CN1711976A - Guiding tool of operation - Google Patents
Guiding tool of operation Download PDFInfo
- Publication number
- CN1711976A CN1711976A CNA200510027974XA CN200510027974A CN1711976A CN 1711976 A CN1711976 A CN 1711976A CN A200510027974X A CNA200510027974X A CN A200510027974XA CN 200510027974 A CN200510027974 A CN 200510027974A CN 1711976 A CN1711976 A CN 1711976A
- Authority
- CN
- China
- Prior art keywords
- housing
- drive mechanism
- screw
- mechanical hand
- worm gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
A surgical navigation tool for the computer aided surgical navigation system features that on the basis that the optical locating and tracking system is used to find the space position of surgical navigation tool, a set of five-freedom joint-type manipulator is designed. Said manipulator has a 4-class drive mechanism with self-locking worm-gear set, which has stable instantaneous drive ratio and high drive accuracy, so making the pilot template as its final class reach the surgical target position precisely.
Description
Technical field
The invention belongs to computer Technology of surgery navigation field, be specifically related to the operation steering tool in a kind of computer-asisted intra-operative navigation system.
Background technology
Present operation guiding system can be divided into active structure and passive type structure according to the interactive mode of operation tool and surgical environments.Active structure mainly is meant operating robot, and it can carry out accurate operation technique according to surgical planning, does not need doctor's manual intervention.But operating robot improves from industrial robot mostly; higher strength and stiffness require to make their structure with respect to operative space; volume is excessive; aspect motility, often be difficult to satisfy the complexity requirement of operation, and must have the safeguard of safe enough to protect doctor and patient to avoid contingent maloperation danger.
At present, surgical navigational adopts the passive type structure mostly, it has thoroughly abandoned the robot architecture, adopt optical positioning system as detection instrument, fix luminous bead or light emitting diode on traditional operation tool or prosthese installation template, the hand-held operation tool of doctor is realized the real-time, interactive with the work station image.This structure has just caused surgical interest once emerging, it respects fully the leading position of doctor in operation, the whole surgery operation is still exercised and is judged by the doctor, and navigation system has only played an assistant's effect as an auxiliary equipment.
Yet present operation guiding system is not perfection, and distinct issues are structural modelss that it has adopted a kind of hand-held, and the easy operation tool that makes because of fatigue produces jitter phenomenon than long time and staff is at operating time.Record through overtesting, operation tool is under hand holding state, and the drift value of shake is substantially between 0.5～1.0mm.This phenomenon directly has influence on the accuracy of detection of optical positioning system to operation tool, causes operation tool to exist location and steering error in operation, thereby has influence on the precision of whole surgery.
In a word, traditional operating robot has high orientation precision and machining accuracy, but bulky, motility is not enough.Present operation guiding system obviously is being better than operating robot aspect motility and the safety, and has higher operability, but it especially is difficult to solve the jitter problem of hand-held operation tool aspect the accuracy of operation certain defective being arranged.
Summary of the invention
The objective of the invention is to design a kind of not only positioning accuracy height, and motility and the good novel guiding tool of operation of safety.
The present invention is directed to the deficiency and the defective of traditional operation robot and existing navigation system, proposed a kind of novel guiding tool of operation, it is to have designed the mechanical hand with 5 degree of freedom on the basis of adopting optical alignment tracking system space exploration position.Can be referred to as the navigational structure of hand-eye type, optical positioning system is equivalent to " eyes ", and mechanical hand is equivalent to " hands " naturally.Wherein, the optical alignment tracking system can be used for surveying the locus of navigational tool, and is located.
Mechanical hand possesses the function of two aspects: 1. wrist end or operating theater instruments are navigated to operative site; 2. operating theater instruments is led, make it accurately reach the operation target spot.
In the design of mechanical hand, the present invention follows following principle: it is little 1. to take up space, and does not interfere with the operation technique space; 2. can be tight in any positional lock; 3. be balanced controls.According to these three requirements, the present invention adopts three cradle heads to carry out the version of adjacency, and it is little to have a volume own, and work space is big, high orientation precision and stronger characteristics such as motion intuitive.The present invention adopts the level Four drive mechanism, and each drive mechanism all adopts the worm and gear transmission with auto-lock function, has stable instantaneous transmission ratio and higher transmission accuracy.
Because the overall structure of mechanical hand is the operative site that is connected the patient by clamping device, or the minisize dc servomotor of 6V, the planetary reducer of built-in suitable speed reducing ratio is to improve driving torque, and the encoder of external 1000 lines is realized the information feedback between servomotor and the controller.
Among the present invention, the first order transmission of mechanical hand is a manual type, comprising: housing, worm screw, worm gear, lock-screw, manual nut, two rolling bearings and bearing cap.Connected mode is: worm screw is connected with housing by rolling bearing, and manual nut is connected by hold-down screw with the output shaft of worm screw; Worm gear is connected with housing by rolling bearing, and realizes engaged transmission with worm screw, and lock-screw is screwed on the screwed hole of housing, worm gear can be locked.
Transmission has identical drive mechanism and connected mode with the fourth stage for the second level transmission of mechanical hand, third level transmission.Mainly comprise: housing, servomotor, worm screw, worm gear, 2 rolling bearings, bearing cap.Connected mode is: motor is fixed on the inside of housing, and motor shaft and worm screw are fixed by screw, and worm gear passes through two bearing fixing in housing, and the engagement of realization and worm screw.
Link together by shaft coupling between the transmissions at different levels.
The end of mechanical hand is a guiding die plate, by the output shaft of fourth stage transmission, can drive guiding die plate and rotate freely in 360 degree scopes.The optical alignment labelling has been installed on the guiding die plate, thereby the locus of guiding die plate can obtain fully by optical positioning system, remedy the cumulative errors between each drive system.
By the transmission between each joint, guiding die plate is realized three-dimensional in the space motion can be driven, and ideal position can be accurately arrived, locate accurately and lead for surgical operation provides.
The frame for movement that the present invention is small and exquisite and compact makes operation technique more flexible, convenient with respect to traditional operating robot, and solved the jitter problem that present guiding tool of operation exists, for the accuracy that improves operation, reduce operation wound, improve success rate of operation, shortening patient's postoperative rehabilitation phase etc. has been played important effect.
Description of drawings
Fig. 1 operation principle sketch map of the present invention.
The control principle figure of Fig. 2 system.
Fig. 3 structural representation of the present invention.
Number in the figure: 1 is housing, and 2 is worm screw, and 3 is worm gear, and 4 is motor, and 5 is worm gear, and 6 is worm screw, 7 is motor, and 8 is housing, and 9 is housing, and 10 is motor, and 11 is shaft coupling, and 12 is housing, 13 is worm screw, and 14 is worm gear, and 15 is lock-screw, and 17 is worm gear, and 18 is terminal guide plate; 19 are the optical alignment tracking system, and 20 is guiding tool of operation, and 2 are the optical tracking labelling, and 22 is intramedullary pin, and 23 is clamping device.
The specific embodiment
As shown in Figure 1, label 20 (in the dotted line) is a guiding tool of operation of the present invention, and its enforcement be unable to do without optical alignment tracking system 19, optical tracking labelling 21, clamping device 23 and operation prosthese etc.With intramedullary pin 22 implant surgeries is example, and it certain flexural deformation occurs in the process of the medullary cavity of inserting patient's bending, thereby makes the locking nail hole of intra medullary nail far-end produce warpage and position transfer, causes the insertion of pinning very difficult.By the help of portable C shape arm X line image in optical alignment tracking system 19 and the operating room, can determine the position relation of intra medullary nail far-end lockhole with respect to navigational tool 20, obtain the ideal position of arm end guide plate.According to the current position of guide plate and the transformational relation of ideal position thereof, can determine the kinematic parameter in each joint of navigational tool.Move according to corresponding kinematic parameter in each joint, can also check whether operation tool has reached the orientation that requires by marker location information on the terminal guide plate after putting in place.If deviation is arranged, deviation information can be fed back to control system, continue to drive each joint motions, reach until guide plate till the position of expection.
System has adopted the optical alignment tracking system, thereby the control structure of system has inner and outer ring two-way feedback.Fig. 2 is the control principle figure of whole system, and the control structure in the dotted line is identical with traditional control structure, road feedback in forming; Beyond dotted line, feed back the spatial positional information of terminal guide plate by the optical alignment tracking system, and compare with the positional information of expection, form from outside feedback.
Fig. 3 is a frame for movement sketch map of the present invention, is divided into first order drive mechanism, second level drive mechanism, third level drive mechanism and fourth stage drive mechanism.In first order drive mechanism, worm screw 13 and worm gear 14 link together by bearing and housing 12, and lock-screw 15 is by manually locking worm gear.The shaft of worm gear couples together by the housing 9 of shaft coupling 11 with second level drive mechanism.
In the drive mechanism of the second level, the servo deceleration motor 10 of band encoder is fixed on the housing 9, and worm screw 16 is fixed on the shaft of motor 10, and realizes engaged transmission with worm gear 17, and worm gear 17 links together by bearing and housing 9.The worm gear shaft of second level drive mechanism couples together by the housing 8 of shaft coupling and third level drive mechanism.
In third level drive mechanism, the servo deceleration motor 7 of band encoder is fixed on the housing 8, and worm screw 6 is fixed on the shaft of motor 7, and realizes engaged transmission with worm gear 5, and worm gear 5 links together by bearing and housing 8.The worm gear shaft of third level drive mechanism couples together by the housing 1 of shaft coupling and fourth stage drive mechanism.
In fourth stage drive mechanism, the servo deceleration motor 4 of band encoder is fixed on the housing 1, and worm screw 2 is fixed on motor 4 shafts, and realizes engaged transmission with worm gear 3, and worm gear 3 links together by bearing and housing 1.Terminal guide plate 18 directly is fixed on the worm gear shaft of fourth stage drive mechanism.
In the said structure, servomotor can adopt 6V minisize dc servomotor.
Claims (2)
1, a kind of guiding tool of operation, it is characterized in that it being a mechanical hand with 5 degree of freedom, wherein, mechanical hand adopts 4 grades drive mechanism, every grade of drive mechanism all adopts the minisize dc servomotor, built-in planetary reducer, the encoder of external 1000 lines is realized the information feedback between servomotor and the controller.
2, guiding tool of operation according to claim 1, it is characterized in that the connected mode of the first order drive mechanism of mechanical hand is: worm screw is connected with housing by rolling bearing, and manual nut is connected by hold-down screw with the output shaft of worm screw; Worm gear is connected with housing by rolling bearing, and realizes engaged transmission with worm screw, and lock-screw is screwed on the screwed hole of housing, and worm gear is locked; The second level transmission of mechanical hand has identical drive mechanism and connected mode with third level transmission, fourth stage transmission: servomotor is fixed on the inside of housing, servo motor shaft and worm screw are fixed by screw, worm gear passes through two bearing fixing in housing, and the engagement of realization and worm screw, the end of mechanical hand is a guiding die plate, by the output shaft of fourth stage transmission, drive guiding die plate and in 360 degree scopes, rotate freely, the optical alignment labelling is installed on the guiding die plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200510027974XA CN1711976A (en) | 2005-07-21 | 2005-07-21 | Guiding tool of operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200510027974XA CN1711976A (en) | 2005-07-21 | 2005-07-21 | Guiding tool of operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1711976A true CN1711976A (en) | 2005-12-28 |
Family
ID=35717888
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA200510027974XA Pending CN1711976A (en) | 2005-07-21 | 2005-07-21 | Guiding tool of operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1711976A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100435735C (en) * | 2006-09-30 | 2008-11-26 | 南方医科大学 | Human body orthopedic navigation system |
| CN102764158A (en) * | 2012-04-13 | 2012-11-07 | 中国科学院深圳先进技术研究院 | Surgical robot |
| CN102764157A (en) * | 2012-04-13 | 2012-11-07 | 中国科学院深圳先进技术研究院 | Robot for orthopaedic surgery |
| CN102764156A (en) * | 2011-12-06 | 2012-11-07 | 中国科学院深圳先进技术研究院 | Surgical robot |
| CN103759635A (en) * | 2013-12-25 | 2014-04-30 | 合肥工业大学 | Scanning measurement robot detection method allowing precision to be irrelevant to robot |
| CN104758066A (en) * | 2015-05-06 | 2015-07-08 | 中国科学院深圳先进技术研究院 | Equipment for surgical navigation and surgical robot |
| CN105358086A (en) * | 2013-07-01 | 2016-02-24 | 先进截骨工具-Aot股份公司 | Robot comprising a tool |
| CN105377173A (en) * | 2013-07-01 | 2016-03-02 | 先进截骨工具-Aot股份公司 | Computer assisted surgery apparatus and method of cutting tissue |
| CN109846551A (en) * | 2019-03-28 | 2019-06-07 | 深圳市海西高科有限公司 | Operation guiding system |
| CN110477841A (en) * | 2009-12-14 | 2019-11-22 | 史密夫和内修有限公司 | Visualization guidance ACL localization system |
| CN113288578A (en) * | 2021-06-18 | 2021-08-24 | 潍坊眼科医院有限责任公司 | Cornea stitching device |
-
2005
- 2005-07-21 CN CNA200510027974XA patent/CN1711976A/en active Pending
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100435735C (en) * | 2006-09-30 | 2008-11-26 | 南方医科大学 | Human body orthopedic navigation system |
| CN110477841B (en) * | 2009-12-14 | 2022-05-24 | 史密夫和内修有限公司 | Visual guide ACL positioning system |
| CN110477841A (en) * | 2009-12-14 | 2019-11-22 | 史密夫和内修有限公司 | Visualization guidance ACL localization system |
| CN102764156B (en) * | 2011-12-06 | 2015-08-26 | 中国科学院深圳先进技术研究院 | Surgical operation robot |
| CN102764156A (en) * | 2011-12-06 | 2012-11-07 | 中国科学院深圳先进技术研究院 | Surgical robot |
| CN102764158B (en) * | 2012-04-13 | 2015-03-11 | 中国科学院深圳先进技术研究院 | Surgical robot |
| CN102764157B (en) * | 2012-04-13 | 2014-12-10 | 中国科学院深圳先进技术研究院 | Robot for orthopaedic surgery |
| CN102764157A (en) * | 2012-04-13 | 2012-11-07 | 中国科学院深圳先进技术研究院 | Robot for orthopaedic surgery |
| CN102764158A (en) * | 2012-04-13 | 2012-11-07 | 中国科学院深圳先进技术研究院 | Surgical robot |
| CN105377173B (en) * | 2013-07-01 | 2019-05-28 | 先进截骨工具 -Aot股份公司 | The method of computer assisted surgical device and cutting tissue |
| CN105358086A (en) * | 2013-07-01 | 2016-02-24 | 先进截骨工具-Aot股份公司 | Robot comprising a tool |
| CN105377173A (en) * | 2013-07-01 | 2016-03-02 | 先进截骨工具-Aot股份公司 | Computer assisted surgery apparatus and method of cutting tissue |
| CN105358086B (en) * | 2013-07-01 | 2019-11-26 | 先进截骨工具-Aot股份公司 | It cuts human or animal's bone tissue and designs this cutting |
| CN103759635A (en) * | 2013-12-25 | 2014-04-30 | 合肥工业大学 | Scanning measurement robot detection method allowing precision to be irrelevant to robot |
| CN103759635B (en) * | 2013-12-25 | 2016-10-26 | 合肥工业大学 | The scanning survey robot detection method that a kind of precision is unrelated with robot |
| CN104758066B (en) * | 2015-05-06 | 2017-05-10 | 中国科学院深圳先进技术研究院 | Equipment for surgical navigation and surgical robot |
| CN104758066A (en) * | 2015-05-06 | 2015-07-08 | 中国科学院深圳先进技术研究院 | Equipment for surgical navigation and surgical robot |
| CN109846551A (en) * | 2019-03-28 | 2019-06-07 | 深圳市海西高科有限公司 | Operation guiding system |
| CN113288578A (en) * | 2021-06-18 | 2021-08-24 | 潍坊眼科医院有限责任公司 | Cornea stitching device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1711976A (en) | Guiding tool of operation | |
| CN107148250B (en) | Surgical system with variable entry guide configuration | |
| KR102332087B1 (en) | Redundant Parallel Positioning Table Device | |
| AU2003214837B2 (en) | Remote center of motion robotic system and method | |
| US8215199B2 (en) | Parallel kinematic positioning system | |
| CN107081760B (en) | Six-degree-of-freedom mechanical arm based on translation parallel mechanism | |
| EP3868326A1 (en) | System and method for maintaining a tool pose | |
| US20080229860A1 (en) | Planar Parallel Mechanism and Method | |
| TW200902259A (en) | Robot and control method | |
| CN103230301A (en) | Surgical robot with hybrid passive/active control | |
| CN112155736B (en) | Double-arm surgical robot | |
| EP3162514A1 (en) | Parallel-type micro-robot and surgical robot system having same | |
| CN2855353Y (en) | Operation piloting tool | |
| WO2020046214A1 (en) | Robotic arm, minimal invasive surgery robot, and respective manufacturing method thereof | |
| Hammond et al. | Dexterous high-precision robotic wrist for micromanipulation | |
| Li et al. | Development of a robotic endoscope holder for nasal surgery | |
| CN110916801B (en) | Surgical robot mechanical arm capable of realizing high-precision positioning and posture adjustment | |
| CN218128746U (en) | Positioning device, medical robot, and surgical navigation system | |
| US20210190264A1 (en) | Parallel wire device, parallel wire system, operating device for medical robot, mobile projecting device, and mobile photographing device | |
| WO2021145792A1 (en) | Combined manipulator for robotic surgical system | |
| US20230210630A1 (en) | Medical arm device | |
| CN114683314A (en) | Arm joint, arm and surgical robot | |
| US20220401168A1 (en) | Slave Device and Control Method Therefor, and Eye Surgery Device and Control Method Therefor | |
| CN115089304B (en) | Multi-arm multi-degree-of-freedom minimally invasive surgery platform | |
| CN112171674B (en) | Control method of flexible mechanical arm and robot system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |