CN113679476B

CN113679476B - Minimally invasive spine surgery auxiliary robot

Info

Publication number: CN113679476B
Application number: CN202111010293.8A
Authority: CN
Inventors: 于洪健; 杜志江; 汪明威; 杨冲
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2021-08-31
Filing date: 2021-08-31
Publication date: 2023-03-21
Anticipated expiration: 2041-08-31
Also published as: CN113679476A

Abstract

The invention provides a minimally invasive spine surgery auxiliary robot, which relates to the technical field of auxiliary operating instruments of medical surgical operations and comprises a first linear driving assembly, a second linear driving assembly, a swinging arm and an end effector which are sequentially connected, wherein the first linear driving assembly is suitable for being movably arranged on an operating bed, the second linear driving assembly is in sliding connection with the first linear driving assembly in the width direction of the operating bed, the second linear driving assembly is in rotating connection with one end of the swinging arm, the other end of the swinging arm is in rotating connection with one end of the end effector, and the other end of the end effector is suitable for being in swinging connection with an operating instrument mounting seat. The minimally invasive spine surgery auxiliary robot can improve the positioning precision and the operation accuracy of minimally invasive spine surgery.

Description

Minimally invasive spine surgery auxiliary robot

Technical Field

The invention relates to the technical field of auxiliary operation instruments for medical surgical operations, in particular to a minimally invasive spine operation auxiliary robot.

Background

Along with the change of the global population to the aging phenomenon and the change of modern travel ways of people, the number of patients with spine diseases such as spine and lumbar degenerative diseases, fracture and the like is increased year by year. Conventional open surgery requires that the muscle tissue around the pedicle of the vertebral column be stripped off the back of the patient in order to accurately implant the pedicle screws into the body. On the one hand can lead to the patient wound great and postoperative recovery time longer, and the automatic spreader of using in the art can make postoperative complication serious, and on the other hand, because the natural shake of people's hand, the doctor is long-time carry out fatigue after the operation and the limb motion that the patient breathes and lead to for the precision that pedicle screw was implanted often is difficult to guarantee among the actual operation process, consequently, the operation effect to a great extent relies on doctor's technique and some accidental factor.

Disclosure of Invention

The invention aims to provide a minimally invasive spine surgery auxiliary robot to solve the technical problems of low positioning precision and poor operation accuracy of the existing minimally invasive spine surgery.

In order to achieve the purpose, the technical scheme of the invention is as follows:

the utility model provides a minimal access spine surgery auxiliary robot, is including the first linear drive subassembly, second linear drive subassembly, swing arm and the end effector that connect gradually, first linear drive subassembly is suitable for the removal to set up on the operation table, second linear drive subassembly with first linear drive subassembly is in sliding connection on the width direction of operation table, just second linear drive subassembly with the one end of swing arm is rotated and is connected, the other end of swing arm with the one end of end effector is rotated and is connected, the other end of end effector is suitable for and is connected with the swing of surgical instruments mount pad.

The minimally invasive spine surgery auxiliary robot is connected with a surgical instrument mounting seat through a first linear driving assembly, a second linear driving assembly, a swing arm and an end effector which are sequentially connected, the surgical instrument mounting seat is also a pedicle screw implantation channel, and the purpose of controlling the pedicle screw implantation precision is achieved by controlling the axis position of the surgical instrument mounting seat. Specifically, the first linear driving assembly moves along the height direction of the operating table in combination with the rotation of the swing arm to drive the end effector to move along the length direction of the operating table, and the second linear driving assembly drives the swing arm to move along the width direction (namely the width direction of the spine) of the operating table, so that the swing arm drives the end effector to move back and forth along the width direction of the operating table to adjust the implantation position of the pedicle screw, and further, the linear movement of the surgical instrument mounting seat in two directions is controlled; the swing of the surgical instrument mounting seat in the pedicle screw implantation direction is controlled through the swing of the end effector, the combination of the mobile freedom degree and the rotary freedom degree of the surgical instrument mounting seat is realized, and the multiple degrees of freedom of the surgical instrument mounting seat are adjusted, so that the accurate positioning and the accurate operation of the operation are ensured.

Optionally, first linear drive subassembly includes single-axis drive, first servo motor and first connecting piece, single-axis drive's one end with first servo motor connects, single-axis drive's the other end passes through first connecting piece with second linear drive subassembly sliding connection, single-axis drive's first slider be suitable for with the operation table is connected.

Optionally, the minimally invasive spine surgery auxiliary robot further comprises a clamping mechanism, the clamping mechanism is arranged on a first sliding block of the first linear driving assembly, the first linear driving assembly is connected with the clamping mechanism in a sliding mode in the height direction of the operating bed, and the clamping mechanism is suitable for being clamped on the operating bed.

Optionally, fixture includes support, clamping knob, briquetting, last leading wheel, leading wheel and leading wheel position adjustment knob down, be close to on the support operating table one side is equipped with first mounting groove, be equipped with in the first mounting groove go up the leading wheel down the leading wheel, go up the leading wheel with form down between the leading wheel and be suitable for the chucking operating table's installation space, leading wheel position adjustment knob with down the leading wheel is connected, leading wheel position adjustment knob is suitable for the adjustment go up the leading wheel with distance between the leading wheel down, clamping knob is located the support is kept away from one side of operating table, clamping knob with the briquetting is connected, clamping knob is suitable for the rotation and in order to promote the briquetting compresses tightly the operating table.

Optionally, the clamping mechanism further includes a first rotating shaft, a second rotating shaft, a first bearing and a second bearing, and the first rotating shaft passes through the upper guide wheel and is connected to the bracket through the first bearing; the second rotating shaft penetrates through the lower guide wheel and is connected with the support through the second bearing.

Optionally, the swing arm includes armed lever, axis of rotation, fourth servo motor and second harmonic reduction gear, the one end of armed lever is passed through the axis of rotation with second linear drive subassembly rotates to be connected, the other end of armed lever with end effector rotates to be connected, second harmonic reduction gear with fourth servo motor is located the different sides of armed lever and respectively with the both ends of axis of rotation are connected, fourth servo motor is suitable for the drive the armed lever winds the axis of rotation rotates.

Optionally, the end effector includes a rotary joint, a swing joint, a rear end cap, a front end cap and a sleeve, the rear end cap and the front end cap are respectively disposed at two ends of the sleeve, the rotary joint and the swing joint are at least partially located in the sleeve, the rotary joint is adapted to penetrate through the rear end cap to be rotatably connected with the swing arm, and the swing joint is adapted to penetrate through the front end cap to be connected with the surgical instrument mounting base in a swing manner.

Optionally, the rotary joint includes second servo motor, first gear train and first harmonic speed reducer ware, second servo motor locates in the sleeve, second servo motor pass through first gear train with first harmonic speed reducer ware drive connection, first gear train with the rear end cap is connected, first harmonic speed reducer ware sets up in the second mounting groove of armed lever one end, second servo motor is suitable for the drive first harmonic speed reducer ware is in order to drive the sleeve rotates around its axis.

Optionally, the swing joint includes a third servo motor, a second gear set, a ball screw transmission pair, a second connecting piece, a guide rod and a hinge structure, the third servo motor is arranged in the sleeve, the third servo motor is connected with the ball screw transmission pair through the second gear set, the ball screw transmission pair is connected with the front end cover, the ball screw transmission pair is connected with one end of the guide rod through the second connecting piece, the other end of the guide rod is suitable for penetrating through the front end cover and passing through the hinge structure and connected with the surgical instrument mounting seat, and the third servo motor is driven by the ball screw transmission pair to drive the second connecting piece to move along the axial direction of the ball screw transmission pair.

Optionally, the hinge structure includes a first hinge shaft, a second hinge shaft, a first connecting block, a second connecting block, and a third hinge shaft, the guide rod is connected to the first connecting block through the first hinge shaft at an end away from the second connecting piece, and the first connecting block is hinged to an end of the surgical instrument mounting base through the second hinge shaft; the second connecting block is arranged on the front end cover and is hinged with the other end of the surgical instrument mounting seat through the third hinge shaft; the third servo motor drives the second connecting piece and the guide rod to move through the ball screw transmission pair so as to drive the surgical instrument mounting seat to rotate around the third hinge shaft.

Drawings

FIG. 1 is a schematic structural diagram of a minimally invasive spine surgery auxiliary robot in an embodiment of the invention;

FIG. 2 is a schematic structural diagram of a minimally invasive spine surgery assisting robot according to an embodiment of the invention;

FIG. 3 is a schematic structural diagram of a clamping mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of another perspective view of a clamping mechanism according to an embodiment of the invention;

FIG. 5 is a cross-sectional view of FIG. 4;

FIG. 6 is an enlarged schematic view at A in FIG. 5;

FIG. 7 is a cross-sectional view of another section of FIG. 4;

FIG. 8 is an enlarged schematic view at B of FIG. 7;

FIG. 9 is a schematic view of an arm according to an embodiment of the present invention;

FIG. 10 is a schematic view of the external structure of an end effector according to an embodiment of the present invention;

FIG. 11 is a schematic view of the internal structure of an end effector according to an embodiment of the present invention;

FIG. 12 is a cross-sectional view of FIG. 10;

fig. 13 is an enlarged schematic view at C in fig. 12.

Description of reference numerals:

1. a first linear drive assembly; 11. a single axis driver; 111. a first slider; 12. a first servo motor; 13. a first connecting member; 2. a second linear drive assembly; 3. swinging arms; 31. an arm lever; 311. steel balls; 312. a second mounting groove; 313. a third mounting groove; 32. a fourth servo motor; 33. a second harmonic reducer; 4. an end effector; 41. a rotary joint; 411. a second servo motor; 412. a first gear set; 413. a first harmonic reducer; 414. a reducer connecting mechanism; 4141. a flange shaft; 4142. a third bearing; 4143. a flange; 4144. a third gasket; 4145. locking the nut; 42. a swing joint; 421. a third servo motor; 422. a second gear set; 423. a ball screw transmission pair; 424. a second connecting member; 425. a guide bar; 426. a hinge structure; 4261. a first hinge shaft; 4262. a second hinge shaft; 4263. a first connection block; 4264. a second connecting block; 4265. a third hinge shaft; 43. a rear end cap; 44. a front end cover; 45. a sleeve; 5. a clamping mechanism; 51. a support; 52. clamping the knob; 53. briquetting; 54. an upper guide wheel; 55. a lower guide wheel; 56. a guide wheel position adjusting knob; 57. a first rotating shaft; 58. a second rotating shaft; 59. a first bearing; 510. a second bearing; 511. a slider; 512. a guide rail; 513. a first gasket; 514. a retaining ring; 515. an end cap; 516. a second gasket; 517. a screw; 6. an operating bed; 7. a surgical instrument mounting base.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the description of the present invention, it should be noted that terms such as "upper", "lower", "front", "rear", and the like in the embodiments indicate directional terms, and are used for simplifying the description of the positional relationship based on the drawings of the specification, and do not mean that the components, devices, and the like which are referred to must operate according to the specific orientation and the limited operation and method, configuration, and such directional terms do not constitute a limitation of the present invention.

Herein, a coordinate system XYZ is provided, wherein a forward direction of the X-axis represents a left direction, a reverse direction of the X-axis represents a right direction, a forward direction of the Y-axis represents a front direction, a reverse direction of the Y-axis represents a rear direction, a forward direction of the Z-axis represents an upper direction, and a reverse direction of the Z-axis represents a lower direction.

As shown in fig. 1-2 and 11-12, the minimally invasive spine surgery auxiliary robot according to the embodiment of the present invention includes a first linear driving assembly 1, a second linear driving assembly 2, a swing arm 3, and an end effector 4, which are connected in sequence, wherein the first linear driving assembly 1 is adapted to be movably disposed on an operating table 6, the second linear driving assembly 2 is slidably connected to the first linear driving assembly 1 in a width direction of the operating table 6, the second linear driving assembly 2 is rotatably connected to one end of the swing arm 3, the other end of the swing arm 3 is rotatably connected to one end of the end effector 4, and the other end of the end effector 4 is adapted to be swingably connected to a surgical instrument mounting base 7.

In this embodiment, the first linear driving assembly 1 is disposed along a direction indicated by a Z-axis, the second linear driving assembly is disposed along a direction indicated by a Y-axis, and a length direction of the operating table 6 is a direction indicated by an X-axis.

The side of the operating bed 6 is provided with a handle, the first linear driving assembly 1 is connected with the handle, the first linear driving assembly 1 is suitable for moving up and down relative to the operating bed 6, the up-down direction is the direction shown by the Z axis, the second linear driving assembly 2 is vertically connected above the first linear driving assembly 1, and the second linear driving assembly 2 is suitable for moving back and forth relative to the first linear driving assembly 1, namely, the second linear driving assembly moves in the direction shown by the Y axis along the width direction of the operating bed 6 or the spinal column so as to drive the swing arm 3 and the end effector 4 to move to a proper position. The swing arm 3 integrally rotates around the Y axis, kinematics calculation is carried out according to the planned nail path pose, the motion amount of each joint of the minimally invasive spine surgery auxiliary robot is analyzed, each joint is driven and controlled, the surgical instrument mounting seat 7 is placed to the planned nail path pose, and the surgery auxiliary process is completed.

In the whole operation process, the first linear driving assembly 1 is lifted vertically (along the direction shown by a Z axis) and the swing arm 3 swings around the Y axis so as to control the operation instrument mounting seat 7 to move along the length direction of the operation bed (namely the direction shown by the X axis), and the second linear driving assembly 2 drives the swing arm 3 to move back and forth along the width direction of the operation bed (namely the width direction of a vertebral column), so that the swing arm 3 drives the end effector 4 to move back and forth along the width direction of the operation bed so as to adjust the implantation position of the pedicle screw, and further control the operation instrument mounting seat 7 to move linearly in two directions; the swing of the surgical instrument mounting seat 7 in the pedicle screw implantation direction is controlled through the swing of the end effector 4, the combination of the mobile freedom degree and the rotary freedom degree of the surgical instrument mounting seat is realized, and the multiple degrees of freedom of the surgical instrument mounting seat are adjusted, so that the accurate positioning and the accurate operation of the operation are ensured.

As shown in fig. 2, optionally, the first linear driving assembly 1 includes a single-axis driver 11, a first servo motor 12 and a first connecting member 13, one end of the single-axis driver 11 is connected to the first servo motor 12, the other end of the single-axis driver 11 is slidably connected to the second linear driving assembly 2 through the first connecting member 13, and the first sliding block 111 of the single-axis driver 11 is adapted to be connected to the operating table 6.

In this embodiment, single-axis drive 11 sets up along the direction that the Z axle is shown, first servo motor 12 is installed for the reverse direction that indicates of Z axle to single-axis drive 11's lower extreme below, first connecting piece 13 and the 2 sliding connection of second linear drive subassembly of L type are passed through to single-axis drive 11's upper end, single-axis drive 11 lead screw rotates and changes first slider 111 along reciprocating of Z axle into, in order to improve the stability of being connected between operation table 6 and the first slider 111, can adopt two first sliders 111 or many first slider forms. The second linear driving assembly 2 has a similar structure to the first linear driving assembly 1, and is not described herein again.

As shown in fig. 1-2, optionally, the minimally invasive spine surgery auxiliary robot further includes a clamping mechanism 5, the clamping mechanism 5 is disposed on a first sliding block 111 of the first linear driving assembly 1, the first linear driving assembly 1 is slidably connected with the clamping mechanism 5 in a height direction of the operating table 6, and the clamping mechanism 5 is adapted to be clamped on the operating table 6.

In this embodiment, in order to facilitate the installation between the first slider 111 of the single-axis driver 11 and the operating table 6, a clamping mechanism 5 may be installed on the first slider 111, and the clamping mechanism 5 is required to be capable of locking and unlocking with the operating table 6, which is convenient to use.

The clamping mechanism 5 is arranged along the length direction of the operating table 6, namely the direction shown by the X axis, and the clamping mechanism 5 is adapted to move up and down along the direction shown by the Z axis along with the first sliding block 111.

As shown in fig. 3-4, optionally, the clamping mechanism 5 includes a bracket 51, a clamping knob 52, a pressing block 53, an upper guide wheel 54, a lower guide wheel 55, and a guide wheel position adjusting knob 56, wherein a first mounting groove is formed on the bracket 51 on a side close to the operating table 6, the upper guide wheel 54 and the lower guide wheel 55 are disposed in the first mounting groove, a mounting space suitable for clamping the operating table 6 is formed between the upper guide wheel 54 and the lower guide wheel 55, the guide wheel position adjusting knob 56 is connected to the lower guide wheel 55, the guide wheel position adjusting knob 56 is suitable for adjusting a distance between the upper guide wheel 54 and the lower guide wheel 55, the clamping knob 52 is located on a side of the bracket 51 away from the operating table 6, the clamping knob 52 is connected to the pressing block 53, and the clamping knob 52 is suitable for rotating to push the pressing block 53 to press the operating table 6.

In the present embodiment, the bracket 51 has an inverted T shape, and the bracket 51 may be fixedly connected to the two first sliding blocks 111 of the single-shaft driver 11 by bolts. Support 51 is being close to one side of operation table 6 is equipped with first mounting groove, first mounting groove is C type groove, be equipped with relative last leading wheel 54 and the lower leading wheel 55 that sets up from top to bottom in the first mounting groove, go up leading wheel 54 with leading wheel 55 can set up the multiunit down, leading wheel 55 accessible second slider 511 and vertical setting guide rail 512 sliding connection on support 51 down, the bottom of leading wheel 55 is connected with leading wheel position adjustment knob 56 down, it is rotatory leading wheel position adjustment knob 56 is in order to promote down leading wheel 55 moves in the Z axle direction, adjusts the distance between leading wheel 54 and the lower leading wheel 55, in order to press from both sides tightly on the operation table 6.

Support 51 is keeping away from one side of operation table 6 is equipped with clamping knob 52, clamping knob 52 sets up along the shown direction of Y axle, clamping knob 52 can set up a plurality ofly, clamping knob 52 hangs down perpendicularly the setting of first mounting groove direction, clamping knob 52 installs briquetting 53 in the one end that is close to operation table 6, and is rotatory clamping knob 52 makes briquetting 53 with operation table 6 compresses tightly.

Clamping mechanism 5 realizes simultaneously from Z axle direction and Y axle direction being right operation table 6 presss from both sides tightly, and clamping stability is good.

As shown in fig. 5-8, optionally, the clamping mechanism 5 further includes a first rotating shaft 57, a second rotating shaft 58, a first bearing 59 and a second bearing 510, wherein the first rotating shaft 57 passes through the upper guide wheel 54 and is connected to the bracket 51 through the first bearing 59; the second rotating shaft 58 passes through the lower guide wheel 55 and is connected to the bracket 51 through the second bearing 510.

In this embodiment, the first rotating shaft 57 and the second rotating shaft 58 are arranged along a direction shown by a Y axis, the first rotating shaft 57 axially penetrates through the upper guide wheel 54, the first rotating shaft 57 is rotatably connected with the bracket 51 through the first bearing 59, an end cover 515 is arranged at an end of the first rotating shaft 57, a first gasket 513 is arranged between the upper guide wheel 54 and the first bearing 59 to protect the upper guide wheel 54 from abrasion, and a snap ring 514 is arranged between the first bearing 59 and the end cover to realize quick installation, fixation and support of the upper guide wheel 54.

The second rotating shaft 58 penetrates through the lower guide wheel 55 to be fixed on the bracket 51, the second rotating shaft 58 and the lower guide wheel 55 are in rotating connection through the second bearing 510, and an inner ring of the second bearing 510 is fixed on the second rotating shaft 58 through a second washer 516 and a screw 517 to support the lower guide wheel 55.

Optionally, the swing arm 3 includes an arm lever 31, a rotation shaft, a fourth servo motor 32 and a second harmonic reducer 33, one end of the arm lever 31 is connected to the second linear driving assembly 2 through the rotation shaft, the other end of the arm lever 31 is connected to the end effector 4 through the rotation shaft, the second harmonic reducer 33 and the fourth servo motor 32 are located on different sides of the arm lever 31 and are respectively connected to two ends of the rotation shaft, and the fourth servo motor 32 is adapted to drive the arm lever 31 to rotate around the rotation shaft.

In this embodiment, in order to avoid collision interference between the arm 31 and the body of the patient during the operation, the arched structure of the arm 31 is curved toward the side of the operating table 6 (i.e. curved toward the direction indicated by the negative Z-axis direction) as shown in fig. 9, so as to avoid the body of the patient, and the arched structure can also play a role of increasing the rigidity.

Arm pole 31 with second linear drive subassembly 2 sets up along the shown direction of Y axle through the axis of rotation and rotates the connection, axis of rotation department connects fourth servo motor 32 through second harmonic speed reducer 33, fourth servo motor 32 drive arm pole 31 rotates around the Y axle, first linear drive subassembly 1 is along vertical direction also the shown direction of Z axle and removes, and the two combined action is in order to drive surgical instruments mount pad 7 reciprocates and the removal on operation table length direction.

The two ends of the arm lever 31 are respectively provided with a second mounting groove 312 and a third mounting groove 313 for mounting the first harmonic speed reducer 413 and the second harmonic speed reducer 33.

The arm rod 31 is made of non-metal materials, preferably carbon fibers, and steel balls 311, namely target ball points, are mounted on the arm rod 31, so that the C-shaped X-ray machine can obtain the positions of the pedicle screw channels.

As shown in fig. 10, optionally, the end effector 4 includes a rotary joint 41, a swing joint 42, a rear end cap 43, a front end cap 44 and a sleeve 45, the rear end cap 43 and the front end cap 44 are respectively disposed at two ends of the sleeve 45, the rotary joint 41 and the swing joint 42 are at least partially located in the sleeve 45, the rotary joint 41 is adapted to pass through the rear end cap 43 to be rotationally connected with the swing arm 3, and the swing joint 42 is adapted to pass through the front end cap 44 to be pivotally connected with the surgical instrument mounting base 7.

In this embodiment, the sleeve 45 is fixedly connected to a rear end cap 43 and a front end cap 44 provided at both ends thereof to constitute a housing portion of the end effector 4, the rear end cap 43 is connected to one end of the swing arm 3 through the rotary joint 41, and the front end cap 44 is connected to the surgical instrument mounting base 7 through the swing joint 42.

Generally, the driving parts of the rotary joint 41 and the swing joint 42 are installed in the sleeve 45, and the transmission parts of the rotary joint 41 and the swing joint 42 extend out of the sleeve 45. The rotary joint 41 rotates around the axis thereof, and the swing joint 42 drives the surgical instrument to swing back and forth along the operating table to a proper position near the spine of the patient, namely, the target ball point is in the scanning visual field range of the X-ray machine.

As shown in fig. 11 to 12, optionally, the rotary joint 41 includes a second servo motor 411, a first gear set 412 and a first harmonic reducer 413, the second servo motor 411 is disposed in the sleeve 45, the second servo motor 411 is in driving connection with the first harmonic reducer 413 through the first gear set 412, the first gear set 412 is connected with the rear end cover 43, the first harmonic reducer 413 is disposed in the second mounting groove 312 at one end of the arm 31, and the second servo motor 411 is adapted to drive the first harmonic reducer 413 to drive the sleeve 45 to rotate around the axis thereof.

In this embodiment, the first harmonic reducer 413 is connected to the rear end cover 43 through a reducer connecting mechanism 414, as shown in fig. 13, the reducer connecting mechanism 414 includes a flange shaft 4141, a third bearing 4142, a flange 4143, a third washer 4144, and a lock nut 4145, the wave generator of the first harmonic reducer 413 is connected to the flange shaft 4141, the flange shaft 4141 is connected to the rear end cover 43 through the third bearing 4142, and an inner ring of the third bearing 4142 is fixed to the rear end cover 43 through the flange 4143, the third washer 4144, and the lock nut 4145, so as to support and fix the first harmonic reducer 413. The flange shaft 4141 is mounted with the first gear set 412 at an end remote from the first harmonic reducer 413. The second servo motor 411 rotates along the direction shown by the Y axis, the second servo motor 411 drives the first gear set 412 to rotate, and the first gear set 412 drives the end effector 4 to integrally rotate around the axis where the first gear set is located through the first harmonic reducer 413.

As shown in fig. 11 to 12, optionally, the swing joint 42 includes a third servo motor 421, a second gear set 422, a ball screw pair 423, a second connector 424, a guide rod 425, and a hinge structure 426, the third servo motor 421 is disposed in the sleeve 45, the third servo motor 421 is drivingly connected to the ball screw pair 423 through the second gear set 422, the ball screw pair 423 is connected to the front end cap 44, the ball screw pair 423 is connected to one end of the guide rod 425 through the second connector 424, the other end of the guide rod 425 is adapted to penetrate through the front end cap 44 and is connected to the surgical instrument mounting base 7 through the hinge structure 426, and the third servo motor 421 drives the second connector 424 to translate along an axial direction of the ball screw pair 423 through the ball screw pair 423.

In this embodiment, the third servo motor 421 is disposed inside the sleeve 45, the axis of the third servo motor 421 and the axis of the second servo motor 411 are both along the direction indicated by the Y axis, the third servo motor 421 rotates around the Y axis, the third servo motor 421 drives the ball screw transmission pair 423 through the second gear set 422 to move, the ball screw transmission pair 423 converts the rotation motion of the third servo motor 421 into a linear motion, the other end of the ball screw transmission pair 423 is fixedly connected to the front end cap 44, the ball screw transmission pair 423 is further connected to the guide rod 425 through the second connecting member 424, the second connecting member 424 is rotatably connected to the guide rod 425, the guide rod 425 and the ball screw transmission pair 423 are disposed along the direction indicated by the Y axis, the other end of the guide rod 425 is connected to the surgical instrument mounting base 7 through the hinge structure 426, and the transmission of the ball screw transmission pair 423 drives the guide rod 425 and the hinge structure 426 to move along the Y axis, so as to achieve the front-back swing of the surgical instrument mounting base 7.

Optionally, the hinge structure 426 comprises a first hinge shaft 4261, a second hinge shaft 4262, a first connecting block 4263, a second connecting block 4264 and a third hinge shaft 4265, the guide rod 425 is connected with the first connecting block 4263 through the first hinge shaft 4261 at an end away from the second connecting piece 424, and the first connecting block 4263 is hinged with an end of the surgical instrument mounting seat 7 through the second hinge shaft 4262; the second connecting block 4264 is mounted on the front end cover 44, and the second connecting block 4264 is hinged with the other end of the surgical instrument mounting seat 7 through the third hinge shaft 4265; the third servo motor 421 drives the second link 424 and the guide rod 425 to move through the ball screw transmission pair 423 so as to drive the surgical instrument mounting seat 7 to rotate around the third hinge shaft 4265.

In this embodiment, the second connecting block 4264 is L-shaped, one end of the second connecting block 4264 is fixed to the front end cap 44, and the other end of the second connecting block 4264 is hinged to the lower portion of the surgical instrument mounting base 7 (the surgical instrument mounting base 7 is adapted to be mounted in the surgical instrument mounting base 7) through the third hinge shaft 4265. One end of the first link 4263 is hinged to one end of the guide rod 425 through the first hinge shaft 4261, and the other end of the first link 4263 is hinged to the upper portion of the surgical instrument mounting seat 7 through the second hinge shaft 4262, so that when the guide rod 425 is driven by the ball screw transmission pair 423 to move along the Y axis, the surgical instrument mounting seat 7 (including the surgical instrument mounted therein) swings back and forth around the third hinge shaft 4265. The swing joint 42 swings back and forth in cooperation with the rotation of the rotary joint 41, and can swing in any angle direction.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.

Claims

1. The minimally invasive spine surgery auxiliary robot is characterized by comprising a first linear driving assembly (1), a second linear driving assembly (2), a swing arm (3) and an end effector (4), wherein the first linear driving assembly (1), the second linear driving assembly (2), the swing arm (3) and the end effector (4) are connected in sequence, the first linear driving assembly (1) is suitable for being movably arranged on an operating bed (6), the second linear driving assembly (2) and the first linear driving assembly (1) are in sliding connection in the width direction of the operating bed (6), the second linear driving assembly (2) is in rotating connection with one end of the swing arm (3), the other end of the swing arm (3) is in rotating connection with one end of the end effector (4), and the other end of the end effector (4) is suitable for being in swinging connection with an operating instrument mounting seat (7);

the clamping mechanism (5) is arranged on the first linear driving assembly (1), the clamping mechanism (5) comprises a support (51), a clamping knob (52), a pressing block (53), an upper guide wheel (54), a lower guide wheel (55) and a guide wheel position adjusting knob (56), a first installation groove is formed in one side, close to the operating table (6), of the support (51), the upper guide wheel (54) and the lower guide wheel (55) are arranged in the first installation groove, an installation space suitable for clamping the operating table (6) is formed between the upper guide wheel (54) and the lower guide wheel (55), the guide wheel position adjusting knob (56) is connected with the lower guide wheel (55), the guide wheel position adjusting knob (56) is suitable for adjusting the distance between the upper guide wheel (54) and the lower guide wheel (55), the clamping knob (52) is located on one side, far away from the operating table (6), the clamping knob (52) is connected with the pressing block (53), and the pressing block (53) is suitable for pushing the operating table (6) to rotate;

swing arm (3) include armed lever (31), the one end of armed lever (31) with second straight line drive assembly (2) rotate to be connected, the other end of armed lever (31) with end effector (4) rotate to be connected, armed lever (31) set to the orientation the crooked domes in operation table (6) one side.

2. The minimally invasive spinal surgery assisting robot according to claim 1, characterized in that the first linear driving assembly (1) comprises a single-shaft driver (11), a first servo motor (12) and a first connecting piece (13), one end of the single-shaft driver (11) is connected with the first servo motor (12), the other end of the single-shaft driver (11) is connected with the second linear driving assembly (2) in a sliding manner through the first connecting piece (13), and a first sliding block (111) of the single-shaft driver (11) is suitable for being connected with the operating bed (6).

3. The minimally invasive spine surgery assisting robot according to claim 2, characterized in that the clamping mechanism (5) is arranged on a first sliding block (111) of the first linear driving assembly (1), the first linear driving assembly (1) is connected with the clamping mechanism (5) in a sliding mode in a height direction of the operating bed (6), and the clamping mechanism (5) is suitable for clamping on the operating bed (6).

4. The minimally invasive spinal surgery auxiliary robot according to claim 1, characterized in that the clamping mechanism (5) further comprises a first rotating shaft (57), a second rotating shaft (58), a first bearing (59) and a second bearing (510), wherein the first rotating shaft (57) passes through the upper guide wheel (54) and is connected with the bracket (51) through the first bearing (59); the second rotating shaft (58) penetrates through the lower guide wheel (55) and is connected with the bracket (51) through the second bearing (510).

5. The minimally invasive spine surgery auxiliary robot according to claim 1, characterized in that the swing arm (3) further comprises a rotating shaft, a fourth servo motor (32) and a second harmonic reducer (33), the second harmonic reducer (33) and the fourth servo motor (32) are located on opposite sides of the arm rod (31) and are respectively connected with two ends of the rotating shaft, and the fourth servo motor (32) is suitable for driving the arm rod (31) to rotate around the rotating shaft.

6. The minimally invasive spine surgery assisting robot according to claim 5, characterized in that the end effector (4) comprises a rotary joint (41), a swing joint (42), a rear end cover (43), a front end cover (44) and a sleeve (45), the rear end cover (43) and the front end cover (44) are respectively arranged at two ends of the sleeve (45), the rotary joint (41) and the swing joint (42) are at least partially positioned in the sleeve (45), the rotary joint (41) is suitable for being rotatably connected with the swing arm (3) through the rear end cover (43), and the swing joint (42) is suitable for being rotatably connected with the surgical instrument mounting base (7) through the front end cover (44).

7. The minimally invasive spine surgery auxiliary robot according to claim 6, characterized in that the rotary joint (41) comprises a second servo motor (411), a first gear set (412) and a first harmonic reducer (413), the second servo motor (411) is arranged in the sleeve (45), the second servo motor (411) is in driving connection with the first harmonic reducer (413) through the first gear set (412), the first gear set (412) is connected with the rear end cover (43), the first harmonic reducer (413) is arranged in a second mounting groove (312) at one end of the arm rod (31), and the second servo motor (411) is suitable for driving the first harmonic reducer (413) to drive the sleeve (45) to rotate around the axis of the sleeve.

8. The minimally invasive spine surgery assisting robot according to claim 6, wherein the swing joint (42) comprises a third servo motor (421), a second gear set (422), a ball screw transmission pair (423), a second connecting member (424), a guide rod (425) and a hinge structure (426), the third servo motor (421) is arranged in the sleeve (45), the third servo motor (421) is in driving connection with the ball screw transmission pair (423) through the second gear set (422), the ball screw transmission pair (423) is connected with the front end cover (44), the ball screw transmission pair (423) is connected with one end of the guide rod (425) through the second connecting member (424), the other end of the guide rod (425) is suitable for penetrating through the front end cover (44) and is connected with the surgical instrument mounting seat (7) through the hinge structure (426), and the third servo motor (421) drives the second connecting member (424) to translate along the axis of the ball screw transmission pair (423) through the ball screw transmission pair (423).

9. The minimally invasive spinal surgery assistance robot according to claim 8, characterized in that the hinge structure (426) comprises a first hinge shaft (4261), a second hinge shaft (4262), a first connecting block (4263), a second connecting block (4264) and a third hinge shaft (4265), the guide bar (425) is connected with the first connecting block (4263) through the first hinge shaft (4261) at an end away from the second connecting block (424), and the first connecting block (4263) is hinged with an end of the surgical instrument mounting seat (7) through the second hinge shaft (4262); the second connecting block (4264) is arranged on the front end cover (44), and the second connecting block (4264) is hinged with the other end of the surgical instrument mounting seat (7) through the third hinge shaft (4265); the third servo motor (421) drives the second connecting piece (424) and the guide rod (425) to move through the ball screw transmission pair (423) so as to drive the surgical instrument mounting seat (7) to rotate around the third hinge shaft (4265).