CN109646113B - End actuating mechanism of matched joint replacement surgical robot - Google Patents
End actuating mechanism of matched joint replacement surgical robot Download PDFInfo
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- CN109646113B CN109646113B CN201910090927.1A CN201910090927A CN109646113B CN 109646113 B CN109646113 B CN 109646113B CN 201910090927 A CN201910090927 A CN 201910090927A CN 109646113 B CN109646113 B CN 109646113B
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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
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1659—Surgical rasps, files, planes, or scrapers
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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
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B2017/1602—Mills
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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
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- Engineering & Computer Science (AREA)
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- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
Abstract
The invention provides a tail end executing mechanism of a matched joint replacement surgical robot, which is convenient to use. The tail end executing mechanism of the matched joint replacement surgical robot comprises a sleeve, a handle and a connecting rod, wherein one end of the handle is fixedly connected with the outer wall of the sleeve, and the other end of the handle is provided with a base used for being connected with a mechanical arm of the surgical robot; the connecting rod is detachably arranged in the sleeve, and two ends of the connecting rod are respectively exposed out of two ends of the sleeve; one end of the connecting rod is provided with a driver connecting structure connected with a driver, and the other end of the connecting rod is provided with an executive connecting structure used for installing an executive. An operator applies external force through a handle, and the mechanical arm and the actuating mechanism can be moved; the driver applies torque or impact force to the executive component through the connecting rod to drive the executive component to work; the sleeve is used for locking and replacing surgical instruments, such as connecting rods suitable for different operations, and accessories with different functions can be quickly and easily installed and uninstalled through the end effector, so that the operation time is shortened.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a component structure of a surgical robot.
Background
In the traditional hip joint replacement operation, a doctor holds an electric grinding drill by hand to grind the focus part of a patient, and then installs the prosthesis with the corresponding model, so that the operation mode not only needs to consume a large amount of manpower, but also can not ensure the operation precision. In recent years, surgeons are more and more inclined to perform the operation by means of a joint replacement operation robot, which greatly improves the precision and efficiency of grinding and installation and greatly reduces the revision rate of the operation. The tail end executing mechanism of the surgical robot plays an important role in simplifying the complexity of the surgery, shortening the surgery time and ensuring the surgery precision.
Disclosure of Invention
The invention aims to provide an end actuating mechanism of a matched joint replacement surgical robot, which is convenient to use.
The tail end executing mechanism of the matched joint replacement surgical robot comprises a sleeve, a handle and a connecting rod, wherein one end of the handle is fixedly connected with the outer wall of the sleeve, and the other end of the handle is provided with a base used for being connected with a mechanical arm of the surgical robot; the connecting rod is detachably arranged in the sleeve, and two ends of the connecting rod are respectively exposed out of two ends of the sleeve; one end of the connecting rod is provided with a driver connecting structure connected with a driver, and the other end of the connecting rod is provided with an executive connecting structure used for installing an executive.
The mechanical arm of the surgical robot is a cooperative mechanical arm, a handle is fixedly connected with the tail end of the mechanical arm through a base, an operator applies external force through the handle, and the mechanical arm and an actuating mechanism can be moved; the driver applies torque or impact force to the executive component through the connecting rod to drive the executive component to work; the sleeve is used for locking and replacing surgical instruments, such as connecting rods, which are suitable for different operations. During hip replacement surgery, accessories with different functions can be quickly and easily installed and uninstalled through the end executing mechanism, and the surgery time is shortened.
Furthermore, in order to ensure the reliable connection between the sleeve and the connecting rod and prevent the connecting rod from being separated from the sleeve in the working process, the sleeve and the connecting rod are provided with axial limiting structures which are matched with each other to limit the axial displacement of the connecting rod in the sleeve.
Specifically, the axial limiting structure consists of a sleeve limiting structure and a connecting rod limiting structure, the sleeve limiting structure comprises a cavity arranged on the side wall of the sleeve, a control piece is movably arranged in the cavity, and one end of the control piece extends out of the cavity; the control piece is connected with the sleeve through a spring; a limiting bead is further arranged in the cavity and is positioned between the side wall of the inner side of the cavity and the control part, a through hole with the diameter smaller than that of the limiting bead is formed in the position, corresponding to the limiting bead, of the side wall of the inner side of the cavity, and a limiting step is formed in the position, corresponding to the limiting bead, of the control part; the connecting rod limiting structure is a limiting groove arranged on the side face of the connecting rod, and the cross section of the limiting groove is arc-shaped.
The working principle of the axial limiting structure is as follows:
in a normal use state, the control piece is pulled to the cavity of the sleeve by the elastic force of the spring, so that the limiting step of the control piece presses the limiting bead, the limiting bead moves towards the side wall of the inner side of the cavity under the pressure action of the limiting step and partially protrudes out of the through hole to be embedded into the limiting groove in the side face of the connecting rod, and the connecting rod is locked in the axial direction, so that the connecting rod can only freely rotate in the sleeve but cannot axially move, and the function of axial limiting is realized.
When the connecting rod needs to be detached and replaced, only the end part of the control piece exposed outside the cavity needs to be grasped, the elastic force of the spring is overcome to pull the control piece towards the outside of the cavity, after the control piece moves a certain distance, the limiting step of the control piece can be separated from the contact with the limiting bead, after the limiting bead loses the limiting step, the moving space of the limiting bead is enlarged, the limiting bead can move along the radial direction of the sleeve, the connecting rod is pulled at the moment, the cross section of the connecting rod can apply radial acting force to the limiting bead for the arc-shaped limiting groove, the limiting bead returns into the cavity and is not embedded into the limiting groove, the connecting rod does not have limiting force of the limiting bead at the moment, the axial movement of the sleeve can be.
Further, the control piece is a cylindrical structure with a circular section; spacing recess is the ring channel, spacing pearl has a plurality ofly to evenly distributed is on telescopic same cross-section, and spacing pearl can exert more balanced spacing effort of axial to the connecting rod in a plurality of directions like this, realizes that the axial is spacing while, can also ensure that the connecting rod keeps the parallel with the sleeve axis at the rotation in-process, and then improves the operation precision.
Further, contained angle between the axial of handle and telescopic axial is the acute angle to make things convenient for the operator application of force, it is better to compare in the sense of gripping of same kind of product, and the operability is stronger, can alleviate surgeon's operation fatigue.
Furthermore, the handle is provided with a positioning tracker mounting hole for mounting a positioning tracker, and in the operation process, the positioning precision of the tail end executing mechanism can be improved through the positioning tracker, so that the operation precision is improved. The positioning tracker may be a magnetic positioning sensor or an optical positioning sensor, and is not described herein again.
The tail end executing mechanism is arranged at the tail end of the mechanical arm, so that the accurate and repeatable relative position relation between the tail end executing mechanism and the mechanical arm can be ensured, and the system precision is ensured; the axial limiting mechanism of the tail end executing mechanism can limit the movement of the connecting rod in the sleeve, the accurate axial direction of the connecting rod relative to the tail end executing mechanism is guaranteed, meanwhile, tools in the operation process can be replaced more conveniently and rapidly, the complexity of the operation is simplified, the operation time is shortened, and the position and pose information of the executing piece can be captured in real time by installing the positioning tracker on the tail end executing mechanism, so that the operation precision is improved.
Drawings
Fig. 1 is a schematic view of the overall structure of an end effector.
Fig. 2 is a schematic view of the end effector in use.
Fig. 3 is a cross-sectional view of the sleeve.
Fig. 4 is a schematic view of the engagement of the sleeve with the connecting rod (the connecting rod is in an axially locked state).
Fig. 5 is a schematic view of the sleeve and link in engagement (link in an axially released state).
Figure 6 is a schematic view of the acetabular milling link.
FIG. 7 is a schematic view of the construction of the acetabular cup mounting link.
The figures are numbered: 1. a sleeve; 11. a chamber; 12. a control member; 13. a spring; 14. a limiting bead; 15. a limiting step; 2. a handle; 21. a base; 22. positioning a tracker mounting hole; 3. a connecting rod; 31. a driver connection structure; 32. an executive connection structure; 33. a limiting groove; 4. a mechanical arm; 5. an executive component; 6. a positioning tracker; 7. a plastic protective sleeve; 8. and (6) calibrating the points.
Detailed Description
The following describes embodiments of the present invention, such as shapes and structures of respective members, mutual positions and connection relationships between respective portions, and actions and operation principles of the respective portions, in further detail, with reference to the accompanying drawings.
Example 1:
the embodiment provides an end executing mechanism of a matched joint replacement surgical robot, which is convenient to use.
As shown in fig. 1, 3, 6 and 7, the end executing mechanism of the matched joint replacement surgical robot in the present embodiment is composed of a sleeve 1, a handle 2 and a connecting rod 3, wherein one end of the handle 2 is fixedly connected with the outer wall of the sleeve 1, the other end of the handle 2 is provided with a flange type base 21 for connecting with a mechanical arm of the surgical robot, and the handle 2 is provided with a positioning tracker mounting hole 22 for mounting a positioning tracker; the connecting rod 3 is detachably arranged in the sleeve 1, and two ends of the connecting rod 3 are respectively exposed out of two ends of the sleeve 1; one end of the connecting rod 3 is provided with a driver connecting structure 31 for connecting the driver, and the other end is provided with an actuating member connecting structure 32 for installing the actuating member 5.
In order to ensure the reliable connection between the sleeve 1 and the connecting rod 3 and prevent the connecting rod 3 from being separated from the sleeve 1 in the working process, the sleeve 1 and the connecting rod 3 are provided with axial limiting structures which are matched with each other to limit the axial displacement of the connecting rod 3 in the sleeve 1.
Specifically, as shown in fig. 3, 4 and 5, the axial limiting structure is composed of a sleeve limiting structure and a connecting rod limiting structure, the sleeve limiting structure includes a cavity 11 arranged on the side wall of the sleeve 1, a control member 12 is movably mounted in the cavity 11, and one end of the control member 12 extends out of the cavity 11; the control member 12 is connected with the sleeve 1 through a spring 13; a limiting bead 14 is further arranged in the cavity 11, the limiting bead 14 is positioned between the inner side wall of the cavity 11 and the control part 12, a through hole with the diameter slightly smaller than that of the limiting bead 14 is formed in the position, corresponding to the limiting bead 14, of the inner side wall of the cavity 11, and a limiting step 15 is formed in the position, corresponding to the limiting bead 14, of the control part 12; the limiting structure of the connecting rod 3 is a limiting groove 33 arranged on the side surface of the connecting rod 3, and the cross section of the limiting groove 33 is arc-shaped. The above-mentioned spacing bead 14 is preferably a steel bead with high strength.
The working principle of the axial limiting structure is as follows:
as shown in fig. 4, in a normal use state, the elastic force of the spring 13 pulls the control member 12 toward the cavity 11 of the sleeve 1 (i.e., the direction of the elastic force applied to the control member 12 by the spring 13 is toward the right direction in fig. 4), so that the limiting step 15 of the control member 12 presses the limiting bead 14, the limiting bead 14 moves toward the inner side wall of the cavity 11 under the pressure of the limiting step 15 and partially protrudes out of the through hole to be embedded into the limiting groove 33 on the side surface of the connecting rod 3, thereby locking the movement of the connecting rod 3 in the axial direction, enabling the connecting rod 3 to rotate freely in the sleeve 1 and not move axially, and achieving the function of axial limiting.
As shown in fig. 5, when the connecting rod 3 needs to be replaced, only the end portion of the control member 12 exposed outside the cavity 11 needs to be grasped, the control member 12 is pulled to the outside of the cavity 11 against the elastic force of the spring 13, after the control member 12 moves for a certain distance, the limiting step 15 of the control member 12 is separated from the contact with the limiting bead 14, after the limiting bead 14 loses the limiting of the limiting step 15, the moving space of the limiting bead 14 is enlarged, and the limiting bead can move along the radial direction of the sleeve 1, at this time, the connecting rod 3 is pulled, the limiting groove 33 with the arc-shaped section of the connecting rod 3 applies a radial acting force to the limiting bead 14, so that the limiting bead 14 is retracted into the cavity 11 and is not embedded into the limiting groove 33 any more, at this time, the connecting rod 3 does not have the limiting force of the limiting bead.
In the embodiment, the control member 12 is a cylindrical structure with a circular cross section, and an end of the control member 12 exposed out of the cavity 11 is bent to form a folded edge, so that the control member 12 can be pulled; spacing recess 33 of connecting rod 3 side is the ring channel, spacing pearl 14 has a plurality ofly to evenly distributed is on the same cross-section of sleeve 1, and spacing pearl 14 can exert more balanced axial spacing effort to connecting rod 3 in a plurality of directions like this, when realizing that the axial is spacing, can also ensure that connecting rod 3 keeps the parallel with sleeve 1 axis at the rotation in-process, and then improves the operation precision.
The contained angle between the axial of handle 2 and the axial of sleeve 1 is the acute angle, and particularly, the contained angle between the lower extreme of handle 2 and sleeve 1 (being sleeve 1 and being close to the one end of executor 5) is the acute angle to make things convenient for the operator application of force, it is better to compare in the sense of gripping of the same kind of product, and the operability is stronger, can alleviate surgeon's operation fatigue.
As shown in fig. 2, during surgery, the mechanical arm of the surgical robot is a cooperative mechanical arm, the handle 2 is fixedly connected with the tail end of the mechanical arm 4 through the base 21, and an operator applies external force through the handle 2 to move the mechanical arm 4 and the actuating mechanism; the driver applies torque or impact force to the executive component 5 through the connecting rod 3 to drive the executive component 5 to work; the sleeve 1 is used for locking and replacing surgical instruments, such as a link 3, which are suitable for different operations. During hip replacement surgery, accessories with different functions can be quickly and easily installed and uninstalled through the end executing mechanism, and the surgery time is shortened.
The base 21 of the end executing mechanism is fixedly arranged at the end of the mechanical arm 4, so that the accurate and repeatable relative position relationship between the end executing mechanism and the mechanical arm 4 can be ensured, and the system precision is ensured; the positioning tracker 6 is arranged at the positioning tracker mounting hole 22 and used together with a matched positioning device auxiliary device to capture the pose information of the executive component 5 in real time and improve the operation precision. In the present embodiment, the positioning tracker 6 employs an optical positioning sensor.
In the present embodiment, there are two types of the connecting rods 3, one is an acetabular grinding connecting rod 3, and the other is an acetabular cup mounting connecting rod 3, and the structures of the two types of connecting rods 3 are described in detail below with reference to the accompanying drawings.
As shown in fig. 6, the acetabular milling link 3 is composed of the following four parts: 1. the driver connecting structure 31 is positioned at the head end of the connecting rod 3, the driver connecting structure 31 is mainly used for connecting a grinding drill, and the groove structure of the head connecting port is matched with the end interface of the grinding drill to play a role in locking; 2. the limiting groove 33 is positioned in the middle of the connecting rod 3, the diameter of the limiting groove 33 is slightly larger than that of the limiting bead 14 in the sleeve 1, and the limiting groove 33 is mainly used for being matched with the limiting bead 14 in the sleeve 1 to achieve an axial limiting effect; 3. an actuating member connecting structure 32 positioned at the tail end of the connecting rod 3, wherein the main function of the actuating member connecting structure 32 is to connect an acetabular file (namely the actuating member 5); 4. in the embodiment, the connecting rod 3 is made of aluminum alloy, the aluminum alloy has the advantages of high hardness, wear resistance and high temperature resistance, and is a widely used material in medical instruments, and of course, the connecting rod 3 can also be made of plastic with relatively hard texture.
As shown in fig. 7, the acetabular cup mounting link 3 is composed of six parts: 1. the driver connecting structure 31 is positioned at the head end of the connecting rod 3, the driver connecting structure 31 is mainly used for connecting the knocking platform, and the groove structure of the head connecting port is matched with the coupling structure in the knocking platform to play a locking role; 2. the limiting groove 33 is positioned in the middle of the connecting rod 3, the length of the limiting groove 33 is greater than the diameter of the limiting bead 14 in the sleeve 1, the limiting groove 33 is mainly used for being matched with the limiting bead 14 in the sleeve 1, when the acetabular cup mounting connecting rod 3 is in an axial limiting state, the limiting bead 14 is positioned in the limiting groove 33, the moving range of the connecting rod 3 in the axial direction of the sleeve 1 is limited within a limited length (namely the width of the limiting groove 33), and the rotation of the connecting rod 3 in the sleeve 1 is not limited; 3. the plastic protective sleeve 7 is positioned in the middle of the connecting rod 3 and close to the tail end of the connecting rod 3, and the plastic protective sleeve 7 is mainly used for providing a holding point for a surgeon after the acetabular cup is installed, so that the surgeon can conveniently unload the connecting rod 3; 4. a calibration point 8 positioned at the tail end of the connecting rod 3, wherein the calibration point 8 is mainly used for providing a position calibration point for calculating the installation depth of the acetabular cup; 5. an actuating member connecting structure 32 positioned at the tail end of the connecting rod 3, wherein the actuating member connecting structure 32 mainly functions to provide an interface for installing and uninstalling the acetabular cup; 6. the rod body of the connecting rod 3 is made of aluminum alloy material in the embodiment.
When the operation, install the acetabular bone connecting rod on sleeve 1 earlier, execute acetabular bone polishing operation, treat the acetabular bone and polish the completion after, pull down acetabular bone connecting rod from sleeve 1 again to install acetabular bone cup installation connecting rod, execute acetabular bone cup installation operation, in the operation of two kinds of differences, through the different connecting rod 3 of quick replacement, can simplify the complex degree of operation, shorten the operation time.
The invention has been described in connection with the accompanying drawings, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of the components set forth in the following description, as long as the invention is capable of being practiced without modification in any way whatsoever, and is capable of other applications without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (1)
1. An end effector mechanism for a matched joint replacement surgical robot, comprising: the surgical robot comprises a sleeve, a handle and a connecting rod, wherein one end of the handle is fixedly connected with the outer wall of the sleeve, and the other end of the handle is provided with a base which is used for being connected with a mechanical arm of a surgical robot; the connecting rod is detachably arranged in the sleeve, and two ends of the connecting rod are respectively exposed out of two ends of the sleeve; one end of the connecting rod is provided with a driver connecting structure connected with a driver, and the other end of the connecting rod is provided with an executive component connecting structure used for installing an executive component;
the sleeve and the connecting rod are provided with axial limiting structures which are matched with each other to limit the axial displacement of the connecting rod in the sleeve;
the axial limiting structure consists of a sleeve limiting structure and a connecting rod limiting structure, the sleeve limiting structure comprises a cavity arranged on the side wall of the sleeve, a control piece is movably arranged in the cavity, and one end of the control piece extends out of the cavity; the control piece is connected with the sleeve through a spring; a limiting bead is further arranged in the cavity and is positioned between the side wall of the inner side of the cavity and the control part, a through hole with the diameter smaller than that of the limiting bead is formed in the position, corresponding to the limiting bead, of the side wall of the inner side of the cavity, and a limiting step is formed in the position, corresponding to the limiting bead, of the control part; the connecting rod limiting structure is a limiting groove arranged on the side surface of the connecting rod, and the cross section of the limiting groove is arc-shaped;
the control piece is of a cylindrical structure with a circular section; the limiting grooves are annular grooves, and a plurality of limiting beads are uniformly distributed on the same cross section of the sleeve;
an included angle between the axial direction of the handle and the axial direction of the sleeve is an acute angle;
the handle is provided with a positioning tracker mounting hole for mounting a positioning tracker;
the connecting rod is an acetabulum polishing connecting rod or an acetabulum cup mounting connecting rod;
wherein, the acetabulum polishing connecting rod consists of the following four parts: a driver connection structure located at the head end of the link; the limiting groove is positioned in the middle of the connecting rod; the executive part connecting structure is positioned at the tail end of the connecting rod; the connecting rod body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910090927.1A CN109646113B (en) | 2019-01-30 | 2019-01-30 | End actuating mechanism of matched joint replacement surgical robot |
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| CN201910090927.1A CN109646113B (en) | 2019-01-30 | 2019-01-30 | End actuating mechanism of matched joint replacement surgical robot |
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| CN109646113B true CN109646113B (en) | 2021-04-30 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110537954A (en) * | 2019-08-27 | 2019-12-06 | 谢军 | Drill bit for total hip joint replacement minimally invasive surgery |
| CN112057119B (en) * | 2020-09-11 | 2021-05-18 | 杭州键嘉机器人有限公司 | End effector |
| CN113288326B (en) * | 2020-11-12 | 2024-06-14 | 骨圣元化机器人(深圳)有限公司 | Bone file switching device for hip joint |
| CN113069207A (en) * | 2021-03-24 | 2021-07-06 | 杭州键嘉机器人有限公司 | Robot-assisted hip joint replacement surgery navigation system |
| CN113796964B (en) * | 2021-09-27 | 2023-06-20 | 天衍医疗器材有限公司 | Terminal device of orthopedic surgery robot |
| CN113598956B (en) * | 2021-09-30 | 2021-12-10 | 杭州键嘉机器人有限公司 | Orthopedic surgery robot tail end execution device |
| WO2024002262A1 (en) * | 2022-07-01 | 2024-01-04 | 北京和华瑞博医疗科技有限公司 | Hip replacement surgery actuator and surgical system |
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| FR2248014A1 (en) * | 1973-10-19 | 1975-05-16 | Kaltenbach & Voigt | |
| US6000940A (en) * | 1997-05-01 | 1999-12-14 | Buss; Rick A. | Surgical bur shank and locking collet mechanism |
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