CN107789060A - The master cylinder boxcar of robot - Google Patents
The master cylinder boxcar of robot Download PDFInfo
- Publication number
- CN107789060A CN107789060A CN201711111934.2A CN201711111934A CN107789060A CN 107789060 A CN107789060 A CN 107789060A CN 201711111934 A CN201711111934 A CN 201711111934A CN 107789060 A CN107789060 A CN 107789060A
- Authority
- CN
- China
- Prior art keywords
- boxcar
- master cylinder
- robot
- post
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000001356 surgical procedure Methods 0.000 description 5
- 210000000988 bone and bone Anatomy 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The present invention discloses the master cylinder boxcar of robot a kind of, and the near-end platform (50) of itself and robot is used cooperatively, and the master cylinder boxcar includes：Car body, the car body include：Bottom plate (120) and the wheel (140) being connected with the bottom plate (120)；Control cabinet on the upside of the bottom plate (120), it includes the motion platform of six degree of freedom (220) and the control unit (240) of the control motion platform (220)；Wherein, the master cylinder boxcar is also included respectively positioned at two connecting poles of the left and right sides of distal side, and each connecting pole is rigidly connected to the car body and is connected in the near-end platform (50) of distal side and robot and can adjust the height of the near-end platform (50).The advantages of master cylinder boxcar of the present invention, is, appropriate height adjustment capability is also provided while the motion platform for resetting and needing is provided.
Description
Technical field
The present invention relates to the master cylinder boxcar of robot, especially a kind of reset robot used in bone surgery
Master cylinder boxcar.
Background technology
With the development of robot technology, in the operation particularly long bone bone surgery for repairing fracture, occur machine
Device people is applied to trend therein.In order to form the powerful robot system of One function, make independent while can cooperate
Disparate modules be valuable trial.In the bone surgery of large force is needed, the addition of motion platform can significantly reduce
The labor intensity of doctor, therefore, it is that one in robot system is worth to have the module of motion platform and corresponding control device
The functional module of concern.
With reference to figure 1, prior art CN104000640A shows a kind of reduction of the fracture mechanism.As illustrated, the prior art
The reduction of the fracture mechanism of principal and subordinate's isomorphism is formed using the platform assembly of frame assembly and placed thereon two 6DOFs.
As described in its specification 0016-0019 sections, by using the control method such as platform assembly and mechanics scaling, the prior art energy
Enough reduce the labor intensity of doctor and allow doctor to be operated at remote operative region.By using principal and subordinate's isomorphism, operation
When driven end pose it is identical with operating side pose, be easy to doctor to complete reattachment surgery in familiar manner.
However, as the apparatus being used cooperatively with operating table, the reduction of the fracture mechanism of above-mentioned prior art lacks hand in itself
The height adjustment capability being frequently necessary to during art.In addition, with navigation and the progress of imaging technique, the operation of doctor is by further letter
Change, it is not necessary to the operating habit resetted further in accordance with past human hand.
Needed accordingly, there exist such, i.e. the robot for that can be used in bone surgery provides a master cylinder case
Car, appropriate height adjustment capability is also provided while the motion platform for resetting and needing is provided.
The content of the invention
In view of this, the purpose of the present invention is to propose to a kind of master cylinder boxcar of robot, it is providing motion platform
Meanwhile also provide height adjustment capability.
To achieve the above object, the present invention provides a kind of master cylinder boxcar of robot, matches somebody with somebody with the near-end platform of robot
Close and use, the master cylinder boxcar includes：Car body, it includes bottom plate and the wheel being connected with the bottom plate；In the bottom plate
The master cylinder of upside, it includes the control cabinet of motion platform and the control motion platform with six degree of freedom；Wherein, institute
Stating master cylinder boxcar also includes being rigidly connected positioned at two connecting poles of the left and right sides of distal side, each connecting pole respectively
Connect to the car body and in the near-end platform of distal side and robot and the height of the near-end platform can be adjusted.
Compared with the resetting-mechanism of prior art, the master cylinder boxcar of robot of the present invention is providing the same of motion platform
When, height adjustment capability is also provided.
Brief description of the drawings
The present invention may be better understood in refer to the attached drawing and specification.Part in accompanying drawing is not drawn necessarily to scale, its
Purpose is only that the principle for illustrating the present invention.In the accompanying drawings：
Fig. 1 is the side view and top view of the hitch frame of prior art；
Fig. 2 is the stereogram according to the master cylinder boxcar of the robot of one embodiment of the present of invention；
Fig. 3 is the stereogram according to a connecting pole of the master cylinder boxcar of the robot of one embodiment of the present of invention；
Fig. 4 is to heighten cuing open for post in the connecting pole according to the master cylinder boxcar of the robot of one embodiment of the present of invention
View；
Fig. 5 is the vertical of the contiguous block in the connecting pole according to the master cylinder boxcar of the robot of one embodiment of the present of invention
Body figure.
Embodiment
Following explanation is related to the master cylinder boxcar of robot according to an embodiment of the invention, itself and robot
Near-end platform 50 is used cooperatively, and the master cylinder boxcar includes：Car body, including：Bottom plate 120 and it is connected with the bottom plate 120
Wheel 140；Master cylinder in the upside of bottom plate 120, it includes motion platform 220 and control institute with six degree of freedom
State the control cabinet 240 of motion platform 220；Wherein, the master cylinder boxcar is also included respectively positioned at the left and right sides of distal side
Two connecting poles, each connecting pole are rigidly connected to the car body and connected in the near-end platform 50 of distal side and robot
And the height of the near-end platform 50 can be adjusted.
Fig. 2 is the stereogram according to the master cylinder boxcar of one embodiment.As an example, the as shown in Fig. 2 wheel
140 are arranged on the lower section of bottom plate 120；Each connecting pole can be connected to the car body in its bottom rigid；The motion platform 220
It can be stewart platforms, and various resetting tools can be installed as needed on the platform；Control unit 240 is then positioned at fortune
The lower section of moving platform 220.
Thus, the master cylinder boxcar in the embodiment also provides high while the motion platform required for providing operation
Spend regulating power.
Fig. 3 is the stereogram according to the connecting pole of one embodiment.With continued reference to Fig. 2 with reference to Fig. 3, it is preferable that every
The individual connecting pole includes heightening post 320 and contiguous block 330, and the contiguous block 330 is detachably connected to the near-end platform
50。
As an example, the contiguous block 330 in Fig. 2 and Fig. 3 is welded in inner side and heightened on post 320, at the same it is removable in outside
It is connected to near-end platform 50 with unloading.By this modular construction, the manufacturing cost of connecting pole is relatively low.
Fig. 4 is the sectional view for heightening post according to one embodiment.As shown in Figure 4, it is preferable that the post 320 of heightening wraps
The rotatable handles 321 positioned at top, the hollow rotatable screw mandrel 323 driven by the handle 321 are included, and around the silk
Bar 323 simultaneously forms the Nut pole 324 that screw thread coordinates with the leading screw 323, and the Nut pole 324, which is connected to, described heightens post 320
Bottom.In this example, Nut pole 324 plays guide support, and its length is less than one meter.Due to surgical practices and do not need
The height of big stroke is adjusted, and the Nut pole in above-mentioned example, which fixes design, can fully meet the needs of height regulation.
Referring still to Fig. 4, it is preferable that the post 320 of heightening also includes rotatable mandrel 325, and the mandrel 325 is located at institute
State in hollow screw mandrel 323.Due to the addition of above-mentioned mandrel, it is possible to increase the concentric locating of the correlated parts for heightening post can
By property.
Referring still to Fig. 4, it is preferable that the post 320 of heightening also includes lifting column 326, and it is connected to the handle 321 simultaneously
And the Nut pole 324 is surrounded, when rotating the handle 321, the lifting column 326 lifts around the Nut pole 324.
Fig. 5 is the stereogram according to the contiguous block of one embodiment.With reference to figure 3 and Fig. 5, it is preferable that the robot
The connecting portion of near-end platform 50, which has, arranges rectangular screw hole, and the contiguous block 330 includes corresponding with the screw hole
Screw hole, and the near-end platform 50 is rigidly connected to by screw 331.
When master cylinder boxcar needs to connect the near-end platform of robot, by the screw hole of contiguous block 330 and near-end platform
Connecting portion on screw hole alignment, then the two is rigidly connected together with screw 331.
Fig. 2 is referred back to, T-shaped hog frame 160 is also included according to the master cylinder boxcar of the robot of one embodiment, it is described
The both sides of the horizontal component of hog frame 160 be rigidly connected to respectively it is described two heighten post 320, the hog frame 160 it is vertical
Part is rigidly connected to the bottom plate 120 in bottom side.
It the addition of T-shaped hog frame 160, can further increase the bonding strength for heightening post 320 and car body, while be kept for two
The spacing for heightening post is constant.
Again referring to Fig. 2, the case of proximal lateral is additionally included according to the car body of the master cylinder boxcar of the robot of one embodiment
Handlebar 180, in order to push or pull on the master cylinder boxcar.
Each embodiment given above, can undoubtedly there are various modifications and increase and decrease.For example, wheel can be arranged in the outer of bottom plate
Side rather than lower section；Control unit can be placed on the side of motion platform, such as rear side.With the progress of manufacturing technology, such as 3D
The progress of printing technique, heightening post and contiguous block can be integrally formed rather than fit together.In addition, other kinds of leading screw
Elevating mechanism, the Nut pole in above-described embodiment can also be replaced to fix the design of (nut is fixed and leading screw rotates and moves).
Although disclosing multiple exemplary embodiments, it will be appreciated, however, by one skilled in the art that without departing from the present invention
Spirit and scope in the case of, various changes and improvement can be made, and can suitably substitute perform identical function portion
Part.It should be noted that the feature with reference to a brief description of the drawings can be got up with the combinations of features of other accompanying drawings, even if being not expressly mentioned.
Claims (8)
1. a kind of master cylinder boxcar of robot, the near-end platform (50) of itself and robot is used cooperatively, the master cylinder boxcar
Including：
Car body, including bottom plate (120) and the wheel (140) that is connected with the bottom plate (120)；
Master cylinder on the bottom plate (120), it includes motion platform (220) and the control fortune with six degree of freedom
The control cabinet (240) of moving platform (220)；
Characterized in that, the master cylinder boxcar also includes two connecting poles for being located at the left and right sides of distal side respectively, each
The connecting pole is rigidly connected to the car body and is connected in the near-end platform (50) of distal side and robot and can adjust institute
State the height of near-end platform (50).
2. the master cylinder boxcar of robot according to claim 1, wherein
Each connecting pole includes heightening post (320) and contiguous block (330), and the contiguous block (330) is detachably connected to
The near-end platform (50).
3. the master cylinder boxcar of robot according to claim 2, wherein
The post (320) of heightening includes the rotatable handles (321) positioned at top, by the rotatable of the handle (321) drive
Screw mandrel (323), and the Nut pole (324) coordinated around the screw mandrel (323) and with the leading screw (323) formation screw thread, institute
State Nut pole (324) and be connected to the bottom for heightening post (320).
4. the master cylinder boxcar of robot according to claim 3, wherein
The screw mandrel (323) is hollow, and the post (320) of heightening also includes rotatable mandrel (325), the mandrel (325)
In the hollow screw mandrel (323).
5. the master cylinder boxcar of robot according to claim 3, wherein
The post (320) of heightening also includes lifting column (326), and it is connected to the handle (321) and surrounds the Nut pole
(324), when rotating handle (321), lifting column (326) lifting.
6. the master cylinder boxcar of robot according to claim 2, wherein
The connecting portion of the near-end platform (50) of the robot, which has, arranges rectangular screw hole, contiguous block (330) bag
The screw hole corresponding with the screw hole is included, and the near-end platform (50) is rigidly connected to by screw (331).
7. the master cylinder boxcar of robot according to claim 2, in addition to
T-shaped hog frame (160), the both sides of the horizontal component of the hog frame (160) are rigidly connected to described two heighten respectively
Post (320), the vertical portion of the hog frame (160) are rigidly connected to the bottom plate (120) in bottom side.
8. the master cylinder boxcar of robot according to claim 2, wherein
The car body is additionally included in the boxcar handle (180) of proximal lateral.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711111934.2A CN107789060A (en) | 2017-11-10 | 2017-11-10 | The master cylinder boxcar of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711111934.2A CN107789060A (en) | 2017-11-10 | 2017-11-10 | The master cylinder boxcar of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107789060A true CN107789060A (en) | 2018-03-13 |
Family
ID=61536004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711111934.2A Pending CN107789060A (en) | 2017-11-10 | 2017-11-10 | The master cylinder boxcar of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107789060A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014005457A1 (en) * | 2012-06-11 | 2014-01-09 | Tang Peifu | Long bone fracture resetting robot |
| CN104546066A (en) * | 2015-01-22 | 2015-04-29 | 中国科学院深圳先进技术研究院 | Passive type nasal endoscopic surgery assisting robot |
| CN104799922A (en) * | 2015-03-30 | 2015-07-29 | 北京航空航天大学 | Robot-aided pelvis restoration system |
| CN209107580U (en) * | 2017-11-10 | 2019-07-16 | 威海威高骨科手术机器人有限公司 | The master cylinder boxcar of robot |
-
2017
- 2017-11-10 CN CN201711111934.2A patent/CN107789060A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014005457A1 (en) * | 2012-06-11 | 2014-01-09 | Tang Peifu | Long bone fracture resetting robot |
| CN104546066A (en) * | 2015-01-22 | 2015-04-29 | 中国科学院深圳先进技术研究院 | Passive type nasal endoscopic surgery assisting robot |
| CN104799922A (en) * | 2015-03-30 | 2015-07-29 | 北京航空航天大学 | Robot-aided pelvis restoration system |
| CN209107580U (en) * | 2017-11-10 | 2019-07-16 | 威海威高骨科手术机器人有限公司 | The master cylinder boxcar of robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109044533B (en) | Minimally invasive interventional operation robot for urinary surgery | |
| CN106132358B (en) | Bone pulling device and reduction of the fracture system including this | |
| CN109091231B (en) | Main operation arm for minimally invasive surgery | |
| JP2006525841A (en) | Cervical traction device | |
| KR101745434B1 (en) | Self-assistant apparatus for dental clinic | |
| CN104548328A (en) | Robot device for minimally-invasive local radiotherapy | |
| JP2000312699A (en) | Urologic patient bed | |
| CN106175917A (en) | Intersection of sliding perspective orthopaedics pedicle screw inserts auxiliary equipment | |
| CN106859766A (en) | For the navigation system and application method that are resetted in shaft fracture marrow | |
| JP5784351B2 (en) | X-ray diagnostic apparatus and image processing apparatus | |
| CN107811797A (en) | Orthopedic robot | |
| CN107789060A (en) | The master cylinder boxcar of robot | |
| KR101850116B1 (en) | A table for photographing radiation images | |
| CN105128917B (en) | A kind of electric boosted trolley | |
| CN209107580U (en) | The master cylinder boxcar of robot | |
| CN201404228Y (en) | Special examination bed for transcranial Doppler | |
| CN105943119A (en) | Ultrasonic lithotripsy treatment device | |
| CN201064509Y (en) | Multifunctional traction bed | |
| CN209107951U (en) | Orthopedic robot | |
| CN207236803U (en) | A kind of intelligence Internal Medicine-Oncology detector | |
| CN201139581Y (en) | Color ultrasonic diagnostic bed | |
| CN114652970B (en) | Ultrasonic therapeutic device | |
| CN105796178B (en) | End swinging joint driving mechanism | |
| JPH0788110A (en) | Medical device | |
| EP3017799B1 (en) | Patient table |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |