CN108338842B - Portable initiative constraint facet joint surgical robot - Google Patents
Portable initiative constraint facet joint surgical robot Download PDFInfo
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- CN108338842B CN108338842B CN201810370571.2A CN201810370571A CN108338842B CN 108338842 B CN108338842 B CN 108338842B CN 201810370571 A CN201810370571 A CN 201810370571A CN 108338842 B CN108338842 B CN 108338842B
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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
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
Abstract
A portable active constraint type small joint surgical robot comprises a precise linear feeding unit, a precise pitching unit, a precise yawing unit and a tool clamping unit; controlled by a programmable robotic system, the present invention provides precise motions of pitch, yaw and linear feeds, where the axes of motion intersect at or near a common point to provide low and uniform admittance. The robot provides active constraint control, the operation area is limited by programming instructions, when the tail end of the operation tool exceeds the pre-operation planning area, the surgical robot provided by the patent generates external active constraint, a certain resistance is generated by a driver on the robot, the tool is prevented from moving to the area outside the planning and reminding a doctor that the operation of the tool exceeds the planning space, the accuracy of the expected movement is ensured, and simultaneously, the unexpected error movement is limited, so that the operation is limited to a safe and expected area, and the damage of a patient in the operation can be reduced to the minimum.
Description
Technical Field
The invention belongs to the field of medical robots, and particularly relates to a portable active constraint type small joint surgical robot.
Background
Medical surgical robots are emerging under the need to achieve faster, more accurate surgery, and the development of robot-assisted surgery can enable surgeons to make smaller, more accurate interventions to overcome the limitations of manual motion. The surgeon typically controls the robot to operate using a joystick, and in orthopedic surgery, typical robotic systems are MAKOplasty robotic systems, acrobot robotic systems, spinesasist robotic systems, and the like. The MAKOPASTY robot system is mainly used when knee joint single-chamber forming operation is carried out at the present stage, the problem of poor alignment is effectively solved, the basic principle of the Acrobot robot system is to utilize limb three-dimensional CT images and CAD prosthesis models to plan alignment of bones, prosthesis positions and shapes and ranges of tissues to be excised for operation, and the spineASSIST robot system is a small robot developed by Israel company for carrying out spinal operations. These orthopedic robotic systems have achieved satisfactory results in knee unicondylar arthroplasty, total knee arthroplasty, hip arthroplasty, and orthopedic procedures such as spinal screw placement.
The above-mentioned robot systems all need to be accurately controlled by a doctor during an operation, and the relative accuracy of the doctor is high in the replacement operation of a large joint such as a knee joint, but when the operation is performed on a small joint such as a finger, a wrist and an ankle, the accuracy control of a higher standard is difficult to be realized by the feeling of the doctor alone, so that a portable operation robot with an active constraint function aiming at the small joint is urgently needed, the hands of the doctor can be carried, the influence of misoperation or hand shake generated by fatigue of the doctor is reduced, and the operation accuracy reaches the higher standard. Meanwhile, the surgical range is limited, the stability and the accuracy of the surgical operation are improved, and better operability is achieved.
Disclosure of Invention
The invention aims to solve the problem that the existing surgical robot is low in precision in repair and replacement operations on diseased small joints, small bones or diseased joints and bones of infants of adults, and provides a portable surgical robot with an active constraint function aiming at small joints, a doctor can operate tools to freely move in a planned space before operation, when the tail end of the operating tool of the surgeon exceeds a planned area before operation, the surgical robot generates additional active constraint, a certain resistance is generated through a driver on the robot, the tools are prevented from moving to the area outside planning, and the doctor is reminded that the operation of the surgical robot exceeds the planned space. The portable active constraint facet joint surgical robot has the characteristics of portability, high reliability, high precision and the like.
The device is beneficial to performing an operation on the repair and replacement of a diseased small joint, a small bone or a diseased joint and bone of an infant of an adult, and can generate actively restrained resistance when an operated operation tool exceeds a preoperative planning range, so as to obstruct the movement of the operation tool and remind a doctor of the operation overrun.
The present invention provides accurate motions of pitch, yaw and linear feeds, controlled by a programmable robotic system, wherein the axes of motion intersect at or near a common point to provide a low and uniform admittance. The robotic system provides active restraint control by programming instructions to limit the surgical field, ensure accuracy of the intended movement, and limit unintended movement, thereby limiting the operation to safe and desired areas, and minimizing patient trauma during the operation.
The invention comprises a precise linear feeding unit, a precise pitching unit, a precise yawing unit and a tool clamping unit;
the precise linear feeding unit fixes the whole machine on the medical box through a guide rail and a ball screw and is driven by a miniature linear motor;
the precise pitching unit is fixed by a straight shaft with a bevel gear I and a bevel gear II, drives a clamping device comprising the straight shaft to perform pitching motion through reverse motion of gear shafts I and II on the upper side and the lower side, the gear shaft I is fixed by a flange bearing III and a flange bearing IV, the gear shaft II is fixed by a flange bearing V and a flange bearing VI, and the pitching range is controlled through programming, so that an operation area is controlled in the vertical direction.
The precise yaw unit drives the clamping device comprising a straight shaft to perform yaw motion through the same-direction motion of the gear shafts I and II on the upper side and the lower side, the straight shaft is positioned by the flange bearing I and the flange bearing II, the yaw angle is controlled through programming, and the operation area is controlled in the horizontal direction.
In the precise linear feeding unit, a miniature linear motor is connected with a precise ball screw, rotary motion provided by the miniature linear motor is converted into precise linear feeding motion through the precise ball screw, auxiliary motion and support are carried out by a guide rail, displacement of the linear feeding motion is controlled by controlling the rotating speed of the miniature linear motor, and the miniature linear motor and the precise ball screw are fixedly connected with each other through a miniature linear screw nut, a platform base and a medical box through bolts.
In the precision pitching unit, a miniature direct current motor I is fixed on a platform base, a gear shaft I is driven to rotate through a transmission mode of a gear I and a gear II, the gear I and the gear II are fixed on the platform base through shaft shoulders, two ends of the gear shaft I are supported and guided by a flange bearing III and a flange bearing IV, the miniature direct current motor II is fixed on the platform base, the gear shaft II is driven to rotate through a transmission mode of the gear III and the gear IV, the gear III and the gear IV are fixed on the platform base through shaft shoulders, two ends of the gear shaft II are supported and guided by a flange bearing V and a flange bearing VI, when the miniature direct current motor I and the miniature direct current motor II start to drive the gear shaft I and the gear shaft II to do reverse motion, a bevel gear I and a bevel gear II start to do pitching motion, the bevel gear I and the bevel gear II are fixedly and coaxially connected through a straight shaft, two ends of the straight shaft are respectively connected with a support base in a matched mode, and the pitching motion of the whole clamping device and a surgical tool is driven to do pitching motion when the bevel gear I and the bevel gear II do pitching motion, and the pitching motion range of the bevel gear is controlled through programming, and the region of the bevel gear is controlled in the vertical direction.
The bevel gear I and the bevel gear II of the precise yaw unit are fixedly and coaxially connected with the straight shaft, so that the precise yaw unit can rotate simultaneously, and when the miniature direct current motor I and the miniature direct current motor II start to drive the gear shaft I and the gear shaft II to do the same-direction motion, the bevel gear I and the bevel gear II are fixedly and coaxially connected with the straight shaft, so that the precise yaw unit does yaw rotation, the clamping device and the surgical tool are driven to do yaw motion at the same time, the yaw angle of the clamping device and the surgical tool is controlled through programming, and the surgical area of the precise yaw unit can be controlled in the horizontal direction.
The tool clamping unit consists of a surgical tool and a clamping device, the clamping device comprises a surgical tool sleeve shaft, a supporting base and a dust cover, the surgical tool is sleeved with the surgical tool sleeve shaft, the range of the surgical tool in the operation of the facet joint is limited through pitching yaw movement of the clamping device, and the surgical tool is prevented from moving towards an area outside planning.
The invention has the beneficial effects that:
1. the invention has the advantages of high design requirement precision, strong reliability, simple and compact structure, portability and little influence by environment.
2. The invention utilizes the control system to limit the operation range in a certain area, and when the operation exceeds the limit range, resistance is generated to prevent the tool from moving out of the planning range, thereby further improving the operation precision.
3. The tool clamping unit can be provided with a surgical tool for surgery, and tools such as a drill, a cutter, a laser and the like can be arranged at the relative positions of the tool clamping unit for work, so that fine works such as auxiliary engraving and embroidery can be performed, and the applicability is wide.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic diagram of the internal structure of the present invention.
Fig. 3 is a partial schematic view of the present invention.
Fig. 4 is a schematic view of a partial structure of the present invention.
Fig. 5 is a schematic view of the rear side appearance of the present invention.
In the figure: 1. a medical kit; 2. a surgical tool; 3. a surgical tool sleeve shaft; 4. a support base; 5. guide rail 6. Dust cover; 7. a platform base; 8. a gear III; 9. a gear IV; 10. a miniature direct current motor II; 11. a miniature linear screw nut; 12. a ball screw; 13. a miniature linear motor 14. A gear I; 15. a gear II; 16. a flange bearing I; 17. a flange bearing II; 18. a flange bearing III; 19. a gear shaft I; 20. a flange bearing IV 21 is a straight shaft; 22. bevel gears I; 23. a gear shaft II; 24. flange bearing V25. Flange bearing VI; 26. bevel gears II; 27. miniature DC motor I.
Detailed Description
Referring to fig. 1 to 5, the portable actively restrained facet joint surgical robot of the present invention includes a precision straight feeding unit, a precision pitch unit, a precision yaw unit, and a tool clamping unit;
the precise linear feeding unit fixes the whole machine on the medical box 1 through the guide rail 5 and the ball screw 12 and is driven by the miniature linear motor 13;
the precise pitching unit is characterized in that a bevel gear I22 and a bevel gear II 26 are fixed by a straight shaft 21, a clamping device comprising the straight shaft 21 is driven to perform pitching motion through reverse motion of a gear shaft I19 and a gear shaft II 23 on the upper side and the lower side, the gear shaft I19 is fixed by a flange bearing III 18 and a flange bearing IV 20, the gear shaft II 23 is fixed by a flange bearing V24 and a flange bearing VI 25, and a pitching range is controlled through programming, so that an operation area is controlled in the vertical direction.
The precise yaw unit drives the clamping device comprising the straight shaft 21 to perform yaw motion through the same-direction motion of the gear shafts I19 and II 23 on the upper side and the lower side, the straight shaft 21 is positioned by the flange bearing I16 and the flange bearing II 17, and the yaw angle is controlled through programming, so that the operation area is controlled in the horizontal direction.
In the precise linear feeding unit, a micro linear motor 13 is connected with a precise ball screw 12, the rotational motion provided by the micro linear motor 13 is converted into precise linear feeding motion through the precise ball screw 12, the precise linear feeding motion is assisted and supported by a guide rail 5, the displacement of the linear feeding motion is controlled by controlling the rotating speed of the micro linear motor 13, and the micro linear motor 13 and the precise ball screw 12 are fixedly connected with a medical box 1 through a micro linear screw nut 11 and a platform base 7 respectively.
In the precise pitching unit, a miniature direct current motor I27 is fixed on a platform base 7, a gear shaft I19 is driven to rotate through a transmission mode of a gear I14 and a gear II 15, the gear I14 and the gear II 15 are fixed on the platform base 7 through shaft shoulders, two ends of the gear shaft I19 are supported and guided by a flange bearing III 18 and a flange bearing IV 20, the miniature direct current motor II 10 is fixed on the platform base 7, a gear shaft II 23 is driven to rotate through a transmission mode of a gear III 8 and a gear IV 9, the gear III 8 and the gear IV 9 are fixed on the platform base 7 through shaft shoulders, two ends of the gear shaft II 23 are supported and guided by a flange bearing V24 and a flange bearing VI 25, when the miniature direct current motor I27 and the miniature direct current motor II 10 start to drive the gear shaft I19 and the gear II 23 to do reverse motion, the bevel gear I22 and the bevel gear II 26 start to do pitching motion, the bevel gear I22 and the bevel gear II 26 are fixedly and coaxially connected through a straight shaft 21, two ends of the straight shaft 21 are respectively connected with a support base 4 through a flange bearing I16 and a flange bearing II 17, and the bevel gear II are matched with the bevel gear II 22 and the bevel gear II 26, and the whole clamping device is driven to do pitching motion in the whole clamping device and the pitching motion range of the pitching device can be controlled in the vertical operation region through the pitching device.
The bevel gears I22 and II 26 of the precise yaw unit are fixedly and coaxially connected with the straight shaft 21, so that the precise yaw unit can rotate simultaneously, and when the miniature direct current motor I27 and II 10 are started to drive the gear shafts I19 and II 23 to do the same-direction motion, the bevel gears I22 and II 26 are fixedly and coaxially connected with the straight shaft 21, so that the precise yaw unit can do yaw rotation, the clamping device and the surgical tool 2 are driven to do yaw motion, the yaw angle of the precise yaw unit is controlled by programming, and the surgical area can be controlled in the horizontal direction.
The tool clamping unit consists of a surgical tool 2, a clamping device and the like, wherein the clamping device comprises a surgical tool sleeve shaft 3, a supporting base 4 and a dust cover 6, the surgical tool 2 is sleeved with the surgical tool sleeve shaft 3, the range of the surgical tool 2 in the operation of the facet joint is limited through pitching yaw movement of the clamping device, and the surgical tool 2 is prevented from moving towards an area outside planning.
Referring to fig. 1 to 5, the main body size of the portable facet joint surgical robot is 300mm×160mm, and the portable facet joint surgical robot is used for assisting in accurate control in corrective surgery by actively restraining a robot motion system through programming according to the high-precision requirement of the robot.
The gears I and II and the gears III and IV adopt the same gears, so that the structural sizes of the gears are consistent, and the upper gear and the lower gear synchronously rotate in the forward direction or the reverse direction.
The bevel gear I and the bevel gear II adopt the same gears, and the gear shaft I and the gear shaft II adopt the same specification and the same size, so that synchronous motion is achieved.
The axes of the three movements intersect at or near a common point to provide a low and uniform admittance to ensure greater accuracy.
The invention can also be applied to any orthopedic and other surgical systems or other applications requiring precise control when moving tools, including some manufacturing applications and the engraving, DIY manual and artistic industries, etc., the tool holding unit of the invention can be used for installing tools including drills, cutters, lasers, etc. in relative positions, and can be used for fine works such as auxiliary engraving, embroidery, etc., wherein the robot restraint system can limit the movement of the device to a specific area, thereby expressing the shape to be shown.
The above description is only a preferred example of the present invention and is not intended to limit the present invention, but many modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. A portable actively constrained facet joint surgical robot, characterized by: the device comprises a precise linear feeding unit, a precise pitching unit, a precise yawing unit and a tool clamping unit;
the precise linear feeding unit fixes the whole machine on the medical box (1) through a guide rail (5) and a ball screw (12) and is driven by a miniature linear motor (13);
the precise pitching unit is characterized in that a bevel gear I (22) and a bevel gear II (26) are fixed by a straight shaft (21), a clamping device comprising the straight shaft (21) is driven to perform pitching motion through reverse motions of gear shafts I (19) and II (23) on the upper side and the lower side, the gear shaft I (19) is fixed by a flange bearing III (18) and a flange bearing IV (20), and the gear shaft II (23) is fixed by a flange bearing V (24) and a flange bearing VI (25); the precise yaw unit drives a clamping device comprising a straight shaft (21) to perform yaw motion through the same-direction motion of a gear shaft I (19) and a gear shaft II (23) on the upper side and the lower side, and the straight shaft (21) is positioned by a flange bearing I (16) and a flange bearing II (17);
in the precise linear feeding unit, a micro linear motor (13) is connected with a precise ball screw (12), the rotary motion provided by the micro linear motor (13) is converted into precise linear feeding motion through the precise ball screw (12), auxiliary motion and support are carried out by a guide rail (5), the displacement of the linear feeding motion is controlled by controlling the rotating speed of the micro linear motor (13), and the micro linear motor (13) and the precise ball screw (12) are fixedly connected with a medical box (1) through a micro linear screw nut (11) and a platform base (7) respectively through bolts;
in the precise pitching unit, a miniature direct current motor I (27) is fixed on a platform base (7), a gear shaft I (19) is driven to rotate through a transmission mode of a gear I (14) and a gear II (15), the gear I (14) and the gear II (15) are fixed on the platform base (7) through shaft shoulders, two ends of the gear shaft I (19) are supported and guided by a flange bearing III (18) and a flange bearing IV (20), a miniature direct current motor II (10) is fixed on the platform base (7), a gear shaft II (23) is driven to rotate through a transmission mode of the gear III (8) and the gear IV (9), the gear III (8) and the gear IV (9) are fixed on the platform base (7) through shaft shoulders, two ends of the gear shaft II (23) are supported and guided by a flange bearing V (24) and a flange bearing VI (25), when the miniature direct current motor I (27), the miniature direct current motor II (10) is started to drive the gear shaft I (19) and the gear shaft II (23) to do reverse motion, a bevel gear I (22) and a bevel gear II (26) begin pitching motion, the bevel gear I (22) and the bevel gear II (26) are connected with the two ends of the flange bearing II (21) through a shaft (21) in a coaxial connection mode, and the two ends of the bevel gear II (21) are respectively and the flange bearing II (16) are fixedly connected with the two ends of the flange bearings (16) in a matching mode, when the bevel gear I (22) and the bevel gear II (26) do pitching motion, the whole clamping device and the operation tool (2) are driven to do pitching motion;
the bevel gear I (22) and the bevel gear II (26) of the precise yaw unit are fixedly and coaxially connected with the straight shaft (21) so that the precise yaw unit can rotate simultaneously, and when the miniature direct current motor I (27) and the miniature direct current motor II (10) start to drive the gear shaft I (19) and the gear shaft II (23) to do the same-direction movement, the bevel gear I (22) and the bevel gear II (26) are fixedly and coaxially connected with the straight shaft (21) so that the precise yaw unit does yaw rotation and drives the clamping device and the surgical tool (2) to do yaw movement;
the tool clamping unit consists of a surgical tool (2) and a clamping device, the clamping device comprises a surgical tool sleeve shaft (3), a supporting base (4) and a dust cover (6), the surgical tool (2) is sleeved with the surgical tool sleeve shaft (3), the range of the surgical tool (2) in the facet joint surgery is limited through pitching yaw movement of the clamping device, and the surgical tool (2) is prevented from moving towards an area outside planning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810370571.2A CN108338842B (en) | 2018-04-24 | 2018-04-24 | Portable initiative constraint facet joint surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810370571.2A CN108338842B (en) | 2018-04-24 | 2018-04-24 | Portable initiative constraint facet joint surgical robot |
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| CN108338842A CN108338842A (en) | 2018-07-31 |
| CN108338842B true CN108338842B (en) | 2023-10-20 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN111568552B (en) * | 2020-04-14 | 2021-04-13 | 山东大学 | Endoscope operation robot through natural cavity |
| CN112959327B (en) * | 2021-03-31 | 2022-07-29 | 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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