CN209004196U - A kind of portable active constraint Minor articulus operating robot - Google Patents
A kind of portable active constraint Minor articulus operating robot Download PDFInfo
- Publication number
- CN209004196U CN209004196U CN201820586188.6U CN201820586188U CN209004196U CN 209004196 U CN209004196 U CN 209004196U CN 201820586188 U CN201820586188 U CN 201820586188U CN 209004196 U CN209004196 U CN 209004196U
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Abstract
A kind of portable active constraint Minor articulus operating robot, including accurate linear feed unit, accurate pitching unit, accurate yawing unit, tool clamping unit；It is controlled by programmable robot system, the utility model provides pitching, the precise motion of yaw and straight-line feed, wherein the axis moved intersects at or near a common point to provide low and uniform admittance.Robot provides the constraint control of active, operative region is limited by programming instruction, when operational instrument end exceeds preoperative planning region, the operating robot that this patent is mentioned will generate additional active constraint, certain resistance is generated by the driver in robot, obstruction tool is toward the regional movement outside planning and reminds doctor that its operation has exceeded planning space, ensure the accuracy of desired movement, the fault campaign except being expected is limited simultaneously, it is restricted to safe and desired region to perform the operation, the damage of patient during surgery is allow to be reduced to minimum.
Description
Technical field
The utility model belongs to medical robot field, and in particular to a kind of Minor articulus operation of portable active constraint type
Robot.
Background technique
Medical operating robot is that occur in the case where requirement of more rapidly, more accurately performing the operation is realized in proposition, robot assisted
The exploitation of operation can enable the surgeon to make smaller, more accurate intervention, to overcome the limitation of manual movement.Surgery doctor
Raw usually control robot is operated using control stick, and in bone surgery, common robot system has MAKOplasty
Robot system, Acrobot robot system, SpineAssist robot system etc..MAKOplasty robot system is existing
The problem of stage carries out master's robot system to be used when knee joint single chamber plasty, and effective solution aligns malalignment,
The basic principle of Acrobot robot system is to cook up bone together with CAD prosthese model using limb three-dimensional CT images
Contraposition to line, prosthese position and needs the shape of resection organization and range to perform the operation, SpineAssist robot system be by
The exploitation of company, Israel is used to carry out the small scale robot of operation on vertebra.These orthopedic robot systems are shaped in knee joint single condyle
Satisfactory effect is achieved in the bone surgeries such as art, total knee arthroplasty, arthroplasty of hip and spinal bone screw merging.
Above-described robot system requires doctor and is precisely controlled during surgery, in knee joint etc. compared with large joint
Replacement operation in doctor opposite precision it is higher, but perform the operation to the Minor articulus as finger, wrist, ankle
When, the precision controlling of the feeling higher standard difficult to realize of doctor is depended merely on, therefore be badly in need of a for Minor articulus, portable
Operating robot with active constraint function can be such that doctor's hand carries, and reduce doctor because tired and generation
The influence of maloperation or hand shake makes operation precision reach higher standard.Meanwhile range of operation is limited, improve surgical procedure
Stability, accuracy, have preferably it is handling.
Summary of the invention
Purpose of the utility model is to solve existing operating robots to adult lesion Minor articulus, small bone
Or infant lesion joint and bone reparation and replacement operation in the not high problem of precision, provide a kind of for Minor articulus
, the portable operating robot with active constraint function, doctor can be in space that operational instrument has been planned in the preoperative
Free movement, when the end of surgical operational instrument exceeds preoperative planning region, the utility model will generate additional
Active constraint generates certain resistance by the driver in robot, hinders tool toward the regional movement outside planning and prompting
Its operation of doctor has exceeded planning space.The portable active constraint Minor articulus operating robot has easy to carry, reliability
The features such as height, precision is high.
A kind of Minor articulus operating robot with active constraint function, the device facilitate to adult lesion little Guan
Section, small bone or the lesion joint of infant and the reparation and displacement of bone are performed the operation, when the operation tool of operation exceeds
When preoperative planned range, the resistance of active constraint can produce, operation tool is hindered to move and remind doctor that operation is transfinited.
The utility model is controlled by programmable robot system, the utility model provide pitching, yaw and straight line into
The precise motion given, wherein the axis moved intersects at or near a common point to provide low and uniform admittance.Machine
People's system provides the constraint control of active, limits operative region by programming instruction, it is ensured that the accuracy of desired movement, same to time limit
Having made the fault campaign except being expected makes the damage of patient during surgery so that operation is restricted to safe and desired region
Minimum can be reduced to.
The utility model includes accurate linear feed unit, accurate pitching unit, accurate yawing unit, tool clamping list
Member；
Complete machine is fixed on medical kit by accurate linear feed unit by guide rail and ball-screw, and by miniature straight-line electric
Machine is driven；
Accurate pitching unit is fixed by bevel gear I, bevel gear II by d-axis, passes through upper and lower two sides gear shaft I, gear shaft II
Counter motion drive including d-axis including clamping device progress pitching movement, gear shaft I is by flange bearing III, flange bearing
IV is fixed, and gear shaft II is fixed by flange bearing V, flange bearing VI, by the range of programming Control pitching, in vertical direction
Upper control operative region.
It includes d-axis that the accurate yawing unit is driven by the movement in the same direction of upper and lower two sides gear shaft I and gear shaft II
Clamping device inside carries out yawing rotation, and d-axis is positioned by flange bearing I, flange bearing II, is yawed by programming Control
Angle controls operative region in the horizontal direction.
In the accurate linear feed unit, miniature linear is connected with precision ball screw, is rolled by precision
The rotary motion that ballscrew provides miniature linear is converted into accurate straight line feed motion, and carries out synkinesia by guide rail
And support, the displacement of straight-line feed movement, miniature linear and precision are controlled by controlling the revolving speed of miniature linear
Ball-screw passes through miniature straight line feed screw nut and platform base respectively and is fixedly connected with medical kit progress bolt.
In the accurate pitching unit, miniature DC motor I is fixed on platform base, passes through gear I, gear II
Kind of drive band movable gear shaft I rotates, and gear I, gear II are fixed on platform base by the shaft shoulder, and I both ends of gear shaft are by method
Blue bearing III, flange bearing IV are supported and are oriented to, and miniature DC motor II is fixed on platform base, by gear III,
The kind of drive band movable gear shaft II of gear IV rotates, and gear III, gear IV are fixed on platform base by the shaft shoulder, gear shaft
II both ends are supported and are oriented to by flange bearing V, flange bearing VI, when miniature DC motor I, miniature DC motor II open
When dynamic band movable gear shaft I, gear shaft II do counter motion, bevel gear I, bevel gear II start to do pitching movement, bevel gear I, cone
Gear II is connected by d-axis fixing coaxial, and d-axis both ends connect with flange bearing I, flange bearing II and support base respectively
It connects, drives entire clamping device and operation tool to do pitching movement when bevel gear I, bevel gear II do pitching movement, and pass through
The range of its pitching of programming Control can control its operative region in the vertical direction.
Bevel gear I, the bevel gear II of the accurate yawing unit connect with d-axis fixing coaxial, allow to reach same
When rotate, when miniature DC motor I, miniature DC motor II starting band movable gear shaft I, gear shaft II do movement in the same direction, by
It is connect in bevel gear I, bevel gear II with d-axis fixing coaxial, it is made to do yaw rotation, while driving clamping device and operation work
Tool does yawing rotation, and by the angle of its yaw of programming Control, can control its operative region in the horizontal direction.
The tool clamping unit is made of operation tool, clamping device, and clamping device includes surgical tools sleeve axis, branch
Pedestal and dust cover are supportted, operation tool and surgical tools sleeve axis are socketed, and limit hand by the pitching yawing rotation of clamping device
Range of the art tool in Minor articulus operation, hinders the regional movement outside operation tool towards planning.
The utility model has the beneficial effects that
1, the utility model design requirement precision is high, highly reliable, simple and compact for structure, easy to carry, affected by environment
Less.
2, the utility model is limited range of operation within a certain area using control system, and exceeds it in surgical procedure
When limiting range, generates resistance and tool is hindered to move to outside planned range, further increase operation precision.
3, the tool clamping unit of the utility model, can also be at it other than it can install operation tool and be performed the operation
Relative position installation includes that the tools such as drill bit, cutter, laser work, and can be carried out as auxiliary engraving, embroidery are fine
Work, applicability are wide.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of the utility model.
Fig. 2 is the schematic diagram of internal structure of the utility model.
Fig. 3 is the partial schematic diagram of the utility model.
Fig. 4 is the partial structural diagram of the utility model.
Fig. 5 is the rear side appearance diagram of the utility model.
In figure: 1. medical kits；2. operation tool；3. surgical tools sleeve axis；4. support base；5. 6. dust cover of guide rail；7.
Platform base；8. gear III；9. gear IV；10. miniature DC motor II；11. miniature straight line feed screw nut；12. ball-screw；
13. 14. gear I of miniature linear；15. gear II；16. flange bearing I；17. flange bearing II；18. flange bearing III；
19. gear shaft I；20. IV 21. d-axis of flange bearing；22. bevel gear I；23. gear shaft II；24. V 25. flange shaft of flange bearing
Hold VI；26. bevel gear II；27. miniature DC motor I.
Specific embodiment
Referring to figs. 1 to 5, the portable active constraint Minor articulus operating robot of the utility model includes precise direct
Line feed unit, accurate pitching unit, accurate yawing unit, tool clamping unit；
Complete machine is fixed on medical kit 1 by accurate linear feed unit by guide rail 5 and ball-screw 12, and by miniature straight
Line motor 13 is driven；
Accurate pitching unit is fixed by bevel gear I 22, bevel gear II 26 by d-axis 21, by upper and lower two sides gear shaft I 19,
The counter motion of gear shaft II 23 drives the clamping device including d-axis 21 to carry out pitching movement, and gear shaft I 19 is by flange
Bearing III 18, flange bearing IV 20 are fixed, and gear shaft II 23 is fixed by flange bearing V 24, flange bearing VI 25, pass through programming
The range for controlling pitching, controls operative region in the vertical direction.
The accurate yawing unit is driven by the movement in the same direction of upper and lower two sides gear shaft I 19 and gear shaft II 23
Clamping device including d-axis 21 carries out yawing rotation, and d-axis 21 is positioned by flange bearing I 16, flange bearing II 17, passes through volume
The angle of process control yaw, controls operative region in the horizontal direction.
In the accurate linear feed unit, miniature linear 13 is connected with precision ball screw 12, passes through essence
The rotary motion that miniature linear 13 provides is converted into accurate straight line feed motion by close ball-screw 12, and by guide rail 5 into
Row synkinesia and support control the displacement of straight-line feed movement by controlling the revolving speed of miniature linear 13, miniature straight
Line motor 13 and precision ball screw 12 carry out spiral shell by miniature straight line feed screw nut 11 and platform base 7 and medical kit 1 respectively
Bolt is fixedly connected.
In the accurate pitching unit, miniature DC motor I 27 is fixed on platform base 7, passes through gear I 14, tooth
II 15 kind of drive band rotation of movable gear shaft I 19 is taken turns, gear I 14, gear II 15 are fixed on platform base 7 by the shaft shoulder,
I 19 both ends of gear shaft are supported and are oriented to by flange bearing III 18, flange bearing IV 20, and miniature DC motor II 10 is fixed on
On platform base 7, rotated by the kind of drive band movable gear shaft II 23 of gear III 8, gear IV 9, gear III 8, gear IV 9 are logical
It crosses the shaft shoulder to be fixed on platform base 7, II 23 both ends of gear shaft are supported and are led by flange bearing V 24, flange bearing VI 25
To when miniature DC motor I 27, the starting band of miniature DC motor II 10 movable gear shaft I 19, gear shaft II 23 do counter motion
When, bevel gear I 22, bevel gear II 26 start to do pitching movement, and bevel gear I 22, bevel gear II 26 pass through 21 fixing coaxial of d-axis
Connection, 21 both ends of d-axis are cooperatively connected by flange bearing I 16, flange bearing II 17 and support base 4 respectively, when bevel gear I 22,
Bevel gear II 26 drives entire clamping device when doing pitching movement and operation tool 2 does pitching movement, and by programming Control its
The range of pitching can control its operative region in the vertical direction.
Bevel gear I 22, the bevel gear II 26 of the accurate yawing unit connect with 21 fixing coaxial of d-axis, allow to
Reach while rotating, when miniature DC motor I 27, the starting band of miniature DC motor II 10 movable gear shaft I 19, gear shaft II 23 are done
In the same direction when movement, since bevel gear I 22, bevel gear II 26 connect with 21 fixing coaxial of d-axis, it is made to do yaw rotation, while band
Dynamic clamping device and operation tool 2 do yawing rotation, and by the angle of its yaw of programming Control, can control in the horizontal direction
Make its operative region.
The tool clamping unit is made of operation tool 2, clamping device etc., and clamping device includes surgical tools sleeve axis
3, support base 4 and dust cover 6, operation tool 2 and surgical tools sleeve axis 3 are socketed, and pass through the pitching yawing rotation of clamping device
Come limit operation tool 2 Minor articulus operation in range, hinder operation tool 2 towards planning outside regional movement.
Referring to figs. 1 to 5, the size of main body of the portable Minor articulus operating robot of the utility model is 300mm
× 160mm × 160mm, the utility model are the high-precision requirements by robot itself, are to robot motion using programming
System carries out active constraint, carrys out being precisely controlled in correcting surgical operation.
The gear I, II and gear III, IV use identical gear, keep its structure size consistent, reach two teeth up and down
Wheel while synchronous forward rotate backward.
The bevel gear I and bevel gear II use identical gear, and gear shaft I and gear shaft II are all made of same size phase
Same size, reaches and moves synchronously.
The axis of three kinds of movements intersects at or near a common point to provide low and uniform admittance, with true
Protect higher precision.
The utility model applies also for any plastic surgery and other surgery systems or needs to carry out in mobile tool
In the other application being precisely controlled, including some manufactures application and engraving, DIY craft and arts industry etc., the utility model
For the tool clamping unit other than it can install operation tool, can also install in its relative position includes drill bit, knife
The tools such as tool, laser work, and can carry out the work that such as auxiliary engraving, embroidery are fine, wherein robot restraint system
The movement of device can be restricted to specific region, to give expression to the shape for wanting to show.
The foregoing is merely the preferred embodiments of the utility model, are not intended to limit the utility model, for this field
For technical staff, the utility model can there are many changes and variation.Within the spirit and principle of the utility model, institute
Any modification, equivalent substitution, improvement and etc. of work, should be included within the protection scope of utility model.
Claims (1)
1. a kind of portable active constraint Minor articulus operating robot, it is characterised in that: including accurate linear feed unit, precision
Pitching unit, accurate yawing unit, tool clamping unit；
Complete machine is fixed on medical kit (1) by accurate linear feed unit by guide rail (5) and ball-screw (12), and by miniature
Linear motor (13) is driven；
Accurate pitching unit is fixed by bevel gear I (22), bevel gear II (26) by d-axis (21), passes through upper and lower two sides gear shaft I
(19), the counter motion of gear shaft II (23) drives the clamping device including d-axis (21) to carry out pitching movement, gear shaft I
(19) fixed by flange bearing III (18), flange bearing IV (20), gear shaft II (23) is by flange bearing V (24), flange bearing
VI (25) are fixed；Accurate yawing unit drives packet by the movement in the same direction of upper and lower two sides gear shaft I (19) and gear shaft II (23)
The clamping device progress yawing rotation including d-axis (21) is included, d-axis (21) is fixed by flange bearing I (16), flange bearing II (17)
Position；
In the accurate linear feed unit, miniature linear (13) is connected with precision ball screw (12), passes through essence
The rotary motion that miniature linear (13) provides is converted into accurate straight line feed motion by close ball-screw (12), and by guide rail
(5) synkinesia and support are carried out, controls the displacement of straight-line feed movement by controlling the revolving speed of miniature linear (13),
Miniature linear (13) and precision ball screw (12) respectively by miniature straight line feed screw nut (11) and platform base (7) and
Medical kit (1) carries out bolt and is fixedly connected；
In accurate pitching unit, miniature DC motor I (27) is fixed on platform base (7), passes through gear I (14), gear II
(15) kind of drive band movable gear shaft I (19) rotates, and gear I (14), gear II (15) are fixed on platform base by the shaft shoulder
(7) on, gear shaft I (19) both ends are supported and are oriented to by flange bearing III (18), flange bearing IV (20), micro DC
Machine II (10) is fixed on platform base (7), passes through gear III (8), kind of drive band movable gear shaft II (23) of gear IV (9)
Rotation, gear III (8), gear IV (9) are fixed on platform base (7) by the shaft shoulder, and gear shaft II (23) both ends are by flange shaft
Hold V (24), flange bearing VI (25) is supported and is oriented to, when miniature DC motor I (27), miniature DC motor II (10)
When starting band movable gear shaft I (19), gear shaft II (23) do counter motion, bevel gear I (22), bevel gear II (26) start to bow
Movement is faced upward, bevel gear I (22), bevel gear II (26) are connected by d-axis (21) fixing coaxial, and d-axis (21) both ends are respectively by method
Blue bearing I (16), flange bearing II (17) and support base (4) are cooperatively connected, when bevel gear I (22), bevel gear II (26) are done
Entire clamping device and operation tool (2) is driven to do pitching movement when pitching movement；
Bevel gear I (22), the bevel gear II (26) of accurate yawing unit connect with d-axis (21) fixing coaxial, allow to reach
It rotates simultaneously, when miniature DC motor I (27), miniature DC motor II (10) starting band movable gear shaft I (19), gear shaft II
(23) when doing movement in the same direction, since bevel gear I (22), bevel gear II (26) connect with d-axis (21) fixing coaxial, do it partially
Boat rotation, while clamping device and operation tool (2) being driven to do yawing rotation；
Tool clamping unit is made of operation tool (2), clamping device, and clamping device includes surgical tools sleeve axis (3), support bottom
Seat (4) and dust cover (6), operation tool (2) and surgical tools sleeve axis (3) are socketed, and pass through the pitching yawing rotation of clamping device
It limits range of the operation tool (2) in Minor articulus operation, hinders operation tool (2) towards the regional movement outside planning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820586188.6U CN209004196U (en) | 2018-04-24 | 2018-04-24 | A kind of portable active constraint Minor articulus operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820586188.6U CN209004196U (en) | 2018-04-24 | 2018-04-24 | A kind of portable active constraint Minor articulus operating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209004196U true CN209004196U (en) | 2019-06-21 |
Family
ID=66827644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820586188.6U Withdrawn - After Issue CN209004196U (en) | 2018-04-24 | 2018-04-24 | A kind of portable active constraint Minor articulus operating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209004196U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108338842A (en) * | 2018-04-24 | 2018-07-31 | 吉林大学 | A kind of portable active constraint Minor articulus operating robot |
| CN113898533A (en) * | 2021-09-08 | 2022-01-07 | 华能通辽风力发电有限公司 | Wind turbine generator system impeller subassembly |
-
2018
- 2018-04-24 CN CN201820586188.6U patent/CN209004196U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108338842A (en) * | 2018-04-24 | 2018-07-31 | 吉林大学 | A kind of portable active constraint Minor articulus operating robot |
| CN108338842B (en) * | 2018-04-24 | 2023-10-20 | 吉林大学 | Portable initiative constraint facet joint surgical robot |
| CN113898533A (en) * | 2021-09-08 | 2022-01-07 | 华能通辽风力发电有限公司 | Wind turbine generator system impeller subassembly |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190621 Effective date of abandoning: 20231020 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190621 Effective date of abandoning: 20231020 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |