CN110899776A

CN110899776A - Grinding drill manipulator

Info

Publication number: CN110899776A
Application number: CN202010087597.3A
Authority: CN
Inventors: 姜传强; 朱罡; 许柯; 师述昌
Original assignee: Beijing Rosen Bott Technology Co Ltd
Current assignee: Beijing Rosen Bott Technology Co Ltd
Priority date: 2020-02-12
Filing date: 2020-02-12
Publication date: 2020-03-24

Abstract

The invention relates to the technical field of manipulators, in particular to a grinding manipulator which comprises a probe rod and a rotary driving device, wherein the probe rod is internally provided with a through hole which is axially arranged along the probe rod and used for a guide pin to pass through to reach a target position; the probe rod comprises a grinding drill bit, a guide section and a connecting section which are sequentially arranged along the axial direction, and the guide section is provided with scales along the axial direction; the guide section is connected with the rotary driving device through a connecting section; the guide section is provided with a transition section, the transition section is connected with the abrasive drilling head, and the section area of the transition section is gradually reduced from the connecting section to the abrasive drilling head; the grinding bit is spherical, conical or plum blossom-shaped. The invention integrates the high-speed grinding and drilling functions and the guide pin guiding function, and can continuously operate the abrasion of cortical bone and the guiding of the drilling and guiding pin after accurately positioning the needle inserting point, thereby playing the dual functions of direction guiding and position holding.

Description

Grinding drill manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a drilling manipulator.

Background

At present, when a small channel or a hole in a workpiece is machined, the conventional operation is to firstly drill into the channel of a machining position through a guide pin and then machine the channel in the machining position along the guide pin. Often, because of the special shape of the workpiece at the needle insertion point or the specific angle requirement during channel processing, the contact angle between the guide pin and the surface of the workpiece forms a small acute angle, and the needle point of the guide pin slips along the surface of the workpiece when the drill starts, so that the needle placement accuracy is deviated, and the processing accuracy is affected.

Disclosure of Invention

Technical problem to be solved

The invention aims to solve the technical problem that the needle point of the existing guide needle for processing the internal channel or fine space of a workpiece is easy to slip along the surface of the workpiece during processing operation, so that the needle placement precision is deviated.

(II) technical scheme

In order to solve the technical problem, the invention provides a drilling manipulator which comprises a probe rod and a rotary driving device, wherein the probe rod is internally provided with a through hole arranged along the axial direction of the probe rod and used for a guide pin to pass through to reach a target position; the probe rod comprises a grinding drill bit, a guide section and a connecting section which are sequentially arranged along the axial direction, and the guide section is provided with scales along the axial direction; the guide section is connected with the rotary driving device through the connecting section; the guide section is provided with a transition section, the transition section is connected with the abrasive drilling head, and the cross-sectional area of the transition section is gradually reduced from the connecting section to the abrasive drilling head; the grinding drill bit is spherical, conical or plum blossom-shaped.

Wherein, the grinding bit is a diamond grinding head or a cutting bit.

The device further comprises a mechanical arm, and the mechanical arm is connected with the rotary driving device.

The robot further comprises a control device, wherein the control device controls the movement of the mechanical arm and the rotation driving device.

(III) advantageous effects

The technical scheme of the invention has the following advantages:

according to the grinding manipulator provided by the embodiment of the invention, the rotary driving device drives the probe rod to rotate so as to drive the grinding bit at the end part of the probe rod to rotate, the grinding bit of the probe rod reaches the surface of a workpiece, the rotary driving device is matched with an electric drill or power drive, then the probe rod is driven to rotate slowly to quickly, so that the grinding bit is progressively ground on the surface of the workpiece, the grinding bit is guided to drill the guide pin to the position where the grinding bit is contacted with the workpiece through the through hole in the probe rod after the grinding bit abrades the surface of the workpiece to a certain depth or the grinding bit is embedded into the workpiece to be stably processed, the guide pin is inserted into the position where the grinding bit is contacted with the workpiece, the grinding bit is a concave surface with a certain size on the surface of the workpiece, the guide pin is inserted into the concave surface through the through hole, the angle formed between the guide pin and the concave surface is increased to be nearly. The grinding and drilling manipulator integrates the high-speed grinding and drilling function and the guide pin guiding function, can continuously operate the abrasion of the surface of a workpiece and the guiding of the drilling guide pin after accurately positioning the needle inserting point, has double functions of direction guiding and position holding, and does not increase extra operation steps compared with the conventional robot machining operation. Meanwhile, the axle center consistency of the whole probe rod is high. The shape of the grinding drill bit used for the grinding part of the surface of the workpiece can be selected from a spherical shape, a conical shape or a quincunx shape, namely, in the rotating process of the grinding drill bit, the grinding drill bit plays a certain grinding or cutting role on the surface of the workpiece contacted with the grinding drill bit, and a recess with a certain size is formed on the surface of the workpiece. The feeler lever is divided into a plurality of sections, the guide section is a hollow tubular component and is used as a supporting structure of the grinding bit, in the processing operation process, the feeler lever can be compared with a reference ruler fixed outside a workpiece as a reference, the relative position of the scale and the reference ruler is observed, and the moving distance of the grinding bit can be obtained. The surgical drill comprises a guide section, a connecting section and a hollow component, wherein the outer surface of the connecting section is formed in a structure which is matched and connected with a rotary driving device, and the connecting section can be matched with a surgical drill to be rapidly clamped and can also be matched with a conventional surgical power system. The one end structure that direction section and abrasive drilling head are connected is the changeover portion, and the changeover portion is the taper, and the abrasive drilling head is connected to the pointed end, can guarantee to add the man-hour control abrasive drilling head size of being convenient for on the one hand, and the changeover portion of on the other hand taper is favorable to observing the working condition of abrasive drilling head.

In addition to the technical problems addressed by the present invention, the technical features constituting the technical solutions and the advantages brought by the technical features of the technical solutions described above, other technical features of the present invention and the advantages brought by the technical features of the technical solutions will be further explained with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic cross-sectional view of a probe of a drilling manipulator according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a probe rod of a drilling manipulator according to an embodiment of the invention.

In the figure:

1: a probe rod; 11: a guide section; 12: a connecting section; 13: a through hole; 111: calibration; 112: a transition section;

2: and (5) grinding the drill bit.

Detailed Description

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 some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, in the description of the present invention, unless otherwise specified, "plurality", "plural groups" means two or more, and "several", "several groups" means one or more.

As shown in fig. 1 and fig. 2, the abrasive drilling manipulator provided by the embodiment of the present invention includes a probe rod 1 and a rotation driving device, wherein the probe rod 1 has a through hole 13 arranged along an axial direction thereof for a guide pin to pass through to reach a target position; the probe rod 1 comprises a grinding drill bit 2, a guide section 11 and a connecting section 12 which are sequentially arranged along the axial direction, and the guide section 11 is provided with scales 111 along the axial direction; the guide section 11 is connected with the rotary driving device through a connecting section 12; the guide section 11 is provided with a transition section 112, the transition section 112 is connected with the grinding drill bit 2, and the section area of the transition section 112 is gradually reduced from the connecting section 12 to the grinding drill bit 2; the grinding bit 2 is spherical, conical or plum blossom-shaped.

In the drilling manipulator of the embodiment of the invention, the rotary driving device drives the probe rod 1 to rotate, so that the grinding bit 2 at the end part of the probe rod 1 is driven to rotate, the grinding bit 2 of the probe rod 1 reaches the surface of a workpiece, after the rotary driving device is matched with an electric drill or power drive, the probe rod 1 rotates from slow to fast, the grinding bit 2 carries out progressive grinding on the surface of the workpiece, after the grinding bit 2 abrades the surface of the workpiece to a certain depth or the grinding bit 2 is embedded into the workpiece and the processing position is stable, the guide is carried out through a through hole 13 in the probe rod 1, a guide pin is drilled into the position where the grinding drill bit 2 is contacted with the workpiece, because the grinding bit 2 is a concave surface with a certain size at the grinding position on the surface of the workpiece, the guide pin is inserted into the concave surface from the through hole 13, the angle formed by the guide pin and the concave surface is increased to be almost a right angle, so that the phenomenon that the guide pin slips on the surface of a workpiece is reduced, and the precision of the guide pin entering a processing position is improved. The grinding and drilling manipulator integrates the high-speed grinding and drilling function and the guide pin guiding function, can continuously operate the abrasion of the surface of a workpiece and the guiding of the drilling guide pin after accurately positioning the needle inserting point, has double functions of direction guiding and position holding, and does not increase extra operation steps compared with the conventional robot machining operation. Meanwhile, the axle center consistency of the whole probe rod 1 is high. The shape of the grinding bit 2 used for grinding the workpiece surface can be selected from a spherical shape, a conical shape or a quincunx shape, namely, in the rotating process of the grinding bit 2, the grinding bit can perform certain grinding or cutting action on the contacted workpiece surface, and a recess with a certain size is formed on the workpiece surface. The probe rod 1 is divided into a plurality of sections, the guide section 11 is a hollow tubular member and serves as a supporting structure of the grinding bit 2, and in the processing operation process, the probe rod can be compared with a reference ruler fixed outside a workpiece as a reference, the relative position of the scale 111 and the reference ruler is observed, and the moving distance of the grinding bit 2 can be obtained. The surgical drill comprises a guide section 11, a connecting section 12 and a hollow component, wherein the outer surface of the connecting section 12 is formed in a structure matched and connected with a rotary driving device, and the surgical drill can be rapidly clamped in a matched mode and can also be matched with a conventional surgical power system. The one end structure that direction section 11 and abrasive drilling head 2 are connected is changeover portion 112, changeover portion 112 is the toper, and the tip is connected abrasive drilling head 2, can guarantee to add the processing and be convenient for control abrasive drilling head 2 size on the one hand, and the changeover portion 112 of on the other hand toper is favorable to observing the operating condition of abrasive drilling head 2.

When the bone channel screw is used for fixation, the conventional operation is to firstly drill into the bone channel of the fracture part through the guide pin and then screw into the hollow nail along the guide pin for fixation. Often, because of the special shape of the bone at the needle insertion point or the requirement of the specific angle of internal fixation, the contact angle between the guide pin and the bone surface is a smaller acute angle, and the needle point of the guide pin slips along the bone surface when the drill starts, so that the accuracy of needle placement and nail placement is deviated, the surgical risk is improved, and an unexpected surgical accident is caused. According to statistics, the needle placing position is adjusted for a plurality of times or the needle placing path is reselected to account for more than 30 percent of the unsatisfactory surgical precision of the robot due to the slippage of the guide needle on the bone surface, and the surgical time is prolonged.

In view of the above situation, as shown in fig. 1 and 2, the abrasive drilling manipulator provided by the embodiment of the present invention includes a probe rod 1 and a rotation driving device, wherein one end of the probe rod 1 is configured with an abrasive drilling head 2, and the other end is connected with the rotation driving device, and the probe rod 1 has a through hole 13 arranged along an axial direction thereof inside for a guide pin to pass through to reach a target position.

In the grinding manipulator of the embodiment of the invention, the rotary driving device drives the probe rod 1 to rotate, so that the grinding bit 2 at the end part of the probe rod 1 is driven to rotate, the grinding bit 2 of the probe rod 1 reaches the surface of a bone in an operation area, after the rotary driving device is matched with an electric surgical drill or surgical power, the probe rod 1 is rotated from slow to fast, the grinding drill bit 2 is used for progressive grinding on the bone surface of the operation area, after the grinding drill 2 abrades cortical bone to a certain depth or the grinding drill 2 is embedded into the position of the bone to be stable, the guide pin is guided by the through hole 13 in the probe rod 1 to drill the guide pin to the position where the grinding drill 2 contacts the bone, because the grinding drill bit 2 is a concave surface with a certain size at the bone surface grinding drill position of the operation area, the guide pin is inserted into the concave surface from the through hole 13, the angle between the guide pin and the concave surface is increased to be almost a right angle, so that the sliding phenomenon of the guide pin on the bone surface is reduced, and the position precision of the guide pin entering the operation is improved.

The grinding and drilling manipulator integrates the high-speed grinding and drilling function and the guide pin guiding function, can continuously operate the abrasion of cortical bone and the guiding of the drilling guide pin after accurately positioning the needle inserting point, has double functions of direction guiding and position holding, does not increase extra operation steps compared with the conventional robot operation, is used for pre-abrading and processing cortical bone in a surgical area before drilling the guide pin when the hollow nail internal fixation operation of a bone channel is carried out in the orthopedic robot operation, ensures the accuracy of the drilling position of the guide pin, reduces the operation risk and avoids causing unexpected operation accidents. Meanwhile, the axle center consistency of the whole probe rod 1 is high.

Wherein, the abrasive drilling head 2 is spherical, conical or plum blossom-shaped. In this embodiment, the shape of the grinding bit 2 for the cortical bone grinding portion may be selected from a spherical shape, a conical shape or a quincunx shape, that is, in the rotation process of the grinding bit 2, a certain grinding or cutting action is performed on the bone surface contacted with the grinding bit, and a recess with a certain size is formed on the bone surface.

Wherein, probe rod 1 includes guide section 11, and guide section 11's one end is connected with abrasive drilling head 2, and the other end is connected with rotary drive device. The probe rod 1 is divided into a plurality of sections, wherein the section is mainly a guide section 11, and the guide section 11 is a hollow tubular member and is used as a supporting structure of the grinding bit 2 on one hand and a transmission structure of a rotary driving device on the other hand.

Wherein the guide section 11 is provided with a scale 111 along its axial direction. In this embodiment, the guide section 11 is integrally marked with a scale 111 to facilitate observation of the depth of abrasion of the burr 2. In the operation process, the draw hook fixed on the outer part of the skin of the operation area can be used as a reference for comparison, and the relative position of the scale 111 and the draw hook can be observed, so that the moving distance of the grinding bit 2 can be obtained.

The probe rod 1 further comprises a connecting section 12, and the guide section 11 is connected with the rotary driving device through the connecting section 12. The probe rod 1 is of a multi-section type and comprises a connecting section 12 besides a guide section 11, the end part of the connecting section 12 is connected with the guide section 11 and is also a hollow component, and the outer surface of the connecting section 12 is formed in a structure matched and connected with a rotary driving device, so that the probe rod can be matched with an operation drill to be clamped quickly and can also be matched with a conventional operation power system.

Wherein, the guide section 11 is configured with a transition section 112, the transition section 112 is connected with the grinding drill bit 2, and the cross-sectional area of the transition section 112 is gradually reduced from the connecting section 12 to the grinding drill bit 2. The one end structure that direction section 11 and abrasive drilling head 2 are connected is changeover portion 112, changeover portion 112 is the toper, and the tip is connected abrasive drilling head 2, can guarantee to add the processing and be convenient for control abrasive drilling head 2 size on the one hand, and the changeover portion 112 of on the other hand toper is favorable to observing the operating condition of abrasive drilling head 2.

In this embodiment, the abrasive drilling head 2 is a diamond grinding head or a cutting bit.

The abrasive drilling manipulator provided by the embodiment of the invention further comprises a mechanical arm, and the mechanical arm is connected with the rotary driving device. But the arm removes in a flexible way under external control, and after accurate location, with probe rod 1 through the direct art district bone face of skin incision, rotary drive device drives probe rod 1 by slow to fast rotation, because it is that the progressive formula of grinding drill bit 2 to the bone face is polished, can not produce the bone face phenomenon of skidding that the guide pin is most advanced, has improved the position precision of operation.

The abrasive drilling manipulator provided by the embodiment of the invention further comprises a control device, and the control device controls the mechanical arm and the rotary driving device to move. In the embodiment, the control device is arranged, so that the abrasive drilling manipulator can be used in combination with surgical navigation and minimally invasive surgery robots, and in other embodiments, the abrasive drilling manipulator can be used in a perspective free-hand operation mode.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A grinding manipulator is characterized in that: the device comprises a probe rod and a rotary driving device, wherein a through hole is formed in the probe rod along the axial direction of the probe rod and used for enabling a guide needle to pass through to reach a target position; the probe rod comprises a grinding drill bit, a guide section and a connecting section which are sequentially arranged along the axial direction, and the guide section is provided with scales along the axial direction; the guide section is connected with the rotary driving device through the connecting section; the guide section is provided with a transition section, the transition section is connected with the abrasive drilling head, and the cross-sectional area of the transition section is gradually reduced from the connecting section to the abrasive drilling head; the grinding drill bit is spherical, conical or plum blossom-shaped.

2. The drilling manipulator according to claim 1, wherein: the grinding drill bit is a diamond grinding head or a cutting drill bit.

3. The drilling manipulator according to claim 1, wherein: the mechanical arm is connected with the rotary driving device.

4. The abrasive drilling manipulator according to claim 3, wherein: the robot further comprises a control device, wherein the control device controls the movement of the mechanical arm and the rotation driving device.