal mechanism 4 arranges abrasive drilling mechanism 5.Workbench 1 includes the equipment of phase split
Region and operative region, vertical mechanism 2 is arranged in equipment region with horizontal mechanism 4, and abrasive drilling mechanism 5 is extended to by pawl arm
The top of operative region.
Horizontal mechanism 4 totally two, is separately positioned on the both sides of vertical mechanism 2, and vertical mechanism 2 includes vertical slide unit 214 and drives
What dynamic vertical slide unit 214 lifted vertically drives assembly, and horizontal mechanism 4 includes horizontal sliding table 413 and drives horizontal sliding table 413 flat
The horizontal drive assembly moved, the both sides of vertical slide unit 214 are connected linking arm 3, and the outer end of linking arm 3 is hinged on the water of respective side
On somoothing board 413, horizontal mechanism 4 forward extends out pawl arm, and the front end of pawl arm arranges the collar, the set of both sides horizontal mechanism 4 extension
Ring is stacked up and down forms the trepanning being connected, and abrasive drilling mechanism 5 cross-under is in trepanning, and trepanning inwall and abrasive drilling mechanism 5 outer wall are formed
Slidingtype contacts.
Vertically drive assembly to include erectting bridge, erect two vertical rods 201 that bridge includes being positioned at both sides, the bottom of vertical rod 201
Mounting seat 202 is set, mounting seat 202 offers installing hole, penetrate installing hole by bolt and form, with workbench 1, the assembling that is connected.
The both sides of vertical rod 201 arrange reinforcement 6, thus promote setting bridge strength and stability on workbench 1.Two vertical rods
Connected upper backup pad 203 between the top of 201, connected lower supporting plate 204 between bottom, and two vertical rods 201 and upper backup pad
203, lower supporting plate 204 is all connected by screw and assembles.
Vertical motor 205 is installed on upper backup pad 203, also installs one between upper backup pad 203 and lower supporting plate 204 and erect
Straight screw rod 210 and two upright guide rails 212, and two upright guide rails 212 lay respectively at the both sides of vertical screw rod 210.Vertically
Being socketed vertical driving pulley 206 in the drive shaft of motor 205, the end of vertical screw rod 210 is socketed vertical driven pulley 208, perpendicular
Straight driving pulley 206 is connected vertical Timing Belt 207 with the periphery of vertical driven pulley 208.Vertically screw rod 210 and upright guide rail
The two ends of 212 are separately mounted on upper backup pad 203, lower supporting plate 204, and wherein vertically the two ends of screw rod 210 are all socketed vertically
Bearing 209, two vertical bearings 209 are separately mounted on upper backup pad 203 or lower supporting plate 204.
Vertically offer vertical screw and vertical slide opening on slide unit 214, the vertical nut of cross-under 211 in vertical screw, vertical nut 211
Be enclosed within formed on vertical screw rod 210 threaded；Vertically cross-under vertical slide guide cylinder 213 in slide opening, vertical slide guide cylinder 213 is enclosed within
Formed on upright guide rail 212 and be slidably connected.Joined with vertical screw rod 210, the socket of upright guide rail 212 by vertical slide unit 214
Close, under the driving of vertical motor 205, the rotation of vertical screw rod 210 is changed into the elevating movement of vertical slide unit 214.
The upper-lower position erectting bridge is respectively provided with vertical limit sensors 215, and the upper-lower position of vertical slide unit 214 is respectively provided with vertically
Triggering catch 216, vertical limit sensors 215 electricly connects vertical motor 205, vertically triggers catch 216 at vertical slide unit
The lifting of 214 touches vertical limit sensors 215 under driving, and vertical limit sensors 215 controls vertical motor by the signal of telecommunication
205 shut down.Upper and lower two vertical limit sensors 215 are arranged on the inner side of arbitrary vertical rod 201, vertical slide unit 214
Upper and lower two vertical triggering catch 216 are arranged on same side, so that in the lifting of vertical slide unit 214 operates, once erect
Straight slide unit 214 arrives upper extreme position or lower limit position, and the vertically triggering catch 216 of correspondence position will touch the most spacing
Sensor 215 so that vertically motor 205 is shut down, the stop motion of vertical slide unit 214, the beneficially safety of stroke.
Linking arm 3 includes upper and lower two parallel bars, and the inner of two parallel bars is each attached on the side of vertical slide unit 214；On
The outer end of the parallel bar in face is connected to above horizontal sliding table 413 by steering bearing, and the outer end of parallel bar below is by turning to
Bearing is connected to below horizontal sliding table 413, and upper lower link point is positioned on a vertical curve.The vertically company of slide unit 214 both sides
Connecing arm 3 in shifting to install up and down, two horizontal mechanisms 4 connected from there through linking arm 3 have and misplace up and down, before both
Stretch and formed stacked when intersecting at some and do not interfere.
Horizontal drive assembly includes that horizontal bridge, horizontal bridge include being positioned at two cross bars 401 of upper and lower sides, two cross bars 401
Front end between be connected front end panel 402, between rear end be connected rear bearing sheet 403.Two cross bars 401 and front end panel 402,
Rear bearing sheet 403 is all connected by screw and assembles.Horizontal motor 404 is installed on rear bearing sheet 403, front end panel 402 and after
A piece horizontal screw bolt 409 and two horizontal guide rails 411 are set between gripper shoe 403, and two horizontal guide rails 411 are positioned at one
The both sides of horizontal screw bolt 409.Horizontal driving pulley 405, the end of horizontal screw bolt 409 it is socketed in the drive shaft of horizontal motor 404
Portion is socketed horizontal driven pulley 407, and horizontal driving pulley 405 is connected horizontal synchronization band 406 with the periphery of horizontal driven pulley 407.
Horizontal screw bolt 409 is separately mounted on front end panel 402, rear bearing sheet 403 with the two ends of horizontal guide rail 411, wherein level
The two ends of screw rod 409 are all socketed horizontal bearing 408, and two horizontal bearings 408 are separately mounted to front end panel 402 or rear support
On plate 403.
Horizontal screw and horizontal slide opening is offered on horizontal sliding table 413, the horizontal nut of cross-under 410 in horizontal screw, horizontal nut 410
Being enclosed within and formed threaded on horizontal screw bolt 409, cross-under horizontal slide guide cylinder 412 in horizontal slide opening, horizontal slide guide cylinder 412 is enclosed within
Formed on horizontal guide rail 411 and be slidably connected.Joined by the socket of horizontal sliding table 413 with horizontal screw bolt 409, horizontal guide rail 411
Close, under the driving of horizontal motor 404, the rotation of horizontal screw bolt 409 is changed into horizontal sliding table 413 relative to horizontal drive
The translational motion of assembly, thus order about integral level mechanism 4 and do linear extendible motion.
Before and after horizontal bridge, position is respectively provided with Horizontal limiting sensor 414, and before and after horizontal sliding table 413, position is respectively provided with level
Triggering catch 415, Horizontal limiting sensor 414 electricly connects horizontal motor 404, and level triggers catch 415 at horizontal sliding table
The translation of 413 touches Horizontal limiting sensor 414 under driving, and Horizontal limiting sensor 414 controls horizontal motor by the signal of telecommunication
404 shut down.Former and later two Horizontal limiting sensors 414 are arranged on the inner side of arbitrary cross bar 401, horizontal sliding table 413
Former and later two levels trigger catch 415 and are arranged on same side, so that in the translation of horizontal sliding table 413 operates, once water
Somoothing board 413 arrives front extreme position or rear extreme position, and the level of correspondence position triggers catch 415 will touch Horizontal limiting
Sensor 414 so that horizontal motor 404 is shut down, horizontal sliding table 413 stop motion, the beneficially safety of stroke.
Abrasive drilling mechanism 5 includes abrasive drilling motor 501 and abrasive drilling bracing frame, passes through motor between abrasive drilling motor 501 and abrasive drilling bracing frame
Seat 502 connects, and the rotating shaft of abrasive drilling motor 501 is a connected abrasive drilling axle 507, abrasive drilling axle 507 and abrasive drilling in stretching into abrasive drilling bracing frame
Being socketed with abrasive drilling bearing 506 between bracing frame, fixed cutting head 510 in abrasive drilling axle 507, cutting head 510 stretches out abrasive drilling bracing frame.
Cutting head 510 by tail end insert stretch in abrasive drilling axle 507, and on the outer wall of abrasive drilling axle 507 insert stretch into jackscrew 508, jackscrew 508
Vertical with cutting head 510 offset, thus it is fixing that cutting head 510 and abrasive drilling axle 507 are formed one.
Abrasive drilling bracing frame includes tub 504, and the periphery socket protection sleeve 505 of tub 504, assembling is offered at the center of tub 504
Hole, abrasive drilling bearing 506 and abrasive drilling axle 507 are arranged in pilot hole, install between one end and the motor cabinet 502 of tub 504
Positioning sleeve 503, the other end installs end cap 509.Totally two, abrasive drilling bearing 506, the two ends of abrasive drilling axle 507 are respectively socketed an abrasive drilling
Bearing 506, is installed by the rotational positioning at two ends, promotes the stability that abrasive drilling axle 507 rotates.The both ends of tub 504 are equal
It is fixedly mounted with motor cabinet 502 or end cap 509 formation by screw.
The How It Works of this Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot is:
During operation, doctor robot being arranged on the side of operation table, patient is placed on bed.Robot can be in conjunction with three
Dimension image-guidance technology, is guided by image and determines the position of cutting head 510 in abrasive drilling mechanism of robot 5, by computer control
System becomes preoperative grinding planned trajectory into driving pulse, drives vertical mechanism 2 and the servomotor of two horizontal mechanisms 4,
Convert rotational motion is the ball nut linear motion along ball screw by V belt translation by servomotor, as whole robot
Input motion, the pose of robot is different in constantly change along with the startup time of each motor, preoperative grinding planned trajectory
Export to the movement locus of cutting head 510, complete the bone excision on movement locus.Robot solves owing to relying on doctor
Experience and the operation risk that brings, greatly reduce the working strength of doctor, thus improve operation precision.
Vertical slide unit 214 or horizontal sliding table 413 by driven by servomotor move along a straight line along guide rail, complete sharpening machine
Upper and lower, the Linear Driving function of plane of structure 5.The counting zero point of incremental encoder is set in the initialization procedure of robot,
Arrange positive and negative spacing to ensure the sports safety of robot in the stroke range of vertical slide unit 214 or horizontal sliding table 413.Two
In individual limit sensors, one is played effect that is spacing and that arrange zero-bit, the effect of another limited location.Linear mechanism is without accumulation
Error, precision is higher, runs mild, and working space is big, and security is high, and in joint replacement operative space, realization needs
Motion.
The principle of this Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot is:
Both sides linking arm 3 and two horizontal sliding tables 413 by slide unit 214 vertical in vertical mechanism 2 form triangular structure,
Wherein vertically the lifting positioning of mechanism 2 forms the free degree of a series connection, the mutual translation of two horizontal sliding table 413 linear extendibles
Positioning forms two frees degree in parallel.Thus vertically the lifting of mechanism 2 and the translation of horizontal mechanism 4 combine, and reach three-dimensional space
Action of arbitrarily transposing between, finally realizes abrasive drilling mechanism 5 by the bone cutting operation of given trace.Full symmetric parallel machine
Structure has preferable isotropism, and perseverance is rigid triangle mechanism, and rigidity is high, and bearing capacity is big, is suitable to need bigger cutting force
Bone grinding occasion.
Specific embodiment described herein is only to present invention spirit explanation for example.The skill of the technical field of the invention
Described specific embodiment can be made various amendment or supplements or use similar mode to substitute by art personnel, but not
The spirit of the present invention can be deviateed or surmount scope defined in appended claims.
Although the most more employing workbench 1；Vertically mechanism 2；Vertical rod 201；Mounting seat 202；Upper backup pad 203；
Lower supporting plate 204；Vertically motor 205；Vertically driving pulley 206；Vertically Timing Belt 207；Vertically driven pulley 208；Perpendicular
D-axis holds 209；Vertically screw rod 210；Vertically nut 211；Upright guide rail 212；Vertically slide guide cylinder 213；Vertically slide unit 214；
Vertically limit sensors 215；Vertically trigger catch 216；Linking arm 3；Horizontal mechanism 4；Cross bar 401；Front end panel 402；
Rear bearing sheet 403；Horizontal motor 404；Horizontal driving pulley 405；Horizontal synchronization band 406；Horizontal driven pulley 407；Water
Plane bearing 408；Horizontal screw bolt 409；Horizontal nut 410；Horizontal guide rail 411；Horizontal slide guide cylinder 412；Horizontal sliding table 413；
Horizontal limiting sensor 414；Level triggers catch 415；Abrasive drilling mechanism 5；Abrasive drilling motor 501；Motor cabinet 502；Positioning sleeve
503；Tub 504；Protection sleeve 505；Abrasive drilling bearing 506；Abrasive drilling axle 507；Jackscrew 508；End cap 509；Cutting head 510；
Reinforcement 6 term such as grade, but it is not precluded from using the possibility of other term.Use these terms to be only used to more easily to retouch
State and explain the essence of the present invention；It is all contrary with spirit of the present invention for being construed as any additional restriction.
Claims (7)
1. Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot, including workbench, described workbench is arranged vertical mechanism with
Horizontal mechanism, described horizontal mechanism arranges abrasive drilling mechanism, it is characterised in that described horizontal mechanism totally two, is separately positioned on
The vertically both sides of mechanism, described vertical mechanism include vertical slide unit and drive the lifting of vertical slide unit vertically drive assembly, described water
Flattening mechanism includes horizontal sliding table and drives the horizontal drive assembly of horizontal sliding table translation, and the both sides of described vertical slide unit are connected and connect
Arm, the outer end of described linking arm is hinged on the horizontal sliding table of respective side, and described horizontal mechanism forward extends out pawl arm, described pawl arm
Front end the collar is set, the collar of both sides horizontal mechanism extension is stacked up and down forms the trepanning being connected, the cross-under of described abrasive drilling mechanism
In trepanning, described trepanning inwall forms slidingtype with abrasive drilling mechanism outer wall and contacts；Described abrasive drilling mechanism includes abrasive drilling motor and mill
Boring bracing frame, described abrasive drilling motor is connected by motor cabinet between abrasive drilling bracing frame, and abrasive drilling is stretched in the rotating shaft of described abrasive drilling motor
Be connected in bracing frame an abrasive drilling axle, is socketed with abrasive drilling bearing between described abrasive drilling axle and abrasive drilling bracing frame, fixed in described abrasive drilling axle
Cutting head, described cutting head stretches out abrasive drilling bracing frame；Described vertical driving assembly includes erectting bridge, and described setting bridge sets
Put vertical motor, a vertical screw rod and at least upright guide rail, the described vertical vertical screw rod of motor drive connection, described perpendicular
All it is socketed vertical bearing between two ends and the setting bridge of straight screw rod, described vertical slide unit is offered vertical screw and vertical slide opening,
The vertical nut of cross-under in described vertical screw, described vertical nut sleeve is formed threaded on vertical screw rod, described vertical slide opening
Interior cross-under vertical slide guide cylinder, described vertical slide guide jacket casing is formed on upright guide rail and is slidably connected；Described horizontal drive assembly includes
Horizontal bridge, described horizontal bridge arranges horizontal motor, a horizontal screw bolt and at least horizontal guide rail, described level electricity
Machine drive connection horizontal screw bolt, is all socketed horizontal bearing, described horizontal sliding table between two ends and the horizontal bridge of described horizontal screw bolt
On offer horizontal screw and horizontal slide opening, the horizontal nut of cross-under in described horizontal screw, described horizontal helical mother set is on horizontal screw bolt
Being formed threaded, cross-under horizontal slide guide cylinder in described horizontal slide opening, described horizontal slide guide jacket casing forms slip on horizontal guide rail
Connect.
Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot the most according to claim 1, it is characterised in that described mill
Boring bracing frame and include tub, the periphery socket protection sleeve of described tub, pilot hole, described abrasive drilling are offered in the center of described tub
Bearing and abrasive drilling axle are arranged in pilot hole, install positioning sleeve, other end installation end between one end and the motor cabinet of described tub
Lid.
Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot the most according to claim 1, it is characterised in that described perpendicular
The upper-lower position of vertical rod frame is respectively provided with vertical limit sensors, and the upper-lower position of described vertical slide unit is respectively provided with and vertically triggers catch,
Described vertical limit sensors electricly connects vertical motor, and described vertical triggering catch touches perpendicular under the lifting of vertical slide unit drives
Straight limit sensors, described vertical limit sensors controls vertical motor stopping by the signal of telecommunication.
Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot the most according to claim 1, it is characterised in that described perpendicular
Vertical rod frame includes two vertical rods being positioned at both sides, and the bottom of described vertical rod arranges mounting seat, between the top of two vertical rods be connected on
Gripper shoe, be connected between bottom lower supporting plate, and described vertical motor is installed on upper backup pad, the drive shaft of described vertical motor
The vertical driving pulley of upper socket, the end of described vertical screw rod is socketed vertical driven pulley, described vertical driving pulley with vertically from
The periphery of movable belt pulley connects vertical Timing Belt.
Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot the most according to claim 1, it is characterised in that described water
Before and after flat bridge, position is respectively provided with Horizontal limiting sensor, and before and after described horizontal sliding table, position is respectively provided with level and triggers catch,
Described Horizontal limiting sensor electricly connects horizontal motor, and described level triggers catch and touches water under the translation of horizontal sliding table drives
Flat limit sensors, described Horizontal limiting sensor controls horizontal motor by the signal of telecommunication and shuts down.
Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot the most according to claim 1, it is characterised in that described water
Flat bridge includes two cross bars being positioned at upper and lower sides, and be connected between the front end of two cross bars front end panel, props up after being connected between rear end
Fagging, described horizontal motor is installed on rear bearing sheet, and the drive shaft of described horizontal motor is socketed horizontal driving pulley, described
The flat driven pulley of end sleeve water receiving of horizontal screw bolt, described horizontal driving pulley is connected horizontal synchronization with the periphery of horizontal driven pulley
Band.
Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot the most according to any one of claim 1 to 6, its feature
Being, described workbench includes that equipment region and the operative region of phase split, described vertical mechanism and horizontal mechanism are arranged on equipment
In region, described abrasive drilling mechanism extends to the top of operative region by pawl arm.
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| CN201410670205.0A CN104323861B (en) | 2014-11-21 | 2014-11-21 | Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot |
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| CN201410670205.0A CN104323861B (en) | 2014-11-21 | 2014-11-21 | Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot |
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| CN104323861B true CN104323861B (en) | 2016-08-31 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105196284B (en) * | 2015-11-02 | 2017-01-11 | 哈尔滨工业大学 | Three-degree-of-freedom tandem type self-gravity-balance passive mechanical arm |
| CN105361951B (en) * | 2015-12-14 | 2017-11-14 | 山东科技大学 | A kind of minimally invasive abdominal operation Chi Jing robots |
| CN105662587B (en) * | 2016-04-18 | 2017-11-14 | 山东科技大学 | A kind of minimal access bone robot |
| JP7131834B2 (en) * | 2016-05-25 | 2022-09-06 | ザクト ロボティクス リミテッド | Automatic insertion device |
| CN109108948B (en) * | 2018-10-23 | 2021-07-27 | 西安工程大学 | Parallel mechanism with three motion modes of 3R, 2R1T and 1R2T |
| CN113143395B (en) * | 2021-04-23 | 2022-03-22 | 燕山大学 | Minimally invasive surgery robot for grinding vertebral lamina of spine |
| CN117338435B (en) * | 2023-12-05 | 2024-02-06 | 真健康(广东横琴)医疗科技有限公司 | Electric end effector for robotic lancing operation and lancing robot |
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