CN116869657A - Compact orthopedic surgery robot end effector design - Google Patents

Compact orthopedic surgery robot end effector design Download PDF

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Publication number
CN116869657A
CN116869657A CN202310831178.XA CN202310831178A CN116869657A CN 116869657 A CN116869657 A CN 116869657A CN 202310831178 A CN202310831178 A CN 202310831178A CN 116869657 A CN116869657 A CN 116869657A
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CN
China
Prior art keywords
plate
driving
drive
positioning column
end effector
Prior art date
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Pending
Application number
CN202310831178.XA
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Chinese (zh)
Inventor
罗杨宇
王九龙
韩巍
钟学东
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Beijing Huigu Medical Technology Co ltd
Institute of Automation of Chinese Academy of Science
Original Assignee
Beijing Huigu Medical Technology Co ltd
Institute of Automation of Chinese Academy of Science
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Application filed by Beijing Huigu Medical Technology Co ltd, Institute of Automation of Chinese Academy of Science filed Critical Beijing Huigu Medical Technology Co ltd
Priority to CN202310831178.XA priority Critical patent/CN116869657A/en
Publication of CN116869657A publication Critical patent/CN116869657A/en
Pending legal-status Critical Current

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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
    • 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
    • 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
    • A61B17/1613—Component parts
    • A61B17/1626—Control means; Display units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)

Abstract

The invention provides a compact type end effector design of an orthopedic operation robot, which relates to the technical field of orthopedic operations and comprises the following components: the device comprises a base plate, a first assembly, a second assembly and a positioning column, wherein the first assembly and the second assembly are connected to the base plate, the positioning column is used for installing a drill guide rod, the first assembly comprises a first driving mechanism and a first driving plate, the first driving mechanism is connected with the first driving plate, the first driving mechanism can drive the first driving plate to perform translational motion in a first plane, and the first driving plate is rotationally connected with the positioning column; the second assembly comprises a second driving plate, and the second driving plate is rotationally connected with the positioning column. Therefore, the position of the drill guide rod can be conveniently adjusted and kept stable in the orthopedic operation, the drilling positioning requirement at any angle can be met, the operation which depends on the experience of doctors partially becomes more standard and accurate, the dependence on the clinical experience of the doctors is eliminated, the medical staff can perform the drilling operation more efficiently and accurately, and the operation efficiency can be improved.

Description

Compact orthopedic surgery robot end effector design
Technical Field
The invention relates to the technical field of orthopedic surgery, in particular to a compact orthopedic surgery robot end effector design.
Background
Orthopedics is one of the most common departments in various hospitals, and mainly researches the anatomy, physiology and pathology of the skeletal muscle system, and maintains and develops the normal form and function of the system by using medicines, operations and physical methods. In the case of surgery on a fracture patient, it is often necessary to drill holes in the patient's bone, fix, for example, implant pedicle screws in spinal surgery, implant directional guides in shoulder surgery, and open intramedullary canal holes in elbow joint replacement surgery.
In these bone surgeries, the bone to be treated of the patient is fixed in advance, and then the main doctor holds the drilling tool to perform bone drilling treatment. The traditional treatment mode has high requirements on clinical operation experience and physical strength of a main doctor, has low operation efficiency and poor precision and stability, is not beneficial to postoperative recovery of patients, and is easy to generate postoperative complications.
In order to overcome the above drawbacks, drill positioning devices have been introduced in existing orthopedic surgery, by means of which positioning of the drill bit is achieved. However, the fixed size of the existing drilling positioning device is limited, the function is single, the size and the position cannot be timely adjusted according to the operation position of a patient in actual operation, the requirement of drilling positioning at any angle is difficult to meet, and finally the operation effect can be influenced.
Disclosure of Invention
The invention provides a compact orthopedic surgery robot end effector design, which is used for solving the defects that a drilling positioning device in the prior art cannot adjust the size and the position in time according to the surgery position of a patient and is difficult to meet the drilling positioning requirement at any angle.
The invention provides a compact orthopedic surgical robot end effector design, comprising: the base plate, the first component, the second component and the positioning column are connected to the base plate, the positioning column is provided with a mounting hole penetrating along the axial direction, the mounting hole is used for placing a drill guide rod, wherein,
the first assembly comprises a first driving mechanism and a first driving plate, the first driving mechanism is connected with the first driving plate, the first driving mechanism can drive the first driving plate to perform translational motion in a first plane, the first driving plate is rotationally connected with the positioning column, the positioning column can rotate around a first rotation shaft and a second rotation shaft relative to the first driving plate, and the first rotation shaft and the second rotation shaft are mutually perpendicular;
the second assembly comprises a second driving plate, the second driving plate is rotationally connected with the positioning column, the positioning column can rotate around a third rotating shaft and a fourth rotating shaft relative to the second driving plate, and the third rotating shaft and the fourth rotating shaft are mutually perpendicular.
According to the present invention, there is provided a compact orthopedic surgical robotic end effector design, the second assembly further comprising a second drive mechanism coupled to the second drive plate, the second drive mechanism capable of driving the second drive plate for translational movement in a second plane parallel to the first plane.
According to the design of the compact type end effector of the orthopedic operation robot, the first component and the second component are identical in structure and are arranged on two sides of the base plate in a mirror symmetry mode respectively.
According to the compact orthopedic surgical robot end effector design provided by the invention, the first driving mechanism comprises a transverse moving unit and a longitudinal moving unit which are connected with each other, the transverse moving unit is connected to the base plate, the transverse moving unit can drive the longitudinal moving unit to move along the X direction, the first driving plate is connected to the longitudinal moving unit, the longitudinal moving unit can drive the first driving plate to move along the Y direction, and the X direction and the Y direction are mutually perpendicular.
According to the present invention there is provided a compact orthopedic surgical robotic end effector design, the lateral movement unit comprising: the first driving piece is arranged on the base plate, the output end of the first driving piece is connected to the longitudinal moving unit, and the first driving piece can drive the longitudinal moving unit to move along the X direction.
According to the present invention there is provided a compact orthopedic surgical robotic end effector design, the lateral movement unit further comprising: the device comprises a substrate, a first linear slide rail and a first sliding block, wherein the first linear slide rail is arranged on the substrate, the track direction of the first linear slide rail is parallel to the X direction, the first sliding block is arranged on the first linear slide rail in a sliding manner, and the longitudinal moving unit is connected with the first sliding block.
According to the present invention there is provided a compact orthopedic surgical robotic end effector design, the longitudinal movement unit comprising: the mounting plate is fixedly connected to the transverse moving unit, the second driving piece is arranged on the mounting plate, the output end of the second driving piece is connected to the first driving plate, and the second driving piece can drive the first driving plate to move along the Y direction.
According to the present invention there is provided a compact orthopedic surgical robotic end effector design, the longitudinal movement unit further comprising: the second linear slide rail and the second slider, the second linear slide rail sets up on the mounting panel, the track direction of second linear slide rail is on a parallel with the Y direction, the second slider slides and sets up on the second linear slide rail, first drive plate with the second slider is connected.
According to the present invention there is provided a compact orthopedic surgical robotic end effector design, the first assembly further comprising a first connection mechanism, the first drive plate being connected to the positioning column via the first connection mechanism, wherein,
the first connection mechanism includes: the first connecting piece and second connecting piece, first connecting piece rotate and be connected to first drive plate, first connecting piece can for first drive plate is around first rotation axis rotates, first connecting piece rotate and be connected to the second connecting piece, second connecting piece can for first connecting piece is around the second rotation axis rotates, second connecting piece fixed connection is to go up a section of thick bamboo, go up a section of thick bamboo is connected to the reference column.
According to the present invention there is provided a compact orthopedic surgical robotic end effector design, the first drive plate comprising a cross plate and a riser connected to each other, the cross plate extending in the X-direction, the riser extending perpendicular to the first plane toward the second assembly, the first connector rotatably connected to the riser.
The compact orthopedic surgery robot end effector comprises a substrate, a first component, a second component and a positioning column, wherein the first component and the second component are both rotationally connected to the positioning column, the positioning column can be provided with a drill guide rod, and the first component can drive the drill guide rod through driving a first driving mechanism to perform translational motion in a first plane so as to adjust the position and the angle of the drill guide rod. Therefore, the position and the angle of the drill guide rod can be conveniently adjusted and kept stable in the orthopedic operation, the drilling positioning requirement at any angle can be met, the operation which depends on the experience of doctors partially becomes more standard and accurate, the dependence on the clinical experience of doctors is eliminated, the medical staff can perform the drilling operation more efficiently and accurately, the drilling position is not required to be frequently adjusted, and the operation efficiency can be improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural view of a compact orthopedic surgical robotic end effector design in accordance with one embodiment of the present invention;
FIG. 2 is a schematic view of the lateral movement mechanism in the first assembly of the end effector shown in FIG. 1;
FIG. 3 is a schematic view of the longitudinal movement mechanism in the first assembly of the end effector shown in FIG. 1;
fig. 4 is a schematic view of the positioning post of the end effector shown in fig. 1.
Reference numerals:
1. a first component; 11. a first driving mechanism; 12. a first driving plate; 13. a lateral movement unit; 131. a first driving member; 132. a first U-shaped seat; 133. a first linear slide rail; 134. a first slider; 14. a longitudinal moving unit; 141. a mounting plate; 142. a second driving member; 143. a second U-shaped seat; 144. the second linear slide rail; 145. a second slider; 15. a first connection mechanism; 151. a first connector; 152. a second connector; 153. a cylinder is arranged; 154. a sign board; 2. a second component; 21. a second driving mechanism; 22. a second driving plate; 25. a second connection mechanism; 251. a first rotating member; 252. a second rotating member; 253. a lower cylinder; 3. positioning columns; 4. a substrate; 51. a front plate; 52. a rear plate; 53. a U-shaped side plate; 54. a bottom plate; 6. a drill guide rod; 61. and a cover plate.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, 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.
In one embodiment according to the present invention, a compact orthopedic surgery robot end effector design is provided, which can be connected to a mechanical arm during an orthopedic surgery, and can conveniently adjust the position and angle according to the drilling position, can meet the drilling positioning requirement at any angle, can realize accurate guidance of a bone drilling tool, and reduces the operation difficulty of the surgery. The compact orthopedic surgical robot end effector design in this embodiment is further described below in conjunction with the illustrations of fig. 1-4.
Specifically, as shown in fig. 1, the end effector in the present embodiment includes: base plate 4, first subassembly 1, second subassembly 2 and reference column 3, first subassembly 1 and second subassembly 2 all are connected to base plate 4, and reference column 3 is provided with the mounting hole that runs through along the axial direction, and the mounting hole is used for placing drill guide bar 6.
The base plate 4 is used for connecting with a mechanical arm and can move along with the mechanical arm so as to realize the position adjustment of the whole end effector. For example, the base plate 4 may be fixedly connected with a flange, which may be connected with the robot arm by bolts. The substrate 4 may be considered as a support element for the end effector.
The first assembly 1 comprises a first driving mechanism 11 and a first driving plate 12, the first driving mechanism 11 is connected with the first driving plate 12, the first driving mechanism 11 can drive the first driving plate 12 to perform translational motion in a first plane, the first driving plate 12 is rotationally connected with the positioning column 3, the positioning column 3 can rotate around a first rotation shaft and a second rotation shaft relative to the first driving plate 12, and the first rotation shaft and the second rotation shaft are mutually perpendicular.
It will be appreciated that the first drive mechanism 11 may be fixedly connected to the base plate 4, the first drive mechanism 11, the first drive plate 12 and the positioning column 3 being connected in sequence, wherein the first drive plate 12 and the positioning column 3 are rotatably connected. The first driving mechanism 11 can drive the first driving plate 12 to move in translation in the first plane, thereby controlling the movement of the positioning column 3 under the driving of the first driving mechanism 11.
The second assembly 2 comprises a second drive plate 22, the second drive plate 22 being rotatably connected to the positioning column 3, the positioning column 3 being rotatable relative to the second drive plate 22 about a third rotation axis and a fourth rotation axis, the third rotation axis and the fourth rotation axis being mutually perpendicular.
It will be appreciated that the second drive plate 22 may be directly or indirectly connected to the base plate 4, and that the second drive plate 22 and the positioning column 3 are rotatably connected, whereby it is ensured that the drill guide bar 6 mounted in the positioning column 3 can be arbitrarily changed in angle and position during the movement of the positioning column 3 driven by the first drive mechanism 11 via the first drive plate 12.
In the present embodiment, as shown in fig. 4, the positioning column 3 is generally configured as a columnar structure provided with a mounting hole penetrating in the axial direction. Accordingly, the drill guide bar 6 is generally configured as a bar-like structure provided with a guide hole penetrating in the axial direction for guiding the drill movement. The positioning column 3 is connected to both the first drive plate 12 and the second drive plate 22, and the positioning column 3 is capable of rotating with respect to the first drive plate 12 and the second drive plate 22, respectively. When the position and angle of the drill guide bar 6 need to be adjusted, the first driving mechanism 11 can be made to drive the first driving plate 12 to move, so that the first driving plate 12 moves relative to the second driving plate 22, and at this time, the position and angle of the positioning column 3 can be changed based on the movement of the first driving plate 12, and accordingly, the drill guide bar 6 installed in the positioning column 3 can also move synchronously.
It will be appreciated that there are two connection points between the two drive plates and the positioning column 3, and that when one of the connection points moves relative to the other connection point, the position and angle of the positioning column 3 will also change, whereby the position and angle of the drill guide 6 mounted in the positioning column 3 can be adjusted arbitrarily.
In practice, when it is desired to drill a bone of a patient with the end effector of the present embodiment, the bone of the patient to be treated may be fixed in advance, and the drilling operation may be planned, for example, to determine the nail feeding point and the nail feeding angle. Then, the end effector is connected to the mechanical arm, and the end effector is moved to a predetermined position under the control of the mechanical arm according to the stapling point and stapling angle.
When the moving position and moving direction of the drill bit need to be further and accurately adjusted, the first driving plate 12 can be driven to move by the first driving mechanism 11, so that the positioning column 3 is driven to move, and the position of the drill bit guide rod 6 is adjusted until the guide hole of the drill bit guide rod 6 meets the position requirements of the nail feeding point and the nail feeding angle. Finally, after the drill guide bar 6 is adjusted in place, the drill may be placed into the guide bore of the drill guide bar 6 and the medical personnel may perform the drilling operation.
Because the positions of the mechanical arm and the end effector are fixed, the staff only needs to use the guide hole of the drill guide rod 6 to execute drilling operation, and does not need to frequently redefine the nail feeding point and the nail feeding angle, so that the surgical accuracy is ensured, the stability is enough, the surgical efficiency can be improved, and the working strength of medical staff is reduced.
Therefore, the end effector in the embodiment can conveniently and arbitrarily adjust the position of the drill guide rod 6 and keep stable in the orthopedic operation, so that medical staff can more efficiently and accurately perform drilling operation, the drilling position does not need to be frequently adjusted, and the operation efficiency can be improved.
It will be appreciated that in this embodiment, the drill guide bar 6 is detachably mounted to the mounting hole of the positioning post 3. When the drill with different diameters needs to be replaced during the operation, the proper drill guide rod 6 can be selected according to the diameters of the drill, and then the selected drill guide rod 6 can be installed in the installation hole of the positioning column 3. That is, the drill guide rods 6 with different inner diameters can be replaced in the positioning column 3 at any time according to the use requirements of the drill.
Further, in order to be able to adjust the position of the drill guide bar 6 to a greater extent, in this embodiment the second assembly 2 further comprises a second drive mechanism 21, the second drive mechanism 21 being connected to a second drive plate 22, the second drive mechanism 21 being able to drive the second drive plate 22 in a translational movement in a second plane, which is parallel to the first plane.
Illustratively, the second drive mechanism 21 may be connected to the base plate 4, in which case the second drive plate 22 is indirectly connected to the base plate 4 via the second drive mechanism 21, the second drive plate 22 being capable of translational movement in a second plane under the drive of the second drive mechanism 21. Since the second plane is parallel to the first plane, that is to say the second drive plate 22 and the first drive plate 12 can each be moved in two planes parallel to each other. Thereby, the drill guide bar 6 can be adjusted in position and angle more arbitrarily by the common drive of the second drive plate 22 and the first drive plate 12.
In practical applications, when it is desired to drill a bone of a patient with the end effector of the present embodiment, the end effector may be moved to a predetermined position by means of the mechanical arm first, and then the position of the end effector is not changed, i.e., the position of the base plate 4 of the end effector in three-dimensional space is locked. Then, the position of the drill guide rod 6 is determined according to the nail feeding point and the nail feeding angle, and the first driving plate 12 and the second driving plate 22 can move, so that the two connecting points between the two driving plates and the positioning column 3 can conveniently change the space position, and the position of the drill guide rod 6 can be conveniently adjusted under the combined action of the first driving mechanism 11 and the second driving mechanism 21 without changing the position of the base plate 4 of the end effector.
In a further embodiment, the second drive plate 22 may be fixedly connected to the base plate 4. In practical applications, after the mechanical arm drives the end effector to move to the predetermined position, the connection point between the second driving plate 22 and the positioning column 3 is determined in the three-dimensional space, for example, the connection point is P. During the process of driving the first driving plate 12 to move by means of the first driving mechanism 11, the connection point between the first driving plate 12 and the positioning column 3 is changed, and the drill guide rod 6 is subjected to position and angle change by taking the point P as the fixed point.
In the above embodiment, after the position of the base plate 4 of the end effector is determined, the connection point between the second driving plate 22 and the positioning post 3 is determined in three-dimensional space, and all the position adjustment of the drill guide bar 6 is changed based on the connection point, and at this time, if the connection point cannot meet the position requirements of the nail feeding point and the nail feeding angle, the position of the end effector needs to be adjusted by means of the mechanical arm.
Further, in the present embodiment, since the first driving mechanism 11 and the second driving mechanism 21 can drive the first driving plate 12 and the second driving plate 22 to move, respectively, for the convenience of adjusting the positional change between the first driving plate 12 and the second driving plate 22, the first component 1 and the second component 2 are identical in structure, for example, the first driving mechanism 11 and the second driving mechanism 21 are identical in structure, and the first driving mechanism 11 drives the first driving plate 12 in the same manner as the second driving mechanism 21 drives the second driving plate 22.
Preferably, the first component 1 and the second component 2 may be disposed on both sides of the substrate 4 in mirror symmetry, respectively. For example, as shown in fig. 1, the first component 1 and the second component 2 may be disposed on both sides of the substrate 4 in mirror symmetry with a symmetry plane parallel to the first plane. By means of the mirror symmetry arrangement, the whole end effector can be more compact in structure, and the first driving plate 12 and the second driving plate 22 can be enabled to have enough distance between two connecting points connected with the positioning column 3 respectively, so that the positioning column 3 can be supported better, and the position and the angle of the drill guide rod 6 can be adjusted more accurately.
Of course, in other embodiments, the first component 1 and the second component 2 may be arranged in other ways, such as a stacked arrangement, according to the design requirements of the structure.
In the present embodiment, the first module 1 and the second module 2 have identical and mirror-image structures, and for brevity, only the first module 1 will be described below as an example.
As shown in fig. 1, in the first assembly 1 of the present embodiment, the first driving mechanism 11 includes a lateral movement unit 13 and a longitudinal movement unit 14 connected to each other, the lateral movement unit 13 is connected to the base plate 4, the lateral movement unit 13 is capable of driving the longitudinal movement unit 14 to move in the X direction, the first driving plate 12 is connected to the longitudinal movement unit 14, and the longitudinal movement unit 14 is capable of driving the first driving plate 12 to move in the Y direction, the X direction and the Y direction being perpendicular to each other.
Illustratively, in the first driving mechanism 11, one end of the lateral movement unit 13 is fixedly connected to the base plate 4, the lateral movement unit 13, the longitudinal movement unit 14, and the first driving plate 12 are sequentially connected, the lateral movement unit 13 is capable of driving the longitudinal movement unit 14 and the first driving plate 12 to move together in the X direction, and at the same time, the longitudinal movement unit 14 is capable of driving the first driving plate 12 to move in the Y direction. Thereby, the first driving mechanism 11 can drive the first driving plate 12 to move in the X direction by means of the lateral movement unit 13, and can drive the first driving plate 12 to move in the Y direction by means of the longitudinal movement unit 14. It will be appreciated that the plane formed by the X-direction and the Y-direction is parallel to the first plane, so that the first drive plate 12 is capable of translational movement in the first plane.
In the present embodiment, as shown in fig. 1 and 2, the lateral movement unit 13 includes: the first driving member 131, the first driving member 131 is disposed on the base plate 4, an output end of the first driving member 131 is connected to the longitudinal moving unit 14, and the first driving member 131 is capable of driving the longitudinal moving unit 14 to move in the X direction.
The first driving member 131 may be a linear steering engine, which may be fixedly disposed on the base plate 4 via a bolt or the like, and an output end of the first driving member 131 is connected to the longitudinal moving unit 14 and is movable in the X direction. Thereby, the lateral movement unit 13 can drive the longitudinal movement unit 14 to move in the X direction.
As a fixing manner, the lateral moving unit 13 may further include a first U-shaped seat 132, and the first driving member 131 may be disposed in a U-shaped opening of the first U-shaped seat 132, and the first U-shaped seat 132 may be fixed to the surface of the base plate 4 by means of bolts, thereby achieving the fixation of the first driving member 131.
Further, in order to provide more accurate guidance and more stable support for the movement of the longitudinal movement unit 14, the lateral movement unit 13 in this embodiment further includes, as shown in fig. 2: the first linear slide rail 133 and the first slider 134, the first linear slide rail 133 is disposed on the substrate 4, the track direction of the first linear slide rail 133 is parallel to the X direction, the first slider 134 is slidably disposed on the first linear slide rail 133, and the longitudinal moving unit 14 is connected with the first slider 134.
It will be appreciated that in the present embodiment, since the first slider 134 is movable on the first linear rail 133 in the X direction, the longitudinal moving unit 14 can be accurately moved in the X direction under the sliding restriction. At the same time, the connection between the first slider 134 and the first linear rail 133 may also provide stable support for the movement of the longitudinal movement unit 14.
As an implementation manner, the two sides of the first linear sliding rail 133 in the Y direction are respectively provided with a clamping groove extending along the X direction, two sides of the first sliding block 134 are provided with clamping blocks capable of being clamped in the clamping grooves, and the first sliding block 134 can be prevented from falling off the first linear sliding rail 133 by means of clamping between the clamping grooves and the clamping blocks, so that support is provided for the longitudinal moving unit 14.
Optionally, the number of the first linear slides 133 may be multiple, where the multiple first linear slides 133 may be disposed on the substrate 4 at parallel intervals, and each first linear slide 133 is provided with a first slider 134 connected to the longitudinal moving unit 14, so that by means of a plurality of clamping slots and clamping blocks, the longitudinal moving unit 14 can be prevented from being unevenly stressed and shifted in position during moving, so as to provide more sufficient support and guidance for moving the longitudinal moving unit 14.
In one embodiment, a plurality of through holes are arranged on the first linear slide rail 133 along the X direction at intervals, and threaded holes corresponding to the positions are arranged on the base plate 4, so that after the screws pass through the through holes of the first linear slide rail 133 and are in threaded connection with the threaded holes on the base plate 4, the fixing of the first linear slide rail 133 can be realized.
Further, as shown in fig. 1 and 3, the longitudinal moving unit 14 includes: the mounting plate 141 and the second driving member 142, the mounting plate 141 is fixedly connected to the lateral movement unit 13, the second driving member 142 is provided on the mounting plate 141, an output end of the second driving member 142 is connected to the first driving plate 12, and the second driving member 142 can drive the first driving plate 12 to move in the Y direction.
Illustratively, the mounting plate 141 may be fixedly connected to the first slider 134 in the lateral movement unit 13 via a bolt or the like, and the second driving member 142 may be a linear steering engine fixedly provided on the mounting plate 141, and an output end of the second driving member 142 is connected to the first driving plate 12 and is movable in the Y direction. Thereby, the longitudinal moving unit 14 can drive the first driving plate 12 to move in the Y direction.
Alternatively, the first slider 134 and the second driver 142 may be disposed at both sides of the mounting plate 141, respectively.
As a fixing means, the longitudinal moving unit 14 may further include a second U-shaped seat 143, and the second driving piece 142 may be disposed in a U-shaped opening of the second U-shaped seat 143, and the second U-shaped seat 143 may be fixed to a surface of the mounting plate 141 by means of bolts, thereby achieving the fixation of the second driving piece 142.
Further, in order to provide more accurate guidance and more stable support for the movement of the first drive plate 12, as shown in fig. 3, the longitudinal moving unit 14 in this embodiment further includes: the second linear slide 144 and the second slider 145, the second linear slide 144 is disposed on the mounting plate 141, the track direction of the second linear slide 144 is parallel to the Y direction, the second slider 145 is slidably disposed on the second linear slide 144, and the first driving plate 12 is connected with the second slider 145.
It will be appreciated that in the present embodiment, since the second slider 145 can move on the second linear rail 144 in the Y direction, the second driving plate 22 can accurately move in the Y direction under the sliding restriction. At the same time, the connection between the second slider 145 and the second linear rail 144 can also provide stable support for the movement of the first drive plate 12.
As an implementation manner, the two sides of the second linear sliding rail 144 in the X direction are respectively provided with a clamping groove extending along the Y direction, two sides of the second sliding block 145 are provided with clamping blocks capable of being clamped in the clamping grooves, and the second sliding block 145 can be prevented from falling off the second linear sliding rail 144 by means of clamping between the clamping grooves and the clamping blocks, so that the second driving plate 22 is supported.
Optionally, the number of the second linear slides 144 may be multiple, and the multiple second linear slides 144 may be disposed on the mounting plate 141 at parallel intervals, and each second linear slide 144 is provided with a second slider 145 connected to the first driving board 12, so that by means of the clamping between the multiple clamping grooves and the clamping blocks, the first driving board 12 is prevented from being unevenly stressed and shifted in position in the moving process, so as to provide more sufficient support and guidance for the movement of the first driving board 12.
In one embodiment, the second linear slide 144 is provided with a plurality of through holes arranged at intervals along the Y direction, the mounting plate 141 is provided with threaded holes corresponding to the positions, and after the screw passes through the through hole of the second linear slide 144 and is in threaded connection with the threaded hole on the mounting plate 141, the fixing of the second linear slide 144 can be realized.
It will be appreciated that the first and second assemblies 1 and 2 are identical in structure, and that the first and second assemblies 1 and 2 may be respectively connected to both sides of the base plate 4, flexible movement of the drill guide bar 6 may be achieved by the dual slide rail structure arrangement of the first and second assemblies 1 and 2 symmetrical to each other. The driving parts of the first assembly 1 and the second assembly 2 can be driven by a miniature linear servo driver, and finally, the rotary motion of the drill guide rod 6 can be converted into linear motion, so that the adjustment precision can be improved.
Further, as shown in fig. 1, the first assembly 1 further comprises a first connection mechanism 15, via which first connection mechanism 15 the first drive plate 12 is connected to the positioning column 3, by means of which first connection mechanism 15 a rotational connection between the first drive plate 12 and the positioning column 3 can be achieved.
Specifically, as shown in fig. 4 and fig. 4, the first connection mechanism 15 includes: the first link 151 and the second link 152, the first link 151 is rotatably connected to the first driving plate 12, the first link 151 is rotatable about a first rotation axis with respect to the first driving plate 12, the first link 151 is rotatably connected to the second link 152, the second link 152 is rotatable about a second rotation axis with respect to the first link 151, and the second link 152 is fixedly connected to the positioning column 3.
During the movement of the first drive plate 12 driven by the first drive mechanism 11, it is ensured that the positioning column 3 rotates about the first and second rotation axes relative to the first drive plate 12, thereby effecting adjustment of the position and angle of the drill guide bar 6.
As shown in fig. 4, the positioning post 3 is fixedly connected to a side of the second connecting member 152 away from the first connecting member 151, and the mounting hole in the positioning post 3 may be a circular through hole, and the drill guide rod 6 may be fittingly inserted into the mounting hole in the positioning post 3.
Preferably, the second connecting member 152 and the positioning column 3 are integrally formed.
In order to effectively fix the drill guide bar 6, as shown in fig. 4, the top end of the drill guide bar 6 is provided with a cover plate 61, and the cover plate 61 can be fixedly connected with the positioning column 3 via screws, thereby preventing the drill guide bar 6 from loosening during drilling operation and further avoiding the change of drilling position.
Similarly, the second assembly 2 may also comprise a second connection mechanism 25 via which second connection mechanism 25 the second drive plate 22 is connected to the positioning column 3, by means of which second connection mechanism 25 a rotational connection between the second drive plate 22 and the positioning column 3 can be achieved. The second connection mechanism 25 has substantially the same structure as the first connection mechanism 15.
Specifically, as shown in fig. 4, the second connection mechanism 25 includes: the first rotating member 251, the second rotating member 252 and the lower cylinder 253, the first rotating member 251 is rotatably connected to the second driving plate 22, the first rotating member 251 is rotatably connected to the second rotating member 252 about the third rotation axis with respect to the second driving plate 22, the second rotating member 252 is rotatably connected to the second rotating member 252 about the fourth rotation axis with respect to the first rotating member 251, the second rotating member 252 is fixedly connected to the lower cylinder 253, the lower cylinder 253 has a circular through hole, and the positioning column 3 is slidably inserted in the circular through hole of the lower cylinder 253. Thus, when the first component 1 and the second component 2 cooperate to adjust the position of the drill guide bar 6, the positioning column 3 can slide in the lower barrel 253, so that the positioning column 3 can be ensured to move to a required position, and finally the position of the drill guide bar 6 can be adjusted.
Optionally, a marker plate 154 may be fixedly arranged on the outer side of the upper portion of the positioning column 3, and a marker such as an aro marker may be attached to the marker plate 154, so that the position of the positioning column 3 can be determined by means of the marker during the movement of the end effector.
As an implementation manner, the upper cylinder 153 is fixedly arranged at the upper part of the positioning column 3, and the upper cylinder 153 and the lower cylinder 253 have the same structure, and the difference is that the upper cylinder 153 is fixedly connected with the positioning column 3, for example, the upper cylinder 153 and the positioning column 3 are integrally formed, and the lower cylinder 253 is sleeved outside the positioning column 3.
The second connector 152 and the identification plate 154 may be fixedly connected to opposite sides of the upper cylinder 153, respectively.
Alternatively, as shown in fig. 4, the first driving plate 12 is generally configured in an L-shape, which includes a cross plate and a riser connected to each other, the cross plate extending in the X-direction, the riser extending perpendicularly to the first plane toward the second assembly 2, and the first link 151 being rotatably connected to the riser.
Accordingly, the second driving plate 22 is also generally constructed in an L-shape, which also includes a cross plate and a vertical plate connected to each other, and at this time, a receiving area is formed between the cross plate of the first driving plate 12 and the cross plate of the second driving plate 22, in which the respective lateral moving units and longitudinal moving units of the first and second components 1 and 2 can be disposed, and by reasonable layout, the space can be fully utilized, so that the structure of the whole apparatus can be made more compact to facilitate storage.
In addition, in order to effectively protect the first and second components 1 and 2, the end effector further includes a housing, as shown in fig. 1, which includes: the front plate 51, the rear plate 52, the U-shaped side plate 53 and the bottom plate 54 are respectively positioned at both ends of the first assembly 1 and the second assembly 2 in the X direction, the U-shaped side plate 53 and the bottom plate 54 are circumferentially arranged at the circumferential sides of the first assembly 1 and the second assembly 2 and positioned between the front plate 51 and the rear plate 52, the U-shaped side plate 53, the bottom plate 54 and the rear plate 52 are formed as a semi-enclosed space in which the first driving plate 12 and the second driving plate 22 are partially positioned and projected from the direction of the front plate 51, and the positioning column 3 is positioned at the outer side of the front plate 51, whereby the drill guide rod 6 mounted in the positioning column 3 can be accurately adjusted in various positions and angles under the cooperation of the driving mechanisms in the first assembly 1 and the second assembly 2.
Alternatively, the rear plate 52 is connected to a flange on the base plate 4 by a bolt or the like. The front plate 51, the rear plate 52, the U-shaped side plates 53 and the bottom plate 54 may also be connected by bolts.
It can be seen that the compact orthopedic surgical robotic end effector design in this embodiment has the following advantages:
in the design of compact orthopedic surgery robot end effector in this embodiment, including base plate, first subassembly, second subassembly and reference column, first subassembly and second subassembly are all rotated and are connected to the reference column, and the drill bit guide bar can be installed to the reference column, and first subassembly can carry out translational motion through driving first actuating mechanism in first plane and drive the drill bit guide bar, and then adjusts the position and the angle of drill bit guide bar. Therefore, the position of the drill guide rod can be conveniently adjusted and kept stable in the orthopedic operation, the drilling positioning requirement at any angle can be met, the operation which depends on the experience of doctors partially becomes more standard and accurate, the dependence on the clinical experience of doctors is eliminated, the medical staff can perform the drilling operation more efficiently and accurately, the drilling position is not required to be frequently adjusted, and the operation efficiency can be improved.
The design of the end effector of the compact type orthopedic operation robot in the embodiment is in line with the development trend of the future orthopedic operation, and has wide application prospect in orthopedic outpatient service of wide hospitals.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A compact orthopedic surgical robotic end effector design, comprising: the base plate, the first component, the second component and the positioning column are connected to the base plate, the positioning column is provided with a mounting hole penetrating along the axial direction, the mounting hole is used for placing a drill guide rod, wherein,
the first assembly comprises a first driving mechanism and a first driving plate, the first driving mechanism is connected with the first driving plate, the first driving mechanism can drive the first driving plate to perform translational motion in a first plane, the first driving plate is rotationally connected with the positioning column, the positioning column can rotate around a first rotation shaft and a second rotation shaft relative to the first driving plate, and the first rotation shaft and the second rotation shaft are mutually perpendicular;
the second assembly comprises a second driving plate, the second driving plate is rotationally connected with the positioning column, the positioning column can rotate around a third rotating shaft and a fourth rotating shaft relative to the second driving plate, and the third rotating shaft and the fourth rotating shaft are mutually perpendicular.
2. The compact orthopedic surgical robotic end effector design of claim 1, wherein the second assembly further comprises a second drive mechanism coupled to the second drive plate, the second drive mechanism configured to drive the second drive plate for translational movement in a second plane, the second plane being parallel to the first plane.
3. The compact orthopedic robotic end effector design of claim 2, wherein the first and second components are identical in construction and are disposed on opposite sides of the base plate in mirror symmetry, respectively.
4. The compact orthopedic surgical robotic end effector design of claim 1, wherein the first drive mechanism comprises a lateral movement unit and a longitudinal movement unit interconnected, the lateral movement unit coupled to the base plate, the lateral movement unit configured to drive the longitudinal movement unit to move in an X-direction, the first drive plate coupled to the longitudinal movement unit, the longitudinal movement unit configured to drive the first drive plate to move in a Y-direction, the X-direction and the Y-direction being perpendicular to each other.
5. The compact orthopedic surgical robotic end effector design of claim 4, wherein the lateral movement unit comprises: the first driving piece is arranged on the base plate, the output end of the first driving piece is connected to the longitudinal moving unit, and the first driving piece can drive the longitudinal moving unit to move along the X direction.
6. The compact orthopedic surgical robotic end effector design of claim 5, wherein the lateral movement unit further comprises: the device comprises a substrate, a first linear slide rail and a first sliding block, wherein the first linear slide rail is arranged on the substrate, the track direction of the first linear slide rail is parallel to the X direction, the first sliding block is arranged on the first linear slide rail in a sliding manner, and the longitudinal moving unit is connected with the first sliding block.
7. The compact orthopedic surgical robotic end effector design of claim 4, wherein the longitudinal movement unit comprises: the mounting plate is fixedly connected to the transverse moving unit, the second driving piece is arranged on the mounting plate, the output end of the second driving piece is connected to the first driving plate, and the second driving piece can drive the first driving plate to move along the Y direction.
8. The compact orthopedic surgical robotic end effector design of claim 7, wherein the longitudinal movement unit further comprises: the second linear slide rail and the second slider, the second linear slide rail sets up on the mounting panel, the track direction of second linear slide rail is on a parallel with the Y direction, the second slider slides and sets up on the second linear slide rail, first drive plate with the second slider is connected.
9. The compact orthopedic robotic end effector design of claim 4, wherein the first assembly further comprises a first connection mechanism via which the first drive plate is connected to the positioning column, wherein,
the first connection mechanism includes: the first connecting piece is rotationally connected to the first driving plate, the first connecting piece can rotate around the first rotation axis relative to the first driving plate, the first connecting piece is rotationally connected to the second connecting piece, the second connecting piece can rotate around the second rotation axis relative to the first connecting piece, and the second connecting piece is fixedly connected to the positioning column.
10. The compact orthopedic robotic end effector design of claim 9, wherein the first drive plate comprises a cross plate and a riser connected to each other, the cross plate extending in the X-direction, the riser extending perpendicular to the first plane toward the second assembly, the first connector rotatably connected to the riser.
CN202310831178.XA 2023-07-07 2023-07-07 Compact orthopedic surgery robot end effector design Pending CN116869657A (en)

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Application Number Priority Date Filing Date Title
CN202310831178.XA CN116869657A (en) 2023-07-07 2023-07-07 Compact orthopedic surgery robot end effector design

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310831178.XA CN116869657A (en) 2023-07-07 2023-07-07 Compact orthopedic surgery robot end effector design

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CN116869657A true CN116869657A (en) 2023-10-13

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