CN109259865B - Intelligent minimally invasive spine surgery robot - Google Patents
Intelligent minimally invasive spine surgery robot Download PDFInfo
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- CN109259865B CN109259865B CN201811063445.9A CN201811063445A CN109259865B CN 109259865 B CN109259865 B CN 109259865B CN 201811063445 A CN201811063445 A CN 201811063445A CN 109259865 B CN109259865 B CN 109259865B
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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
- 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
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
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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
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The invention provides an intelligent spine minimally invasive surgery robot which comprises a support, a linear motion joint fixed on the support, a swing joint, a rotary joint, a pitching joint, a linear fine tuning joint and a tail end rotary joint, wherein the swing joint, the rotary joint, the pitching joint, the linear fine tuning joint and the tail end rotary joint are sequentially connected with the linear motion joint; the swing joint and the swing joint, the swing joint and the rotary joint, and the pitching joint and the rotary joint are fixedly connected through connecting rods; the linear fine tuning joint is fixed on the pitching joint; the tail end rotary joint is fixed on the linear fine adjustment joint; the joints are driven to move according to a preset planned path by a driving mechanism which is arranged in each joint and connected with a control system of the surgical robot. The invention realizes the control of a plurality of degrees of freedom of the surgical robot, linear feeding, swinging, rotary motion, pitching motion and linear fine tuning motion, ensures that the robot is adjusted to any position in a working range, meets any posture during working, and realizes the accurate positioning and accurate operation requirements of the surgery.
Description
Technical Field
The invention relates to the technical field of auxiliary operation machinery of medical surgery, in particular to an instrument applied to spine minimally invasive surgery operation, and specifically relates to an intelligent spine minimally invasive surgery robot.
Background
In the conventional internal fixation operation of the pedicle screw, in order to accurately implant the pedicle screw into the human body, muscles on the facet joint and transverse process need to be stripped, thereby damaging peripheral nerves and soft tissues of the lumbar vertebra. In the operation process, the three-dimensional image can not completely expose the operation visual field, the automatic spreader is required to be used for a long time to pull muscles, the radiation exposure area is further increased, secondary damage is caused to nerves and soft tissues on two sides of a patient, and meanwhile, the optimization of the operation position and the operation direction is difficult to ensure by manually drilling the nail path. Furthermore, the fatigue caused by long-time operation causes the physiological vibration of the hands of the doctor to increase the possibility of misoperation.
With the continuous improvement of the requirements on the medical level, the traditional operation mode is more and more difficult to meet the requirements of patients due to high risk and serious injury, and therefore, the introduction of an auxiliary instrument for the minimally invasive spinal surgery operation is a necessary trend.
Disclosure of Invention
According to the technical problems that lumbar soft tissue is damaged for many times and errors are generated due to manual operation in the traditional spine surgery, the intelligent spine minimally invasive surgery robot is provided. The invention mainly utilizes the cooperation among the joints of the linear motion joint, the swing joint, the rotary joint, the pitching joint, the linear fine tuning joint and the tail end rotary joint to realize the linear feeding, the swinging, the rotating, the pitching and the linear fine tuning motions of the surgical robot, thereby ensuring that the robot meets any posture during working and realizing the accurate positioning and the accurate operation requirements of the surgery.
The technical means adopted by the invention are as follows:
an intelligent spine minimally invasive surgery robot is characterized by comprising a support, a linear motion joint fixed on the support, and a swing joint, a rotary joint, a pitching joint, a linear fine adjustment joint and a tail end rotary joint which are sequentially connected with the linear motion joint;
the number of the swing joints is at least 1, the first swing joint is fixedly connected with the linear motion joint through a first sliding block arranged on the linear motion joint, and two adjacent swing joints are fixedly connected through a first connecting rod;
the rotary joint is fixedly connected with the swing joint through a second connecting rod;
the pitching joint is fixedly connected with the rotating joint through a third connecting rod;
the linear fine tuning joint is fixed on the pitching joint;
the tail end rotating joint is fixed on a second sliding block of the linear fine adjustment joint;
the rotating shaft of the swing joint is parallel to the motion direction of the linear motion joint, the axes of the rotary joint, the pitching joint and the rotating shaft of the tail end rotating joint are pairwise orthogonal, and the motion direction of the linear fine tuning joint is parallel to the rotation axis of the tail end rotating joint;
the joints are driven to move according to a preset planned path by a driving mechanism which is arranged in each joint and connected with a control system of the surgical robot.
Further, actuating mechanism includes servo motor, shaft coupling, harmonic speed reducer ware and encoder, the encoder install in servo motor is last and with control system is connected, servo motor's output shaft lead screw, through the lead screw connects gradually the shaft coupling with the harmonic speed reducer ware.
Further, the linear motion joint comprises an alternating current servo motor arranged at the inner bottom of a screw rod sleeve, an upper silver ball screw arranged in the screw rod sleeve is connected with an output shaft of the alternating current servo motor sequentially through a first electromagnetic clutch, a first harmonic reducer, a connecting shaft and a first coupler, and the upper silver ball screw is controlled to realize the up-and-down motion of a first sliding block arranged on the upper silver ball screw, so that the lifting of the linear motion joint is realized; the alternating current servo motor is fixedly connected with the support.
Furthermore, the linear motion joint is also provided with an emergency self-locking device.
Furthermore, the swing joint comprises a first direct current servo motor, an output shaft of the first direct current servo motor is sequentially connected with a second coupling, a second harmonic reducer, a second electromagnetic clutch and a mechanical arm connecting shaft, the on-off of the first direct current servo motor is controlled through the second electromagnetic clutch so as to control the motion of the mechanical arm connecting shaft, the first connecting rod is sleeved and fixed on the mechanical arm connecting shaft, and the end part of the mechanical arm connecting shaft is connected and fixed with a mechanical arm sleeve through a second deep groove ball bearing;
the swing joint, the swing joint and the pitch joint have the same structure,
further, the linear fine-tuning joint comprises a lead screw direct-current servo motor fixed on the joint sleeve through a motor support, an output shaft of the lead screw direct-current servo motor is connected with a micro ball screw through a sixth coupler, and the micro ball screw is controlled to realize the up-and-down movement of a second sliding block arranged on the micro ball screw, so that the precise adjustment of the linear fine-tuning joint is realized.
Further, terminal rotary joint includes fifth direct current servo motor, seventh shaft coupling, the first even axle of bone drill and sixth harmonic reduction gear are connected gradually to fifth direct current servo motor's output shaft, the bone drill second even axle on the sixth harmonic reduction gear is fixed in the protective housing through sixth deep groove ball bearing, and the three-jaw chuck is fixed the tip of bone drill second even axle, the three-jaw chuck drives bone drill rotary motion and accomplishes the operation auxiliary operation.
Furthermore, the first connecting rod, the second connecting rod and the third connecting rod are made of high-strength low-weight carbon fiber materials.
Compared with the prior art, the invention has the following advantages:
the invention discloses an intelligent spine minimally invasive surgery instrument robot which is provided with 2 linear moving joints and a plurality of rotating joints, wherein the linear moving joints are used for roughly adjusting the height of a tail end point of a mechanical arm, so that the vertical up-and-down movement of the whole mechanical arm along a Z axis is realized; the linear fine-tuning joint is used for fine-tuning the distance between the mechanical arm and the human body, so that accurate adjustment is realized, and the precision of the spinal surgery robot is ensured.
At least 1 swing joint is arranged, when a plurality of swing joints are arranged, the swing joints are arranged in parallel, the axes of the rotation joints are vertical to the ground and are parallel to the direction of gravity, and the influence of gravity on the spinal surgery robot can be reduced.
The rotary joint, the pitching joint and the tail end rotary joint form a wrist joint of the robot, and the three joints are orthogonal to each other, so that any posture of the tail end actuator can be realized. The end rotary joint is used for connecting a surgical instrument.
In addition, an emergency self-locking device is added in the linear motion joint, the safety of the surgical robot is fully considered, and the damage of the mechanical arm to a patient due to accidental falling can be reduced.
In conclusion, the invention has reasonable structural design, can realize the adjustment of a plurality of degrees of freedom, namely linear feeding, swinging, rotary motion, pitching motion, linear fine adjustment motion and the like, and can be widely popularized in the field of auxiliary instruments for spinal surgeries based on the reasons.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an intelligent spine minimally invasive surgery robot.
Fig. 2 is a schematic structural view of the linear motion joint of the present invention.
Fig. 3 is a schematic structural diagram of the swing joint of the present invention.
Fig. 4 is a schematic structural view of the linear fine adjustment joint of the present invention.
FIG. 5 is a schematic structural view of a distal rotary joint according to the present invention.
In the figure: 1. a support; 2. a linear motion joint; 3. a first swing joint; 4. a second swing joint; 5. a revolute joint; 6. a pitch joint; 7. linearly fine-tuning the joint; 8. a distal rotary joint; 9. a screw rod sleeve; 10. an AC servo motor; 11. a first coupling; 12. a connecting shaft; 13. a first harmonic reducer; 14. a first electromagnetic clutch; 15. a silver ball screw; 16. a first slider; 17. a first direct current servo motor; 18. a second coupling; 19. a mechanical arm sleeve; 20. a second harmonic reducer; 21. a second electromagnetic clutch; 22. a mechanical arm connecting shaft; 23. a second deep groove ball bearing; 24. a first link; 25. a motor bracket; 26. a lead screw DC servo motor; 27. a micro ball screw; 28. a joint sleeve; 29. a second tapered roller bearing; 30. a second slider; 31. a sixth coupling; 32. a fifth direct current servo motor; 33. a seventh coupling; 34. a first connecting shaft of the bone drill; 35. a sixth harmonic reducer; 36. a sixth deep groove ball bearing; 37. a second connecting shaft of the bone drill; 38. a protective shell; 39. a three-jaw chuck.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1, an intelligent spine minimally invasive surgery robot comprises a support 1, a linear motion joint 2 fixed on the support 1, and a first swing joint 3, a second swing joint 4, a rotary joint 5, a pitching joint 6, a linear fine tuning joint 7 and a tail end rotary joint 8 which are sequentially connected with the linear motion joint 2. The joints are driven to move according to a preset planned path by a driving mechanism which is arranged in each joint and connected with a control system of the surgical robot.
As shown in fig. 2, the linear motion joint 2 includes an ac servo motor 10 disposed at the bottom inside a screw sleeve 9, and an upper silver ball screw 15 disposed inside the screw sleeve 9 is connected to an output shaft of the ac servo motor 10 sequentially through a first electromagnetic clutch 14, a first harmonic reducer 13, and a first coupling 11; the alternating current servo motor 10 is rotatably connected with the bracket 1. The linear motion joint 2 is also provided with an emergency self-locking device.
The alternating current servo motor 10 outputs rotating speed and torque, the power of the alternating current servo motor 10 is transmitted to a connecting shaft 12 at one end of a first harmonic speed reducer 13 through a first coupler 11, the speed of the alternating current servo motor 10 is reduced to improve torque, motion is transmitted to a first electromagnetic clutch 14, the on-off of motion transmission is controlled through the first electromagnetic clutch 14, therefore, the control of an upper silver ball screw 15 is achieved, and the first sliding block 16 moves up and down through the upper silver ball screw 15, so that the lifting of the linear motion joint 2 is achieved.
The first swing joint 3, the second swing joint 4, the rotary joint 5 and the pitching joint 6 are basically the same in structure, namely, the first swing joint, the second swing joint, the rotary joint and the pitching joint are composed of an encoder, a direct-current servo motor, a coupler, a mechanical arm sleeve, a harmonic reducer, an electromagnetic clutch, a mechanical arm connecting shaft, a deep groove ball bearing, a connecting rod and the like. The encoder is installed on the servo motor and connected with the control system.
The first swing joint 3 and the second swing joint 4 are arranged in parallel and connected through a first connecting rod 24, the first connecting rod 24 is input with source power through a first direct current servo motor 17 to drive the second swing joint 4 to move left and right quickly and parallel to the ground, the axes of the rotary joints of the first swing joint and the second swing joint are perpendicular to the ground and parallel to the direction of gravity, and the influence of gravity on the spinal surgery robot can be reduced. The second swing joint 4 is connected with the rotation joint 5 through a second connecting rod, the second swing joint 4 drives the rotation joint 5 through the second connecting rod to finely adjust so as to improve the positioning precision of the structure during operation, the rotation joint 5 is connected with the pitching joint 6 through a third connecting rod, the rotation joint 5 drives the pitching joint 6 through the third connecting rod to rotate by taking the axis of the rotation joint 5 as the axis, and the rotation freedom degrees in two directions are realized.
Specifically, taking the structure of the first swing joint 3 as an example, as shown in fig. 3, the swing joint includes a first dc servo motor 17 to which a first encoder is attached, and an output shaft of the first dc servo motor 17 is connected to a second coupling 18, a second harmonic reducer 20, a second electromagnetic clutch 21, and a robot arm coupling shaft 22 in this order. The first direct current servo motor 17 outputs rotating speed and torque through the second coupling 18, the other end of the second coupling 18 is connected with the second harmonic reducer 20, the speed of the motor is reduced to improve torque, motion is transmitted to the second electromagnetic clutch 21, the on-off of the motor is controlled through the second electromagnetic clutch 21, therefore motion control of the mechanical arm connecting shaft 22 is achieved, the mechanical arm connecting shaft 22 is connected with the mechanical arm sleeve 19 through the second deep groove ball bearing 23, the mechanical arm connecting shaft 22 is prevented from shaking left and right, and the accuracy of rotary motion of the first connecting rod 24 is improved.
Similarly, the second swing joint 4 includes a second encoder, a second servo dc motor, and a third harmonic reducer, the second servo dc motor is mounted on the sleeve, and the second encoder is mounted on the second servo dc motor. The rotary joint 5 comprises a third encoder, a third servo direct current motor and a fourth harmonic reducer, the third servo direct current motor is installed on the sleeve, and the third encoder is installed on the third servo direct current motor. The pitching joint 6 comprises a fourth encoder, a fourth servo direct current motor and a fifth harmonic reducer, the fourth servo direct current motor is installed on the sleeve, and the fourth encoder is installed on the fourth servo direct current motor.
As shown in fig. 4, the linear fine-tuning joint 7 includes a screw direct-current servo motor 26 fixed on a joint sleeve 28 through a motor support 25, an output shaft of the screw direct-current servo motor 26 is connected with a micro ball screw 27 through a sixth coupler 31, another end of the micro ball screw 27 is fixed with the joint sleeve 28 through a second tapered roller bearing 29, the screw direct-current servo motor 26 outputs a rotation speed and a torque, the motion is transmitted to the micro ball screw 27 through the sixth coupler 31, and the second slider 30 is driven to slightly move up and down so as to realize accurate adjustment of the linear fine-tuning joint 7.
As shown in fig. 5, the terminal rotary joint 8 includes a fifth dc servo motor 32 provided with a fifth encoder, the fifth dc servo motor 32 outputs a rotation speed and a torque through a seventh coupling 33 to drive a first connecting shaft 34 of the bone drill on a sixth harmonic reducer 35 to move, the sixth harmonic reducer 35 reduces the speed of the fifth dc servo motor 32 to increase a torque, a second connecting shaft 37 of the bone drill is fixed in a protective shell 38 through a sixth deep groove ball bearing 36 to prevent the second connecting shaft 37 of the bone drill from moving left and right, and finally the movement is transmitted to a three-jaw chuck 39 to drive the rotary movement of the bone drill, thereby completing the operation assistance.
According to the invention, a servo motor is arranged at each of the linear motion joint 2, the first swing joint 3, the second swing joint 4, the rotary joint 5, the pitching joint 6, the linear fine adjustment joint 7 and the tail end rotary joint 8, so that 7-degree-of-freedom control of the surgical robot is realized, linear feeding, swinging, rotary motion, pitching motion and linear fine adjustment motion of the surgical robot are realized, the robot can be adjusted to any position in a working range, any posture during working is met, and accurate positioning and accurate operation requirements of surgery are realized.
The invention adopts the harmonic reducer, so that the movement is stable, the accurate positioning required by the surgical robot can be achieved, and the first connecting rod 24, the second connecting rod and the third connecting rod are made of high-strength low-weight carbon fiber materials, so that the load increased by the arm length can be reduced, and the whole mechanism is safer and more reliable to operate.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (2)
1. An intelligent spine minimally invasive surgery robot is characterized by comprising a support, a linear motion joint fixed on the support, and a swing joint, a rotary joint, a pitching joint, a linear fine adjustment joint and a tail end rotary joint which are sequentially connected with the linear motion joint;
the swing joint comprises a first swing joint and a second swing joint, the first swing joint is fixedly connected with the linear motion joint through a first sliding block arranged on the linear motion joint, and the first swing joint is fixedly connected with the second swing joint through a first connecting rod;
the second swing joint and the rotary joint are connected through a second connecting rod; the second swing joint drives the rotary joint to be finely adjusted through a second connecting rod;
the pitching joint is fixedly connected with the rotating joint through a third connecting rod; the power of a rotary joint input source drives the pitching joint to rotate by taking the axis of the rotary joint as an axis through a third connecting rod, so that the rotary freedom degrees in two directions are realized;
the linear fine tuning joint is fixed on the pitching joint;
the tail end rotating joint is fixed on a second sliding block of the linear fine adjustment joint;
the rotating shaft of the swing joint is parallel to the motion direction of the linear motion joint, the axes of the rotary joint, the pitching joint and the rotating shaft of the tail end rotating joint are pairwise orthogonal, and the motion direction of the linear fine tuning joint is parallel to the rotation axis of the tail end rotating joint;
the linear motion joint, the swing joint, the rotary joint, the pitching joint, the linear fine adjustment joint and the tail end rotary joint drive all the joints to move according to a preset planned path through driving mechanisms which are arranged inside the linear motion joint, the swing joint, the rotary joint, the pitching joint, the linear fine adjustment joint and the tail end rotary joint and are connected with a control system of the surgical robot;
the linear motion joint comprises an alternating current servo motor arranged at the bottom in a screw rod sleeve, an upper silver ball screw arranged in the screw rod sleeve is connected with an output shaft of the alternating current servo motor sequentially through a first electromagnetic clutch, a first harmonic reducer, a connecting shaft and a first coupler, and the upper silver ball screw is controlled to realize the up-and-down motion of a first sliding block arranged on the upper silver ball screw so as to realize the lifting of the linear motion joint; the alternating current servo motor is fixedly connected with the bracket;
the first swing joint comprises a first direct current servo motor provided with a first encoder, and an output shaft of the first direct current servo motor is sequentially connected with a second coupler, a second harmonic reducer, a second electromagnetic clutch and a mechanical arm connecting shaft; the first direct current servo motor outputs rotating speed and torque through the second coupler, the other end of the second coupler is connected with the second harmonic reducer, the speed of the motor is reduced to improve torque, motion is transmitted to the second electromagnetic clutch, the on-off of the motor is controlled through the second electromagnetic clutch, so that motion control of the mechanical arm connecting shaft is achieved, the mechanical arm connecting shaft is connected with the mechanical arm sleeve through the second deep groove ball bearing to prevent the mechanical arm connecting shaft from shaking left and right, and the rotating motion precision of the first connecting rod is improved; similarly, the second swing joint comprises a second encoder, a second servo direct current motor and a third harmonic reducer, the second servo direct current motor is mounted on the sleeve, and the second encoder is mounted on the second servo direct current motor; the first direct current servo motor inputs source power to the first connecting rod to drive the second swing joint to move left and right quickly and parallel to the ground, and the rotating axes of the first swing joint and the second swing joint are perpendicular to the ground and parallel to the direction of gravity;
the rotary joint comprises a third encoder, a third servo direct current motor and a fourth harmonic reducer, the third servo direct current motor is arranged on the sleeve, and the third encoder is arranged on the third servo direct current motor;
the pitching joint comprises a fourth encoder, a fourth servo direct current motor and a fifth harmonic reducer, the fourth servo direct current motor is arranged on the sleeve, and the fourth encoder is arranged on the fourth servo direct current motor;
the linear fine-tuning joint comprises a lead screw direct-current servo motor fixed on a joint sleeve through a motor support, an output shaft of the lead screw direct-current servo motor is connected with a micro ball screw through a sixth coupler, and the micro ball screw is controlled to realize the up-and-down movement of a second sliding block arranged on the micro ball screw, so that the precise adjustment of the linear fine-tuning joint is realized;
the tail end rotary joint comprises a fifth direct current servo motor, an output shaft of the fifth direct current servo motor is sequentially connected with a seventh shaft coupling, a first bone drill connecting shaft and a sixth harmonic speed reducer, a second bone drill connecting shaft on the sixth harmonic speed reducer is fixed in a protective shell through a sixth deep groove ball bearing, a three-jaw chuck is fixed at the end part of the second bone drill connecting shaft, and the three-jaw chuck drives the bone drill to rotate to complete operation auxiliary operation.
2. The intelligent minimally invasive spine surgery robot according to claim 1, characterized in that the linear motion joint is further provided with an emergency self-locking device.
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| CN111991086A (en) * | 2020-08-20 | 2020-11-27 | 河北工业大学 | Medical minimally invasive surgery robot and control method |
| CN112006780B (en) * | 2020-09-07 | 2022-04-08 | 哈尔滨工业大学 | Minimally invasive surgery robot system and artificial cochlea minimally invasive implantation surgery device |
| US20240025053A1 (en) * | 2020-09-25 | 2024-01-25 | Wuhan United Imaging Healthcare Surgical Technology Co., Ltd. | Surgical robot control method, computer device, and surgical robot system |
| CN112773507A (en) * | 2021-01-29 | 2021-05-11 | 南京凌华微电子科技有限公司 | Robot system for orthopedic surgery |
| CN113143395B (en) * | 2021-04-23 | 2022-03-22 | 燕山大学 | Minimally invasive surgery robot for grinding vertebral lamina of spine |
| CN113331952B (en) * | 2021-06-28 | 2023-02-17 | 上海交通大学 | Surgical robot based on fiber choledochoscope |
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