CN117582293A - Multi-degree-of-freedom surgical robot - Google Patents
Multi-degree-of-freedom surgical robot Download PDFInfo
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- CN117582293A CN117582293A CN202311386235.4A CN202311386235A CN117582293A CN 117582293 A CN117582293 A CN 117582293A CN 202311386235 A CN202311386235 A CN 202311386235A CN 117582293 A CN117582293 A CN 117582293A
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- motor
- surgical robot
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- 238000009434 installation Methods 0.000 claims description 2
- 238000001356 surgical procedure Methods 0.000 abstract description 3
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- 238000002324 minimally invasive surgery Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
Abstract
The invention provides a multi-degree-of-freedom surgical robot, which comprises a base, a driving assembly, a moving assembly and a joint assembly, wherein the driving assembly, the moving assembly and the joint assembly are respectively arranged on two opposite mounting surfaces of the base, and the driving assembly, the moving assembly and the joint assembly are respectively arranged on the two opposite mounting surfaces of the base, wherein the driving assembly, the moving assembly and the joint assembly are respectively arranged on the two opposite mounting surfaces of the base: the movable assembly comprises a first swing rod, a second swing rod and a swing rod connecting piece, the driving assembly comprises a motor, the motor comprises a first motor and a second motor, and the joint assembly is rotatably connected with the movable assembly. The surgical robot has the advantages that the four-degree-of-freedom structure is formed in two layers, the volume of the robot body is minimized and the weight is lighter on the premise that the strokes are the same, and the device is high in stability, safe, reliable and convenient and quick to operate in surgery.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a multi-degree-of-freedom surgical robot.
Background
The orthopedic operation equipment in the current market is composed of three parts: the main control trolley, the mechanical arm trolley and the binocular image trolley are large in size and heavy in weight, the trolley of each part is inconvenient to transport and inconvenient to operate, a plurality of people are needed to cooperate in the operation process to finish the operation, the operation efficiency is low, and injuries are often caused to patients due to misoperation, although the current mainstream orthopedic operation equipment is provided with a special mechanical arm, the working range is large, the precision of the mechanical arm is not very high, the orthopedic operation equipment is provided with the mechanical arm with 6 degrees of freedom, the length of each joint of the mechanical arm is also relatively long, and each joint is driven by a single motor. Moreover, the existing multi-degree-of-freedom robot body is large in weight, cannot meet the light demand, is insufficient in structural rigidity, and is insufficient in holding force on a target channel.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the multi-degree-of-freedom surgical robot which has small volume, high precision and strong stability.
The invention provides a multi-degree-of-freedom surgical robot, which comprises a base, a driving assembly, a moving assembly and a joint assembly, wherein the driving assembly, the moving assembly and the joint assembly are respectively provided with two groups and are respectively arranged on two opposite mounting surfaces of the base, and the driving assembly, the moving assembly and the joint assembly are respectively provided with:
the moving assembly comprises a first swing rod, a second swing rod and a swing rod connecting piece; the far ends of the first swing rod and the second swing rod are respectively hinged with the swing rod connecting piece;
the driving assembly comprises a motor, the motor comprises a first motor and a second motor, the first motor is used for driving the proximal end of the first swing rod to move along a first direction, and the second motor is used for driving the proximal end of the second swing rod to move along the first direction;
the joint assembly is rotatably connected with the moving assembly.
In one embodiment, the multiple degree of freedom surgical robot further comprises an output fixation assembly, the output fixation assembly coupled to the articulation assembly.
In one embodiment, the motor is a closed loop control motor.
In one embodiment, the motor is arranged towards the edge of the base, the driving assembly further comprises a steering device, the steering device comprises a first synchronous wheel, a second synchronous wheel and a synchronous belt, an output shaft of the motor is connected with the first synchronous wheel, and the first synchronous wheel is connected with the second synchronous wheel through the synchronous belt.
In one embodiment, the steering device comprises a first steering device and a second steering device, the first motor being connected to the first steering device and the second motor being connected to the second steering device.
In one embodiment, the first motor is connected to a first screw rod arranged along the first direction through a first steering device, and a first screw rod nut is arranged on the first screw rod.
In one embodiment, the second motor is connected to a second screw rod arranged along the first direction through a second steering device, and a second screw rod nut is arranged on the second screw rod.
In one embodiment, the first screw is connected to the base through a first screw fixing base, and the second screw is connected to the base through a second screw fixing base.
In one embodiment, the proximal end of the first swing link is hingedly connected to the first lead screw nut, and the proximal end of the second swing link is hingedly connected to the second lead screw nut.
In one embodiment, the proximal end of the first swing link is connected to a first bearing, the proximal end of the second swing link is connected to a second bearing, the first bearing and the second bearing move in the first direction, the first bearing is connected to a first lead screw nut, and the second bearing is connected to a second lead screw nut.
In one embodiment, the first lead screw nut slider and the first bearing are located on two sides of the first lead screw nut, respectively, and the second lead screw nut slider and the second bearing are located on two sides of the second lead screw nut, respectively.
In one embodiment, the first bearing and/or the second bearing are crossed cylindrical roller bearings.
In one embodiment, the base is provided with a first swing link guide rail and a second swing link guide rail which are arranged along the first direction, the proximal end of the first swing link slides along the first swing link guide rail, and the proximal end of the second swing link slides along the second swing link guide rail.
In one embodiment, the base is provided with a third swing link guide rail and a fourth swing link guide rail arranged along the first direction, a screw nut slider slides on the third swing link guide rail, and a second screw nut slider slides on the fourth swing link guide rail.
In one embodiment, the pendulum link moves in a second direction perpendicular to the first direction.
In one embodiment, the moving assembly is provided with a swing link connecting guide rail, the swing link connecting guide rail is fixedly connected with the swing link base, and the swing link connector moves along a direction parallel to the swing link connecting guide rail.
In one embodiment, the moving assembly further comprises a swing link connecting slider and a swing link connecting seat which are fixedly connected, and the swing link connecting slider slides on the swing link connecting guide rail.
In one embodiment, the swing link connector is coupled to the joint assembly.
In one embodiment, the base is provided with a moving assembly guide rail arranged along the first direction, and the moving assembly moves along the moving assembly guide rail.
In one embodiment, the moving assembly further comprises a swing link base, and the swing link base is fixedly connected with the swing link connecting guide rail.
In one embodiment, the base of the moving assembly rail is fixedly connected to the base, and the slide rail of the moving assembly rail is connected to the swing link base.
In one embodiment, the moving assembly rail is a cross roller rail.
In one embodiment, the moving assembly guide rails are two and are respectively arranged at two sides of the base.
In one embodiment, the moving assembly further comprises a moving assembly housing, the moving assembly housing being connected to the swing link base.
In one embodiment, the output end fixing assembly comprises a linear guide rail and an output end fixing sleeve, two ends of the linear guide rail are respectively connected with one joint assembly, and the output end fixing sleeve is connected with the linear guide rail.
In one embodiment, two ends of the linear guide rail are respectively connected with one joint rotating shaft.
In one embodiment, the distal end of the output end fixing sleeve is provided with a through hole, and the axis of the through hole is parallel to the axis of the linear guide rail.
In one embodiment, a positioning hollow sleeve is arranged in the through hole, and the positioning hollow sleeve is connected with the tracer.
In one embodiment, the multi-degree-of-freedom surgical robot further comprises a housing detachably connected with the base, at least part of the driving assembly and the moving assembly are located in an inner cavity of the housing, and a man-machine interaction screen assembly is arranged on the housing.
In one embodiment, the moving assembly further comprises a moving assembly housing fixedly connected with the swing rod base, the first swing rod, the second swing rod and the swing rod connecting piece guide rail are arranged in the moving assembly housing, and the swing rod connecting seat is arranged outside the moving assembly housing.
In one embodiment, the moving assembly further comprises a dust-proof belt, an outlet is arranged on the moving assembly shell, and the dust-proof belt is used for blocking the outlet.
In one embodiment, the swing link connecting seat comprises a swing link connecting seat main body part and a swing link connecting seat concave part which are fixedly connected, a swing link connecting slide block convex part matched with the swing link connecting seat concave part is arranged on the swing link connecting slide block, and a part of the dust-proof belt is positioned between the swing link connecting seat concave part and the swing link connecting slide block convex part.
In one embodiment, the multi-degree of freedom surgical robot further comprises a navigation positioning system, wherein the navigation positioning system comprises a path planning module, a navigation positioning module, a control module and a display module; the navigation positioning module is respectively in communication connection with the path planning module, the control module and the display module, and the path planning module is used for planning a navigation path according to a treatment scheme; the navigation positioning module is used for identifying and tracking a tracer with a fixed position relation with a part to be operated and positioning the tracer to a target position according to the position of the tracer; the control module is configured to control operation of the drive assembly; the display module is configured to display a moving track of the output end fixing sleeve or a position of the output end fixing sleeve in a fixed position relation.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the surgical robot provided by the invention, the translation and swing of the two swing rods are driven through the coupling motion of the two parallel linear modules in the same plane, so that the target point can move in one plane, the output end can present any angle and any gesture in the working range of the three-dimensional space, and the product has high precision and good stability.
2. According to the surgical robot provided by the invention, a four-layer four-degree-of-freedom structure in a traditional X/Y linear module structure is in a two-layer structure, the volume of the robot body is minimized and the weight is lighter on the premise of the same stroke, the volume is small, great convenience is brought to the surgical operation of an operator, too much space is not blocked, the weight is light, the position used in the operation can be conveniently and rapidly transferred, the doctor can operate by a single person in the operation, and the cross operation between an operation table and the operation is reduced; in addition, the device has strong stability in operation, safety and reliability and convenient and quick operation.
3. The linear ball sliding guide rail and the cross roller linear guide rail are used together, so that the device has high position precision in working operation, is not easy to deform, has accurate positions of all parts and has high precision of products.
4. The robot has complete functions, does not need to additionally configure a computer, can operate on the screen of the robot particularly when the man-machine interaction screen assembly is arranged, and is simple and convenient to operate;
5. when the navigation system is arranged, the equipment has various functions such as positioning, navigation and the like in operation, the touch screen display enables the artificial engineering to be simple and convenient to operate, the application prospect is wide, such as orthopaedics, extraterrestrial, general extraterrestrial, urinary and other multiple departments, no special requirement is caused on the use environment, and the equipment is also applicable to various operating rooms of common basic hospitals.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of a multi-degree of freedom surgical robot according to one embodiment of the invention;
FIG. 2 is an exploded view of a multiple degree of freedom surgical robot according to one embodiment of the invention;
FIG. 3 is a schematic view of a multi-degree of freedom surgical robot according to an embodiment of the invention;
FIG. 4 is a schematic view of a multi-degree of freedom surgical robot according to an embodiment of the invention;
FIG. 5 is a schematic view of a multi-degree of freedom surgical robot according to an embodiment of the invention;
FIG. 6 is a schematic view of a multi-degree of freedom surgical robot according to one embodiment of the invention;
FIG. 7 is a schematic view of a multi-degree of freedom surgical robot according to an embodiment of the invention;
FIG. 8 is a schematic view of a multi-degree of freedom surgical robot according to an embodiment of the invention;
fig. 9 is a schematic structural view of a swing link connecting slider and a swing link connecting seat according to an embodiment of the present invention;
fig. 10 is a schematic structural view of a swing link connecting slider and a swing link connecting seat according to an embodiment of the present invention;
fig. 11 is a schematic structural view of a swing link connection slider and a swing link connection seat according to an embodiment of the present invention.
Reference numerals:
10. an upper mounting surface; 11. a first swing rod; 111 a first pendulum rod bearing; 12. the second swing rod; 121. a second swing rod bearing; 13. a swing link connector; 131. the swing rod is connected with the sliding block; 132. the swing rod is connected with the protruding part of the sliding block; 14. a swing rod base; 15. the swing rod is connected with the guide rail; 16. a swing rod connecting seat; 161. the swing rod is connected with the main body part of the seat; 161. the swinging rod is connected with the concave part of the seat; 20. a lower mounting surface; 21. a first motor; 210. a first motor fixing seat; 211. a first screw rod; 212. a first lead screw nut; 213. the first screw rod fixing seat; 214. a first lead screw nut slider; 22. a second motor; 220. the second motor fixing seat; 221. a second screw rod; 222. a second lead screw nut; 223. a second screw rod fixing seat; 224. a second screw rod road surface sliding block; 227. a first synchronizing wheel; 228. a second synchronizing wheel; 229. a synchronous belt; 3. a base; 31. a first swing link guide rail; 32. a second swing link guide rail; 33. a second moving assembly rail; 34. a first moving assembly rail; 35. a third swing link guide rail; 36. a fourth swing link guide rail; 4. a joint assembly; 41 joint members; 42. a joint rotation shaft; 5. an output end fixing assembly; 51. a linear guide rail; 52. an output end fixing sleeve; 6. a tracer; 61. positioning the hollow sleeve; 7. a housing; 8. and a manual interaction screen.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
It should be noted that: the words "upper", "lower", "left", "right", and the like, which refer to directions in this document are merely for the purpose of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, be constructed and operate in a specific orientation, only with respect to the positions of the structures shown in the corresponding drawings. The parts themselves are numbered herein, for example: first, second, etc. are used solely to distinguish between the described objects and do not have any sequential or technical meaning.
Example 1
Referring to fig. 1 to 3, the multi-degree-of-freedom surgical robot provided in this embodiment includes a base 3, a driving assembly, a moving assembly, a joint assembly, an output end fixing assembly 5, and a tracer 6, where the driving assembly, the moving assembly, and the joint assembly are respectively provided with two groups, and are respectively provided with two opposite mounting surfaces of the base 3. As shown in fig. 1, the base 3 has two mounting surfaces, namely an upper mounting surface 10 and a lower mounting surface 20, and the driving assembly, the moving assembly and the joint assembly have two groups, each group being provided on the upper mounting surface 10 and the lower mounting surface 20, respectively. Hereinafter, the structure and connection of each component will be described in detail by taking the upper mounting surface 10 as an example, and the structure and connection of the lower mounting surface 20 are the same as those of the upper mounting surface 10, and the description will not be repeated.
We call the end of the robot close to the surgical site distal and the end remote from the surgical site proximal, and establish the coordinate axes shown in fig. 1, with the X axis being the first direction, the Y axis being the direction parallel to the plane of the base 3 and perpendicular to the X axis, and the Z axis being the direction perpendicular to the plane of the base 3.
Referring to fig. 1 to 3, the driving assembly includes a first motor 21 and a second motor 22, the first motor 21 is fixedly connected to the base 3 through a first motor fixing seat 210, the second motor 22 is fixedly connected to the base 3 through a second motor fixing seat 220, an output shaft of the first motor 21 is connected to a first screw rod 211, a first screw rod nut 212 is disposed on the first screw rod 211, an output shaft of the second motor 22 is connected to a second screw rod 221, and a second screw rod nut 222 is disposed on the second screw rod 221. The first motor 21 and the second motor 22 adopt control motors with closed loops, so that the speeds of the first motor and the second motor can be monitored and controlled in real time, and the operation accuracy of the whole equipment is improved. The first screw rod 211 and the second screw rod 221 are parallel to the direction of the X axis, and in order to ensure the stability of the first screw rod 211 and the second screw rod 221 during movement, a corresponding first screw rod fixing seat 213 and a corresponding second screw rod fixing seat 223 can be arranged on the base 3, and two ends of the first screw rod 211 and the second screw rod 221 are respectively fixed on the base 3. The first screw nut 212 is fixedly connected to the first screw nut slider 214 and the second screw nut 222 is fixedly connected to the second screw nut slider 224.
The moving assembly comprises a swing rod base 14, a first swing rod 11, a second swing rod 12, a swing rod connecting piece 13, a swing rod connecting sliding block 131 and a swing rod connecting seat 16. The distal end of the first swing link 11 is hinged with the swing link connector 13, the distal end of the second swing link 12 is hinged with the swing link connector 13, the proximal end of the first swing link 11 is connected with the first swing link bearing 111, and the proximal end of the second swing link 12 is connected with the second swing link bearing 121. The first lead screw nut 212 may be directly connected to the first bearing 111, or may be connected to the first bearing 111 through a connecting member (not shown), and the second lead screw nut 222 may be directly connected to the second bearing 121, or may be connected to the second bearing 121 through a connecting member (not shown). When the first screw nut moves along the first screw rod, acting force is generated on the first bearing to drive the first bearing to move; when the second screw nut moves along the second screw, acting force is generated on the second bearing, and the second bearing is driven to move.
The base 3 is provided with a plurality of guide rails along the X axis. Specifically, in the present embodiment, the first swing link rail 31, the second swing link rail 32, the second moving assembly rail 33, the first moving assembly rail 34, the third swing link rail 35, and the fourth swing link rail 36 in the X direction are provided on the base 3. The proximal end of the first swing link 11 is capable of sliding on the first swing link rail 31 and the proximal end of the second swing link 12 is capable of sliding on the second swing link rail 32. Specifically, the first bearing 111 may be connected to the first swing link rail 31 through a slider and may slide along the first swing link rail 31, and the second bearing 121 may be connected to the second swing link rail 32 through a slider and may slide along the second swing link rail 32. The first bearing 111 and the second bearing 121 are crossed cylindrical roller bearings, the inner structures of the crossed cylindrical roller bearings adopt rollers which are in 90-degree mutually perpendicular crossed arrangement, and a spacer or a spacer block is arranged between the rollers, so that the inclined cargo rollers of the rollers can be prevented from being mutually ground, the increase of the rotation torque is effectively prevented, and the service life of products is prolonged. The first lead screw nut 212 is connected to the first bearing 111, and the second lead screw nut 222 is connected to the second bearing 121 to realize driving motions of the first motor 21 and the second motor 22 to the first bearing 111 and the second bearing 121, respectively. When the first screw nut 212 moves along the X-axis direction, the first bearing 111 is driven to slide on the first swing rod guide rail 31 to drive the proximal end of the first swing rod 11 to move along the X-axis, and similarly, when the second screw nut 222 moves along the X-axis direction, the second bearing 121 is driven to slide on the second swing rod guide rail 32 to drive the proximal end of the second swing rod 12 to move along the X-axis. The first lead screw nut slider 214 is slidable on the third swing link rail 35 and the second lead screw nut slider 224 is slidable on the fourth swing link rail 36. The first screw nut slider 214 and the first bearing 111 are located at both sides of the first screw nut 212, and the second screw nut slider 224 and the second bearing 121 are located at both sides of the second screw nut 222, respectively. On both sides of the base 3, a first moving assembly guide rail 34 and a second moving assembly guide rail 33 are respectively provided, and the swing rod base 14 can slide on the first moving assembly 34 and the second moving assembly guide rail 33, so that the movement of the moving swing rod base 14 along the X-axis direction is realized. The first moving assembly rail 34 and the second moving assembly rail 33 are cross roller rails. The cross guide rail can bear loads in the direction incapable of being carried out, high-precision and stable linear motion is completed, but the effective stroke of the cross guide rail is limited, so that the device is minimized, in the embodiment, two cross guide rails in the same direction are adopted to be matched, the effective stroke of the guide rail in the same direction is effectively increased, and the maximum stroke of the swing rod base 14 is realized. The swing rod base 14 is also provided with a swing rod connecting guide rail 15 along the Y-axis direction, and the swing rod connecting piece 13 is connected to the swing rod connecting guide rail 15 through a swing rod connecting sliding block 131 and can slide along the swing rod connecting guide rail 15. The swing link connecting slider 131 is fixedly connected with the swing link connecting seat 16.
The three parts of the first swing rod 11, the second swing rod 12 and the swing rod connecting piece 13 form a deformable triangle on the same plane, the first swing rod 11 and the second swing rod 12 are two sides of the triangle, and the marker post connecting piece 13 is one vertex of the triangle. The proximal ends of the first swing link 11 and the second swing link 12 are movable in the X-axis direction, and the swing link connector 13 is movable in the Y-axis direction. When the driving assembly drives the proximal end of the first swing rod 11 and/or the proximal end of the second swing rod 12 to move, the proximal end of the first swing rod 11 and the proximal end of the second swing rod 12 generate relative displacement in the X axis, and the swing rod connecting piece 13 moves along the Y axis and/or the X axis.
The joint assembly comprises a joint piece 41 and a joint rotating shaft 42, wherein the joint piece 41 is rotatably connected with the joint rotating shaft 42, and the joint piece 41 is rotatably connected with the swing rod connecting piece seat 16. The joint 41 and the swing link connecting seat 16 can be connected by a bearing or other connection means, and the joint 41 can rotate relative to the swing link connecting seat 16 with the X axis as the axis. The joint rotation shaft 42 is rotatable about the Y axis relative to the joint 41. The upper mounting surface 10 and the lower mounting surface 20 of the moving assembly are respectively provided with a swing link connecting seat 16, the joint assembly is also provided with two groups of joint components 41 and a joint rotating shaft 42, and each joint component 41 is respectively connected with one swing link connecting seat 16.
The output end fixing assembly comprises a linear guide rail 51 and an output end fixing sleeve 52, and the upper end of the linear guide rail 51 is hinged with the joint rotating shaft 42 connected with the upper mounting surface 10 of the base 3; the lower end of the linear guide rail 51 is movably connected with the joint rotation shaft connected to the lower mounting surface 20 of the base 3, and the length of the linear guide rail 51 between the upper joint rotation shaft and the lower joint rotation shaft can be changed, for example, the connection mode between the linear guide rail 51 and the joint rotation shaft below is as follows: a through hole is provided in the joint shaft below, and the linear guide 51 passes through the through hole. The proximal end of the output end fixing sleeve 52 is fixedly connected with the linear guide rail 51, the distal end of the output end fixing sleeve 52 is provided with a through hole, a positioning hollow sleeve 61 can be arranged in the through hole, and the positioning hollow sleeve 61 can be connected with the tracer 6 or other operation equipment. The positioning hollow sleeve 61 has a cavity therein which allows the passage of surgical drills, implant screws, tackers, guidewires, etc. for creating an orthopedic minimally invasive procedure for surgery, subsequent surgical procedures, such as drilling, stapling, piercing, endoscopic procedures, etc.
Referring to fig. 4, the multi-degree-of-freedom surgical robot provided in this embodiment further includes a housing 7, the housing 7 is detachably connected to the base 3, a cavity is formed in the housing 7, driving assemblies disposed on an upper mounting surface and a lower mounting surface of the base, and proximal end portions of the first swing link 11 and the second swing link 12 are disposed in the cavity in the housing 7. The housing 7 is provided to prevent dust or blood from entering the interior of the surgical robot, affecting the normal operation of the internal components. The upper surface of the housing 7 is provided with a manual interaction screen assembly 8, such as a touch screen, which can display the position of the tracer 6 and can select or control the moving path of the surgical robot. Referring to fig. 1 to 4, the moving assembly further includes a moving assembly housing 17, the moving assembly housing 17 is fixedly connected with the swing link base 14, when the moving assembly is pushed out of the housing 7 by the driving assembly, the moving assembly housing 17 is pushed out of the housing 7, and at this time, the moving assembly housing 17 can prevent dust or blood from entering to affect the movement of the first swing link 11, the second swing link 12, and the like.
The first and second lead screw nuts 212 and 222 are at leftmost positions, i.e., positions where X-axis coordinates are minimum, in an initial state of the first and second motors 21 and 22. When the first motor 21 and the second motor 22 are simultaneously rotated clockwise, the first screw nut 212 and the second screw nut 222 move in the positive direction of the X-axis, and drive the proximal end of the swing first swing link 11 and the proximal end of the second swing link 12 to move in the positive direction of the X-axis, and the swing link connection rail 15, the swing link base 14, and the moving assembly housing 17 also move in the positive direction of the X-axis. When the first motor 21 and the second motor 22 are simultaneously rotated counterclockwise, the first screw nut 212 and the second screw nut 222 move in the negative direction of the X-axis and drive the proximal end of the swing link 11 and the proximal end of the second swing link 12 to move in the negative direction of the X-axis, and the swing link connection rail 15, the swing link base 14 and the moving assembly housing 17 also move in the negative direction of the X-axis. When the first motor 21 is in the initial state, the second motor 22 rotates clockwise, the second screw rod 221 also rotates along with the first motor, the second screw rod nut 222 moves along the positive direction of the X axis, the proximal end of the second swing rod 12 is driven to move along the positive direction of the X axis, the distal end of the second swing rod 12 has a movement trend towards the positive direction of the X axis, and the force action is given to the first swing rod 11 and the swing rod connecting piece 13, so that the distal end of the first swing rod 11 and the swing rod connecting piece 13 can move towards the positive direction of the X axis and the negative direction of the Y axis at the same time. The movement of the swing link 13 can drive the swing link guide rail 15 to move along the positive direction of the X axis, so that the moving assembly housing of the whole mounting surface is driven to move along with the positive direction of the X axis, and a part of the moving assembly housing 17 is pushed out of the housing 7. When the first motor 21 and the second motor 22 rotate clockwise for a period of time, the first motor 21 stops, the second motor 22 rotates counterclockwise, the second screw rod 221 also rotates counterclockwise, the second screw rod nut 222 is pushed to move along the X-axis negative direction, and accordingly the proximal end of the second swing rod 12 is driven to move towards the X-axis negative direction, the swing rod connecting piece 13 simultaneously moves towards the X-axis negative direction and the Y-axis negative direction, and the swing rod connecting guide rail 15 moves towards the X-axis negative direction. When the first motor 21 and the second motor 22 are operated simultaneously, the first motor 21 rotates clockwise, the second motor 22 rotates counterclockwise, and the swing link 13 tends to move in the positive X direction and the negative Y direction.
On the same installation surface, the moving assembly can have different movement modes through the combined operation control of different working states and rotation directions of the first motor and the second motor, so that the swing rod connecting seat 16 moves along the X axis and/or the Y axis. When the driving assembly and the moving assembly on the upper mounting surface and the lower mounting surface work simultaneously, the movement of the first swing rod 11, the second swing rod 12 and the swing rod connecting piece 13 on the upper mounting surface and the lower mounting surface can drive the corresponding swing rod connecting guide rail 15 and the swing rod connecting seat 16 to have the position difference in the X axis and Y axis directions, so that the relative distance between the upper end and the lower end of the linear guide rail 51 and the upper end and the lower end of the hollow positioning sleeve 61 are changed, and finally, the position of any angle of the three-dimensional space is formed. I.e. by means of different rotation modes and driving strokes of the four motors, it is achieved that the positioning hollow sleeve 61 will assume different angular attitudes at different positions.
To more specifically describe the position and orientation of the positioning hollow sleeve 61, a point is arbitrarily selected on the first lead screw nut on the upper mounting surface, and its coordinate value on the X-axis is denoted as a 1 The coordinate value of the point of the first screw nut of the corresponding lower mounting surface on the X axis is marked as a 2 The method comprises the steps of carrying out a first treatment on the surface of the Optionally selecting on the second screw nut of the upper mounting surfaceA point is selected, and the coordinate of the point on the X axis is marked as b 1 The coordinate value of the point of the second screw nut of the corresponding lower mounting surface on the X axis is marked as b 2 . At a 1 、a 2 And b 1 、b 2 The value of (c) may vary within a certain range. a, a min Namely, the coordinate value, a, of the first screw nut at the position closest to the first motor max Namely, the coordinate value a when the first screw nut is at the farthest position from the motor 1 May be a min ～a max Arbitrary value between a 2 May be a min ～a max Arbitrary values in between. Likewise, b min B is the coordinate value of the second screw nut at the nearest position from the second motor max B is the coordinate value of the second screw nut at the farthest position from the second motor 1 May be b min ～b max Arbitrary value between b 2 May be b min ～b max Arbitrary values in between. The first motor of the upper mounting surface can drive a 1 At a min ～a max The second motor on the upper mounting surface can drive b 1 At b min ～b max The corresponding first motor of the lower mounting surface can drive a in a range change 2 At a min ～a max In a range of variation, the second motor of the lower mounting surface can drive b 2 At b min ～b max And vary within the scope. When a is 1 、a 2 、b 1 、b 2 When the values of (a) are changed, the linear guide rail 51 and the positioning hollow sleeve 61 of the surgical robot can take different postures at different positions, so that a doctor can perform operations such as puncture at different angles on a patient part.
Referring to fig. 1, 3 and 4, at this time, a 1 ＝a 2 ，b 1 ＝b 2 The positioning hollow sleeve 61 is parallel to the Z-axis direction, i.e. vertical, in which case the patient site can be pierced in the vertical direction, i.e. in the negative direction of the Z-axis.
Referring to FIG. 5, at this time, a 1 ＜a 2 ，b 1 ＜b 2 Positioning one of the hollow sleeves 61 in the negative direction of the Z-axisThe tip is oriented in the positive direction of the X-axis, in which case the patient site can be pierced at an angle to the X-axis and the Z-axis. In theory, the angle range of the positioning hollow sleeve and the X axis is 90-180 degrees, the angle range of the positioning hollow sleeve and the Z axis is 0-90 degrees, and in practical application, the angle range of the positioning hollow sleeve and the X axis is 90-135 degrees and the angle range of the positioning hollow sleeve and the Z axis is 0-45 degrees under the restriction of practical operation environment and parts.
Referring to FIG. 6, at this time, a 1 ＞a 2 ，b 1 ＞b 2 One end of the positioning hollow sleeve 61 in the negative direction of the Z axis is oriented in the negative direction of the X axis, in which case the patient site can be pierced at an angle to the X and Z axes. In theory, the angle range of the positioning hollow sleeve and the X axis is 0-90 degrees, the angle range of the positioning hollow sleeve and the Z axis is 0-90 degrees, and in practical application, the angle range of the positioning hollow sleeve and the X axis is 45-90 degrees and the angle range of the positioning hollow sleeve and the Z axis is 0-45 degrees under the restriction of practical operation environment and parts.
Referring to FIG. 7, at this time, a 1 ＜a 2 ，b 1 ＞b 2 One end of the positioning hollow sleeve 61 in the positive direction of the Z axis is oriented in the negative direction of the Y axis, in which case puncturing of the patient site may be performed at an angle to the Y axis and the Z axis. In theory, the angle range of the positioning hollow sleeve and the Y axis is 90-180 degrees, the angle range of the positioning hollow sleeve and the Z axis is 0-90 degrees, and in practical application, the angle range of the positioning hollow sleeve and the Y axis is generally 90-135 degrees and the angle range of the positioning hollow sleeve and the Z axis is 0-45 degrees under the restriction of practical operation environment and parts.
Referring to FIG. 8, at this time, a 1 ＞a 2 ，b 1 ＜b 2 The positioning hollow sleeve 61 is oriented in the positive direction of the Y-axis at one end in the positive direction of the Z-axis, and is capable of piercing a patient site at an angle to the Y-axis and the Z-axis. In theory, the angle range of the positioning hollow sleeve and the Y axis is 0-90 degrees, and the angle range of the positioning hollow sleeve and the Z axis is 0-9 degrees, and in practical application, the angle range of the positioning hollow sleeve and the Y axis is 45-90 degrees and the angle range of the positioning hollow sleeve and the Z axis is 0-45 degrees under the restriction of practical operation environment and parts.
The multi-degree-of-freedom surgical robot provided by the embodiment adopts the simultaneous operation of the upper and lower driving assemblies and the moving assembly to drive the swinging rod connecting seat to move in the two-dimensional space, so that the linear guide rail finally drives the tracer to be in different positions and postures in the three-dimensional space, the guiding and positioning functions in the surgical process are realized, and a doctor is assisted to finish the operations of puncturing, positioning, punching, implanting a conical bow needle and the like. Each degree of freedom is controlled by a closed loop of a motor, the motor driving position can be monitored, and the high-precision screw rod and the guide rail are matched, so that the surgical operation device has good stability and safety in the surgical operation process.
Example 2
Those skilled in the art will understand this embodiment as a more specific description of embodiment 1, and the same structure and configuration as those of embodiment 1 in this embodiment will not be repeated.
The drive assembly in this embodiment further comprises a steering arrangement by which the output shaft of each motor is arranged in the negative direction of the X-axis, and is converted into an output of motion in the positive direction of the X-axis. With such a structure, the proximal ends of the first swing link 11 and the second swing link 12 can have the maximum stroke in the X axis, and the surgical robot can be made to have the minimum size when the proximal ends of the first swing link 11 and the second swing link 12 have the fixed stroke in the X axis. The following description will be made taking the related arrangement of the second motor 22 as an example, as with the arrangement of the first motor 21 and the lower mounting surface.
Referring to fig. 2 and 3, the output shaft of the second motor 22 is disposed toward the negative direction of the X-axis, and the steering device includes a first synchronizing wheel 227, a timing belt 228, and a second synchronizing wheel 229. The first synchronizing wheel 227 is disposed in a direction of a proximal end of the second motor 22, an output shaft of the second motor 22 is connected to the first synchronizing wheel 227, the first synchronizing wheel 227 is connected to the second synchronizing wheel 229 through a timing belt 228, and the second synchronizing wheel 229 is connected to the second screw 221. When the output shaft of the second motor 22 rotates, the first synchronizing wheel 227 can be driven to rotate, the rotation of the first synchronizing wheel 227 drives the second synchronizing wheel 229 to synchronously rotate under the action of the synchronous belt 228, and the rotation of the second synchronizing wheel 229 drives the second screw rod 221 to rotate. With this design, the length of the second screw 221 may be nearly close to the length of the housing of the surgical robot in the X-axis, fully maximizing the stroke of the third swing link 14.
Also, the steering mechanism connected to the first motor 21 can make the length of the first screw rod 211 almost approximate to the length of the housing of the surgical robot on the X-axis, and fully maximize the stroke of the first swing link 11 and the second swing link 12. That is, when the stroke of the first swing link 11 and the second swing link 12 is fixed, the surgical robot can be miniaturized in volume. The volume is small, so that great convenience is brought to the operation of an operator, too much space is not blocked, the weight is light, the use position in the operation can be conveniently and rapidly transferred, a doctor can operate by a single person in the operation, and the cross operation of an operation table and the operation is reduced; in addition, the device has strong stability in operation, safety and reliability and convenient and quick operation.
Referring to fig. 4, in this embodiment, the moving assembly housing 17 is further provided with a dust-proof belt 18, the first swing link 11, the second swing link 12 and the swing link connection rail 15 are all disposed inside the moving assembly housing 17, and the dust-proof belt 18 seals the outlet on the moving assembly housing 17, so that dust, blood and the like can be prevented from entering the inside of the moving assembly, and the normal operation of the parts is affected. The dust-proof belt 18 is fixedly connected to the moving assembly housing 17, and a part of the dust-proof belt 18 is located between the swing link connecting slider 131 and the swing link connecting seat 16, and the swing link connecting slider 131 and the swing link connecting seat 16 can move along the length direction of the dust-proof belt 18.
Referring to fig. 9 to 11, the swing link connecting seat 16 includes a swing link connecting seat body portion 161 and a swing link connecting seat recess portion 162, a swing link connecting slider protrusion 132 is provided on the swing link connecting slider 131 to be matched with the swing link connecting seat recess portion 162, a portion of the dust-proof belt 18 is located between the swing link connecting slider protrusion 132 and the swing link connecting seat recess portion 162, and the swing link connecting slider protrusion 132 is fixedly connected with a gap of the swing link connecting seat body portion 161 on the upper and lower sides of the dust-proof belt 18. The dust-proof belt 13 is clamped between the swing link connecting slide block 131 and the swing link connecting seat 16 by adopting the cooperation of the swing link connecting slide block bulge 131 and the swing link connecting seat concave part 162, the swing link connecting slide block bulge 132 and the swing link connecting seat concave part 162 are connected through the arc-shaped connecting structures on the upper side and the lower side, so that the swing link connecting slide block 131 and the swing link connecting seat 16 are of the minimum gap structural design, the connecting strength between the swing link connecting slide block 131 and the swing link connecting seat 16 is increased, the service life of a product is prolonged, and the arc-shaped connecting structures do not influence the sliding of the swing link connecting slide block 131 and the swing link connecting seat 16 along the dust-proof belt 18. The swing link connecting seat concave part 162 and the swing link connecting sliding block 131 generate mutual friction with the dust-proof belt 18 when sliding, so the swing link connecting seat concave part 162 is made of materials with small friction force, such as plastics, so that the friction force with the steel belt is reduced, and the loss is reduced. If the arc-shaped connecting structure is not provided, the connecting part between the swing rod connecting sliding block protruding part 132 and the swing rod connecting seat concave part 162 is small, is easy to break and is not firm, and the connecting firmness of the swing rod connecting sliding block protruding part 132 and the swing rod connecting seat concave part 162 can be improved by adopting the design structure.
The multi-degree-of-freedom surgical robot provided by the embodiment further comprises a navigation system, wherein the navigation system comprises a path planning module, a navigation positioning module, a control module and a display module; the navigation positioning module is respectively in communication connection with the path planning module, the control module and the display module, and the control module is in communication connection with four motors arranged on the base. The control module is used for the output of control module for control four motors, the route planning module is used for planning the navigation route according to the treatment scheme, navigation positioning module is used for discernment and tracking the tracer that has fixed positional relation with the position of needs operation to the target position according to the position location of tracer, receive the planning route of route planning module, and transmit target position, planning route and tracer's positional information to control module and display module, display module is used for showing target position, planning route and tracer's positional information. The mobile phone robot has the functions of positioning, navigation and the like in operation, and has wide application prospect.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (15)
1. The utility model provides a multi freedom surgical robot, its characterized in that includes base, drive assembly, removal subassembly and joint subassembly, drive assembly, removal subassembly, joint subassembly respectively have two sets of, locate respectively two relative installation faces of base, wherein:
the moving assembly comprises a first swing rod, a second swing rod and a swing rod connecting piece; the far ends of the first swing rod and the second swing rod are respectively hinged with the swing rod connecting piece;
the driving assembly comprises a motor, the motor comprises a first motor and a second motor, the first motor is used for driving the proximal end of the first swing rod to move along a first direction, and the second motor is used for driving the proximal end of the second swing rod to move along the first direction;
the joint assembly is rotatably connected with the moving assembly.
2. The multiple degree of freedom surgical robot of claim 1 further comprising an output end securing assembly, the output end securing assembly coupled to the joint assembly.
3. The multi-degree of freedom surgical robot of claim 1 wherein the output shaft of the motor is connected to a screw having a screw nut thereon, the screw nut being connected to either the first swing link or the second swing link.
4. A multiple degree of freedom surgical robot according to claim 3 wherein the motor is disposed towards the edge of the base, the drive assembly further comprises a steering device, the steering device comprises a first synchronizing wheel, a second synchronizing wheel and a synchronous belt, the output shaft of the motor is connected to the first synchronizing wheel, the first synchronizing wheel is connected to the second synchronizing wheel through the synchronous belt, and the second synchronizing wheel is connected to the screw rod.
5. The multiple degree of freedom surgical robot of claim 1 wherein the base is provided with a first swing link rail and a second swing link rail disposed along the first direction, the proximal end of the first swing link sliding along the first swing link rail and the proximal end of the second swing link sliding along the second swing link rail.
6. The multiple degree of freedom surgical robot of claim 1 wherein the movement assembly is provided with a swing link connection rail, the swing link connector moving in a direction parallel to the swing link connection rail.
7. The multiple degree of freedom surgical robot of claim 6 wherein the movement assembly further includes a swing link base fixedly coupled to the swing link connection rail.
8. The multiple degree of freedom surgical robot of claim 7 wherein the movement assembly further includes a fixedly connected pendulum link slider and a pendulum link seat, the pendulum link slider sliding along the pendulum link rail, the pendulum link seat rotatably connecting the joint assembly.
9. The multiple degree of freedom surgical robot of claim 8 wherein the moving assembly further includes a moving assembly housing fixedly connected to the swing link base, the first swing link, the second swing link, and the swing link connecting rail are disposed inside the moving assembly housing, the swing link connecting seat is disposed outside the moving assembly housing, an outlet is provided on the moving assembly housing, and the dust band is used for blocking the outlet.
10. The multi-degree of freedom surgical robot of claim 9 wherein the swing link connector includes a swing link connector body portion and a swing link connector recess portion fixedly connected, the swing link connector slider is provided with a swing link connector slider protrusion cooperating with the swing link connector recess portion, and a portion of the dust strap is located between the swing link connector recess portion and the swing link connector slider protrusion.
11. The multiple degree of freedom surgical robot of claim 1 wherein the base is provided with a moving assembly rail disposed along the first direction, the moving assembly moving along the moving assembly rail.
12. The multiple degree of freedom surgical robot of any one of claims 1-11 wherein the output end fixing assembly includes a linear guide and an output end fixing sleeve, two ends of the linear guide being respectively connected to one of the joint assemblies, the output end fixing sleeve being connected to the linear guide.
13. The multiple degree of freedom surgical robot of claim 12 wherein the distal end of the output end mounting sleeve is provided with a through bore having an axis parallel to the axis of the linear guide.
14. The multiple degree of freedom surgical robot of any one of claims 1-11 further including a housing detachably connected to the base, at least a portion of the drive assembly and the movement assembly being located in an interior cavity of the housing, the housing having a man-machine interaction screen assembly disposed thereon.
15. The multiple degree of freedom surgical robot of any one of claims 1-11 further comprising a navigation system including a path planning module, a navigation positioning module, a control module, and a display module; the navigation positioning module is respectively in communication connection with the path planning module, the control module and the display module, and the path planning module is used for planning a navigation path according to a treatment scheme; the navigation positioning module is used for identifying and tracking a tracer with a fixed position relation with a part to be operated and positioning the tracer to a target position according to the position of the tracer; the control module is configured to control operation of the drive assembly; the display module is configured to display a moving track of the output end fixing sleeve or a position of the output end fixing sleeve in a fixed position relation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311386235.4A CN117582293A (en) | 2023-10-24 | 2023-10-24 | Multi-degree-of-freedom surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311386235.4A CN117582293A (en) | 2023-10-24 | 2023-10-24 | Multi-degree-of-freedom surgical robot |
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| CN202311386235.4A Pending CN117582293A (en) | 2023-10-24 | 2023-10-24 | Multi-degree-of-freedom surgical robot |
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| CN (1) | CN117582293A (en) |
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- 2023-10-24 CN CN202311386235.4A patent/CN117582293A/en active Pending
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