CN105310754A - Constant-thrust and uniform-speed cutting orthopedic electric saw mechanism applicable to surgical robots - Google Patents
Constant-thrust and uniform-speed cutting orthopedic electric saw mechanism applicable to surgical robots Download PDFInfo
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- CN105310754A CN105310754A CN201510056836.8A CN201510056836A CN105310754A CN 105310754 A CN105310754 A CN 105310754A CN 201510056836 A CN201510056836 A CN 201510056836A CN 105310754 A CN105310754 A CN 105310754A
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Abstract
The invention relates to an executive device for surgical robots, particularly relates to a constant-thrust and uniform-speed cutting orthopedic electric saw, and belongs to the technical field of medical instruments. The constant-thrust and uniform-speed cutting orthopedic electric saw is characterized in that a saw blade 1 is fixed into a power rod 26, and a power wheel 4 is mounted via a mandrel 24 and a wheel axle 25; the power wheel 4 is arranged in a curved groove 27 of a rotary barrel 2; a guide key 9 in a guide groove 10 in the power rod 26 only can linearly move without rotating under the constraint effect of a through cover 8; when a motor 17 rotates, a synchronous toothed belt 23 can drive the rotary barrel 2 to rotate; the power wheel 4 linearly reciprocates along the curved groove 27; the curved groove 27 has a constant-speed cam curve, and accordingly the saw blade 1 moves at constant speeds; one end of a strain gauge seat 14 is connected with a connecting seat 16, the other end of the strain gauge seat 14 is connected with a fixing seat 11, and four strain gauges 13 are fixed to two sides of the strain gauge seat 14 by the aid of glue. The constant-thrust and uniform-speed cutting orthopedic electric saw has the advantages that resistance on the saw blade 1 when the saw blade 1 works can be sensed, feedback electric signals can be emitted and can be transmitted to a control system, accordingly, propulsion speeds of the constant-thrust and uniform-speed cutting orthopedic electric saw can be adjusted, and the constant-thrust purposes can be achieved.
Description
Technical field
The present invention relates to a kind of actuating unit of operating robot, specifically a kind of permanent thrust at the uniform velocity cuts bone surgery electric saw mechanism, belongs to Medical Instruments technical field.
Background technology
From generation nineteen ninety, along with the raising of computer technology, assisted surgery for robots rises gradually, becomes the branch that medical apparatus and instruments significantly develops.
There is irreplaceability in robot in the application of medical domain, has broad application prospects.Its advantage is obvious:
(1) can by operation secondary navigation system, with the three-dimensional magnified image be applicable to (comprising X-ray, ultrasonic, CT, MRI, endoscope etc., 3D image reconstruction), allow operative doctor see the internal structure of operative site clearly, avoid the surgical error caused because doctors experience is not enough.
(2) rely on medical sensor, computer and mechanical hand etc., assist physician carries out minimally invasive surgical.Be conducive to selecting best operation pathway, performing complicated operation process.
(3) robot can accurately locate, smooth motion, therefore can eliminate the manual error of doctor and hand vibration, improve operation precision.
(4) doctor can plan in the preoperative, takes sitting posture, and hand can rest on desktop, does not need cantilever to reach operative site, significantly lowers working strength, avoids fatigue and mistake.
Therefore, for patient, perform the operation safer, more precisely, wound is less, less hemorrhage, has higher success rate, and post-operative recovery is faster, and postoperative infection and complication rate significantly reduce, and the hospital stays is shorter.
This demand just, impels the scientist of various countries, doctor and engineer to develop various forms of operating robot.In developed country, last century, the mid-80 started to utilize industrial robot to perform the operation.1985, U.S. MemorialMedicalCenter used PUMA industrial robot, carries out the biopsy inspection of tumor in cerebral tissue.Within 1994, ComputerMotion company of the U.S. develops surgical operation robot system AESOP.After this, on this basis, the said firm develops ZEUS operating robot, and can carry out is separated by thousands of miles carries out pointing in the direction of art of waving.ZUSE system is as first generation principal and subordinate's remote operating surgical operation robot system truly.Chinzei and Hata devised the compatible surgery auxiliary robot of a nuclear magnetic resonance, NMR in 2003.Since 2003, Leonardo da Vinci (DAVINCI) operating robot, has good application in department of cardiac surgery, Urology Surgery, general surgery and gynecological.
Technically, the framework that existing operating robot adopts draws mostly from industrial robot.Some robots originally for industrial, are just used for clinical medicine after being transformed, and lack closed loop control mechanism.
From medical angle, different operating robots biases toward the operation of different parts.At present operating robot functional coverage in the world from thoracic cavity, abdominal cavity to the operation of the various organ of pelvic cavity, and the feature of the robot of bone surgery is that range of movement is large, electric saw weight is large, and perform moment large, required precision is high, and movement locus is complicated.Therefore the robot biasing toward bone surgery is still weak link.
The critical component of the orthopedic robot directly contacted with patient is electric saw cutter.The design of traditional operation electric saw cutter is that applicable doctor is hand-held, if be grafted directly on operating robot, then produce two problems: first, the reciprocating speed of saw blade is uneven, this causes instantaneous cutting speed uneven, and ideally robot promotes the speed of whole electric saw is at the uniform velocity, this just produces contradiction.This contradiction has influence on the polishing of sawing wound surface.The second, for the different position of different patients, the thickness of bone is different, and quality hardness is also different, so the size being applied to the power on electric saw also should change along with these difference, needs closed loop control mechanism.Tradition orthopaedics electric saw cutter can not meet this requirement.The present invention is proposed for these problems.
Summary of the invention
Saw blade 1 is rigidly secured in power rail 26, and 26 middle parts of power rail are installed with mandrel 24.Respectively there is wheel shaft 5 at the two ends of mandrel 24, and one end of wheel shaft 5 is rigidly secured on mandrel 24.Wheel shaft 5 overlaps and dynamicly takes turns 4.Power wheel 4 freely can rotate around the axis of wheel shaft 5.Power wheel 4 is placed in the curved groove 27 of rotating cylinder 2, and can roll in curved groove 27.The shape of curved groove 27 is through the uniform motion cam curve of calculating.The outer surface of rotating cylinder 2 is provided with two bearings 3, and the upper cover of cog belt tooth (25) of the lower end of rotating cylinder 2 has synchronous cog belt 23, the axis around bearing 3 can be driven to rotate by synchronous cog belt 23.Two bearings 3 are installed in bearing block 6.Bearing block 6 is provided with transparent cover 8, is fixed by screw 7.Feather key 9 is fixed with in the endoporus of transparent cover 8.Feather key 9 is arranged in the guide key groove 10 on power rail 26 simultaneously, and guide key groove 10 is parallel to the axis of power rail 26.Due to the effect of feather key 9 and guide key groove 10, power rail 26 can only move in the axial direction and can not rotate around its axis.Shape due to curved groove 27 is constant speed cam curve, and therefore power rail 26 and tooth bar 1 are made constant speed reciprocating and moved.
The outside of bearing block 6 is provided with Connection Block 16 by screw 22.The inner side of Connection Block 16 is by screw 18 fixed electrical machinery 17.The axle of motor 17 is installed synchronous pulley 19, drive synchronous pulley 19 to rotate by key 20.Shaft-cup 21 prevents synchronous pulley 19 from coming off.On synchronous pulley 19, cover has synchronous cog belt 23.
The outside of Connection Block 16 is provided with strain bar 14 by screw 15, and 4 foil gauges 13 fixed by the outside glue of strain bar 14.Foil gauge 13 live wire leads to control system, and strain bar 14 1 plays the effect of dynamometry.Strain bar 14 is fixed on holder 11 by screw 12.Holder 11 is components that above-mentioned whole device is connected with external equipment.
Accompanying drawing explanation
Accompanying drawing is sectional view of the present invention, and wherein A direction view illustrates curved groove 27, should be designed to uniform motion cam curve.
Detailed description of the invention
When motor 17 rotates, motor shaft drives synchronous pulley 19 to rotate together by key 20.Synchronous cog belt 23 on the cog belt tooth 25 of rotating cylinder 2 lower end, makes rotating cylinder 2 rotate around the axis of bearing 3 Motion Transmission.Dynamicly in curved groove 27 on rotating cylinder 2 take turns 4, power wheel 4 followed by curved groove 27 and moves.Meanwhile, power wheel 4 by wheel shaft 5 and mandrel 24 power transmission to power rail 26, the feather key 9 on power rail 26 in gathering sill 10 is subject to the constraint of transparent cover 8, and power rail 26 can only moving linearly and can not rotating.The power that power wheel 4 provides can only make power rail 26 pump.Because curved groove 27 is constant speed cam curves, therefore the motion of saw blade 1 and power rail 26 is reciprocating motions of constant speed.
The outside of Connection Block 16 is provided with strain bar 14 by screw 15, and 4 foil gauges 13 fixed by the outside glue of strain bar 14.Foil gauge 13 live wire leads to control system, and strain bar 14 plays the effect of dynamometry.Strain bar 14 is fixed on holder 11 by screw.Holder 11 is components that above-mentioned whole device is connected with external equipment.In work, saw blade 1 is subject to the resistance of cutting object osseous tissue, the cutting thrust that Here it is required for saw blade.This power is delivered to strain bar 14, and the slight deformation making it produce causes foil gauge 13 to send the signal of telecommunication, is sent to control system, forms the feedback signal of cutting thrust, realizes closed loop control.Control system regulates the fltting speed of electric saw accordingly, thus reaches the object of permanent thrust.
Claims (4)
1. the permanent thrust for operating robot at the uniform velocity cuts orthopaedics electric saw mechanism, function is that saw blade 1 provides power by motor 17, do the reciprocating motion of constant speed, and form the feedback signal of cutting thrust, to be reached the object of permanent thrust by control system, be made up of three parts: Part I produces the constant speed reciprocating motion of saw blade, primarily of saw blade 1, guide key groove 10 is had) above power rail 26(, mandrel 24, wheel shaft 5, , power wheel 4, curved groove 27 is had) above rotating cylinder 2(, bearing 3, synchronous cog belt 23, bearing block 6, transparent cover 8, screw 7, feather key 9, motor 17, synchronous pulley 19, key 20, formation such as shaft-cup 21 grade, Part II is coupling part, forms primarily of Connection Block 16, Part III is force feedback part, forms primarily of strain bar 14, foil gauge 13 and holder 11.
2. device according to claim 1, it is characterized in that: when motor 17 rotates, motor shaft drives synchronous pulley 19 to rotate together by key 20, by synchronous cog belt 23 Motion Transmission on rotating cylinder 2, rotating cylinder 2 is rotated around the axis of bearing 3, drive the power wheel 4 that is in curved groove 27, make it move along with curved groove 27, power wheel 4 by wheel shaft 5 and mandrel 24 power transmission to power rail 26.
3. device according to claim 1, it is characterized in that: the feather key 9 on power rail 26 in gathering sill 10 is subject to the constraint of transparent cover 8, power rail 26 can only moving linearly and can not rotating, the power that power wheel 4 provides can only make power rail 26 pump, because curved groove 27 is constant speed cam curves, therefore the motion of saw blade 1 and power rail 26 is reciprocating motions of constant speed.
4. device according to claim 1, it is characterized in that: one end of strain bar 14 connects Connection Block 16, other end connection fixing base 11,4 foil gauges 13 fixed by both sides glue, can rise and sense that saw blade 1 is subject to the resistance of cutting object, send the signal of telecommunication, be sent to control system, form the feedback signal of cutting thrust, realize closed loop control, thus regulate the fltting speed of electric saw, reach the object of permanent thrust.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510056836.8A CN105310754A (en) | 2015-02-04 | 2015-02-04 | Constant-thrust and uniform-speed cutting orthopedic electric saw mechanism applicable to surgical robots |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510056836.8A CN105310754A (en) | 2015-02-04 | 2015-02-04 | Constant-thrust and uniform-speed cutting orthopedic electric saw mechanism applicable to surgical robots |
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| CN105310754A true CN105310754A (en) | 2016-02-10 |
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| CN201510056836.8A Pending CN105310754A (en) | 2015-02-04 | 2015-02-04 | Constant-thrust and uniform-speed cutting orthopedic electric saw mechanism applicable to surgical robots |
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Citations (8)
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|---|---|---|---|---|
| US20050096662A1 (en) * | 2003-10-31 | 2005-05-05 | Medtronic, Inc. | Coupling system for surgical instrument |
| CN101069964A (en) * | 2006-05-10 | 2007-11-14 | 北京博达高科技有限公司 | Surgical operation robot system guided under navigation system |
| CN101243989A (en) * | 2007-02-16 | 2008-08-20 | 甄海滨 | Electromagnetic reciprocating bone saw |
| US20080269755A1 (en) * | 2005-11-09 | 2008-10-30 | Malackowski Donald W | System and method for locating saw blades and like cutting accessories with a surgical navigation system |
| CN101579250A (en) * | 2009-06-18 | 2009-11-18 | 北京科技大学 | Intelligent control device of surgical electric drill |
| CN201384531Y (en) * | 2009-04-21 | 2010-01-20 | 马秋野 | Intelligent bone drill |
| CN102448684A (en) * | 2009-05-28 | 2012-05-09 | 皇家飞利浦电子股份有限公司 | Pivoting arrangement |
| CN103932795A (en) * | 2014-04-10 | 2014-07-23 | 中国人民解放军第四军医大学 | Femur tunnel shifting disk type locator for anterior cruciate ligament reconstruction under arthroscope |
-
2015
- 2015-02-04 CN CN201510056836.8A patent/CN105310754A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050096662A1 (en) * | 2003-10-31 | 2005-05-05 | Medtronic, Inc. | Coupling system for surgical instrument |
| US20080269755A1 (en) * | 2005-11-09 | 2008-10-30 | Malackowski Donald W | System and method for locating saw blades and like cutting accessories with a surgical navigation system |
| CN101069964A (en) * | 2006-05-10 | 2007-11-14 | 北京博达高科技有限公司 | Surgical operation robot system guided under navigation system |
| CN101243989A (en) * | 2007-02-16 | 2008-08-20 | 甄海滨 | Electromagnetic reciprocating bone saw |
| CN201384531Y (en) * | 2009-04-21 | 2010-01-20 | 马秋野 | Intelligent bone drill |
| CN102448684A (en) * | 2009-05-28 | 2012-05-09 | 皇家飞利浦电子股份有限公司 | Pivoting arrangement |
| CN101579250A (en) * | 2009-06-18 | 2009-11-18 | 北京科技大学 | Intelligent control device of surgical electric drill |
| CN103932795A (en) * | 2014-04-10 | 2014-07-23 | 中国人民解放军第四军医大学 | Femur tunnel shifting disk type locator for anterior cruciate ligament reconstruction under arthroscope |
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Application publication date: 20160210 |
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