CN113040914A - Surgical robot - Google Patents
Surgical robot Download PDFInfo
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- CN113040914A CN113040914A CN202110264841.3A CN202110264841A CN113040914A CN 113040914 A CN113040914 A CN 113040914A CN 202110264841 A CN202110264841 A CN 202110264841A CN 113040914 A CN113040914 A CN 113040914A
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- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 230000001105 regulatory effect Effects 0.000 claims description 88
- 230000005540 biological transmission Effects 0.000 claims description 27
- 230000001276 controlling effect Effects 0.000 claims description 9
- 206010051290 Central nervous system lesion Diseases 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 7
- 210000004556 brain Anatomy 0.000 abstract description 26
- 239000002184 metal Substances 0.000 description 12
- 238000000034 method Methods 0.000 description 10
- 238000007428 craniotomy Methods 0.000 description 5
- 230000003902 lesion Effects 0.000 description 4
- 210000005013 brain tissue Anatomy 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007917 intracranial administration Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000003625 skull Anatomy 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 206010053942 Cerebral haematoma Diseases 0.000 description 1
- 208000034656 Contusions Diseases 0.000 description 1
- 206010015769 Extradural haematoma Diseases 0.000 description 1
- 208000002667 Subdural Hematoma Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009519 contusion Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
The embodiment of the present application provides a surgical robot, includes: the device comprises a support rail, a connecting part, a control console and a mechanical arm; the mechanical arm is arranged on the support track and is connected with an external operating instrument; the connecting part can fix the support rail; and the console is used for receiving the input control command, determining a motion path of the mechanical arm along the support track according to the target position of the brain focus of the patient in the control command, controlling the support track to operate according to the motion path, so that the mechanical arm moves the operating instrument to the target position, and executing the operation corresponding to the control command. The scheme can be used for quickly operating the brain focus.
Description
Technical Field
The application relates to the technical field of computers, in particular to a surgical robot.
Background
Intracranial lesions generally refer to lesions within the skull, such as brain tissue contusions, intracerebral hematomas, epidural hematomas, subdural hematomas, and the like. Since the lesion is inside the skull, it is a technical challenge to determine the focus of the brain.
Currently, one common way to identify brain lesions with intracranial lesions is to expose brain tissue through a craniotomy and then manually identify the specific location of the brain lesion.
However, brain tissues are complex, and many emergency situations occur in craniotomy, and it is difficult to accurately position the specific position of the brain lesion through manual work, so that the brain lesion cannot be quickly operated.
Disclosure of Invention
In view of this, the present application provides a surgical robot, which can perform an operation on a brain lesion more quickly.
In a first aspect, an embodiment of the present application provides a surgical robot, including: the device comprises a support rail, a connecting part, a control console and a mechanical arm;
the mechanical arm is arranged on the support rail and is connected with an external operating instrument;
the connecting part can fix the bracket track;
the console is used for receiving an input control instruction, determining a motion path of the mechanical arm along the support track according to a target position of the target position for the brain lesion of the patient in the control instruction, and controlling the support track to run according to the motion path, so that the mechanical arm moves the operating instrument to the target position, and executes an operation corresponding to the control instruction.
Preferably, the first and second electrodes are formed of a metal,
the support rail, comprising: the mechanical arm comprises a mechanical arm support, a transmission assembly, a driving assembly and a guide rail;
the transmission assembly is arranged on the guide rail;
the driving component is connected with the transmission component;
the mechanical arm support is arranged on the driving assembly and connected with the mechanical arm;
the control platform is connected with the driving assembly and used for controlling the driving assembly to operate so that the driving assembly drives the mechanical arm support to move on the guide rail through the transmission assembly.
Preferably, the first and second electrodes are formed of a metal,
the transmission assembly comprises: the device comprises a wheel set support, at least one group of driving wheel sets and at least one group of driven wheel sets;
the wheel set support is connected with the driving assembly;
the wheel set support is provided with a groove, and the guide rail, the at least one group of driving wheel set and the at least one group of driven wheel set are all arranged in the groove of the wheel set support;
the driving assembly is used for driving the at least one group of driving wheel sets to rotate so that the at least one group of driven wheel sets are driven by the driving wheel sets to enable the at least one group of driving wheel sets and the at least one group of driven wheel sets to move on the guide rail.
Preferably, the first and second electrodes are formed of a metal,
the transmission assembly further comprises: the gear is arranged in the groove of the wheel set support;
a rack is arranged on the guide rail;
the driving assembly is further used for controlling the speed of the gear in meshing transmission on the rack, so that the speed of the at least one group of driving wheel set and the at least one group of driven wheel set moving on the guide rail is controlled through the gear.
Preferably, the first and second electrodes are formed of a metal,
the driving wheel set comprises: the driving wheel frame and the driving wheel are arranged in the groove of the wheel set support, wherein the driving wheel is arranged on the driving wheel frame.
Preferably, the first and second electrodes are formed of a metal,
the driven wheel set includes: the driven wheel frame and the driven wheel are arranged in the groove of the wheel set support, and the driven wheel is arranged on the driven wheel frame.
Preferably, the first and second electrodes are formed of a metal,
the drive assembly, comprising: the device comprises a supporting bottom plate, a driving motor, a limiting piece and a pressure regulating device;
the mechanical arm support, the transmission assembly, the driving motor and the limiting piece are all arranged on the supporting bottom plate;
the pressure regulating device is connected with the limiting piece, the limiting piece is limited between the guide rail and the pressure regulating device, and the relative position of the pressure regulating device and the at least one group of driving wheel sets is kept under the driving of the supporting bottom plate through the limiting piece;
the pressure regulating device is used for detecting the gradient of the current position of the guide rail, and according to the gradient, the clamping force applied by the limiting part is regulated, so that the friction force between the limiting part and the guide rail is regulated under the action of the clamping force.
Preferably, the first and second electrodes are formed of a metal,
the pressure regulating device includes: the pressure regulating support, the pressure regulating elastic component, the sensor, the regulating screw rod and the pressure regulating motor are arranged on the pressure regulating support;
the pressure regulating support is connected with the limiting piece;
the pressure regulating elastic assembly, the sensor and the regulating screw rod are all arranged in the pressure regulating support;
the sensor is used for detecting the elastic force applied by the pressure regulating elastic component and regulating the clamping force applied to the limiting part through the regulating screw rod and the pressure regulating support according to the detected elastic force.
Preferably, the first and second electrodes are formed of a metal,
the stopper includes: a connecting rod and two rollers;
the two rollers are fixed on the connecting rod;
one end of the connecting rod is connected with the supporting bottom plate;
the position between the two idler wheels on the connecting rod is connected with the pressure regulating device, and the two idler wheels penetrate through the wheel set support and are in contact with the outer wall of the guide rail.
Preferably, the first and second electrodes are formed of a metal,
the arm support includes: the fixing plate, the bracket, the positioning elastic component and the jackscrew;
the fixing plate is arranged on the driving assembly;
the bracket is connected with the fixing plate;
the mechanical arm and the positioning elastic assembly are both arranged in a clamping groove of the bracket, wherein the positioning elastic assembly is positioned between the mechanical arm and the inner wall of the clamping groove of the bracket;
the jackscrew penetrates through the bracket and is connected with one end of the positioning elastic component;
external force is applied to the positioning elastic assembly through the jackscrew, and the mechanical arm changes the relative position with the support under the elastic action of the positioning elastic assembly.
Preferably, the first and second electrodes are formed of a metal,
the console is further used for displaying the received control instruction and the determined motion path.
Preferably, the first and second electrodes are formed of a metal,
the surgical robot further includes: a fixed mount;
the fixing frame is connected with the support rail and used for fixing the patient.
Preferably, the first and second electrodes are formed of a metal,
the connecting member includes: a connecting seat and a clamping assembly;
the clamping assembly is arranged in a limiting hole of the connecting seat and clamped on an operating table where the patient is located, wherein different positions of the clamping assembly in the limiting hole correspond to different clamping positions on the operating table.
According to the technical scheme, the mechanical arm is arranged on the support rail, the mechanical arm can be supported and fixed through the support rail, and the mechanical arm is connected with external operating equipment, so that the supporting and fixing of the operating equipment can be realized. Because the mechanical arm can drive the operating instrument to move on the support rail, when the operating instrument needs to be controlled to perform operation, a target position of a brain focus of a patient and a control instruction indicating the operation to be performed by the mechanical arm can be input into the console. The console can determine a motion path of the mechanical arm moving to the target position of the brain focus of the patient along the support track, and the mechanical arm is controlled to drive the operating instrument to the target position based on the motion path, so that the operating instrument can conveniently execute corresponding operation at the target position. The specific position of the brain focus of the patient can be accurately confirmed without a craniotomy mode, and the target position of the brain focus is correspondingly operated, so that the risk of determining the position of the brain focus is reduced, the time for confirming the brain focus of the patient can be shortened, and the purpose of quickly operating the brain focus in real time is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present application 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 application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of a surgical robot according to an embodiment of the present disclosure;
fig. 2 is a schematic view of a surgical robot provided in the second embodiment of the present application;
fig. 3 is a schematic view of a connection seat provided in the second embodiment of the present application;
fig. 4 is a schematic view of a connecting seat and a guide rail provided in the second embodiment of the present application;
fig. 5 is a schematic view of a connecting seat and a guide rail provided in the second embodiment of the present application;
FIG. 6 is a schematic view of a transmission assembly provided in accordance with a second embodiment of the present application;
FIG. 7 is a schematic view of the connection between the driving assembly and the transmission assembly provided in the second embodiment of the present application;
fig. 8 is a schematic view illustrating a voltage regulating device and a limiting member according to a second embodiment of the present disclosure;
fig. 9 is a schematic view of a pressure regulating device according to a second embodiment of the present application;
fig. 10 is a schematic view of another pressure regulating device provided in the second embodiment of the present application.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application shall fall within the scope of protection of the embodiments of the present application.
Example one
Fig. 1 is a schematic structural diagram of a surgical robot according to an embodiment of the present application. Referring to fig. 1, the method specifically includes:
the device comprises a support rail 1, a connecting part 2, a control console 3 and a mechanical arm 4;
the robot arm 4 is disposed on the carriage rail and connected to an external operating instrument.
The connecting part 2 can fix the rack rail.
And the console 3 is used for receiving the input control command, determining a motion path of the mechanical arm 4 along the support track 1 according to a target position of the brain focus of the patient in the control command, and controlling the support track 1 to operate according to the motion path, so that the mechanical arm 4 moves the operating instrument to the target position, and executes an operation corresponding to the control command.
According to the scheme provided by the embodiment of the application, the mechanical arm is arranged on the support rail, the mechanical arm can be supported and fixed through the support rail, and the mechanical arm is connected with external operating equipment, so that the supporting and fixing of the operating equipment can be realized. Because the mechanical arm can drive the operating instrument to move on the support rail, when the operating instrument needs to be controlled to perform operation, a target position of a brain focus of a patient and a control instruction indicating the operation to be performed by the mechanical arm can be input into the console. The console can determine a motion path of the mechanical arm moving to the target position of the brain focus of the patient along the support track, and the mechanical arm is controlled to drive the operating instrument to the target position based on the motion path, so that the operating instrument can conveniently execute corresponding operation at the target position. The specific position of the brain focus of the patient can be accurately confirmed without a craniotomy mode, and the target position of the brain focus is correspondingly operated, so that the risk of determining the position of the brain focus is reduced, the time for confirming the brain focus of the patient can be shortened, and the purpose of quickly operating the brain focus in real time is achieved.
Example two
In order to more clearly illustrate the technical solutions and advantages of the present application, the following detailed description of a surgical robot provided by the present application specifically includes:
the device comprises a connecting part, a support rail, a console, a mechanical arm and a fixing frame; wherein the content of the first and second substances,
the connecting member includes: a connecting seat and a clamping assembly;
in this embodiment, before operating the brain focus of the patient, the clamping assembly is first disposed in the limiting hole of the connecting seat, and then the clamping assembly is clamped on the operating table where the patient is located, and the connecting seat is fixed on the operating table through the clamping assembly.
The support rail is arranged on the connecting seat, the support rail can be supported and fixed through the connecting seat, the mechanical arm is arranged on the support rail and can be fixed, and the operating instrument is arranged on the mechanical arm, so that the purpose of fixing the operating instrument on the support rail can be achieved.
If the operation instrument needs to be controlled to perform the operation, a control command can be input into the console, wherein the control command comprises a target position aiming at the brain focus of the patient and is used for indicating the operation to be performed by the operation instrument. And the console determines a motion path of the mechanical arm from the current position to the target position along the support track according to the current position and the target position of the mechanical arm on the support track. And the operation of the support rail is controlled according to the motion path, so that the operation instrument is driven by the mechanical arm to move to the target position through the support rail.
The fixing frame can fix the head of the patient and limit the moving position of the head of the patient. Meanwhile, the fixing frame is arranged on the support rail, so that the fixing frame can be fixed.
Preferably, the console can also display the received control instructions and the operation performed by the console. For example, the console displays the received control commands and the determined movement path so that the outside personnel can know the operation conditions of the console and the mechanical arm.
Preferably, the stopper hole of the coupling seat may include at least one of a circular hole, a rectangular hole, and an oblong hole. The number of the connecting seats can be one or more.
Fig. 2 shows the link base 101, the stopper hole 102 of the link base, the rack rail 20, and the robot arm 30 in the link member.
Fig. 3 shows a schematic view of the connecting socket 101 and the limiting hole 102 thereof.
The support track includes: the mechanical arm comprises a mechanical arm support, a transmission assembly, a driving assembly and a guide rail;
in this embodiment, be provided with the draw-in groove on the connecting seat, when the quantity of connecting seat was 2, each end setting of guide rail is in the draw-in groove of a connecting seat to fix it through the connecting seat. Preferably, when the number of the limiting holes on the connecting seat is 2, the clamping groove on the connecting seat can be arranged in the area between the two limiting holes, so that the connection between the guide rail and the connecting seat is relatively more stable.
The transmission assembly is arranged on the guide rail, the driving assembly is arranged on the transmission assembly, the mechanical arm support is arranged on the driving assembly, and the mechanical arm is arranged on the mechanical arm support, so that the transmission assembly, the driving assembly, the mechanical arm support and the mechanical arm can be supported and fixed through the guide rail. The driving assembly can drive the transmission assembly to move on the guide rail under the control of the control console, so that the driving assembly, the mechanical arm support and the mechanical arm are driven to move.
Fig. 4 and 5 show schematic views in which the guide rail 103 is provided on the link base 101.
The transmission assembly includes: the device comprises a wheel set support, at least one driving wheel set, at least one driven wheel set and a gear; wherein the content of the first and second substances,
the driving wheel group includes: a driving wheel carrier and a driving wheel;
the driven wheelset includes: driven wheel carrier and driven wheel.
In this embodiment, the driving wheel of each driving wheel set is disposed on the driving wheel frame, and the driven wheel of each driven wheel set is disposed on the driven wheel frame. The driving wheel frame, the driven wheel frame and the guide rail are all arranged in the grooves of the wheel set support, and the driving wheel and the driven wheel are arranged in the guide rail. The driving wheel and the driven wheel are driven by the driving assembly, and can be driven to move on the guide rail through the driving wheel frame and the driven wheel frame, wherein the driving wheel frame and the driven wheel frame are arranged on the wheel set support, the driving assembly and the mechanical arm.
A schematic view of the transmission assembly is shown in fig. 6, wherein a schematic view of the wheel set carrier 104, the gear 105, the drive wheel set and the driven wheel set connections are shown, wherein the drive wheel set and the driven wheel set are indicated by reference 106.
The inner wall of the groove of the wheel set support is also provided with a gear which can be meshed with a rack arranged on the guide rail, and the driving component controls the moving speed of the driving wheel and the driven wheel on the guide rail by controlling the speed of the gear meshed with the rack for transmission. Through the cooperation of gear and rack, action wheel and the cooperation from the driving wheel not only can drive the arm and remove on the guide rail, can also control the translation rate of arm on the guide rail.
Preferably, a first side wall of the guide rail, on which the track for facilitating the movement of the driving wheel and the driven wheel is located, and a second side wall of the guide rail, on which the rack is located, may be adjacent to or opposite to each other.
The drive assembly includes: supporting baseplate, driving motor, locating part and pressure regulating device.
A locating member, comprising: a connecting rod and two rollers.
In this embodiment, the support base plate is disposed on the wheel set support, and the support base plate can be fixed. The driving motor is arranged on the supporting bottom plate, and can be fixed through the supporting bottom plate. In order to facilitate the driving of the driving wheel to move, a driving shaft of the driving motor is connected with the driving wheel. The pressure regulating device is connected with the supporting bottom plate through a connecting rod.
Connect two gyro wheels in series on the connecting rod to be connected the one end of connecting rod with supporting baseplate, can carry out preliminary fixed to the connecting rod. And then the connecting rod and the roller wheel penetrate through the side wall of the wheel set support and are limited between the guide rail and the pressure regulating device by matching the pressure regulating device with the guide rail. The roller wheels can move along the outer wall of the guide rail under the driving of the supporting bottom plate through the connecting rods, and then the pressure regulating device is driven to move, so that the pressure regulating device and the gear, the driving wheel or the driven wheel keep relative positions.
Preferably, the shape of the guide rail includes any one of a circle, a semicircle, and an ellipse. When the guide rail is a non-linear guide rail, there may be a case where the robot arm climbs or descends while moving on the guide rail. Because parts such as arm, supporting baseplate, connecting rod, two gyro wheels, pressure regulating device and operating instrument all have certain weight, if driving motor drive action wheel and follow driving wheel rotation at the uniform velocity always, then each part when the relative low position department of follow guide rail removes to the relative high position department of guide rail, then can make each part move the speed reduction on the guide rail because of each part weight. On the contrary, if each component moves from the relatively high position of the guide rail to the relatively low position of the guide rail, the moving speed of each component along the guide rail is too high due to the weight of each component, which is not beneficial to controlling the moving speed of each component, and even the condition that each component vibrates on the guide rail can occur. In order to ensure that each part can run on the guide rail at a constant speed, the connecting rod is connected with the pressure regulating device. The pressure regulating device can detect the slope at its current position at the guide rail, then according to the slope that detects, adjusts the clamp force that applys to two gyro wheels through the connecting rod, and then adjusts the frictional force between gyro wheel and the guide rail. The moving speed of the driving wheel and the driven wheel on the guide rail is further controlled through friction force, so that all parts can move on the guide rail stably.
Preferably, the driving motor is arranged on the side wall where the supporting bottom plate is arranged, and the side wall connected with the connecting rod and the two rollers on the supporting bottom plate can be two opposite side walls or two adjacent side walls.
Fig. 7 shows a schematic view of the connection of the drive assembly, in particular the support base plate 107, the drive motor 108 and the pressure regulating device 109, and the transmission assembly, in particular the wheel set carrier 104, the gear 105, the drive wheel set and the driven wheel set, in which the drive wheel set and the driven wheel set are indicated by the reference 106.
Fig. 8 shows a schematic diagram of the pressure adjusting device 109 connected to a limiting member, wherein the limiting member specifically shows a connecting rod 110 and a roller 111 connected in series to the connecting rod.
The pressure regulating device includes: pressure regulating support, pressure regulating elastic component, sensor, accommodate the lead screw and regulating motor, wherein, pressure regulating elastic component is for having elastic part.
In this embodiment, the buckle seat on the pressure regulating support outer wall can buckle the position that lies in between two gyro wheels in the connecting rod for the pressure regulating support cooperatees with the guide rail, with two gyro wheel restrictions between guide rail and pressure regulating support, make two gyro wheels can follow the guide rail and remove under the drive of connecting rod.
Pressure regulating elastic component, sensor and accommodate the lead screw all set up in the pressure regulating support. Preferably, the pressure regulating elastic assembly comprises a top pressure spring and a spring regulating plate. The top pressure spring is arranged between the inner wall of the pressure regulating support and the spring regulating plate, the sensor is arranged on the regulating screw rod, the pressure regulating motor is connected with one end of the regulating screw rod, the other end of the regulating screw rod penetrates through the spring regulating plate and extends into a ring of the top pressure spring, and the top pressure spring and the sensor are respectively arranged on two opposite side walls of the spring regulating plate. The sensor can detect the elasticity applied to the spring adjusting plate by jacking the pressing spring at different positions of the guide rail, and adjusts the voltage regulating motor according to the detected elasticity, so that the voltage regulating motor adjusts the clamping force applied to the spring through the screw rod and the spring adjusting plate, the clamping force applied to the connecting rod by the voltage regulating support is adjusted under the action of the elasticity of the spring, and the friction force between the regulating roller and the guide rail is adjusted.
Fig. 9 shows the pressure regulating support 112 and the pressure regulating motor 113 of the pressure regulating device;
fig. 10 shows the pressure regulating elastic assembly 114, the sensor 115, the regulating screw 116 and the pressure regulating motor 113 of the pressure regulating device.
A mechanical arm support comprising: fixed plate, support, positioning elastic component and jackscrew.
In this embodiment, the fixing plate is disposed on the supporting base plate, and the bracket is connected to the fixing plate, so that the bracket can be fixed. The mechanical arm is arranged in the clamping groove of the support, and the mechanical arm can be fixed. Be provided with the elastic component that adjusts the position between the draw-in groove of support and arm, run through the support with the jackscrew again and be connected with the one end of the elastic component that adjusts the position of arm if need, for example, when adjusting the arm vertically upwards, vertical downwards, level left, level right or to other position, can exert external force to the jackscrew to make the spring change the relative position of arm and support under the effect of elasticity, accomplish the regulation to the arm position.
Preferably, the positioning elastic component is a component with elasticity.
In conclusion, the positions of the operating instruments can be moved by matching the components, so that the operating instruments can conveniently and correspondingly operate the target positions of the brain focuses of the patients, the positions of the brain focuses of the patients do not need to be confirmed in a craniotomy mode, and the target positions of the brain focuses are correspondingly operated, so that the risk of determining the positions of the brain focuses is reduced, the time for confirming the brain focuses of the patients can be shortened, and the purpose of quickly operating the brain focuses in real time is achieved.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The use of the phrase "including a" does not exclude the presence of other, identical elements in the process, method, article, or apparatus that comprises the same element, whether or not the same element is present in all of the same element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular transactions or implement particular abstract data types. The application may also be practiced in distributed computing environments where transactions are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A surgical robot, comprising: the device comprises a support rail, a connecting part, a control console and a mechanical arm;
the mechanical arm is arranged on the support rail and is connected with an external operating instrument;
the connecting part can fix the bracket track;
the console is used for receiving an input control instruction, determining a motion path of the mechanical arm along the support track according to a target position of the target position for the brain lesion of the patient in the control instruction, and controlling the support track to run according to the motion path, so that the mechanical arm moves the operating instrument to the target position, and executes an operation corresponding to the control instruction.
2. A surgical robot as claimed in claim 1,
the support rail, comprising: the mechanical arm comprises a mechanical arm support, a transmission assembly, a driving assembly and a guide rail;
the transmission assembly is arranged on the guide rail;
the driving component is connected with the transmission component;
the mechanical arm support is arranged on the driving assembly and connected with the mechanical arm;
the control platform is connected with the driving assembly and used for controlling the driving assembly to operate so that the driving assembly drives the mechanical arm support to move on the guide rail through the transmission assembly.
3. A surgical robot as claimed in claim 2,
the transmission assembly comprises: the device comprises a wheel set support, at least one group of driving wheel sets and at least one group of driven wheel sets;
the wheel set support is connected with the driving assembly;
the wheel set support is provided with a groove, and the guide rail, the at least one group of driving wheel set and the at least one group of driven wheel set are all arranged in the groove of the wheel set support;
the driving assembly is used for driving the at least one group of driving wheel sets to rotate so that the at least one group of driven wheel sets are driven by the driving wheel sets to enable the at least one group of driving wheel sets and the at least one group of driven wheel sets to move on the guide rail.
4. A surgical robot as claimed in claim 3,
the transmission assembly further comprises: the gear is arranged in the groove of the wheel set support;
a rack is arranged on the guide rail;
the driving assembly is further used for controlling the speed of the gear in meshing transmission on the rack, so that the speed of the at least one group of driving wheel set and the at least one group of driven wheel set moving on the guide rail is controlled through the gear.
5. A surgical robot as claimed in claim 3,
the driving wheel set comprises: the driving wheel frame and the driving wheel are arranged in the groove of the wheel set support, wherein the driving wheel is arranged on the driving wheel frame;
and/or the presence of a gas in the gas,
the driven wheel set includes: the driven wheel frame and the driven wheel are arranged in the groove of the wheel set support, and the driven wheel is arranged on the driven wheel frame.
6. A surgical robot as claimed in claim 3,
the drive assembly, comprising: the device comprises a supporting bottom plate, a driving motor, a limiting piece and a pressure regulating device;
the mechanical arm support, the transmission assembly, the driving motor and the limiting piece are all arranged on the supporting bottom plate;
the pressure regulating device is connected with the limiting piece, the limiting piece is limited between the guide rail and the pressure regulating device, and the relative position of the pressure regulating device and the at least one group of driving wheel sets is kept under the driving of the supporting bottom plate through the limiting piece;
the pressure regulating device is used for detecting the gradient of the current position of the guide rail, and according to the gradient, the clamping force applied by the limiting part is regulated, so that the friction force between the limiting part and the guide rail is regulated under the action of the clamping force.
7. A surgical robot as claimed in claim 6,
the pressure regulating device includes: the pressure regulating support, the pressure regulating elastic component, the sensor, the regulating screw rod and the pressure regulating motor are arranged on the pressure regulating support;
the pressure regulating support is connected with the limiting piece;
the pressure regulating elastic assembly, the sensor and the regulating screw rod are all arranged in the pressure regulating support;
the sensor is used for detecting the elastic force applied by the pressure regulating elastic component and regulating the clamping force applied to the limiting part through the regulating screw rod and the pressure regulating support according to the detected elastic force.
8. A surgical robot as claimed in claim 6,
the stopper includes: a connecting rod and two rollers;
the two rollers are fixed on the connecting rod;
one end of the connecting rod is connected with the supporting bottom plate;
the position between the two idler wheels on the connecting rod is connected with the pressure regulating device, and the two idler wheels penetrate through the wheel set support and are in contact with the outer wall of the guide rail.
9. A surgical robot as claimed in claim 2,
the arm support includes: the fixing plate, the bracket, the positioning elastic component and the jackscrew;
the fixing plate is arranged on the driving assembly;
the bracket is connected with the fixing plate;
the mechanical arm and the positioning elastic assembly are both arranged in a clamping groove of the bracket, wherein the positioning elastic assembly is positioned between the mechanical arm and the inner wall of the clamping groove of the bracket;
the jackscrew penetrates through the bracket and is connected with one end of the positioning elastic component;
external force is applied to the positioning elastic assembly through the jackscrew, and the mechanical arm changes the relative position with the support under the elastic action of the positioning elastic assembly.
10. A surgical robot as claimed in any of claims 1 to 9,
the console is further used for displaying the received control instruction and the determined motion path;
and/or the presence of a gas in the gas,
the surgical robot further includes: a fixed mount;
the fixing frame is connected with the bracket rail and used for fixing the patient;
and/or the presence of a gas in the gas,
the connecting member includes: a connecting seat and a clamping assembly;
the clamping assembly is arranged in a limiting hole of the connecting seat and clamped on an operating table where the patient is located, wherein different positions of the clamping assembly in the limiting hole correspond to different clamping positions on the operating table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110264841.3A CN113040914A (en) | 2021-03-04 | 2021-03-04 | Surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110264841.3A CN113040914A (en) | 2021-03-04 | 2021-03-04 | Surgical robot |
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| Publication Number | Publication Date |
|---|---|
| CN113040914A true CN113040914A (en) | 2021-06-29 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110264841.3A Pending CN113040914A (en) | 2021-03-04 | 2021-03-04 | Surgical robot |
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| CN (1) | CN113040914A (en) |
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