CN109316241A - A kind of craniomaxillofacial surgery parallel robot based on optical guidance - Google Patents
A kind of craniomaxillofacial surgery parallel robot based on optical guidance Download PDFInfo
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- CN109316241A CN109316241A CN201811377209.4A CN201811377209A CN109316241A CN 109316241 A CN109316241 A CN 109316241A CN 201811377209 A CN201811377209 A CN 201811377209A CN 109316241 A CN109316241 A CN 109316241A
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- 238000001356 surgical procedure Methods 0.000 title claims abstract description 19
- 230000003287 optical effect Effects 0.000 title claims abstract description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 31
- 230000006835 compression Effects 0.000 claims abstract description 20
- 238000007906 compression Methods 0.000 claims abstract description 20
- 235000004443 Ricinus communis Nutrition 0.000 claims description 20
- 239000000700 radioactive tracer Substances 0.000 claims description 10
- 240000000528 Ricinus communis Species 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 8
- 238000000926 separation method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003205 fragrance Substances 0.000 description 1
- 238000002682 general surgery Methods 0.000 description 1
- 201000010536 head and neck cancer Diseases 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 210000000115 thoracic cavity Anatomy 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention belongs to robotic technology fields, in particular a kind of craniomaxillofacial surgery parallel robot based on optical guidance, including pedestal, the top of the pedestal is fixedly connected with the first axle sleeve by four screws, and the bottom of first sleeve lining is fixedly connected with deep groove ball bearing；The present invention, pass through setting gear and involute system lever, to play fixed effect to whole device, the device passes through gear and involute system lever, it realizes and the fixed position of braking is carried out to device, rotation axis and right-angle connector are used simultaneously, realize the purpose that angle adjustment is carried out to cutter etc., using the cooperation between Y type fixation fork and compression bar, object is positioned, the precise manipulation of cranium jaw face basic operative can be realized according to doctor's physical planning path, and it monitors surgical procedure in real time and ensures to perform the operation accurate progress, whole device structure is simple, it is easy to use, it is low in cost, it is practical.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of craniomaxillofacial surgery based on optical guidance is in parallel
Robot.
Background technique
Recently as the continuous development and perfection of robot technology, the application of robot is with manufacturing industry from original
Main secondary industry is constantly extended to first and the tertiary industry of nonmanufacturing industry, especially in medical field, achieves at full speed
Development, has benefited from robot stabilized, accurate output, and robot is introduced in traditional operation as auxiliary, can substantially be mentioned
The accuracy of height operation reduces operation wound simultaneously.External at present there are many mature operating robot products, such as up to sweet smell
Odd robot can be used for the hands such as general surgery, thoracic surgery, Urology Surgery, gynemetrics, Head and neck tumour and openheart surgery
Art, but its is at high price, has many people higher using threshold, and existing technology has the following problems: existing surgical engine
Device people's structure is relative complex, at high price, while product orientation is advanced medical instrument, and the R&D cycle is longer, higher cost, no
Conducive to wide popularization and application.
Summary of the invention
To solve the problems mentioned above in the background art.Outside the present invention provides a kind of cranium jaw face based on optical guidance
Section performs the operation parallel robot, has accuracy high, and structure is simple and save the cost feature.
To achieve the above object, the invention provides the following technical scheme: a kind of craniomaxillofacial surgery hand based on optical guidance
The top of art parallel robot, including pedestal, the pedestal is fixedly connected with the first axle sleeve, the first axle by four screws
The bottom of set inner wall is fixedly connected with deep groove ball bearing, rotation axis is equipped in the deep groove ball bearing, the rotation axis passes through
Angular contact ball bearing is simultaneously fixedly connected with right-angle connector, and the angular contact ball bearing is arranged in the first axle sleeve, the right angle
Square beam is fixedly connected with by screw in connector, the square beam is fixedly connected with silent flatform by connector, institute
It states and is provided with moving platform below silent flatform, push rod is fixedly connected with by ball angle between the moving platform and silent flatform, it is described
The bottom of moving platform is fixedly connected with fixture by screw, and cutter is connected in the fixture, passes through spiral shell at the top of the pedestal
Nail is fixedly connected with Y type fixation fork, and compression bar, the top of the compression bar have been bolted to connection at the top of the Y type fixation fork
Portion is provided with positioning screw, and the second axle sleeve is connected at the top of the pedestal, is equipped with rotation axis in second axle sleeve, described
Rotation axis is fixedly connected with gear by flat key, and the surface of the gear is engaged with involute system lever, the involute braking
One end of bar is fixedly connected with handwheel.
Preferably, the top of the square beam is fixedly connected with tracer frame by screw.
Preferably, the right-angle connector is fixedly connected with rotation axis by holding screw.
Preferably, the rotation axis is fixedly connected with right-angle connector by holding screw.
Preferably, described compression bar one end offers straight trough mouth, and the other end of the compression bar offers threaded hole.
Preferably, the side of the Y type fixation fork offers 3 threaded holes, and is located in the middle screw thread axially bored line and hangs down
Directly in the side of Y type fixation fork, and the screw thread axially bored line for being located at both sides and 45 degree of the angle position between intermediate thread axially bored line.
Preferably, the bottom of the pedestal is fixedly connected with castor, and the bottom of the pedestal is fixedly connected by threaded post
There is a heel brace, the quantity of the castor and heel brace is four, and four castors and heel brace are located at base bottom and are located at quadrangle
Position.
Compared with prior art, the beneficial effects of the present invention are:
1, of the invention, by setting gear and involute system lever, when involute system lever is engaged with gear, convenient pair
Gear plays the role of braking, and then rotation axis is fixed, to play fixed effect to whole device, passes through setting
Castor and heel brace, pedestal and castor may make up mobile platform, facilitate people that castor is pushed to move device, heel brace passes through spiral shell
The effect of line column can move up and down, and when heel brace moves up, when with surface separation, facilitate cooperation castor to keep device mobile, work as foot
Support moves down, when being contacted with ground, convenient that device is fixed, and is made by setting straight trough mouth and threaded hole, straight trough mouth
Compression bar can front and back adjusting position, the positioning screw on compression bar can combine with two positioning screws on Y type fixation fork, carry out
Three-point fix, by the way that tracer frame is arranged, tracer frame is conveniently used for placing the tracer ball that location tracking is used in optical navigation system,
The device is realized and carries out the fixed position of braking to device by gear and involute system lever, at the same using rotation axis and
Right-angle connector realizes the purpose that angle adjustment is carried out to cutter etc., right using the cooperation between Y type fixation fork and compression bar
Object is positioned, and the precise manipulation of cranium jaw face basic operative can be realized according to doctor's physical planning path, and monitor in real time
Surgical procedure ensures to perform the operation accurate progress, and whole device structure is simple, easy to use, low in cost, practical.
2, of the invention, it is convenient that rotation axis is supported by setting deep groove ball bearing and angular contact ball bearing, by setting
Moving platform, silent flatform and push rod are set, the convenient adjusting that height is carried out to cutter is convenient to press from both sides to cutter by the way that fixture is arranged
Fixation is held, and then is operated, by the first axle sleeve of setting, the second axle sleeve, rotation axis and right-angle connector, facilitates realization
The transformation of angle by the way that handwheel is arranged, facilitates people by hand wheel rotating involute system lever, and then make gradually using more convenient
The brake bar that bursts at the seams is engaged or is separated with gear, by the way that holding screw is arranged, can prevent rotation axis and right-angle connector from occurring
It relatively rotates, it is convenient to select a threaded hole in every side by the way that three threaded holes are arranged, allow positioning screw with difference
Angle it is fixed by positioning object.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of the section structure that the present invention faces；
Fig. 2 is structural schematic diagram of the invention；
In figure: 1, tracer frame；2, connector；3, silent flatform；4, square beam；5, push rod；6, right-angle connector；7, it rotates
Axis；8, holding screw；9, angular contact ball bearing；10, the first axle sleeve；11, deep groove ball bearing；12, the second axle sleeve；13, gear；
14, involute system lever；15, handwheel；16, pedestal；17, castor；18, heel brace；19, Y type fixation fork；20, compression bar；21, it positions
Screw；22, cutter；23, moving platform；24, fixture.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
Referring to FIG. 1-2, the present invention the following technical schemes are provided: a kind of craniomaxillofacial surgery based on optical guidance simultaneously
Joining robot, including pedestal 16, the top of the pedestal 16 is fixedly connected with the first axle sleeve 10 by four screws, described first
The bottom of 10 inner wall of axle sleeve is fixedly connected with deep groove ball bearing 11, is equipped with rotation axis 7 in the deep groove ball bearing 11, and described turn
Moving axis 7 passes through angular contact ball bearing 9 and is fixedly connected with right-angle connector 6, passes through setting deep groove ball bearing 11 and angular contact ball
Bearing 9, convenient to be supported to rotation axis 7, the angular contact ball bearing 9 is arranged in the first axle sleeve 10, the right angle connection
Square beam 4 is fixedly connected with by screw in part 6, the square beam 4 is fixedly connected with silent flatform 3, institute by connector 2
The lower section for stating silent flatform 3 is provided with moving platform 23, is fixedly connected with push rod by ball angle between the moving platform 23 and silent flatform 3
5, by setting moving platform 23, silent flatform 3 and push rod 5, the convenient adjusting that height is carried out to cutter 22, the bottom of the moving platform 23
Portion is fixedly connected with fixture 24 by screw, convenient to grip to cutter 22 by the way that fixture 24 is arranged, and then carries out hand
Art operates, and is connected with cutter 22 in the fixture 24, the top of the pedestal 16 is fixedly connected with Y type fixation fork by screw
19, the top of the Y type fixation fork 19 has been bolted to connection compression bar 20, and the top of the compression bar 20 is provided with positioning spiral shell
Nail 21, the top of the pedestal 16 is connected with the second axle sleeve 12, is equipped with rotation axis 7 in second axle sleeve 12, passes through setting
First axle sleeve 10, the second axle sleeve 12, rotation axis 7 and right-angle connector 6 facilitate the transformation for realizing angle, described using more convenient
Rotation axis 7 is fixedly connected with gear 13 by flat key, and the surface of the gear 13 is engaged with involute system lever 14, passes through setting
Gear 13 and involute system lever 14, it is convenient that braking is played to gear 13 when involute system lever 14 is engaged with gear 13
Effect, and then rotation axis 7 is fixed, so that fixed effect is played to whole device, the involute system lever 14
One end is fixedly connected with handwheel 15, by the way that handwheel 15 is arranged, facilitates people to rotate involute system lever 14 by handwheel 15, in turn
Involute system lever 14 is set to engage or separate with gear 13, which is realized by gear 13 and involute system lever 14
The fixed position of braking is carried out to device, while using rotation axis 7 and right-angle connector 6, realizes and angle is carried out to cutter 22 equal
The purpose of degree adjustment positions object using the cooperation between Y type fixation fork 19 and compression bar 20, can be had according to doctor
Body planning path realizes the precise manipulation of cranium jaw face basic operative, and monitors surgical procedure in real time and ensure to perform the operation accurate progress, whole
A apparatus structure is simple, easy to use, low in cost, practical.
Specifically, the top of the square beam 4 is fixedly connected with tracer frame 1 by screw, by the way that tracer frame 1 is arranged,
Tracer frame 1 is conveniently used for placing the tracer ball that location tracking is used in optical navigation system.
Specifically, the right-angle connector 6 is fixedly connected with rotation axis 7 by holding screw 8, by the way that holding screw is arranged
8, it can prevent rotation axis 7 from relatively rotating with right-angle connector 6.
Specifically, described 20 one end of compression bar offers straight trough mouth, the other end of the compression bar 20 offers threaded hole, passes through
Straight trough mouth and threaded hole be set, and straight trough mouth allows 20 front and back adjusting position of compression bar, and the positioning screw 21 on compression bar 20 can be with Y
Two positioning screws 21 on type fixation fork 19 combine, and carry out three-point fix.
Specifically, the side of the Y type fixation fork 19 is opened up, there are three threaded holes, and are located in the middle screw thread axially bored line
Perpendicular to the side of Y type fixation fork 19, and the screw thread axially bored line for being located at both sides and the angle position between intermediate thread axially bored line
It is 45 degree, convenient to select a threaded hole in every side by the way that three threaded holes are arranged, allow positioning screw 21 with different
Angle is fixed by positioning object.
Specifically, the bottom of the pedestal 16 is fixedly connected with castor 17, the bottom of the pedestal 16 is solid by threaded post
Surely it is connected with heel brace 18, the quantity of the castor 17 and heel brace 18 is four, and four castors 17 and heel brace 18 are located at
16 bottom of pedestal is located at the position of quadrangle, and by setting castor 17 and heel brace 18, pedestal 16 and castor 17 may make up mobile platform,
Facilitate people that castor 17 is pushed to move device, heel brace 18 can be moved up and down by the effect of threaded post, when heel brace 18 to
Upper movement when with surface separation, facilitates cooperation castor 17 to keep device mobile, when heel brace 18 moves down, when being contacted with ground, side
Just device is fixed.
The working principle of the invention and process for using: the present invention, in use, first by threaded function, make heel brace 18 to
Upper movement, and then make heel brace 18 and surface separation, make castor 17 and ground face contact, pushes the operation of 16 driving device movement of pedestal
The suitable position of bedside, then by the effect of screw thread, move down heel brace 18, and then make heel brace 18 and ground face contact, make bottom
Seat 16 is fixed, and then forms fixation to device, rotates handwheel 15, separates involute system lever 14 with gear 13, by right angle
The effect of connector 6 and rotation axis 7 drags square beam 4, silent flatform 3 and moving platform 23 is made to move to lesion with cutter 22
Near position, handwheel 15 is rotated, involute system lever 14 is tightly engaged with gear 13, braking fixation is carried out to rotation axis 7, it will
Suitable cutter 22 is placed in moving platform 24, is tightened screw, is gripped, according to surgery planning path, is led in conjunction with optics
Boat equipment, completes operation, finally, rising heel brace 18, so that castor 17 is contacted ground, entire robot is pushed into suitable stand
?.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (6)
1. a kind of craniomaxillofacial surgery parallel robot based on optical guidance, including pedestal (16), it is characterised in that: described
The top of pedestal (16) is fixedly connected with the first axle sleeve (10) by four screws, and the bottom of the first axle sleeve (10) inner wall is solid
Surely it is connected with deep groove ball bearing (11), is equipped with rotation axis (7) in the deep groove ball bearing (11), the rotation axis (7) passes through
Angular contact ball bearing (9) is simultaneously fixedly connected with right-angle connector (6), and the angular contact ball bearing (9) is arranged in the first axle sleeve
(10) it in, is fixedly connected with square beam (4) in the right-angle connector (6) by screw, the square beam (4) passes through company
Fitting (2) is fixedly connected with silent flatform (3), is provided with moving platform (23) below the silent flatform (3), the moving platform (23)
It is fixedly connected with push rod (5) between silent flatform (3) by ball angle, the bottom of the moving platform (23) is fixedly connected by screw
Have fixture (24), is connected with cutter (22) in the fixture (24), the top of the pedestal (16) is fixedly connected with Y by screw
Type fixation fork (19) has been bolted to connection compression bar (20) at the top of the Y type fixation fork (19), the compression bar (20)
Top is provided with positioning screw (21), is connected with the second axle sleeve (12) at the top of the pedestal (16), second axle sleeve (12)
It is inside equipped with rotation axis (7), the rotation axis (7) is fixedly connected with gear (13) by flat key, the surface of the gear (13)
It is engaged with involute system lever (14), one end of the involute system lever (14) is fixedly connected with handwheel (15).
2. a kind of craniomaxillofacial surgery parallel robot based on optical guidance according to claim 1, feature exist
In: the top of the square beam (4) is fixedly connected with tracer frame (1) by screw.
3. a kind of craniomaxillofacial surgery parallel robot based on optical guidance according to claim 1, feature exist
In: the right-angle connector (6) is fixedly connected with rotation axis (7) by holding screw (8).
4. a kind of craniomaxillofacial surgery parallel robot based on optical guidance according to claim 1, feature exist
In: described compression bar (20) one end offers straight trough mouth, and the other end of the compression bar (20) offers threaded hole.
5. a kind of craniomaxillofacial surgery parallel robot based on optical guidance according to claim 1, feature exist
In: the side of the Y type fixation fork (19) offers 3 threaded holes, and it is solid perpendicular to Y type to be located in the middle screw thread axially bored line
The side of fixed fork (19), and the screw thread axially bored line for being located at both sides and 45 degree of the angle position between intermediate thread axially bored line.
6. a kind of craniomaxillofacial surgery parallel robot based on optical guidance according to claim 1, feature exist
In: the bottom of the pedestal (16) is fixedly connected with castor (17), and the bottom of the pedestal (16) is fixedly connected by threaded post
Have heel brace (18), the quantity of the castor (17) and heel brace (18) is four, and four castors (17) and heel brace (18) are respectively
It is located at the position of quadrangle positioned at pedestal (16) bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811377209.4A CN109316241B (en) | 2018-11-19 | 2018-11-19 | Optical navigation-based craniomaxillofacial surgery parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811377209.4A CN109316241B (en) | 2018-11-19 | 2018-11-19 | Optical navigation-based craniomaxillofacial surgery parallel robot |
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| Publication Number | Publication Date |
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| CN109316241A true CN109316241A (en) | 2019-02-12 |
| CN109316241B CN109316241B (en) | 2024-05-31 |
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| CN201811377209.4A Active CN109316241B (en) | 2018-11-19 | 2018-11-19 | Optical navigation-based craniomaxillofacial surgery parallel robot |
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| CN (1) | CN109316241B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111419411A (en) * | 2020-04-14 | 2020-07-17 | 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 | Brain surgery operation bracket |
| CN112754670A (en) * | 2020-01-23 | 2021-05-07 | 诺创智能医疗科技(杭州)有限公司 | Operation arm and operation robot |
| WO2021147265A1 (en) * | 2020-01-23 | 2021-07-29 | 诺创智能医疗科技(杭州)有限公司 | Control method for surgical robot arm, computer device, and surgical robot arm |
| WO2021147267A1 (en) * | 2020-01-23 | 2021-07-29 | 诺创智能医疗科技(杭州)有限公司 | Surgical robotic arm and surgical robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109316241B (en) | 2024-05-31 |
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