CN114601565B - Master-slave control type mechanical platform based on total hip replacement - Google Patents

Master-slave control type mechanical platform based on total hip replacement Download PDF

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CN114601565B
CN114601565B CN202210335968.4A CN202210335968A CN114601565B CN 114601565 B CN114601565 B CN 114601565B CN 202210335968 A CN202210335968 A CN 202210335968A CN 114601565 B CN114601565 B CN 114601565B
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grinding
driving device
axis
manipulator
axis driving
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CN114601565A (en
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胡朝辉
蔡述庭
熊晓明
郭靖
刘远
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Guangdong University of Technology
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Guangdong University of Technology
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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
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1659—Surgical rasps, files, planes, or scrapers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
    • A61B17/1675—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
    • A61F2/4609—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of acetabular cups
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B2017/1602—Mills
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A61B2034/2057—Details of tracking cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2002/4632—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
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  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Dentistry (AREA)
  • Transplantation (AREA)
  • Pathology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a master-slave control type mechanical platform based on total hip arthroplasty, which comprises a bracket, an XY axis driving device arranged on the bracket, a Z axis driving device arranged on the XY axis driving device, a grinding and contusion manipulator arranged on the Z axis driving device, a binocular camera device for sensing and monitoring the execution process condition of an operation, and a controller, wherein the binocular camera device is used for sensing and monitoring the execution process condition of the operation; when the controller controls the grinding manipulator to work, the controller shoots and acquires real-time position data of the grinding manipulator through the binocular camera device, and then the controller controls the XY axis driving device and the Z axis driving device to drive the grinding manipulator to move to corresponding positions in the X axis, Y axis and Z axis directions through the acquired position data. The invention combines computer vision and automatic control technology with acetabular cup positioning and automatic grinding and control in total hip arthroplasty, realizes an automatic master-slave control type mechanical platform, improves operation precision, reduces manual operation errors and reduces manufacturing cost.

Description

Master-slave control type mechanical platform based on total hip replacement
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a master-slave control type mechanical platform based on total hip replacement.
Background
The artificial joint replacement operation is used as a method for effectively treating ischemic necrosis of the femoral head, and the hip joint part is severely worn or even collapsed. With the increase in aging phenomena, the number of operations is rapidly increasing in china. Collapse acetabular milling and acetabular prosthesis implantation are critical steps in total hip replacement surgery, and the position and angle of acetabular prosthesis implantation directly influence the dislocation rate of the later prosthesis and the acetabular wear rate (service life), and even relate to the occurrence rate of postoperative complications. However. In the prior art, doctors usually operate manually, so that the problems of large error on collapsed acetabulum grinding and implantation angle of the prosthesis, poor operation stability, low accuracy and reliability easily occur, and the quality of operation and the recovery after operation are seriously affected.
Therefore, there is a need to develop a surgical machine that reduces the operation error of a doctor, improves the accuracy and stability of the operation, so as to better protect the quality of the operation and improve the speed of the postoperative recovery.
Disclosure of Invention
The invention aims to solve the problems and provide a master-slave control type mechanical platform based on total hip replacement, which is simple to operate, high in accuracy, stable and reliable. The invention combines computer vision and automatic control technology with acetabular cup positioning and automatic grinding and control in total hip arthroplasty, realizes an automatic master-slave control type mechanical platform, improves operation precision, reduces artificial operation errors and has low manufacturing cost.
The aim of the invention can be achieved by adopting the following technical scheme:
a master-slave control type mechanical platform based on total hip arthroplasty and a control method thereof comprise a bracket, an XY axis driving device arranged on the bracket, a Z axis driving device arranged on the XY axis driving device, a grinding and contusion manipulator arranged on the Z axis driving device, a binocular camera device arranged above the grinding and contusion manipulator and used for sensing and monitoring the condition of the operation execution process, and a controller connected with the XY axis driving device, the Z axis driving device, the binocular camera device and the grinding and contusion manipulator; the X-axis driving device drives the Z-axis driving device and the grinding manipulator to slide in the X-axis direction and the Y-axis direction, and the Z-axis driving device drives the grinding manipulator to slide in the Z-axis direction; when the controller controls the grinding manipulator to work, the controller shoots and acquires real-time position data of the grinding manipulator through the binocular camera device, and then the controller controls the XY axis driving device and the Z axis driving device to drive the grinding manipulator to move to corresponding positions in the X axis, Y axis and Z axis directions through the acquired position data.
As a preferred scheme, XY axle drive arrangement includes that length along X axis direction sets up two first guide rails on the support, locate two first motors on the support, but slidable mounting is in the first slider on first guide rail, both ends respectively with two first guide rail fixed connection's connecting plate, the driving pulley of pivot fixed connection with first motor, but rotatable mounting is in two first driven pulleys of support, install respectively a pair of second driven pulleys on the both ends on the connecting plate, the length sets up along the Y axis direction of support and installs the second guide rail on the connecting plate, but slidable mounting is in the second slider on the second guide rail, with second slider fixed connection's first connecting block, and with driving pulley, second driven pulley and the belt of first driven pulley meshing, and the belt is connected with first connecting block. The support and the first connecting block are respectively provided with a first sensor and a second sensor for detecting the directions of the X axis and the Y axis of the first connecting block.
As a preferable scheme, the Z-axis driving device comprises a frame fixedly mounted on the first connecting block, a third guide rail which is arranged along the Z-axis direction of the bracket and fixedly mounted on the frame, a third sliding block which is slidably mounted on the third guide rail, a second motor which is arranged on the frame, a screw rod which is rotatably mounted on the frame, and a nut which is in threaded transmission connection with the screw rod; the grinding and filing manipulator is fixedly connected with the third sliding block, and is fixedly connected with the nut; the second motor drives the screw rod to rotate, and the screw rod drives the nut and the grinding manipulator to slide along the Z axis of the support.
As a preferable scheme, the binocular camera device comprises a mounting frame fixedly mounted on the upper surface of the bracket and a binocular camera mounted on the mounting frame; the mounting frame comprises a first splice plate, a second splice plate and a third splice plate, wherein the first splice plate and the second splice plate are two, two ends of the second splice plate are respectively connected with the two first splice plates in a clamping mode, and the third splice plate is connected with the second splice plate and the upper ends of the first splice plates in a clamping mode.
As a preferable scheme, the grinding and contusion manipulator comprises a second connecting block fixedly connected with a third sliding block and a nut, a base fixedly connected with the second connecting block, a big arm with one end hinged with the base, a small arm with one end hinged with the other end of the big arm, a grinding and contusion joint hinged with the other end of the small arm, a third motor arranged on the grinding and contusion joint, and a grinding and contusion head connected with a rotating shaft of the third motor.
As a preferable mode, the belt is a synchronous belt, and the driving pulley, the second driven pulley and the first driven pulley are synchronous pulleys.
As a preferred solution, the first connecting block is provided with a clamping block, and the clamping block clamps the belt on the first connecting block.
As a preferred embodiment, the first motor is a stepper motor.
As a preferable mode, the second motor is a stepping motor.
As a preferred embodiment, the first sensor and the second sensor are photoelectric sensors.
The implementation of the invention has the following beneficial effects:
when the grinding and control manipulator performs operation on a patient, the XY axis driving device drives the grinding and control manipulator to slide in the X axis direction and the Y axis direction, and the Z axis driving device drives the grinding and control manipulator to slide in the Z axis direction. In the process, the controller detects and tracks the accurate position of the grinding manipulator in real time through the binocular camera device, and adjusts and controls the position of the grinding manipulator according to the preset track of the operation, so that the functions of automation and high-precision control are realized. The structure adopts the binocular camera device with low hardware cost to track, abandons the existing high-price optical tracking system, and has the advantages of simple structure, low cost and more convenient use.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a master-slave controlled mechanical platform based on total hip arthroplasty of the present invention.
Fig. 2 is a schematic view of the mounting structure of the Z-axis drive device and the grinding manipulator of fig. 1.
Fig. 3 is a schematic structural view of the grinding and polishing robot of fig. 1.
Fig. 4 is a schematic structural view of the Z-axis driving apparatus of fig. 1.
Fig. 5 is a schematic diagram of the mounting structure of the XY axis driving device and the binocular camera device of fig. 1.
Fig. 6 is a schematic view of a mounting structure of the connection plate and the first connection block of fig. 1.
Fig. 7 is a side view of fig. 6.
FIG. 8 is a plane x 1 oy 1 Schematic diagram of the relationship between the coordinate system and the planar xoy coordinate system.
FIG. 9 is a schematic diagram of Hbot structure movement.
Fig. 10 is a schematic view of the grinding and polishing robot of fig. 1.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
Referring to fig. 1 to 6, the present embodiment relates to a master-slave control type mechanical platform based on total hip arthroplasty, comprising a bracket 1, an XY axis driving device 2 arranged on the bracket 1, a Z axis driving device 3 arranged on the XY axis driving device 2, a grinding and contusion manipulator 4 arranged on the Z axis driving device 3, a binocular camera device 5 arranged above the grinding and contusion manipulator 4 and used for sensing and monitoring the condition of the operation execution process, and a controller connected with the XY axis driving device 2, the Z axis driving device 3, the binocular camera device 5 and the grinding and contusion manipulator 4; the X-axis driving device 2 drives the Z-axis driving device 3 and the grinding manipulator 4 to slide in the X-axis and Y-axis directions, and the Z-axis driving device 3 drives the grinding manipulator 4 to slide in the Z-axis direction; when the controller controls the grinding manipulator 4 to work, the controller shoots and acquires real-time position data of the grinding manipulator 4 through the binocular camera device 5, and then the controller controls the XY axis driving device 2 and the Z axis driving device 3 to drive the grinding manipulator 4 to move to corresponding positions in the X axis, Y axis and Z axis directions through the acquired position data. The controller is a singlechip or a PLC.
When the grinding and control manipulator 4 performs an operation on a patient, the XY axis driving device 2 drives the grinding and control manipulator 4 to slide in the X and Y axis directions, and the Z axis driving device 3 drives the grinding and control manipulator 4 to slide in the Z axis direction. In the process, the controller detects and tracks the accurate position of the grinding manipulator 4 in real time through the binocular camera device 5, and adjusts and controls the position of the grinding manipulator 4 according to the preset track of the operation, so that the functions of automation and high-accuracy control are realized. The structure adopts the binocular camera device 5 with low hardware cost to track, abandons the existing high-price optical tracking system, and has the advantages of simple structure, low cost and more convenient use.
As shown in fig. 2 to 7, the XY axis driving device 2 includes two first guide rails 21 having a length along the X axis direction provided on the frame 1, two first motors 22 provided on the frame 1, a first slider 220 slidably mounted on the first guide rails 21, a connection plate 23 having both ends fixedly connected to the two first guide rails 21, respectively, a driving pulley 24 fixedly connected to a rotation shaft of the first motor 22, two first driven pulleys 25 rotatably mounted on the frame 1, a pair of second driven pulleys 26 mounted on both ends of the connection plate 23, a second guide rail 27 having a length along the Y axis direction provided on the frame 1 and mounted on the connection plate 23, a second slider 28 slidably mounted on the second guide rail 27, a first connection block 29 fixedly connected to the second slider 28, and a belt sequentially engaged with the driving pulley 24, the second driven pulleys 26 and the first driven pulleys 25, and the belt is connected to the first connection block 29. The first sensor 292 and the second sensor 293 for detecting the X-axis and Y-axis directions of the first connection block 29 are respectively provided on the bracket 1 and the first connection block 29. The belt is a synchronous belt, and the driving pulley 24, the second driven pulley 26, and the first driven pulley 25 are synchronous pulleys. The two first motors 22 are motor a221 and motor B222, respectively.
The Hbot mechanism model composed of the driving pulley 24, the first driven pulley 25 and the second driven pulley 26 is simplified, and as shown in fig. 9, the movement of the first connecting block 29 in the x and y directions is controlled by the tension of the timing belt.
The relationship between the displacement of the first connecting block 29 and the rotation angles of the stepping motor a and the stepping motor B is:
Figure BDA0003575174670000051
Figure BDA0003575174670000052
wherein Δx and Δy represent the displacement of the first connecting block 29 in the x and y directions, respectively; θ 11 And theta 12 Representing the rotation angles of motor A and motor B; r denotes the diameter of the driving pulley 24.
It is known from (1.9) and (1.10) that when motor A rotates and motor B does not rotate, θ 12 The rotation angle of (2) is 0, as shown in formula (1.11):
Figure BDA0003575174670000053
similarly, when motor B rotates and motor A does not rotate, θ 11 The rotation angle of (2) is 0, as shown in formula (1.12):
Figure BDA0003575174670000054
as can be seen from (1.9) - (1.12), the motion component of the first connecting block 29 in each direction must be coordinated by two motors. It can be seen from the individual movements of the motors that the displacements in the x and y directions are equal, i.e. the combined movement of the first connecting block 29 is at an angle pi/4 to the x and y movements, while the corresponding combined movement directions of motor a and motor B during the individual forward rotations are perpendicular. Based on the motion characteristics, the invention reestablishes a new coordinate system, and the sum motion direction of the stepper motor A and the stepper motor B is the positive direction of x and y respectively. In practice, the new coordinate system is rotated clockwise by pi/4 with the origin as the rotation center based on the original coordinate system, as shown in fig. 8.
The points corresponding to the stepping motor A and the stepping motor B are x in a new coordinate system 1 oy 1 The positional relationship with the original coordinate system xoy is shown as a formula (1.13), wherein theta is pi/4.
Figure BDA0003575174670000055
The Z-axis driving device 3 comprises a frame 31 fixedly mounted on the first connecting block 29, a third guide rail 32 which is arranged along the Z-axis direction of the bracket 1 and fixedly mounted on the frame 31, a third sliding block 33 which is slidably mounted on the third guide rail 32, a second motor 34 which is arranged on the frame 31, a screw rod 35 which is rotatably mounted on the frame 31, and a nut 36 which is in threaded transmission connection with the screw rod 35; the grinding and filing manipulator 4 is fixedly connected with the third sliding block 33, and the grinding and filing manipulator 4 is fixedly connected with the nut 36; the second motor 34 drives the screw rod 35 to rotate, and the screw rod 35 drives the nut 36 and the grinding manipulator 4 to slide along the Z axis of the bracket 1. The screw 35 is mounted to the frame 31 by means of bearings 37.
The binocular camera device 5 comprises a mounting frame 51 fixedly mounted on the upper surface of the bracket 1, and a binocular camera 52 mounted on the mounting frame 51; the mounting frame 51 comprises a first splice plate 511, a second splice plate 512 and a third splice plate 513, the first splice plate 511 and the second splice plate 512 are two, two ends of the second splice plate 512 are respectively clamped with the two first splice plates 511, and the third splice plate 513 is clamped with the second splice plate 512 and the upper end of the first splice plate 511. The second splice plate 512 is provided with a first buckle and a first slot, the first splice plate 511 is provided with a second slot, and the first buckle is buckled in the second slot. The third splice plate 513 is provided with a third buckle, and the third buckle is fastened in the first clamping groove and the second clamping groove.
The grinding and contusion manipulator 4 comprises a second connecting block 41 fixedly connected with the third sliding block 33 and the nut 36, a base 42 fixedly connected with the second connecting block 41, a large arm 43 with one end hinged with the base 42, a small arm 44 with one end hinged with the other end of the large arm 43, a grinding and contusion joint 45 hinged with the other end of the small arm 44, a third motor 46 arranged on the grinding and contusion joint 45, and a grinding and contusion head 47 connected with a rotating shaft of the third motor 46.
Simplifying the analysis of the model of the grinding and contusion manipulator 4, wherein the base 42 corresponds to the connecting rod L1, the big arm 43 corresponds to the connecting rod L2, the small arm 44 corresponds to the connecting rod L3, the grinding and contusion joint 45 corresponds to the connecting rod L4 and the grinding and contusion head 47 corresponds to the connecting rod L5, and main parameters of the manipulator are as follows: the lengths of the five connecting rods are L1, L2, L3, L4 and L5 respectively; three rotation angles theta 1 ，θ 2 ，θ 3 And an auxiliary angle
Figure BDA0003575174670000062
The first two rotation angles are the rotation angles of the plane xOz, the third is the rotation angle taking the anticlockwise rotation of the plane yOz by a certain angle as a reference plane, and the fourth is the auxiliary angle of the plane xOz; three degrees of freedom acetabular cup positioning robotic arm end effector coordinates (x, y, z) as shown in FIG. 10, we can use angle θ 1 ，θ 2 And theta 3 The abduction angle α and the pretilt angle β are calculated as shown in formulas (1.1) to (1.2):
Figure BDA0003575174670000061
β＝θ 3 (1.2)
from the coordinate system and trigonometric function established at the grinding and control manipulator, we can find the coordinates of each node in the link, as shown in (1.3) - (1.8):
A＝(x 0 ，y 0 ，z 0 ) (1.3)
B＝(x 0 ，y 0 ，z 0 +L 1 ) (1.4)
C＝(x 0 +L 2 sinθ 1 ，y 0 ，z 0 +L 1 -L 2 cosθ 1 ) (1.5)
D＝(x 0 +L 2 sinθ 1 -L 3 sin(θ 1 +θ 2 )，y 0 ，z 0 +L 1 -L 2 cosθ 1 )+L 3 cos(θ 1 +θ 2 )) (1.6)
E＝(x 0 +L 2 sinθ 1 -L 3 sin(θ 1 +θ 2 )-L 4 cos(θ 1 +θ 2 )，y 0 ，z 0 +L 1 -L 2 cosθ 1 )+L 3 cos(θ 1 +θ 2 )-L 4 sin(θ 1 +θ 2 )) (1.7)
Figure BDA0003575174670000071
the resultant motion of the entire grinding and polishing device in the plane is shown by the broken line shown in fig. 8, and the established plane coordinate system is x 1 oy 1 The set coordinate system is xoy, and the angle difference pi/4 exists between the set xoy plane coordinate system and the xoy plane coordinate system, so that the x established by the set xoy plane coordinate system and the actual synthetic motion is analyzed 1 oy 1 After the relation of the plane coordinate system, converting the xoy plane coordinate system into a plane x 1 oy 1 The coordinate system and the motion relation are unified as shown in the formula (1.13).
In the total hip replacement operation, the acetabular prosthesis needs to be implanted at a specific angle, and after the surgeon provides the anteversion angle B and the abduction angle alpha required by the acetabular prosthesis implantation, the θ can be defined by the formula (1.1) 1 And theta 2 Satisfy the relation of theta 1 And theta 2 Is any set of values satisfying the relationship, the coordinates of the point a in fig. 10 can be measured by the binocular camera 52, and the three-dimensional coordinates of the end of the actuator, i.e., the grinding and polishing head 47, can be calculated based on the known lengths of the links L1, L2, L3, L4 and L5, and the estimation process is shown in equations (1.3) - (1.8).
The first connecting block 29 is provided with a clamping block 290, and the clamping block 290 clamps the belt on the first connecting block 29. The first motor 22 is a stepper motor. The second motor 34 is a stepper motor. The first sensor and the second sensor are photoelectric sensors.
The above disclosure is only a preferred embodiment of the present invention, and it is needless to say that the scope of the invention is not limited thereto, and therefore, the equivalent changes according to the claims of the present invention still fall within the scope of the present invention.

Claims (6)

1. The master-slave control type mechanical platform based on total hip arthroplasty is characterized by comprising a bracket, an XY axis driving device arranged on the bracket, a Z axis driving device arranged on the XY axis driving device, a grinding and contusion manipulator arranged on the Z axis driving device, a binocular camera device arranged above the grinding and contusion manipulator and used for sensing and monitoring the condition of the operation executing process, and a controller connected with the XY axis driving device, the Z axis driving device, the binocular camera device and the grinding and contusion manipulator; the X-axis driving device drives the Z-axis driving device and the grinding manipulator to slide in the X-axis direction and the Y-axis direction, and the Z-axis driving device drives the grinding manipulator to slide in the Z-axis direction; when the controller controls the grinding manipulator to work, the controller shoots and acquires real-time position data of the grinding manipulator through the binocular camera device, and then the controller controls the XY axis driving device and the Z axis driving device to drive the grinding manipulator to move to corresponding positions in the X axis, Y axis and Z axis directions through the acquired position data;
the Z-axis driving device comprises a frame fixedly arranged on the first connecting block, a third guide rail which is arranged along the Z-axis direction of the bracket and fixedly arranged on the frame, a third sliding block which can be slidably arranged on the third guide rail, a second motor which is arranged on the frame, a screw rod which can be rotatably arranged on the frame, and a nut which is in threaded transmission connection with the screw rod; the grinding and filing manipulator is fixedly connected with the third sliding block, and is fixedly connected with the nut; the second motor drives the screw rod to rotate, and the screw rod drives the nut and the grinding manipulator to slide along the Z axis of the bracket;
the XY axis driving device comprises two first guide rails, two first motors, first sliding blocks, connecting plates, driving pulleys, two first driven pulleys, a pair of second driven pulleys, a second guide rail, a second sliding block, a first connecting block and a belt, wherein the two first guide rails are arranged on the support in the X axis direction; the bracket and the first connecting block are respectively provided with a first sensor and a second sensor for detecting the movement of the first connecting block in the X-axis and Y-axis directions;
the binocular camera device comprises a mounting frame fixedly mounted on the upper surface of the support and a binocular camera mounted on the mounting frame; the mounting frame comprises a first splice plate, a second splice plate and a third splice plate, wherein the two first splice plates and the two second splice plates are respectively arranged, two ends of the second splice plate are respectively connected with the two first splice plates in a clamping mode, and the third splice plate is connected with the upper ends of the second splice plate and the first splice plate in a clamping mode;
the grinding and contusion manipulator comprises a second connecting block fixedly connected with a third sliding block and a nut, a base fixedly connected with the second connecting block, a big arm with one end hinged with the base, a small arm with one end hinged with the other end of the big arm, a grinding and contusion joint hinged with the other end of the small arm, a third motor arranged on the grinding and contusion joint, and a grinding and contusion head connected with a rotating shaft of the third motor.
2. The master-slave controlled mechanical platform based on total hip arthroplasty of claim 1, wherein the belt is a synchronous belt and the driving pulley, the second driven pulley and the first driven pulley are synchronous pulleys.
3. The master-slave controlled mechanical platform based on total hip arthroplasty of claim 1 wherein the first connector block has a clamp block thereon which clamps the belt to the first connector block.
4. The master-slave controlled mechanical platform based on total hip arthroplasty of claim 1 wherein the first motor is a stepper motor.
5. The master-slave controlled mechanical platform based on total hip arthroplasty of claim 1 wherein the second motor is a stepper motor.
6. The master-slave controlled mechanical platform based on total hip arthroplasty of claim 1 wherein the first and second sensors are photosensors.
CN202210335968.4A 2022-03-31 2022-03-31 Master-slave control type mechanical platform based on total hip replacement Active CN114601565B (en)

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CN102335017A (en) * 2011-07-12 2012-02-01 中国科学院深圳先进技术研究院 Interventional therapy auxiliary mechanical arm
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