CN108338842A - A kind of portable active constraint Minor articulus operating robot - Google Patents
A kind of portable active constraint Minor articulus operating robot Download PDFInfo
- Publication number
- CN108338842A CN108338842A CN201810370571.2A CN201810370571A CN108338842A CN 108338842 A CN108338842 A CN 108338842A CN 201810370571 A CN201810370571 A CN 201810370571A CN 108338842 A CN108338842 A CN 108338842A
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- gear
- accurate
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- unit
- gear shaft
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
Abstract
A kind of Minor articulus operating robot of portable active constraint type, including accurate linear feed unit, accurate pitching unit, accurate yawing unit, tool clamping unit；It is controlled by programmable robot system, the present invention provides pitching, the precise motion of yaw and straight-line feed, wherein the axis moved intersects at or near a common point to provide low and uniform admittance.Robot provides the constraint control of active, operative region is limited by programming instruction, when operation instrument end exceeds preoperative planning region, the operating robot that the present invention is carried will generate additional active constraint, certain resistance is generated by the driver in robot, obstruction tool is toward the regional movement outside planning and reminds doctor that its operation has exceeded planning space, ensure the accuracy of desired movement, the error campaign except being expected is limited simultaneously, it is restricted to safe and desired region to perform the operation, the damage of patient during surgery is allow to be reduced to minimum.
Description
Technical field
The invention belongs to medical robot fields, and in particular to a kind of Minor articulus surgical machine of portable active constraint type
People.
Background technology
Medical operating robot occurs in the case where requirement of more rapidly, more accurately performing the operation is realized in proposition, robot assisted
The exploitation of operation can enable the surgeon to make smaller, more accurate to intervene, to overcome the limitation of manual movement.Surgery is cured
Raw usually control robot is operated using control stick, and in bone surgery, common robot system has MAKOplasty
Robot system, Acrobot robot systems, SpineAssist robot systems etc..MAKOplasty robot systems are existing
The problem of stage carries out master's robot system to be used when knee joint single chamber plasty, and effective solution aligns malalignment,
The basic principle of Acrobot robot systems is to cook up bone together with CAD prosthese models using limb three-dimensional CT images
Contraposition to line, prosthese position and needs the shape of resection organization and range to perform the operation, SpineAssist robot systems be by
The exploitation of company of Israel is used for carrying out the small scale robot of operation on vertebra.These orthopedic robot systems are shaped in knee joint single condyle
Satisfactory effect is achieved in the bone surgeries such as art, total knee arthroplasty, arthroplasty of hip and spinal bone screw merging.
Above-described robot system is required for doctor to be precisely controlled during surgery, in knee joint etc. compared with large joint
Replacement operation in doctor opposite precision it is higher, but perform the operation to the Minor articulus as finger, wrist, ankle
When, the feeling for depending merely on doctor is difficult to realize the precision controlling of higher standard, therefore is badly in need of a for Minor articulus, portable
Operating robot with active constraint function can be such that doctor's hand carries, and reduce doctor because tired and generation
The influence of maloperation or hand shake, makes operation precision reach higher standard.Meanwhile range of operation is limited, improve surgical procedure
Stability, accuracy, have preferably it is handling.
Invention content
The purpose of the present invention is to solve existing operating robot to the lesion Minor articulus of adult, small bone or
The not high problem of precision in the lesion joint of infant and the reparation of bone and replacement operation, provide it is a kind of for Minor articulus,
The portable operating robot with active constraint function, doctor can in space that operation instrument has been planned in the preoperative freely
Movement, when the end of surgical operation instrument exceeds preoperative planning region, the present invention will generate additional active constraint,
Certain resistance is generated by the driver in robot, obstruction tool is toward the regional movement outside planning and reminds its operation of doctor
Planning space is exceeded.The portable active constraint Minor articulus operating robot has easy to carry, reliability height, precision height etc.
Feature.
A kind of Minor articulus operating robot with active constraint function, the device contribute to the lesion little Guan to adult
Section, small bone or the lesion joint of infant and the reparation and displacement of bone are performed the operation, when the operation tool of operation exceeds
When preoperative planned range, the resistance of active constraint can be generated, operation tool is hindered to move and reminds doctor that operation is transfinited.
The present invention is controlled by programmable robot system, and the present invention provides pitching, and yaw is accurate with straight-line feed
Movement, wherein the axis moved intersects at or near a common point to provide low and uniform admittance.Robot system carries
For the constraint control of active, operative region is limited by programming instruction, it is ensured that the accuracy of desired movement, while limiting expection
Except error campaign, be restricted to safe and desired region to will perform the operation, the damage of patient during surgery allow to reduce
To minimum.
The present invention includes accurate linear feed unit, accurate pitching unit, accurate yawing unit, tool clamping unit；
Complete machine is fixed on medical kit by accurate linear feed unit by guide rail and ball-screw, and by miniature straight-line electric
Machine is driven；
Accurate pitching unit is fixed bevel gear I, bevel gear II by d-axis, passes through upper and lower both sides gear shaft I, gear shaft II
Counter motion drive including d-axis including clamping device progress pitching movement, gear shaft I is by flange bearing III, flange bearing
IV fixes, and gear shaft II is fixed by flange bearing V, flange bearing VI, by the range of programming Control pitching, in vertical direction
Upper control operative region.
The movement in the same direction drive that the accurate yawing unit passes through upper and lower both sides gear shaft I and gear shaft II includes d-axis
Clamping device inside carries out yawing rotation, and d-axis is positioned by flange bearing I, flange bearing II, is yawed by programming Control
Angle controls operative region in the horizontal direction.
In the accurate linear feed unit, miniature linear is connected with precision ball screw, is rolled by precision
The rotary motion that miniature linear provides is converted into accurate straight line feed motion by ballscrew, and carries out synkinesia by guide rail
And support, control the displacement of straight-line feed movement, miniature linear and precision by controlling the rotating speed of miniature linear
Ball-screw carries out bolt with medical kit by miniature straight line feed screw nut and platform base respectively and is fixedly connected.
In the accurate pitching unit, miniature DC motor I is fixed on platform base, passes through gear I, gear II
Kind of drive band movable gear shaft I rotates, and gear I, gear II are fixed on by the shaft shoulder on platform base, and I both ends of gear shaft are by method
Blue bearing III, flange bearing IV are supported and are oriented to, and miniature DC motor II is fixed on platform base, by gear III,
The kind of drive band movable gear shaft II of gear IV rotates, and gear III, gear IV are fixed on by the shaft shoulder on platform base, gear shaft
II both ends are supported and are oriented to by flange bearing V, flange bearing VI, when miniature DC motor I, miniature DC motor II open
When dynamic band movable gear shaft I, gear shaft II do counter motion, bevel gear I, bevel gear II start to do pitching movement, bevel gear I, cone
Gear II is connected by d-axis fixing coaxial, and d-axis both ends are connected from flange bearing I, flange bearing II with support base respectively
It connects, drives entire clamping device and operation tool to do pitching movement when bevel gear I, bevel gear II do pitching movement, and pass through
The range of its pitching of programming Control can control its operative region in the vertical direction.
Bevel gear I, the bevel gear II of the accurate yawing unit are connect with d-axis fixing coaxial so that it can reach same
When rotate, when miniature DC motor I, miniature DC motor II, which start band movable gear shaft I, gear shaft II, does movement in the same direction, by
It is connect with d-axis fixing coaxial in bevel gear I, bevel gear II, it is made to do yaw rotation, while driving clamping device and operation work
Tool does yawing rotation, and by the angle of its yaw of programming Control, can control its operative region in the horizontal direction.
The tool clamping unit is made of operation tool, clamping device, and clamping device includes surgical tools sleeve axis, branch
Pedestal and dust cover are supportted, operation tool is socketed with surgical tools sleeve axis, and hand is limited by the pitching yawing rotation of clamping device
Range of the art tool in Minor articulus operation, hinders the regional movement outside operation tool towards planning.
Beneficial effects of the present invention：
1, design requirement precision of the present invention is high, highly reliable, simple and compact for structure, easy to carry, affected by environment little.
2, range of operation is limited in certain area by the present invention using control system, and is limited beyond it in surgical procedure
When range, generates resistance and tool is hindered to be moved to outside planned range, further increase operation precision.
3, tool clamping unit of the invention, can also be opposite at it other than it can install operation tool and be performed the operation
Position installation includes that the tools such as drill bit, cutter, laser work, and can carry out the work that such as auxiliary engraving, embroidery are fine,
Applicability is wide.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram of the present invention.
Fig. 2 is the internal structure schematic diagram of the present invention.
Fig. 3 is the partial schematic diagram of the present invention.
Fig. 4 is the partial structural diagram of the present invention.
Fig. 5 is the rear side appearance diagram of the present invention.
In figure：1. medical kit；2. operation tool；3. surgical tools sleeve axis；4. support base；5. 6. dust cover of guide rail；7.
Platform base；8. gear III；9. gear IV；10. miniature DC motor II；11. miniature straight line feed screw nut；12. ball-screw；
13. 14. gear I of miniature linear；15. gear II；16. flange bearing I；17. flange bearing II；18. flange bearing III；
19. gear shaft I；20. IV 21. d-axis of flange bearing；22. bevel gear I；23. gear shaft II；24. V 25. flange shaft of flange bearing
Hold VI；26. bevel gear II；27. miniature DC motor I.
Specific implementation mode
Shown in Fig. 1 to Fig. 5, portable active constraint Minor articulus operating robot of the invention include accurate straight line into
To unit, accurate pitching unit, accurate yawing unit, tool clamping unit；
Complete machine is fixed on medical kit 1 by accurate linear feed unit by guide rail 5 and ball-screw 12, and by miniature straight
Line motor 13 is driven；
Accurate pitching unit by d-axis 21 by bevel gear I 22, bevel gear II 26 fix, by upper and lower both sides gear shaft I 19,
The counter motion of gear shaft II 23 drives the clamping device including d-axis 21 to carry out pitching movement, and gear shaft I 19 is by flange
Bearing III 18, flange bearing IV 20 are fixed, and gear shaft II 23 is fixed by flange bearing V 24, flange bearing VI 25, passes through programming
The range for controlling pitching, controls operative region in the vertical direction.
The accurate yawing unit includes by the movement in the same direction of upper and lower both sides gear shaft I 19 and gear shaft II 23 drive
Clamping device including d-axis 21 carries out yawing rotation, and d-axis 21 is positioned by flange bearing I 16, flange bearing II 17, passes through volume
The angle of process control yaw, controls operative region in the horizontal direction.
In the accurate linear feed unit, miniature linear 13 is connected with precision ball screw 12, passes through essence
The rotary motion that miniature linear 13 provides is converted into accurate straight line feed motion by close ball-screw 12, and by guide rail 5 into
Row synkinesia and support control the displacement of straight-line feed movement by controlling the rotating speed of miniature linear 13, miniature straight
Line motor 13 carries out spiral shell by miniature straight line feed screw nut 11 and platform base 7 and medical kit 1 respectively with precision ball screw 12
Bolt is fixedly connected.
In the accurate pitching unit, miniature DC motor I 27 is fixed on platform base 7, passes through gear I 14, tooth
II 15 kind of drive band rotation of movable gear shaft I 19 is taken turns, gear I 14, gear II 15 are fixed on by the shaft shoulder on platform base 7,
I 19 both ends of gear shaft are supported and are oriented to by flange bearing III 18, flange bearing IV 20, and miniature DC motor II 10 is fixed on
On platform base 7, rotated by the kind of drive band movable gear shaft II 23 of gear III 8, gear IV 9, gear III 8, gear IV 9 are logical
It crosses the shaft shoulder to be fixed on platform base 7, II 23 both ends of gear shaft are supported and are led by flange bearing V 24, flange bearing VI 25
To when miniature DC motor I 27, miniature DC motor II 10 start band movable gear shaft I 19, gear shaft II 23 does counter motion
When, bevel gear I 22, bevel gear II 26 start to do pitching movement, and bevel gear I 22, bevel gear II 26 pass through 21 fixing coaxial of d-axis
Connection, 21 both ends of d-axis are connected by flange bearing I 16, flange bearing II 17 and support base 4 respectively, when bevel gear I 22,
Bevel gear II 26 drives entire clamping device when doing pitching movement and operation tool 2 does pitching movement, and by programming Control its
The range of pitching can control its operative region in the vertical direction.
Bevel gear I 22, the bevel gear II 26 of the accurate yawing unit connect with 21 fixing coaxial of d-axis so that it can
Reach while rotating, when miniature DC motor I 27, miniature DC motor II 10 start band movable gear shaft I 19, gear shaft II 23 is done
In the same direction when movement, since bevel gear I 22, bevel gear II 26 connect with 21 fixing coaxial of d-axis, it is made to do yaw rotation, while band
Dynamic clamping device and operation tool 2 do yawing rotation, and by the angle of its yaw of programming Control, can control in the horizontal direction
Make its operative region.
The tool clamping unit is made of operation tool 2, clamping device etc., and clamping device includes surgical tools sleeve axis
3, support base 4 and dust cover 6, operation tool 2 are socketed with surgical tools sleeve axis 3, pass through the pitching yawing rotation of clamping device
To limit range of the operation tool 2 in Minor articulus operation, the regional movement outside obstruction operation tool 2 towards planning.
Shown in Fig. 1 to Fig. 5, the size of main body of portable Minor articulus operating robot of the invention be 300mm ×
160mm × 160mm, the present invention are the high-precision requirements by robot itself, are carried out to robot motion's system using programming
Active constraint carrys out being precisely controlled in correcting surgical operation.
The gear I, II and gear III, IV use identical gear, keep its structure size consistent, reach two teeth up and down
Wheel while synchronous forward rotate backward.
The bevel gear I and bevel gear II use identical gear, and gear shaft I and gear shaft II are all made of same size phase
Same size, reaches and moves synchronously.
The axis of three kinds of movements intersects at or near a common point to provide low and uniform admittance, with true
Protect higher precision.
It needs to carry out it is also possible to apply the invention to any plastic surgery and other surgery systems or in mobile tool accurate
In the other application of control, including some manufacture applications and engraving, DIY craft and arts industry etc., work of the present invention
Has clamping unit other than it can operation tool be installed, it includes drill bit, cutter, laser etc. that can also be installed in its relative position
Tool works, and can carry out the work that such as auxiliary engraving, embroidery are fine, wherein robot restraint system can be by device
Movement be restricted to specific region, to give expression to the shape for wanting to show.
The foregoing is merely the preferred embodiments of the present invention, are not intended to restrict the invention, for those skilled in the art
For, the present invention can there are many changes and variation.Any modification made by all within the spirits and principles of the present invention, etc.
With replacement, improvement etc., should be included within the protection domain of invention.
Claims (1)
1. a kind of Minor articulus operating robot of portable active constraint type, it is characterised in that：Including accurate linear feed unit,
Accurate pitching unit, accurate yawing unit, tool clamping unit；
Complete machine is fixed on medical kit (1) by accurate linear feed unit by guide rail (5) and ball-screw (12), and by miniature
Linear motor (13) is driven；
Accurate pitching unit is fixed by bevel gear I (22), bevel gear II (26) by d-axis (21), passes through upper and lower both sides gear shaft I
(19), the counter motion of gear shaft II (23) drives the clamping device including d-axis (21) to carry out pitching movement, gear shaft I
(19) fixed by flange bearing III (18), flange bearing IV (20), gear shaft II (23) is by flange bearing V (24), flange bearing
VI (25) are fixed；Accurate yawing unit drives packet by the movement in the same direction of upper and lower both sides gear shaft I (19) and gear shaft II (23)
The clamping device progress yawing rotation including d-axis (21) is included, d-axis (21) is fixed by flange bearing I (16), flange bearing II (17)
Position；
In the accurate linear feed unit, miniature linear (13) is connected with precision ball screw (12), passes through essence
The rotary motion that miniature linear (13) provides is converted into accurate straight line feed motion by close ball-screw (12), and by guide rail
(5) synkinesia and support are carried out, the displacement of straight-line feed movement is controlled by controlling the rotating speed of miniature linear (13),
Miniature linear (13) and precision ball screw (12) respectively by miniature straight line feed screw nut (11) and platform base (7) and
Medical kit (1) carries out bolt and is fixedly connected；
In accurate pitching unit, miniature DC motor I (27) is fixed on platform base (7), passes through gear I (14), gear II
(15) kind of drive band movable gear shaft I (19) rotates, and gear I (14), gear II (15) are fixed on platform base by the shaft shoulder
(7) on, gear shaft I (19) both ends are supported and are oriented to by flange bearing III (18), flange bearing IV (20), micro DC
Machine II (10) is fixed on platform base (7), passes through gear III (8), the kind of drive band movable gear shaft II (23) of gear IV (9)
Rotation, gear III (8), gear IV (9) are fixed on by the shaft shoulder on platform base (7), and gear shaft II (23) both ends are by flange shaft
Hold V (24), flange bearing VI (25) is supported and is oriented to, when miniature DC motor I (27), miniature DC motor II (10)
When startup band movable gear shaft I (19), gear shaft II (23) do counter motion, bevel gear I (22), bevel gear II (26) start to bow
Movement is faced upward, bevel gear I (22), bevel gear II (26) are connected by d-axis (21) fixing coaxial, and d-axis (21) both ends are respectively by method
Blue bearing I (16), flange bearing II (17) and support base (4) are connected, when bevel gear I (22), bevel gear II (26) are done
Entire clamping device and operation tool (2) is driven to do pitching movement when pitching movement；
Bevel gear I (22), the bevel gear II (26) of accurate yawing unit connect with d-axis (21) fixing coaxial so that it can reach
It rotates simultaneously, when miniature DC motor I (27), miniature DC motor II (10) start band movable gear shaft I (19), gear shaft II
(23) when doing movement in the same direction, since bevel gear I (22), bevel gear II (26) connect with d-axis (21) fixing coaxial, it is made to do partially
Boat rotation, while clamping device and operation tool (2) being driven to do yawing rotation；
Tool clamping unit is made of operation tool (2), clamping device, and clamping device includes surgical tools sleeve axis (3), support bottom
Seat (4) and dust cover (6), operation tool (2) are socketed with surgical tools sleeve axis (3), pass through the pitching yawing rotation of clamping device
It limits range of the operation tool (2) in Minor articulus operation, hinders operation tool (2) towards the regional movement outside planning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810370571.2A CN108338842B (en) | 2018-04-24 | 2018-04-24 | Portable initiative constraint facet joint surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810370571.2A CN108338842B (en) | 2018-04-24 | 2018-04-24 | Portable initiative constraint facet joint surgical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108338842A true CN108338842A (en) | 2018-07-31 |
| CN108338842B CN108338842B (en) | 2023-10-20 |
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ID=62956076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810370571.2A Active CN108338842B (en) | 2018-04-24 | 2018-04-24 | Portable initiative constraint facet joint surgical robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108338842B (en) |
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| CN108953889A (en) * | 2018-07-24 | 2018-12-07 | 合肥爱玩动漫有限公司 | A kind of projection arrangement for cartoon design |
| CN111568552A (en) * | 2020-04-14 | 2020-08-25 | 山东大学 | Endoscope operation robot through natural cavity |
| CN112959327A (en) * | 2021-03-31 | 2021-06-15 | 上海电气集团股份有限公司 | Robot motion control method, system, electronic device, and storage medium |
| CN114110118A (en) * | 2021-11-12 | 2022-03-01 | 艺柏湾医疗科技(上海)有限公司 | Transmission and medical instrument |
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| Publication number | Publication date |
|---|---|
| CN108338842B (en) | 2023-10-20 |
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