CN105662587B - A kind of minimal access bone robot - Google Patents
A kind of minimal access bone robot Download PDFInfo
- Publication number
- CN105662587B CN105662587B CN201610245578.2A CN201610245578A CN105662587B CN 105662587 B CN105662587 B CN 105662587B CN 201610245578 A CN201610245578 A CN 201610245578A CN 105662587 B CN105662587 B CN 105662587B
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- end plate
- abrasive drilling
- transmission device
- bar mechanism
- connecting rod
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B2017/564—Methods for bone or joint treatment
Abstract
The invention discloses a kind of minimal access bone robot, its structure includes six pedestal, mobile platform, two five-bar mechanisms being arranged symmetrically, abrasive drilling attitude-adjusting system and abrasive drilling parts.Wherein, pedestal relies on its main building block：Screw slide driving mobile platform performs the linear motion of horizontal direction, two five-bar mechanisms and abrasive drilling attitude-adjusting system are connected in parallel, abrasive drilling attitude-adjusting system and abrasive drilling part are arranged on universal joint by using by abrasive drilling fixed seat, warp beam is connected with five-bar mechanism, driven by independent EC motors, so that abrasive drilling also has the free degree of swing, six-freedom degree is formed, to meet needed for the high-precision accurate execution of all kinds of compound actions.Precision of the present invention is high, manipulation is flexible, and isotropism is good, and without accumulated error, particularly suitable for drilling and sanding operation in bone surgery.
Description
Technical field
The present invention relates to a kind of medical robot, more particularly to a kind of minimal access bone robot；More particularly to one
The micro-wound operation robot of drilling and sanding operation is performed in kind bone surgery.
Background technology
In minimal access bone, such as Internal transpedicular fixation, percutaneous odontoid fracture screw internal fixation, femur and
The bone surgeries such as tibial intramedullary nailing internal fixation, cervical intervertebral disk displacement technique are required for bored according to exact path and track
Hole and sanding operation.Such operation need operative site is drilled and polished in correct position, therapeutic effect seriously according to
Lai Yu operation precision, misoperation can cause the damage of the important nerve of human body, blood vessel etc., and millimeter error can bring about calamity
Consequence, patient can be made to paralyse when serious, or even threat to life.
Such operation depends on the experience of doctor at present, undoubtedly adds the uncertainty of operation, adds patient
Damage and postoperative complications incidence.
Surgical operation robot shows clear superiority in operating flexibility, stability and in terms of being accurately positioned, and can have
Effect solves that precision present in orthopaedics Minimally Invasive Surgery is insufficient, irradiated more, otch is larger and the problems such as operation fatigue.
In the prior art, minimal access bone robot architecture is various informative, but due to the inadequate natural endowment in structure, or it is more
Or less, flexibility, free degree deficiency respectively be present, the shortcomings of precision is not high is performed for compound action or faulty is asked
Topic or deficiency.
Also the exactly doctor of current orthopaedics Minimally Invasive Surgery is in surgical procedure for this, and labor intensity is big, operating time length, and
The quality of surgical quality varies with each individual and difference is larger.Main reason is that orthopaedics Minimally Invasive Surgery still largely Shangdi,
Depend mainly on the skills involved in the labour of doctor's human hand operation.
The content of the invention
It is an object of the present invention to provide a kind of minimal access bone robot, and it has 6-DOF, and precision is high, manipulation spirit
It is living, particularly suitable for drilling and sanding operation in bone surgery.
The present invention is to achieve the above object the technical scheme adopted is that a kind of minimal access bone robot, its feature
It is, including pedestal, mobile platform, the first five-bar mechanism, the second five-bar mechanism, abrasive drilling attitude-adjusting system and abrasive drilling six
Individual part；Wherein：
The pedestal is integral type structure, and section approximation takes the shape of the letter U, and includes the first bottom plate, the first bottom plate or so of a rectangle
Both ends are erect respectively is provided with first end plate and the second end plate, between first end plate and the second end plate, close to the second end plate one
Side, also erect and be provided with the 3rd end plate；
Using first end plate and the 3rd end plate as fixing end, a screw pair is separately installed with pedestal and two are led
Rail, wherein, screw pair is placed in the middle, and two guide rails are one in front and one in back arranged in the front and rear sides of screw pair, leading screw spiral shell
Female secondary and two guide rails are located at same level, are parallel to each other, and one end of screw pair is by first shaft coupling with being arranged on
The motor connection with reductor on second end plate, is driven by the motor；Above-mentioned first shaft coupling is located at the second end plate and the 3rd
Between end plate；
Retain a determining deviation between the bottom surface of said base and first bottom plate；
The mobile platform is integral type structure, including top and bottom two parts, global approximation take the shape of the letter U, mobile platform
Bottom be in hexahedral shape, offered respectively inside it three insertion left and right ends face holes, each hole relative position respectively with
The relative position of above-mentioned screw pair and two guide rails matches；Wherein, position hole placed in the middle is internal thread hole, front and rear sides
Hole be smooth hole；
The top approximation of mobile platform takes the shape of the letter U, including the second bottom plate, the 4th end plate and the 5th end plate；Wherein, the second bottom plate
It is fixed on the upper surface of the lower part of above-mentioned mobile platform, the 4th end plate and the 5th end plate are vertical with the second bottom plate respectively, and one
The first from left right side is arranged in the left and right ends of the second bottom plate；
The mobile platform is assemblied on the pedestal by its underpart, wherein, the position on the bottom of mobile platform occupies
In hole be connected through a screw thread with screw pair, the holes of front and rear sides is respectively with corresponding guide rail into loose fit；
The first from left right side of first five-bar mechanism and the second five-bar mechanism one is arranged in the 4th end plate and the 5th end
Between plate；Plane where the movement locus of first five-bar mechanism is parallel with the 4th end plate, the second five-bar mechanism
Plane where movement locus is parallel with the 5th end plate, the plane where the movement locus of first five-bar mechanism with it is described
Plane where the movement locus of second five-bar mechanism is parallel；
On the outer side surface of 4th end plate, on same level straight line, one on the other, the first transmission is separately installed with
Device and the second transmission device；
On the outer side surface of 5th end plate, on the same line, one on the other, the 3rd transmission device is separately installed with
With the 4th transmission device；
Above-mentioned first transmission device, the second transmission device, structure type, the type of the 3rd transmission device and the 4th transmission device
It is number identical with specification；Central plane between the 4th end plate and the 5th end plate is above-mentioned as symmetrical plane
First transmission device and the 3rd transmission device are symmetrical, the second transmission device and the 4th transmission device are symmetrical；
Above-mentioned first transmission device, the second transmission device, the 3rd transmission device and the 4th transmission device each include band
The motor of reductor, the synchromesh gear being assemblied on speed reducer output shaft and driven by timing belt by the synchromesh gear
Belt pulley；
The rotary shaft of the respective belt pulley of each transmission device penetrates from the outer side surface of each self-corresponding end plate respectively,
Stretched out from another side wall；The rotary shaft of that belt pulley of position up and the head end of corresponding five-bar mechanism are into axis hole
Coordinate, position is in the rotary shaft of that belt pulley of lower section and the end of corresponding five-bar mechanism into shaft hole matching；
By the connecting rod using head end and the rotations axis connection of that belt pulley of position up as first connecting rod, with end and
Position is fourth link, with that belt pulley of the position in lower section in the connecting rod of the rotation axis connection of that belt pulley of lower section
End plate plate face between the rotary shaft of that belt pulley of rotary shaft and position up is the 5th connecting rod, is sorted clockwise
Principle：
Between the respective first connecting rod of above-mentioned first five-bar mechanism and the second five-bar mechanism and second connecting rod, Yi Ji
Respectively by bearing hinge connection between three connecting rods and fourth link, and clamped by the bearing (ball) cover of the left and right sides and be fixed on one
Rise；Respectively by described between the respective second connecting rod of above-mentioned first five-bar mechanism and the second five-bar mechanism and third connecting rod
The two end axles of abrasive drilling attitude-adjusting system are hinged as jointed shaft, and first five-bar mechanism and the second five-bar mechanism pass through
Abrasive drilling attitude-adjusting system links into an integrated entity；
Using abrasive drilling fixed seat as symmetrical centre, the first from left right side is arranged symmetrically the two end axles of above-mentioned abrasive drilling attitude-adjusting system；
The abrasive drilling fixed seat is the square base with center hole, described using the center of circle of the center hole as symmetrical centre
At left and right sides of abrasive drilling fixed seat a fixing axle is respectively symmetrically provided with wall；The two end axles of above-mentioned abrasive drilling attitude-adjusting system 4
Pass through the fixation axis connection at left and right sides of universal joint and the abrasive drilling fixed seat respectively；
In the outside of the wherein shaft end of a butt axle, second connecting rod and the third connecting rod of above-mentioned abrasive drilling attitude-adjusting system,
It is equipped with the EC motor with reductor；
The abrasive drilling includes abrasive drilling body and is assemblied in the abrasive drilling motor of abrasive drilling bodies top, and the abrasive drilling passes through tightening sleeve
It is fixed in the center hole of the abrasive drilling fixed seat；Wherein, the abrasive drilling motor is located above the abrasive drilling fixed seat, described
The built-in bearing for being provided with bearing (ball) cover of tightening sleeve, the bearing (ball) cover are separately fixed at the abrasive drilling fixed seat one on the other
In upper and lower surface.
The technical effect directly brought by the technical proposal is that using serial-parallel mirror mechanism so that whole robot architecture
It is compact；Main actions execution unit (two five-bar mechanisms) is had preferably respectively to same using symmetrical (parallel connection) structure type
Property, and it is high without accumulated error, precision；Also, drive device can be placed in the position on fixed platform or close to fixed platform, so move
Moiety by weight is light, and speed is high, and dynamic response is good；
The robot of above-mentioned technical proposal, compact overall structure, rigidity is high, large carrying capacity；Full symmetric mechanism tool
There is preferable isotropism；Six-freedom motion is realized in minimally invasive spine operative space, can perform only, maneuverability appoint
Required for what it is all kinds of simply and compound action, it runs gentle, and working space is big, safe, and manipulation is flexible.
The robot of above-mentioned technical proposal, can be realized with precise positioning operation minimal damage, improve medical diagnosis on disease and
The precision and quality of operative treatment, are improved operation safety, shorten treatment time；Reduce medical treatment cost and replacement
Operation technique of the doctor under radioactive ray, the accuracy of operation is improved, reduce the risk of operation；And then reduce postoperative complications
The incidence of disease, while the radiological detriment to doctor can also be reduced, for the micro- operation of orthopaedics clinical expansion with significant.
To more fully understand the technical characterstic of the present invention, further release bright as follows：
The minimal access bone robot of above-mentioned technical proposal, its mobile platform form a series connection of the robot freely
Degree, two five-bar mechanisms and abrasive drilling attitude-adjusting system are connected in parallel, and form five frees degree.
Wherein, mobile platform is a series connection free degree of robot, realizes two five-bar mechanisms in parallel, abrasive drillings
The accurate movement of attitude-adjusting system and abrasive drilling in the horizontal direction；
In five-bar mechanism, high torque timing belt and the parallel-connection structure of five-bar mechanism and five-bar mechanism, form
Full symmetric structure, there is preferable isotropism.That is, the synergy of two five-bar mechanisms realizes abrasive drilling posture tune
Complete machine structure and abrasive drilling are upper and lower, movable and swing, and the rotation around abrasive drilling central axis, abrasive drilling mechanism is had four
The individual free degree.
What is more important, possessing six-freedom degree described above, can meet to perform and all kinds of simply be held with compound action
On the basis of row, above-mentioned technical proposal is by using by abrasive drilling motor is arranged in abrasive drilling fixed seat, abrasive drilling fixed seat is arranged on
On universal joint, universal joint be connected with axle, be then connected on five-bar mechanism, finally the main shaft with independent EC motors is connected,
Driven by independent EC motors, realize the core component of minimal access bone operation：Abrasive drilling also has the freedom of swing
Degree.
Preferably, be additionally provided with bracing piece between above-mentioned 4th end plate and the 5th end plate, the bracing piece both ends respectively with
4th end plate and the 5th end plate are fixedly connected；It is described to add when first five-bar mechanism and the second five-bar mechanism move
Strong bar does not interfere with first five-bar mechanism and the second five-bar mechanism.
What the optimal technical scheme was directly brought is had the technical effect that, bracing piece is set between the 4th end plate and the 5th end plate,
The purpose is to improve rigidity, the stability in the five-bar mechanism course of work is better ensured that, is avoided in the robot course of work,
Because stress may cause the vibration or rock that the 4th end plate and the 5th end plate be likely to occur by elasticity or insufficient rigidity.
Further preferably, the quantity of above-mentioned bracing piece is two, one on the other, is arranged parallel to.
What the optimal technical scheme was directly brought has the technical effect that, the quantity of bracing piece is two, and is arranged symmetrically, a side
Face, support " area " can be effectively increased, ensure " reinforcement " effect；On the other hand, beneficial to attractive in appearance in overall structure.
Further preferably, in the fixing axle of above-mentioned abrasive drilling fixed seat, installation through hole, the universal joint are respectively offered
It is enclosed in the fixing axle, and shaft hole matching is formed with through hole by bearing pin and the installation, links into an integrated entity.
What the optimal technical scheme was directly brought has the technical effect that, dismounting is easy, beneficial to maintenance.
Further preferably, bearing and axle sleeve are equipped with the speed reducer output shaft of the above-mentioned EC motor with reductor.
What the optimal technical scheme was directly brought has the technical effect that, this mainly frequently executes various multiple in view of robot
Miscellaneous motion,, can be as far as possible using " sacrificing protection " of axle sleeve using bearing and the mounting structure of axle sleeve on speed reducer output shaft
The abrasion of speed reducer output shaft is reduced, beneficial to effective control of ordinary maintenance maintenance cost.
Further preferably, above-mentioned first transmission device, the second transmission device, the 3rd transmission device and the 4th transmission device are each
From motor be that DC servo motor, reductor are planet-gear speed reducer.
What the optimal technical scheme was directly brought has the technical effect that, DC servo motor electronics commutation mode is flexible, as
The motor of executing agency in all kinds of digital control systems has been used widely, and it is contributed, and big, response is fast, speed is high, used
Measure it is small, rotate that smooth, torque is stable, it is easy to accomplish it is intelligent；Also, its motor volume is small, in light weight, electromagnetic radiation very little,
Service life is grown, particularly suitable for medical operation applying working condition.Further preferably, above-mentioned first transmission device, the second transmission device,
In the rotary shaft of 3rd transmission device and the 4th respective belt pulley of transmission device, bearing is each equipped with, and respectively by respective
Bearing (ball) cover be fixed on the 4th end plate or the 5th end plate.
What the optimal technical scheme was directly brought has the technical effect that, further ensures the steady of each moving component " artis "
Gu with firm, to ensure steady (not eccentric, do not beat) of the state in axle rotation process, and then five-bar mechanism ensure that
Steady running so that the strict uniformity of the whole minimal access bone robot course of work, Stability and dependability.
In summary, the present invention has manipulation flexible, operation is gentle, action executing precision is high, dynamic relative to prior art
The precision for making to perform is high, and stability, reliability and harmony are good；And it is compact-sized, rigidity is high, working space is big, safe
Etc. beneficial effect.
Brief description of the drawings
Fig. 1 is the three dimensional structure diagram of minimal access bone robot of the present invention；
Fig. 2 is the main structure diagram of minimal access bone robot of the present invention；
Fig. 3 is minimal access bone robot of the present invention overlooking the structure diagram；
Fig. 4 is the left view structural representation of minimal access bone robot of the present invention；
Fig. 5 is the overlooking the structure diagram (mainly showing mobile base part) of minimal access bone robot of the present invention.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is described in detail.
As illustrated, the minimal access bone robot of the present invention, it includes pedestal 6, mobile platform 1, the one or five connecting rod
5 six mechanism 2, the second five-bar mechanism 3, abrasive drilling attitude-adjusting system 4 and abrasive drilling parts.
As shown in Figures 2 to 5, pedestal is the support section of whole robot, and mobile platform 1 utilizes screw pair and base
Seat is linked together, and two feed rods 1-5,1-6, which are oriented to and are connected with pedestal to mobile platform 1, to be reinforced, mobile platform 1
One of the robot series connection free degree is formed, realizes five-bar mechanism 2 and 3 and abrasive drilling mechanism 5 and abrasive drilling attitude-adjusting system 4
Move horizontally, the both ends of five-bar mechanism 2 and five-bar mechanism 3 are separately fixed on the side plate 1-2 and 1-3 of mobile platform 1, hinge
The end of the chain forms revolute pair by axle and bearing and universal joint with the abrasive drilling fixed seat 5-2 of abrasive drilling mechanism 5, forms two of robot
Parallel-connection structure, motor 4-4 rotary motion realize the pose adjustment of abrasive drilling mechanism 5, and abrasive drilling mechanism 5 mainly realizes given trace
Bone cutting, complete surgical functions.
As shown in figure 5, mobile platform 1 by base 1-1, side plate 1-2 and 1-3 and 1-4, two feed rods 1-5 and 1-6, one
Leading screw 1-7, motor 1-8 are formed.Two feed rod 1-5 and 1-6 are arranged on base 1-1 by interference fit, motor 1-8 spiral shells
Nail is fixed on side plate 1-4, and leading screw 1-7 and bearing 1-10, which is formed, to be coordinated, and bearing 1-10 is by bearing holder (housing, cover) 1-11 by screw 1-12
It is fixed on side plate 1-3.Motor 1-8 torque passes to leading screw 1-7 so as to drive mobile platform 1 to move by shaft coupling 1-9.
Add the overall stability of micro-wound operation robot.
As shown in Fig. 2 to 5, the mobile platform 1 of present embodiment is connected together by sliding block 1-13 with pedestal, two feed rods
1-5 and 1-6 is reinforced the connection of pedestal and mobile platform 1.Mobile platform 1 is the one degree of freedom of robot, realizes mill
Drill mechanism 5 and five-bar mechanism 2 and 3 and abrasive drilling attitude-adjusting system 4 move horizontally, left support plate 1-2, right support plate 1-3,
Lower supporting plate is cast integrally, and feed rod 1-5 and 1-6 are used for increasing left support plate 1-2 and right support plate 1-3 intensity and to movement
Platform 1 is oriented to, and forms five-bar mechanism 2 and 3 and the support of abrasive drilling mechanism 5 and attitude-adjusting system 4.Improve overall firm
Degree, the stability of superstructure is added, realize the overall horizontal movement of orthopaedics micro-wound operation robot.
Five-bar mechanism 2 is by EC motor 2-1 and EC motor 2-6, driving pulley 2-4 and driving pulley 2-18, high torque
(high torque is synchronous for timing belt 2-19 and high torque timing belt 2-20, driven pulley (high torque timing belt wheel) 2-21 and driven pulley
Belt wheel) 2-22, connecting rod 2-23 and connecting rod 2-24, connecting rod 2-25 and connecting rod 2-26 composition.EC motor 2-1 transmits driving torque
Driving pulley 2-4 is given, driven pulley 2-22 is passed to so as to which drivening rod 2-23 rotates by high torque timing belt 2-19, entered
And drivening rod 2-25 makees plane motion；Meanwhile driving torque is also passed to driving pulley 2-18 by EC motor 2-6, by height
Moment of torsion timing belt 2-20 passes to driven pulley 2-21 so as to which drivening rod 2-24 rotates, and then drivening rod 2-26 is put down
Face is moved, and connecting rod 2-25 and connecting rod 2-26 are linked together by hinge 2-27, realize the driving of five-bar mechanism double freedom,
EC motor 2-1 and EC motor 2-6 coordinated is that five-bar mechanism has fixed motion.
Five-bar mechanism 2 has same structure with five-bar mechanism 3, forms full symmetric structure, has preferable
Isotropism.The synergy of five-bar mechanism 3 and five-bar mechanism 2, realize two sides in plane X-Z of abrasive drilling mechanism 5
Upward movement and the rotation around two axles, abrasive drilling mechanism is set there are four frees degree.Bracing piece 2-28 and 2-29 is by two five
Linkage 2 connects with five-bar mechanism 3, improves integral rigidity, and it is steady to add two five-bar mechanism structures in parallel
It is qualitative.
As shown in Figures 2 to 5, two drive parts of five-bar mechanism 2 are by EC motor 2-1 and EC motors 2-6, slowed down
Device 2-2 and decelerator 2-7, decelerator fixed seat 2-3 and decelerator fixed seat 2-8, axle 2-11, axle 2-12, bearing (ball) cover 2-9,
Bearing 2-10 is formed.EC motor 2-1 and EC motor 2-6 provides power source for driving five-bar mechanism, and power, which passes to, to be subtracted
Fast device 2-2 and 2-7, decelerator 2-2 and decelerator 2-7 are separately fixed at decelerator fixed seat 2-3 and decelerator fixed seat 2-8
On, power has passed to axle 2-11 and 2-12 by gear sleeve, realizes the driving to five-bar mechanism double freedom.Axle 2-
11 form interference fits with bearing 2-10, and bearing 2-10 is fixed in bearing (ball) cover 2-9, and bearing (ball) cover 2-9 is fixed on by screw
On side plate 2-5, so as to ensure that the not eccentric work of axle 2-11 stabilization, and then the steady running of five-bar mechanism ensure that.
The hinged sections of five-bar mechanism 2 are by slotted screw 2-13, bearing 2-14, bearing (ball) cover 2-15, locking screw
Female 2-16, axle 2-17 are formed.
Abrasive drilling mechanism 5 is made up of EC motor 5-1, abrasive drilling fixed seat 5-2, axle 5-3, bulb abrasive drilling 5-4, tightening sleeve 5-5.
The rotation attitude adjustment mechanism 4 of abrasive drilling is by EC motor 4-4, decelerator 4-5, motor sleeve 4-1, bearing 4-3, ten thousand
To section 4-6, universal joint 4-7, axle 4-8 compositions.Abrasive drilling EC motors 5-1 is arranged on abrasive drilling fixed seat 5-2, abrasive drilling fixed seat 5-2
On universal joint 4-6 and universal joint 4-7, universal joint 4-7 is connected with axle 4-8, is connected on hinge 2-27, universal joint 4-6
It is connected on axle 4-2 to be formed with bearing 4-3 and coordinates, is connected on EC motors 4-4 main shaft, realizes rotation of the abrasive drilling around Y-axis.
Abrasive drilling 5-4 is linked together with abrasive drilling EC motors 5-1, and abrasive drilling 5-4 is supported by axle 5-3, is consolidated by tightening sleeve 5-5 and other mechanisms
On abrasive drilling fixed seat 1-27.
Explanation：During operation, the operating robot of the present invention is arranged on to the side of operation table by doctor, patient is placed in bed
On.
The present invention can combine 3-D view airmanship, and the position for determining robot abrasive drilling cutting head is guided by image
Put, preoperative grinding planned trajectory is become driving pulse by computer control system, drives four of two five-bar mechanisms
DC servo motor and the adjustment of abrasive drilling rotation attitude and mobile work platform driving DC servo motor, the drive of four five-bar mechanisms
The plane motion that convert rotational motion is two five-bar mechanisms, abrasive drilling rotation attitude are adjusted motor by dynamic motor by V belt translation
For adjusting the posture of abrasive drilling, the motor in mobile work platform is used for controlling overall horizontal movement, and the above is whole robot
Input motion, the pose of robot constantly changing with the startup time difference of each motor, and preoperative grinding is planned
Track exports the movement locus to abrasive drilling cutting head, completes spinal operation on movement locus.The present invention is solved due to by doctor
Raw experience and the operation risk brought, the working strength of doctor is greatly reduced, so as to improve operation precision.
The operation principle of the present invention：
Pedestal 6 and mobile platform 1 are attached the one degree of freedom for foring the operating robot by screw pair.
Ball screw linear drive device is limited the position of slide unit by photoelectric sensor, ensure that the security of operation.Five connecting rod machines
The synergy of structure and five-bar mechanism realizes abrasive drilling attitude-adjusting system and abrasive drilling is upper and lower, movable and swing,
And the rotation around abrasive drilling central axis, make abrasive drilling mechanism that there are four frees degree.Abrasive drilling attitude-adjusting system realizes abrasive drilling
The swing free degree.The feed system and form regulation system of abrasive drilling ensure that the steady of abrasive drilling accurately cuts and then completed
Minimal access bone.
It should be noted that mobile platform, two five-bar mechanisms, abrasive drilling attitude-adjusting system, abrasive drilling, except standard component
Outside, the material of remaining parts preferably selects aluminium alloy or titanium magnesium alloy.So, equipment self-weight amount can be mitigated and with enough
Rigidity or intensity, meet the requirement of the advanced medical apparatus of bone surgery.
Claims (7)
1. a kind of minimal access bone robot, it is characterised in that including pedestal, mobile platform, the first five-bar mechanism, second
Six five-bar mechanism, abrasive drilling attitude-adjusting system and abrasive drilling parts；Wherein：
The pedestal is integral type structure, and section approximation takes the shape of the letter U, and includes the first bottom plate of a rectangle, the first bottom plate left and right ends
Erect respectively and be provided with first end plate and the second end plate, between first end plate and the second end plate, close second end plate side, also
Setting is provided with the 3rd end plate；
Using first end plate and the 3rd end plate as fixing end, a screw pair and two guide rails are separately installed with pedestal, its
In, screw pair is placed in the middle, and two guide rails are one in front and one in back arranged in the front and rear sides of screw pair, screw pair and
Two guide rails are located at same level, are parallel to each other, and one end of screw pair by first shaft coupling and is arranged on the second end
The motor connection with reductor on plate, is driven by the motor；Above-mentioned first shaft coupling be located at the second end plate and the 3rd end plate it
Between；
Retain a determining deviation between the bottom surface of said base and first bottom plate；
The mobile platform is integral type structure, including top and bottom two parts, and global approximation takes the shape of the letter U, under mobile platform
Portion is in hexahedral shape, offered respectively inside it three insertion left and right ends face holes, each hole relative position respectively with it is above-mentioned
The relative position of screw pair and two guide rails matches；Wherein, position hole placed in the middle is internal thread hole, the hole of front and rear sides
For smooth hole；
The top approximation of mobile platform takes the shape of the letter U, including the second bottom plate, the 4th end plate and the 5th end plate；Wherein, the second bottom plate is fixed
On the upper surface of the lower part of above-mentioned mobile platform, the 4th end plate and the 5th end plate are vertical with the second bottom plate respectively, a first from left
The right side is arranged in the left and right ends of the second bottom plate；
The mobile platform is assemblied on the pedestal by its underpart, wherein, position on the bottom of mobile platform is placed in the middle
Hole is connected through a screw thread with screw pair, and the holes of front and rear sides is respectively with corresponding guide rail into loose fit；
The first from left right side of first five-bar mechanism and the second five-bar mechanism one be arranged in the 4th end plate and the 5th end plate it
Between；Plane where the movement locus of first five-bar mechanism is parallel with the 4th end plate, the motion of the second five-bar mechanism
Plane where track is parallel with the 5th end plate, the plane where the movement locus of first five-bar mechanism and described second
Plane where the movement locus of five-bar mechanism is parallel；
On the outer side surface of 4th end plate, on same level straight line, one on the other, the first transmission device is separately installed with
With the second transmission device；
On the outer side surface of 5th end plate, on the same line, one on the other, the 3rd transmission device and are separately installed with
Four transmission devices；
Above-mentioned first transmission device, the second transmission device, the structure type of the 3rd transmission device and the 4th transmission device, model with
Specification is identical；Central plane between the 4th end plate and the 5th end plate is symmetrical plane, and above-mentioned first
Transmission device and the 3rd transmission device are symmetrical, the second transmission device and the 4th transmission device are symmetrical；
Above-mentioned first transmission device, the second transmission device, the 3rd transmission device and the 4th transmission device each include band and slowed down
The motor of machine, the synchromesh gear being assemblied on speed reducer output shaft and the belt driven by the synchromesh gear by timing belt
Wheel；
The rotary shaft of the respective belt pulley of each transmission device penetrates from the outer side surface of each self-corresponding end plate respectively, from another
One side wall is stretched out；The rotary shaft of that belt pulley of position up is matched somebody with somebody with the head end of corresponding five-bar mechanism into axis hole
Close, position is in the rotary shaft of that belt pulley of lower section and the end of corresponding five-bar mechanism into shaft hole matching；
By the connecting rod using head end and the rotation axis connection of that belt pulley of position up as first connecting rod, with end and position
That belt pulley of lower section rotation axis connection connecting rod for fourth link, with position that belt pulley of lower section rotation
End plate plate face between the rotary shaft of that belt pulley of axle and position up is the 5th connecting rod, clockwise the original of sequence
Then：
Between the respective first connecting rod of above-mentioned first five-bar mechanism and the second five-bar mechanism and second connecting rod, and the 3rd connects
Respectively by bearing hinge connection between bar and fourth link, and clamp and be fixed together by the bearing (ball) cover of the left and right sides；On
State between the first five-bar mechanism and the respective second connecting rod of the second five-bar mechanism and third connecting rod respectively by the abrasive drilling
The two end axles of attitude-adjusting system are hinged as jointed shaft, and first five-bar mechanism and the second five-bar mechanism pass through abrasive drilling
Attitude-adjusting system links into an integrated entity；
Using abrasive drilling fixed seat as symmetrical centre, the first from left right side is arranged symmetrically the two end axles of above-mentioned abrasive drilling attitude-adjusting system；
The abrasive drilling fixed seat is the square base with center hole, using the center of circle of the center hole as symmetrical centre, the abrasive drilling
At left and right sides of fixed seat a fixing axle is respectively symmetrically provided with wall；The two end axles of above-mentioned abrasive drilling attitude-adjusting system are led to respectively
Cross universal joint and the fixation axis connection at left and right sides of the abrasive drilling fixed seat；
In the outside of the wherein shaft end of a butt axle, second connecting rod and the third connecting rod of above-mentioned abrasive drilling attitude-adjusting system, assembling
There are the EC motor with reductor；
The abrasive drilling includes abrasive drilling body and is assemblied in the abrasive drilling motor of abrasive drilling bodies top, and the abrasive drilling is fixed by tightening sleeve
In the center hole of the abrasive drilling fixed seat；Wherein, the abrasive drilling motor is located above the abrasive drilling fixed seat, described to tighten up
The built-in bearing for being provided with bearing (ball) cover is covered, the bearing (ball) cover is separately fixed at the upper and lower of the abrasive drilling fixed seat one on the other
On surface.
2. minimal access bone robot according to claim 1, it is characterised in that the 4th end plate and the 5th end plate
Between be additionally provided with bracing piece, the bracing piece both ends are fixedly connected with the 4th end plate and the 5th end plate respectively；When described first
When five-bar mechanism and the second five-bar mechanism move, the bracing piece and first five-bar mechanism and the two or five connecting rod machine
Structure does not interfere.
3. minimal access bone robot according to claim 2, it is characterised in that the quantity of the bracing piece is two
Root, one on the other, it is arranged parallel to.
4. according to any described minimal access bone robots of claim 1-3, it is characterised in that the abrasive drilling fixed seat
In fixing axle, installation through hole is respectively offered, the joint boot passes through bearing pin and the installation in the fixing axle
Shaft hole matching is formed with through hole, is linked into an integrated entity.
5. according to any described minimal access bone robots of claim 1-3, it is characterised in that the EC with reductor
Bearing and axle sleeve are equipped with the speed reducer output shaft of motor.
6. according to any described minimal access bone robots of claim 1-3, it is characterised in that the first transmission dress
Put, the second transmission device, the 3rd transmission device and the 4th respective motor of transmission device are that DC servo motor, reductor are equal
For planet-gear speed reducer.
7. according to any described minimal access bone robots of claim 1-3, it is characterised in that the first transmission dress
Put, in the rotary shaft of the second transmission device, the 3rd transmission device and the 4th respective belt pulley of transmission device, be each equipped with axle
Hold, and be fixed on respectively by respective bearing (ball) cover on the 4th end plate or the 5th end plate.
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| CN201610245578.2A CN105662587B (en) | 2016-04-18 | 2016-04-18 | A kind of minimal access bone robot |
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| CN201610245578.2A CN105662587B (en) | 2016-04-18 | 2016-04-18 | A kind of minimal access bone robot |
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| CN105662587B true CN105662587B (en) | 2017-11-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106377319B (en) * | 2016-11-22 | 2019-01-18 | 哈尔滨工业大学 | A kind of minimally invasive spine surgical robot end direction sleeve |
| CN107773305A (en) * | 2017-09-11 | 2018-03-09 | 山东科技大学 | A kind of four-degree-of-freedom tumor puncture auxiliary robot |
| CN107569286A (en) * | 2017-10-24 | 2018-01-12 | 广西南宁栩兮科技有限公司 | A kind of high-precision medical manipulator |
| CN108309396A (en) * | 2018-02-28 | 2018-07-24 | 重庆英泰帝克科技有限公司 | Ankle fusion operation fixing glue hammers into drive system |
| CN112370113A (en) * | 2020-11-03 | 2021-02-19 | 杨勰娟 | Medical orthopedics section grinds flat fixed perforating device |
| CN112363310B (en) * | 2020-11-13 | 2022-04-15 | 殷跃锋 | Transmission mechanism and high-precision microscope |
| TWI797619B (en) * | 2021-05-12 | 2023-04-01 | 炳碩生醫股份有限公司 | Surgical drill and orthopedic surgery system |
| CN113288438A (en) * | 2021-06-21 | 2021-08-24 | 哈尔滨理工大学 | Orthognathic surgery operation robot |
| CN114515193A (en) * | 2022-01-30 | 2022-05-20 | 上海术航机器人有限公司 | Parallel robot, system, device and storage medium |
| CN114469202B (en) * | 2022-03-01 | 2023-01-24 | 元创医学技术(江苏)有限公司 | Deflection control mechanism and multi-degree-of-freedom flexible instrument applied by same |
| CN115607229B (en) * | 2022-11-18 | 2023-04-14 | 北京爱康宜诚医疗器材有限公司 | Eccentric talus drilling tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8155910B2 (en) * | 2005-05-27 | 2012-04-10 | St. Jude Medical, Atrial Fibrillation Divison, Inc. | Robotically controlled catheter and method of its calibration |
| US8162926B2 (en) * | 2006-01-25 | 2012-04-24 | Intuitive Surgical Operations Inc. | Robotic arm with five-bar spherical linkage |
| CN101972159B (en) * | 2010-11-24 | 2012-09-26 | 哈尔滨工业大学 | Six-degree-of-freedom cervical-vertebra grinding parallel robot |
| EP2779923A1 (en) * | 2011-11-16 | 2014-09-24 | Vanderbilt University | Motive device for use in magnetically-sensitive environments |
| EP2872853A4 (en) * | 2012-07-14 | 2016-03-09 | Univ Western Ontario | Mechanical tracking system |
| CN104323861B (en) * | 2014-11-21 | 2016-08-31 | 山东科技大学 | Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot |
| CN204446127U (en) * | 2015-02-14 | 2015-07-08 | 中国科学院重庆绿色智能技术研究院 | A kind of peritoneoscope micro-wound operation robot mechanical arm RCM mechanism |
| CN205144728U (en) * | 2015-10-23 | 2016-04-13 | 哈尔滨伙伴机器人有限公司 | Treatment machine people motion arm is got involved to cantilever type prostate |
| CN105361951B (en) * | 2015-12-14 | 2017-11-14 | 山东科技大学 | A kind of minimally invasive abdominal operation Chi Jing robots |
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