CN205459036U - Bone surgery robot based on no wound formula is performed operation in real time and is fixed a position navigation equipment - Google Patents
Bone surgery robot based on no wound formula is performed operation in real time and is fixed a position navigation equipment Download PDFInfo
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- CN205459036U CN205459036U CN201620068764.9U CN201620068764U CN205459036U CN 205459036 U CN205459036 U CN 205459036U CN 201620068764 U CN201620068764 U CN 201620068764U CN 205459036 U CN205459036 U CN 205459036U
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Abstract
The utility model relates to a bone surgery robot based on no wound formula is performed operation in real time and is fixed a position navigation equipment. Its characterized in that includes operation table, fixing device, actuating mechanism, arm and manipulator, and it sets up fixing device to slide on the operation table, and the fixing device top sets up actuating mechanism, and actuating mechanism one side sets up the arm, and the joint sets up the manipulator in the arm. The utility model discloses a manipulator mainly used implements the puncture action of the steel needle under the high -speed rotation, establishs ultimate operation passageway. Mechanism, high -speed rotary mechanism and axial displacement mechanism are held including steel needle holder to the manipulator, and wherein the steel needle holder core theory of operation of holding the mechanism is for centrifugal principle. When high -speed rotary mechanism drove the high -speed rotation of main shaft, the centrifugal clamping device that steel needle holder held the mechanism started working, and steel needle holder holds the tight steel needle of mechanism's clamp promptly, can realize the action of segmenting down to put the steel needle. This kind of working method makes the manipulator possess the occupy advantages in both * of not losing working stroke again when reducing mechanism's geometry.
Description
Technical field
This utility model relates to a kind of robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment.
Background technology
Under traditional operation mode, doctor mainly determines operation pathway by the subjective judgment of vision and the operation clinical experience of accumulation.Especially for the organ that some are the most hidden, even if the abundantest surgeon of experience sometimes in operation can not the accurate location that is currently located of fully validated operating theater instruments, there is certain mortality, the most highly difficult operation,, there is certain mortality rate and disability rate in such as cervical operation.Additionally, long operation technique, can doctor can be a great physical load, doctor be susceptible to fatigue, affects surgical effect.
At present, a lot of countries are devoted to develop various operating robot in the world, overcome the deficiency that staff operates.Operating robot has the incomparable high stability of staff and precision, has surmounted the limitation of naked eyes and staff, and the operation wound thus completed is less, less blood loss, and patient recovers faster after surgery, and healing more preferably, can shorten the hospital stays.
The construction mode mainly 3-D view navigation of operating robot at present combines with mechanical arm.The patent of Patent No. 02158691.8, " computer aided system for locking far terminal of intramedullary nail ", utilize the three-dimensional navigation principle of computer vision, it is achieved the quick location of operation pathway, thus realize the semi-automation of Intramedullary nailing.The patent " robot for orthopaedic surgery auxiliary device and alignment system " of Patent No. 200910237998.6, also utilizes three-dimensional navigation to achieve the skeletal fixation of multiple position.
But owing to using this construction mode, this kind of operating robot in use existing defects is with not enough: 1. need fixed reference frame, not only bring extra wound to patient, if frame of reference art shifts (sclerite moves, fracture loose etc.), location dislocation, impact operation precision then can occur；2. needing three-dimensional reconstruction, this not only increases the radioactive exposure that patient is extra, image acquisition and three-dimensional reconstruction and too increases operating time equally.
In order to improve the deficiencies in the prior art, we intend the operating robot of exploitation, have employed the construction model of a kind of innovation--and two dimensional image navigates, and precision is high, radiate low, real-time, noinvasive.This equipment adaptation D reconstruction device, it is achieved the three-dimensional navigation of extremely low radiation.
Utility model content
For problems of the prior art, the purpose of this utility model is to provide the technical scheme of a kind of robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment, the operation path of Minimally Invasive Surgery can be set up fast, accurately, increase operation safety, improve operation accuracy rate, reduce radioactive exposure simultaneously and reduce operation wound.
Described robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment, it is characterized in that including operation table, fixing device, actuator, mechanical arm and mechanical hand, slide on operation table and fixing device is set, fixing device is provided above actuator, actuator side arranges mechanical arm, and in mechanical arm, clamping arranges mechanical hand.
Described robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment, it is characterised in that:
Described operation table, it is connected by track with fixing device, and track has locking device, can lock in the optional position of track；
Described fixing device, it includes horizontal mobile mechanism, vertical movement mechanism and limbs clamping device, and horizontal mobile mechanism is connected with operation table, for the Primary Location of robot by track pair；Vertical movement mechanism controls lifting by screw pair, for being suitable for the patient that consubstantiality is not thick；Limbs clamping device is a pair fixation clamp, adjusts fixation clamp position by handle and can clamp the limbs of patient；
Described actuator, is installed on the platform of fixing device, for seizure and the holding of laser rays；Actuator includes planar motion mechanism and lower plane motion, and upper planar motion mechanism includes plane X to travel mechanism and upper plane Y-direction travel mechanism, and upper plane X is provided with upper planar laser point to travel mechanism and catches panel；Lower plane motion includes lower plane X and is provided with lower plane laser spots to travel mechanism catches panel to travel mechanism and lower plane Y-direction travel mechanism, lower plane X；
Described mechanical arm, it is connected with actuator, mechanical hand, has the degree of freedom rotated around orthogonal two axles, and rotary middle point is on the geometrical axis of the mechanical hand of clamping；Mechanical arm includes mechanical arm pedestal, rotary shaft and circular arc type clamping device, circular arc type clamping device is arranged in mechanical arm pedestal, rotary shaft one end connects mechanical arm pedestal, the rotary shaft other end connects upper plane X and can rotate in travel mechanism to travel mechanism or lower plane X in upper plane X to travel mechanism, rotary shaft to travel mechanism or lower plane X；Circular arc type clamping device includes a pair band external tooth arc pawl being oppositely arranged, little gear, back-moving spring and tooth bar, little gear is rotated by axle and is arranged on the housing of circular arc type clamping device, band external tooth arc pawl and tooth bar are engaged by little gear and band external tooth arc pawl and tooth bar move toward one another, are provided for the back-moving spring resetting tooth bar between the housing sidewall of tooth bar and circular arc type clamping device；
Described mechanical hand, its clamping is arranged in the circular arc type clamping device of mechanical arm；Mechanical hand includes draw point clamping device, high speed rotating mechanism, axial moving mechanism, upper extreme position travel switch and lower limit position travel switch, wherein draw point clamping device is connected with the main shaft of axial moving mechanism, and upper extreme position travel switch and lower limit position travel switch are arranged on upper limit position and the lower position of stroke；Draw point clamping device is mainly fixed axle by claw, claw and housing forms, and wherein claw is fixed axle by claw and is fixed on housing；When main shaft is in high speed rotating state, the afterbody of the claw in draw point clamping device outwards throws away due to the effect of centrifugal force, and whole claw is around the solid System of Rotating about Fixed Axis of claw, the then head of claw centripetal clamping draw point, when three claws move simultaneously, the holding action to draw point can be completed；High speed rotating mechanism is mainly by high-speed electric expreess locomotive flexible axle power shaft, helical gear becomes with band spline bevel gear set, band spline helical gear therein is connected by spline pair with the main shaft of axial moving mechanism, helical gear is arranged on high-speed electric expreess locomotive flexible axle power shaft, helical gear engages with band spline helical gear, high-speed electric expreess locomotive transfers power to high-speed electric expreess locomotive flexible axle power shaft by flexible axle, high-speed electric expreess locomotive flexible axle power shaft drives helical gear to move again, helical gear drive belt spline helical gear again, finally band spline helical gear drives the main shaft of axial moving mechanism by spline pair, it is made to obtain the power of high speed rotating；Axial moving mechanism is mainly by axial direction electric machine flexible axle power shaft, main shaft, face gear, rack type moves axially fuselage and angular contact bearing composition, wherein the outer ring of angular contact bearing moves axially the endoporus of fuselage and is connected with rack type, the inner ring of angular contact bearing is connected with the axle of main shaft, axial direction electric machine transfers power on axial direction electric machine flexible axle power shaft by flexible axle, face gear is driven again by axial direction electric machine flexible axle power shaft, face gear drives rack type to move axially the axially-movable of fuselage by the way of rack pinion, realize main shaft eventually through angular contact bearing while high speed rotating, carry out axially-movable；By draw point clamping device, high speed rotating mechanism, the linkage of axial moving mechanism, it is achieved 2mm draw point put pin puncture action.
Described robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment, it is characterized in that described upper planar laser point catches panel and lower plane laser spots and catches the target cross point being provided with a black on panel, when laser rays catches the target cross point of panel through upper planar laser point and lower plane laser spots catches the target cross point of panel, capture the position of laser rays.
Fixing device of the present utility model has the highest operating flexibility, quickly robot for orthopaedic surgery can be moved near the laser rays of location by horizontal mobile mechanism, i.e. shorten the seizure stroke of actuator, increase again the working range of robot for orthopaedic surgery；Fixing device also includes fixation clamp and vertical movement mechanism, fixation clamp therein can the limbs of immobilized patients quickly and easily, vertical movement mechanism then can realize the significantly adjustment in short transverse, such that it is able to robot for orthopaedic surgery is adjusted the most accordingly according to the altitudes of the limbs of the patient on operation table, make robot for orthopaedic surgery be adjusted to optimal putting position, most suitable elemental height position will be adjusted to by mechanical hand.Whole adjustment process is simple, convenient, decreases the pose adjustment time of robot for orthopaedic surgery, so that operation enhanced convenience.
Actuator of the present utility model includes planar motion mechanism and lower plane motion, wherein go up and planar motion mechanism includes again planar laser point seizure panel, lower plane motion includes again lower plane laser spots and catches panel, gone the joining catching location laser rays with panel by two laser capture panels successively, by the way of two one lines, determine that location laser rays needing to catch.The most simply achieve the accurate seizure of location laser rays.After completing to catch, the locking the most automatically of the motor in upper planar motion mechanism and lower plane motion, just achieve the holding function of location laser rays.
Mechanical arm of the present utility model is connected with actuator and mechanical hand respectively, has the degree of freedom rotated around orthogonal two axles.This utility model includes two mechanical arms, and the end rotary shaft of two mechanical arms is connected with the upper planar motion mechanism in actuator and lower plane motion respectively.The center of rotation of two mechanical arms is respectively upper planar laser point seizure panel and lower plane laser spots catches the laser spots that panel captures.Wherein mechanical arm, mechanical hand is can disinfection parts.Mechanical arm tail end rotary shaft locks after inserting actuator the most automatically, it is achieved mechanical hand and the isolation of actuator, prevents mechanical hand contaminated in installing and using.The most just carry out the sterilizations such as high temperature steaming to process without each big parts to robot for orthopaedic surgery the most afterwards, the most just solve without the most each parts of robot for orthopaedic surgery being assembled, dismantle, more solve the problem that some parts of robot for orthopaedic surgery cannot be carried out conventional high temperature steaming sterilization at all.
Mechanical arm of the present utility model is additionally provided with automatically reset circular arc type clamping device.This circular arc type clamping device and the external arc surface precise match of mechanical hand, can realize being rapidly assembled and disassembled of mechanical hand by having the circular arc type clamping device of auto-reset function.So doctor can change different mechanical hands according to the demand of operation in operation, and the operator scheme of this displacement mechanical hand enhances again the expansibility of robot for orthopaedic surgery simultaneously, goes for multiple application.
Mechanical hand of the present utility model is mainly used in implementing the puncture action of the 2mm draw point under high speed rotating, sets up final operation path.Mechanical hand of the present utility model includes draw point clamping device, high speed rotating mechanism and axial moving mechanism, and the core operating principle of draw point clamping device therein is centrifugal principle.When high speed rotating mechanism drives main shaft high speed rotating, the centrifugal clamping device of draw point clamping device is started working, i.e. draw point clamping gear grips draw point, it is possible to achieve segmentation is toward the action of underlying draw point.This working method makes mechanical hand the most not lose the double dominant of impulse stroke while having possessed minimizing mechanism physical dimension.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation one of this utility model fixing device；
Fig. 3 is the structural representation two of this utility model fixing device；
Fig. 4 is the structural representation of this utility model actuator；
Fig. 5 is the structural representation of this utility model mechanical arm；
Fig. 6 is the structural representation of this utility model mechanical hand；
Fig. 7 is the structural representation of this utility model draw point clamping device；
Fig. 8 is the structural representation of this utility model high speed rotating mechanism；
Fig. 9 is the structural representation of this utility model axial moving mechanism；
Figure 10 is the schematic diagram of this utility model laser capture panel；
In figure: 1-operation table；2-fixing device；21-horizontal mobile mechanism；22-vertical movement mechanism；23-limbs clamping device；3-actuator；The upper planar motion mechanism of 31-；32-lower plane motion；311-upper plane Y-direction travel mechanism；Upper plane X of 312-is to travel mechanism；313-upper planar laser point catches panel；321-lower plane Y-direction travel mechanism；322-lower plane X is to travel mechanism；323-lower plane laser spots catches panel；4-mechanical arm；41-band external tooth arc pawl；The little gear of 42-；43-back-moving spring；44-tooth bar；45-circular arc type clamping device；46-mechanical arm pedestal；47-Y is to axis of rotation；48-X is to axis of rotation；49-rotary shaft；5-mechanical hand；51-draw point clamping device；52-high speed rotating mechanism；53-axial moving mechanism；54-upper extreme position travel switch；55-lower limit position travel switch；511-claw；512-claw fixes axle；521-high-speed electric expreess locomotive flexible axle power shaft；522-helical gear；523-band spline helical gear；531-axial direction electric machine flexible axle power shaft；532-main shaft；533-face gear；534-rack type moves axially fuselage；535-angular contact bearing.
Detailed description of the invention
Below in conjunction with Figure of description, the utility model is described in further detail:
As it is shown in figure 1, this utility model is made up of operation table 1, fixing device 2, actuator 3, mechanical arm 4 and mechanical hand 5；Sliding on operation table and arrange fixing device, fixing device is provided above actuator, and actuator side arranges mechanical arm, and in mechanical arm, clamping arranges mechanical hand.
Operation table 1, it is connected by track with fixing device 2, and track has locking device, can lock in the optional position of track.Other function of operation table is achieved by the prior art.
Fixing device 2, it includes horizontal mobile mechanism 21, vertical movement mechanism 22 and limbs clamping device 23.Wherein horizontal mobile mechanism 21 is connected with operation table 1 by track pair, for the most mobile and Primary Location of the horizontal direction of robot.Vertical movement mechanism 22 controls lifting by screw pair, for being suitable for the patient that consubstantiality is not thick.Equipped with a pair fixation clamp on limbs clamping device 23, it is used for clamping limbs of patient, prevents patient's position in art from moving.
Actuator 3, is installed on the platform of fixing device 2.It includes planar motion mechanism 31 and lower plane motion 32, upper planar motion mechanism 31 includes plane X to travel mechanism 312 and upper plane Y-direction travel mechanism 311, wherein going up plane X has upper planar laser point to catch panel 313 in travel mechanism 312, upper planar laser point seizure panel 313 is moved so that the target cross dot center that location laser rays catches panel 313 with upper planar laser point overlaps by controlling upper planar motion mechanism 31；Lower plane motion 32 includes lower plane X to travel mechanism 322 and lower plane Y-direction travel mechanism 321, wherein lower plane X has lower plane laser spots to catch panel 323 in travel mechanism 322, lower plane laser spots seizure panel 323 is moved so that the target cross dot center that location laser rays catches panel 323 with lower plane laser spots overlaps by controlling lower plane motion 32.Mode eventually through two one lines determines that location laser rays needing to catch, and the most simply achieves the accurate seizure of location laser rays.After completing to catch, the locking the most automatically of the motor in upper planar motion mechanism 31 and lower plane motion 32, just achieve the holding function of location laser rays.
Mechanical arm 4, it is connected with actuator 3 and mechanical hand 5 respectively, has the degree of freedom rotated around orthogonal two axles (i.e. Y-direction axis of rotation 47, X are to axis of rotation 48).This utility model includes two mechanical arms 4, and the end rotary shaft 49 of the mechanical arm pedestal 46 of two mechanical arms 4 is connected with the upper planar motion mechanism 31 in actuator 3 and lower plane motion 32 respectively.Mechanical arm 4 includes mechanical arm pedestal 46, rotary shaft 49 and circular arc type clamping device 45, circular arc type clamping device 45 is arranged in mechanical arm pedestal 46, rotary shaft 49 one end connects mechanical arm pedestal 46, the rotary shaft other end connects upper plane X and can rotate in travel mechanism 322 to travel mechanism 312 or lower plane X in upper plane X to travel mechanism, rotary shaft to travel mechanism or lower plane X；Circular arc type clamping device 45 includes a pair band external tooth arc pawl 41, little gear 42, back-moving spring 43 and the tooth bar 44 being oppositely arranged, little gear is rotated by axle and is arranged on the housing of circular arc type clamping device, band external tooth arc pawl and tooth bar are engaged by little gear and band external tooth arc pawl and tooth bar move toward one another, are provided for the back-moving spring resetting tooth bar between the housing sidewall of tooth bar and circular arc type clamping device；Circular arc type clamping device 45 and the external arc surface precise match of mechanical hand 5.During installation manipulator 5, the exterior arc surface of mechanical hand 5 first backs down band external tooth arc pawl 41, and now back-moving spring 43 is compressed；When mechanical hand 5 is installed and put in place, back-moving spring 43 resets, and blocks mechanical hand 5, it is achieved the locking of mechanical hand 5.Being rapidly assembled and disassembled of mechanical hand can be realized by having the circular arc type clamping device 45 of auto-reset function.
Mechanical hand 5, its clamping is arranged in the circular arc type clamping device of mechanical arm；Mechanical hand 5 includes draw point clamping device 51, high speed rotating mechanism 52, axial moving mechanism 53, upper extreme position travel switch 54 and lower limit position travel switch 55.Wherein draw point clamping device 51 is connected with the main shaft 532 of axial moving mechanism 53.Draw point clamping device 51 is mainly fixed axle 512 by claw 511, claw and housing forms.Wherein claw 511 is fixed axle 512 by claw and is fixed on housing.When main shaft 532 is in high speed rotating state, the afterbody (i.e. hammer body part) of the claw 511 in draw point clamping device 51 outwards throws away due to the effect of centrifugal force, whole claw is fixed axle 512 thus around claw and is rotated, then head (i.e. claw portion) the centripetal clamping draw point of claw 511.When three claws 511 move simultaneously, the holding action to draw point can be completed.High speed rotating mechanism 52 is mainly made up of high-speed electric expreess locomotive flexible axle power shaft 521, helical gear 522, band spline helical gear 523.Band spline helical gear 523 therein is connected by spline pair with the main shaft 532 of axial moving mechanism 53.High-speed electric expreess locomotive transfers power to high-speed electric expreess locomotive flexible axle power shaft 521 by flexible axle, high-speed electric expreess locomotive flexible axle power shaft 521 drives helical gear 522 to move again, helical gear 522 drive belt spline helical gear 523 again, finally band spline helical gear 523 drives the main shaft 532 of axial moving mechanism 53 by spline pair so that it is obtain the power of high speed rotating.Axial moving mechanism 53 main by axial direction electric machine flexible axle power shaft 531, main shaft 532, face gear 533, rack type moves axially fuselage 534 and angular contact bearing 535 forms.Wherein the outer ring of angular contact bearing 535 moves axially the endoporus of fuselage 534 and is connected with rack type, and the inner ring of angular contact bearing 535 is connected with the axle of main shaft 532.Axial direction electric machine is transferred power on axial direction electric machine flexible axle power shaft 531 by flexible axle, then is driven face gear 533 by 531, and face gear 533 drives rack type to move axially the axially-movable of fuselage 534 by the way of rack pinion.Realize main shaft 532 eventually through angular contact bearing 535 while high speed rotating, carry out axially-movable.Additionally upper extreme position travel switch 54 and lower limit position travel switch 55 are respectively used to the detection of mechanical hand extreme position.By draw point clamping device 51, high speed rotating mechanism 52, the linkage of axial moving mechanism 53, just can realize 2mm draw point 7 puts pin puncture action.
Specifically used method of the present utility model is as follows:
1, catch, hold location laser rays
(1) operation noninvasive type real-time surgery positioning and navigating equipment (this part is prior art, refers to 201310515922.1), it is thus achieved that a branch of location laser rays；
(2) open robot for orthopaedic surgery power supply, allow robot for orthopaedic surgery be in power-on reset state；
(3) by the horizontal mobile mechanism 21 in fixing device 2, fixing device is moved near the laser rays of location, then pin fixing device 2；
(4) vertical movement mechanism 22 in regulation fixing apparatus 2, the body according to patient is thick, actuator is adjusted to suitable height and position, finally adjusts limbs clamping device 23, fixes limbs of patient；
(5) motion of the upper planar motion mechanism 31 in control actuator 3, finally makes to position laser rays and overlaps with the target cross dot center of upper planar laser point seizure panel 313；
(6) motion of the lower plane motion 32 in control actuator 3, finally makes to position laser rays and overlaps with the target cross dot center of lower plane laser spots seizure panel 323, and system completes to catch, and pins motor；
2, carry out 2mm draw point 7 puts pin operation
A mechanical arm 4 is inserted in the corresponding aperture of actuator 3 and locking by ()；
B 2 mm draw points 7 are loaded mechanical hand 5 by (), then the high-speed electric expreess locomotive flexible axle power shaft 521 of high speed rotating mechanism 52 and the axial direction electric machine flexible axle power shaft 531 of axial moving mechanism 53 are connected respectively and drive motor, finally snapped in mechanical arm 4 by mechanical hand 5；
C () starts driving motor, high speed rotating mechanism drives main shaft high speed rotating, and the centrifugal clamping device of draw point clamping device is started working, draw point clamping gear grips draw point, i.e. realizes the segmentation action toward underlying draw point.
This utility model can peripheral hardware hand held controller, carry out automatization location and automatically put pin operation.
Fixing device of the present utility model has the highest operating flexibility, quickly robot for orthopaedic surgery can be moved near the laser rays of location by horizontal mobile mechanism, i.e. shorten the seizure stroke of actuator, increase again the working range of robot for orthopaedic surgery；Fixing device also includes fixation clamp and vertical movement mechanism, fixation clamp therein can the limbs of immobilized patients quickly and easily, vertical movement mechanism then can realize the significantly adjustment in short transverse, such that it is able to robot for orthopaedic surgery is adjusted the most accordingly according to the altitudes of the limbs of the patient on operation table, make robot for orthopaedic surgery be adjusted to optimal putting position, most suitable elemental height position will be adjusted to by mechanical hand.Whole adjustment process is simple, convenient, decreases the pose adjustment time of robot for orthopaedic surgery, so that operation enhanced convenience.
Actuator of the present utility model includes planar motion mechanism and lower plane motion, wherein go up and planar motion mechanism includes again planar laser point seizure panel, lower plane motion includes again lower plane laser spots and catches panel, gone the joining catching location laser rays with panel by two laser capture panels successively, by the way of two one lines, determine that location laser rays needing to catch.The most simply achieve the accurate seizure of location laser rays.After completing to catch, the locking the most automatically of the motor in upper planar motion mechanism and lower plane motion, just achieve the holding function of location laser rays.
Mechanical arm of the present utility model is connected with actuator and mechanical hand respectively, has the degree of freedom rotated around orthogonal two axles.This utility model includes two mechanical arms, and the end rotary shaft of two mechanical arms is connected with the upper planar motion mechanism in actuator and lower plane motion respectively.The center of rotation of two mechanical arms is respectively upper planar laser point seizure panel and lower plane laser spots catches the laser spots that panel captures.Wherein mechanical arm, mechanical hand is can disinfection parts.Mechanical arm tail end rotary shaft locks after inserting actuator the most automatically, it is achieved mechanical hand and the isolation of actuator, prevents mechanical hand contaminated in installing and using.The most just carry out the sterilizations such as high temperature steaming to process without each big parts to robot for orthopaedic surgery the most afterwards, the most just solve without the most each parts of robot for orthopaedic surgery being assembled, dismantle, more solve the problem that some parts of robot for orthopaedic surgery cannot be carried out conventional high temperature steaming sterilization at all.
Mechanical arm of the present utility model is additionally provided with automatically reset circular arc type clamping device.This circular arc type clamping device and the external arc surface precise match of mechanical hand, can realize being rapidly assembled and disassembled of mechanical hand by having the circular arc type clamping device of auto-reset function.So doctor can change different mechanical hands according to the demand of operation in operation, and the operator scheme of this displacement mechanical hand enhances again the expansibility of robot for orthopaedic surgery simultaneously, goes for multiple application.
Mechanical hand of the present utility model is mainly used in implementing the puncture action of the 2mm draw point under high speed rotating, sets up final operation path.Mechanical hand of the present utility model includes draw point clamping device, high speed rotating mechanism and axial moving mechanism, and the core operating principle of draw point clamping device therein is centrifugal principle.When high speed rotating mechanism drives main shaft high speed rotating, the centrifugal clamping device of draw point clamping device is started working, i.e. draw point clamping gear grips draw point, it is possible to achieve segmentation is toward the action of underlying draw point.This working method makes mechanical hand the most not lose the double dominant of impulse stroke while having possessed minimizing mechanism physical dimension.
In this description, this utility model is described with reference to its specific embodiment.But it is clear that still may be made that various modifications and alterations are without departing from spirit and scope of the present utility model.Therefore, specification and drawings is regarded in an illustrative, rather than a restrictive, every simple deformation of the present utility model or equivalent transformation, it is considered that fall into protection domain of the present utility model.
Claims (3)
1. robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment, it is characterized in that including operation table, fixing device, actuator, mechanical arm and mechanical hand, slide on operation table and fixing device is set, fixing device is provided above actuator, actuator side arranges mechanical arm, and in mechanical arm, clamping arranges mechanical hand.
Robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment the most according to claim 1, it is characterised in that:
Described operation table, it is connected by track with fixing device, and track has locking device, can lock in the optional position of track；
Described fixing device, it includes horizontal mobile mechanism, vertical movement mechanism and limbs clamping device, and horizontal mobile mechanism is connected with operation table, for the Primary Location of robot by track pair；Vertical movement mechanism controls lifting by screw pair, for being suitable for the patient that consubstantiality is not thick；Limbs clamping device is a pair fixation clamp, adjusts fixation clamp position by handle and can clamp the limbs of patient；
Described actuator, is installed on the platform of fixing device, for seizure and the holding of laser rays；Actuator includes planar motion mechanism and lower plane motion, and upper planar motion mechanism includes plane X to travel mechanism and upper plane Y-direction travel mechanism, and upper plane X is provided with upper planar laser point to travel mechanism and catches panel；Lower plane motion includes lower plane X and is provided with lower plane laser spots to travel mechanism catches panel to travel mechanism and lower plane Y-direction travel mechanism, lower plane X；
Described mechanical arm, it is connected with actuator, mechanical hand, has the degree of freedom rotated around orthogonal two axles, and rotary middle point is on the geometrical axis of the mechanical hand of clamping；Mechanical arm includes mechanical arm pedestal, rotary shaft and circular arc type clamping device, circular arc type clamping device is arranged in mechanical arm pedestal, rotary shaft one end connects mechanical arm pedestal, the rotary shaft other end connects upper plane X and can rotate in travel mechanism to travel mechanism or lower plane X in upper plane X to travel mechanism, rotary shaft to travel mechanism or lower plane X；Circular arc type clamping device includes a pair band external tooth arc pawl being oppositely arranged, little gear, back-moving spring and tooth bar, little gear is rotated by axle and is arranged on the housing of circular arc type clamping device, band external tooth arc pawl and tooth bar are engaged by little gear and band external tooth arc pawl and tooth bar move toward one another, are provided for the back-moving spring resetting tooth bar between the housing sidewall of tooth bar and circular arc type clamping device；
Described mechanical hand, its clamping is arranged in the circular arc type clamping device of mechanical arm；Mechanical hand includes draw point clamping device, high speed rotating mechanism, axial moving mechanism, upper extreme position travel switch and lower limit position travel switch, wherein draw point clamping device is connected with the main shaft of axial moving mechanism, and upper extreme position travel switch and lower limit position travel switch are arranged on upper limit position and the lower position of stroke；Draw point clamping device is mainly fixed axle by claw, claw and housing forms, and wherein claw is fixed axle by claw and is fixed on housing；When main shaft is in high speed rotating state, the afterbody of the claw in draw point clamping device outwards throws away due to the effect of centrifugal force, and whole claw is around the solid System of Rotating about Fixed Axis of claw, the then head of claw centripetal clamping draw point, when three claws move simultaneously, the holding action to draw point can be completed；High speed rotating mechanism is mainly by high-speed electric expreess locomotive flexible axle power shaft, helical gear becomes with band spline bevel gear set, band spline helical gear therein is connected by spline pair with the main shaft of axial moving mechanism, helical gear is arranged on high-speed electric expreess locomotive flexible axle power shaft, helical gear engages with band spline helical gear, high-speed electric expreess locomotive transfers power to high-speed electric expreess locomotive flexible axle power shaft by flexible axle, high-speed electric expreess locomotive flexible axle power shaft drives helical gear to move again, helical gear drive belt spline helical gear again, finally band spline helical gear drives the main shaft of axial moving mechanism by spline pair, it is made to obtain the power of high speed rotating；Axial moving mechanism is mainly by axial direction electric machine flexible axle power shaft, main shaft, face gear, rack type moves axially fuselage and angular contact bearing composition, wherein the outer ring of angular contact bearing moves axially the endoporus of fuselage and is connected with rack type, the inner ring of angular contact bearing is connected with the axle of main shaft, axial direction electric machine transfers power on axial direction electric machine flexible axle power shaft by flexible axle, face gear is driven again by axial direction electric machine flexible axle power shaft, face gear drives rack type to move axially the axially-movable of fuselage by the way of rack pinion, realize main shaft eventually through angular contact bearing while high speed rotating, carry out axially-movable；By draw point clamping device, high speed rotating mechanism, the linkage of axial moving mechanism, it is achieved 2mm draw point put pin puncture action.
Robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment the most according to claim 2, it is characterized in that described upper planar laser point catches panel and lower plane laser spots and catches the target cross point being provided with a black on panel, when laser rays catches the target cross point of panel through upper planar laser point and lower plane laser spots catches the target cross point of panel, capture the position of laser rays.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620068764.9U CN205459036U (en) | 2016-01-25 | 2016-01-25 | Bone surgery robot based on no wound formula is performed operation in real time and is fixed a position navigation equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620068764.9U CN205459036U (en) | 2016-01-25 | 2016-01-25 | Bone surgery robot based on no wound formula is performed operation in real time and is fixed a position navigation equipment |
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| CN205459036U true CN205459036U (en) | 2016-08-17 |
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| CN201620068764.9U Withdrawn - After Issue CN205459036U (en) | 2016-01-25 | 2016-01-25 | Bone surgery robot based on no wound formula is performed operation in real time and is fixed a position navigation equipment |
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| Country | Link |
|---|---|
| CN (1) | CN205459036U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105434048A (en) * | 2016-01-25 | 2016-03-30 | 杭州三坛医疗科技有限公司 | Orthopaedic surgery robot based on non-invasive type real-time surgery positioning navigation device |
| CN113100948A (en) * | 2021-04-16 | 2021-07-13 | 天津大学医疗机器人与智能系统研究院 | Front end execution device for surgical robot |
-
2016
- 2016-01-25 CN CN201620068764.9U patent/CN205459036U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105434048A (en) * | 2016-01-25 | 2016-03-30 | 杭州三坛医疗科技有限公司 | Orthopaedic surgery robot based on non-invasive type real-time surgery positioning navigation device |
| CN113100948A (en) * | 2021-04-16 | 2021-07-13 | 天津大学医疗机器人与智能系统研究院 | Front end execution device for surgical robot |
| CN113100948B (en) * | 2021-04-16 | 2022-08-26 | 天津大学医疗机器人与智能系统研究院 | Front end execution device for surgical robot |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160817 Effective date of abandoning: 20170908 |