CN209269875U - A kind of craniomaxillofacial surgery parallel robot based on optical guidance - Google Patents
A kind of craniomaxillofacial surgery parallel robot based on optical guidance Download PDFInfo
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- CN209269875U CN209269875U CN201821904488.0U CN201821904488U CN209269875U CN 209269875 U CN209269875 U CN 209269875U CN 201821904488 U CN201821904488 U CN 201821904488U CN 209269875 U CN209269875 U CN 209269875U
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- parallel robot
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Abstract
The utility model belongs to robotic technology field, in particular a kind of craniomaxillofacial surgery parallel robot based on optical guidance, including pedestal, the top of the pedestal is fixedly connected with the first axle sleeve by four screws, and the bottom of first sleeve lining is fixedly connected with deep groove ball bearing；The utility model, pass through setting gear and involute system lever, to play fixed effect to whole device, the device passes through gear and involute system lever, it realizes and the fixed position of braking is carried out to device, rotation axis and right-angle connector are used simultaneously, realize the purpose that angle adjustment is carried out to cutter etc., using the cooperation between Y type fixation fork and compression bar, object is positioned, the precise manipulation of cranium jaw face basic operative can be realized according to doctor's physical planning path, and it monitors surgical procedure in real time and ensures to perform the operation accurate progress, whole device structure is simple, it is easy to use, it is low in cost, it is practical.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of craniomaxillofacial surgery based on optical guidance
Parallel robot.
Background technique
Recently as the continuous development and perfection of robot technology, the application of robot is with manufacturing industry from original
Main secondary industry is constantly extended to first and the tertiary industry of nonmanufacturing industry, especially in medical field, achieves at full speed
Development, has benefited from robot stabilized, accurate output, and robot is introduced in traditional operation as auxiliary, can substantially be mentioned
The accuracy of height operation reduces operation wound simultaneously.External at present there are many mature operating robot products, such as up to sweet smell
Odd robot can be used for the hands such as general surgery, thoracic surgery, Urology Surgery, gynemetrics, Head and neck tumour and openheart surgery
Art, but its is at high price, has many people higher using threshold, and existing technology has the following problems: existing surgical engine
Device people's structure is relative complex, at high price, while product orientation is advanced medical instrument, and the R&D cycle is longer, higher cost, no
Conducive to wide popularization and application.
Utility model content
To solve the problems mentioned above in the background art.The utility model provides a kind of cranium jaw based on optical guidance
Face surgical operation parallel robot has accuracy high, and structure is simple and save the cost feature.
To achieve the above object, the utility model provides the following technical solutions: outside a kind of cranium jaw face based on optical guidance
Section performs the operation parallel robot, including pedestal, and the top of the pedestal is fixedly connected with the first axle sleeve by four screws, and described the
The bottom of one sleeve lining is fixedly connected with deep groove ball bearing, and rotation axis, the rotation axis are equipped in the deep groove ball bearing
Across angular contact ball bearing and it is fixedly connected with right-angle connector, the angular contact ball bearing is arranged in the first axle sleeve, described
Square beam is fixedly connected with by screw in right-angle connector, the square beam is fixedly connected with quiet flat by connector
Platform is provided with moving platform below the silent flatform, is fixedly connected with push rod by ball angle between the moving platform and silent flatform,
The bottom of the moving platform is fixedly connected with fixture by screw, and cutter is connected in the fixture, and the top of the pedestal is logical
It crosses screw and is fixedly connected with Y type fixation fork, compression bar, the compression bar have been bolted to connection at the top of the Y type fixation fork
Top be provided with positioning screw, the second axle sleeve is connected at the top of the pedestal, is equipped with rotation axis in second axle sleeve,
The rotation axis is fixedly connected with gear by flat key, and the surface of the gear is engaged with involute system lever, the involute
One end of brake bar is fixedly connected with handwheel.
Preferably, the top of the square beam is fixedly connected with tracer frame by screw.
Preferably, the right-angle connector is fixedly connected with rotation axis by holding screw.
Preferably, the rotation axis is fixedly connected with right-angle connector by holding screw.
Preferably, described compression bar one end offers straight trough mouth, and the other end of the compression bar offers threaded hole.
Preferably, the side of the Y type fixation fork offers 3 threaded holes, and is located in the middle screw thread axially bored line and hangs down
Directly in the side of Y type fixation fork, and the screw thread axially bored line for being located at both sides and 45 degree of the angle position between intermediate thread axially bored line.
Preferably, the bottom of the pedestal is fixedly connected with castor, and the bottom of the pedestal is fixedly connected by threaded post
There is a heel brace, the quantity of the castor and heel brace is four, and four castors and heel brace are located at base bottom and are located at quadrangle
Position.
Compared with prior art, the utility model has the beneficial effects that
1, the utility model, by setting gear and involute system lever, when involute system lever is engaged with gear, side
Just play the role of braking to gear, and then rotation axis is fixed, to play fixed effect to whole device, pass through
Castor and heel brace are set, and pedestal and castor may make up mobile platform, facilitate people that castor is pushed to move device, and heel brace is logical
The effect for crossing threaded post can move up and down, and when heel brace moves up, when with surface separation, cooperation castor be facilitated to keep device mobile,
When heel brace moves down, when being contacted with ground, device is fixed in convenience, passes through setting straight trough mouth and threaded hole, straight trough mouth
Allowing adjusting position before and after compression bar, the positioning screw on compression bar can be combined with two positioning screws on Y type fixation fork,
Three-point fix is carried out, by the way that tracer frame is arranged, tracer frame is conveniently used for placing in optical navigation system showing for location tracking
Track ball, the device realize by gear and involute system lever and carry out the fixed position of braking to device, while using rotation
Axis and right-angle connector realize the purpose that angle adjustment is carried out to cutter etc., using matching between Y type fixation fork and compression bar
It closes, object is positioned, the precise manipulation of cranium jaw face basic operative can be realized according to doctor's physical planning path, and in real time
Monitoring surgical procedure ensures to perform the operation accurate progress, and whole device structure is simple, easy to use, low in cost, practical.
2, the utility model, it is convenient that rotation axis is supported by setting deep groove ball bearing and angular contact ball bearing, lead to
Cross setting moving platform, silent flatform and push rod, the convenient adjusting that height is carried out to cutter, by being arranged fixture, it is convenient to cutter into
Row grips, and then is operated, convenient by the first axle sleeve of setting, the second axle sleeve, rotation axis and right-angle connector
The transformation for realizing angle by the way that handwheel is arranged, facilitates people by hand wheel rotating involute system lever, in turn using more convenient
So that involute system lever is engaged or is separated with gear, by the way that holding screw is arranged, rotation axis and right-angle connector can be prevented
Relatively rotate, it is convenient to select a threaded hole in every side by the way that three threaded holes are arranged, allow positioning screw with
Different angles is fixed by positioning object.
Detailed description of the invention
Attached drawing is used to provide a further understanding of the present invention, and constitutes part of specification, practical with this
Novel embodiment is used to explain the utility model together, does not constitute limitations of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of the section structure that the utility model is faced；
Fig. 2 is the structural schematic diagram of the utility model；
In figure: 1, tracer frame；2, connector；3, silent flatform；4, square beam；5, push rod；6, right-angle connector；7, it rotates
Axis；8, holding screw；9, angular contact ball bearing；10, the first axle sleeve；11, deep groove ball bearing；12, the second axle sleeve；13, gear；
14, involute system lever；15, handwheel；16, pedestal；17, castor；18, heel brace；19, Y type fixation fork；20, compression bar；21, it positions
Screw；22, cutter；23, moving platform；24, fixture.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Embodiment 1
The utility model is the following technical schemes are provided: a kind of craniomaxillofacial surgery hand based on optical guidance referring to FIG. 1-2,
The top of art parallel robot, including pedestal 16, the pedestal 16 is fixedly connected with the first axle sleeve 10 by four screws, described
The bottom of first axle sleeve, 10 inner wall is fixedly connected with deep groove ball bearing 11, and rotation axis 7, institute are equipped in the deep groove ball bearing 11
Rotation axis 7 is stated across angular contact ball bearing 9 and is fixedly connected with right-angle connector 6, passes through setting deep groove ball bearing 11 and corner connection
Ball bearing 9 is touched, convenient to be supported to rotation axis 7, the angular contact ball bearing 9 is arranged in the first axle sleeve 10, the right angle
Square beam 4 is fixedly connected with by screw in connector 6, the square beam 4 is fixedly connected with silent flatform by connector 2
3, the lower section of the silent flatform 3 is provided with moving platform 23, is fixedly connected between the moving platform 23 and silent flatform 3 by ball angle
Push rod 5, by setting moving platform 23, silent flatform 3 and push rod 5, the convenient adjusting that height is carried out to cutter 22, the moving platform 23
Bottom fixture 24 is fixedly connected with by screw, convenient that cutter 22 is gripped by the way that fixture 24 is arranged, Jin Erjin
Row surgical procedure is connected with cutter 22 in the fixture 24, and the top of the pedestal 16 is fixedly connected with Y type by screw and fixes
Fork 19, the top of the Y type fixation fork 19 has been bolted to connection compression bar 20, and the top of the compression bar 20 is provided with positioning
Screw 21, the top of the pedestal 16 are connected with the second axle sleeve 12, rotation axis 7 are equipped in second axle sleeve 12, by setting
The first axle sleeve 10, the second axle sleeve 12, rotation axis 7 and right-angle connector 6 are set, the transformation for realizing angle is facilitated, uses more convenient, institute
It states rotation axis 7 and gear 13 is fixedly connected with by flat key, the surface of the gear 13 is engaged with involute system lever 14, by setting
Gear 13 and involute system lever 14 are set, it is convenient that braking is played to gear 13 when involute system lever 14 is engaged with gear 13
Effect, and then rotation axis 7 is fixed, to play fixed effect to whole device, the involute system lever 14
One end be fixedly connected with handwheel 15, by be arranged handwheel 15, facilitate people by handwheel 15 rotate involute system lever 14, into
And involute system lever 14 is made to engage or separate with gear 13, which is realized by gear 13 and involute system lever 14
The fixed position of braking is carried out to device, while using rotation axis 7 and right-angle connector 6, realizes cutter 22 Deng is carried out
The purpose of angle adjustment positions object using the cooperation between Y type fixation fork 19 and compression bar 20, can be according to doctor
The precise manipulation of cranium jaw face basic operative is realized in physical planning path, and is monitored surgical procedure in real time and ensured to perform the operation accurate progress,
Whole device structure is simple, easy to use, low in cost, practical.
Specifically, the top of the square beam 4 is fixedly connected with tracer frame 1 by screw, by the way that tracer frame 1 is arranged,
Tracer frame 1 is conveniently used for placing the tracer ball that location tracking is used in optical navigation system.
Specifically, the right-angle connector 6 is fixedly connected with rotation axis 7 by holding screw 8, by the way that holding screw is arranged
8, it can prevent rotation axis 7 from relatively rotating with right-angle connector 6.
Specifically, described 20 one end of compression bar offers straight trough mouth, the other end of the compression bar 20 offers threaded hole, passes through
Straight trough mouth and threaded hole be set, and straight trough mouth allows 20 front and back adjusting position of compression bar, and the positioning screw 21 on compression bar 20 can be with Y
Two positioning screws 21 on type fixation fork 19 combine, and carry out three-point fix.
Specifically, the side of the Y type fixation fork 19 is opened up, there are three threaded holes, and are located in the middle screw thread axially bored line
Perpendicular to the side of Y type fixation fork 19, and the screw thread axially bored line for being located at both sides and the angle position between intermediate thread axially bored line
It is 45 degree, convenient to select a threaded hole in every side by the way that three threaded holes are arranged, allow positioning screw 21 with different
Angle is fixed by positioning object.
Specifically, the bottom of the pedestal 16 is fixedly connected with castor 17, the bottom of the pedestal 16 is solid by threaded post
Surely it is connected with heel brace 18, the quantity of the castor 17 and heel brace 18 is four, and four castors 17 and heel brace 18 are located at
16 bottom of pedestal is located at the position of quadrangle, and by setting castor 17 and heel brace 18, pedestal 16 and castor 17 may make up mobile platform,
Facilitate people that castor 17 is pushed to move device, heel brace 18 can be moved up and down by the effect of threaded post, when heel brace 18 to
Upper movement when with surface separation, facilitates cooperation castor 17 to keep device mobile, when heel brace 18 moves down, when being contacted with ground, side
Just device is fixed.
The working principle and process for using of the utility model: the utility model, in use, being made first by threaded function
Heel brace 18 moves up, and then makes heel brace 18 and surface separation, makes castor 17 and ground face contact, pushes 16 driving device of pedestal fortune
The suitable position of dynamic operation bedside, then by the effect of screw thread, move down heel brace 18, and then connect heel brace 18 with ground
Touching keeps pedestal 16 fixed, and then form fixation to device, rotates handwheel 15, separate involute system lever 14 with gear 13, borrow
The effect of right-angle connector 6 and rotation axis 7 is helped, square beam 4 is dragged, moves silent flatform 3 and moving platform 23 with cutter 22
To lesions position, handwheel 15 is rotated, involute system lever 14 is tightly engaged with gear 13, rotation axis 7 is braked
It is fixed, suitable cutter 22 is placed in moving platform 24, screw is tightened, is gripped, according to surgery planning path, in conjunction with
Optical navigation device completes operation, finally, rising heel brace 18, so that castor 17 is contacted ground, entire robot is pushed into properly to stop
Put position.
Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention, it is not limited to this
Utility model, although the utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art
For, it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of technical characteristic
It is equivalently replaced.Within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on,
It should be included within the scope of protection of this utility model.
Claims (6)
1. a kind of craniomaxillofacial surgery parallel robot based on optical guidance, including pedestal (16), it is characterised in that: described
The top of pedestal (16) is fixedly connected with the first axle sleeve (10) by four screws, and the bottom of the first axle sleeve (10) inner wall is solid
Surely it is connected with deep groove ball bearing (11), is equipped with rotation axis (7) in the deep groove ball bearing (11), the rotation axis (7) passes through
Angular contact ball bearing (9) is simultaneously fixedly connected with right-angle connector (6), and the angular contact ball bearing (9) is arranged in the first axle sleeve
(10) it in, is fixedly connected with square beam (4) in the right-angle connector (6) by screw, the square beam (4) passes through company
Fitting (2) is fixedly connected with silent flatform (3), is provided with moving platform (23) below the silent flatform (3), the moving platform (23)
It is fixedly connected with push rod (5) between silent flatform (3) by ball angle, the bottom of the moving platform (23) is fixedly connected by screw
Have fixture (24), is connected with cutter (22) in the fixture (24), the top of the pedestal (16) is fixedly connected with Y by screw
Type fixation fork (19) has been bolted to connection compression bar (20) at the top of the Y type fixation fork (19), the compression bar (20)
Top is provided with positioning screw (21), is connected with the second axle sleeve (12) at the top of the pedestal (16), second axle sleeve (12)
It is inside equipped with rotation axis (7), the rotation axis (7) is fixedly connected with gear (13) by flat key, the surface of the gear (13)
It is engaged with involute system lever (14), one end of the involute system lever (14) is fixedly connected with handwheel (15).
2. a kind of craniomaxillofacial surgery parallel robot based on optical guidance according to claim 1, feature exist
In: the top of the square beam (4) is fixedly connected with tracer frame (1) by screw.
3. a kind of craniomaxillofacial surgery parallel robot based on optical guidance according to claim 1, feature exist
In: the right-angle connector (6) is fixedly connected with rotation axis (7) by holding screw (8).
4. a kind of craniomaxillofacial surgery parallel robot based on optical guidance according to claim 1, feature exist
In: described compression bar (20) one end offers straight trough mouth, and the other end of the compression bar (20) offers threaded hole.
5. a kind of craniomaxillofacial surgery parallel robot based on optical guidance according to claim 1, feature exist
In: the side of the Y type fixation fork (19) offers 3 threaded holes, and it is solid perpendicular to Y type to be located in the middle screw thread axially bored line
The side of fixed fork (19), and the screw thread axially bored line for being located at both sides and 45 degree of the angle position between intermediate thread axially bored line.
6. a kind of craniomaxillofacial surgery parallel robot based on optical guidance according to claim 1, feature exist
In: the bottom of the pedestal (16) is fixedly connected with castor (17), and the bottom of the pedestal (16) is fixedly connected by threaded post
Have heel brace (18), the quantity of the castor (17) and heel brace (18) is four, and four castors (17) and heel brace (18) are respectively
It is located at the position of quadrangle positioned at pedestal (16) bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821904488.0U CN209269875U (en) | 2018-11-19 | 2018-11-19 | A kind of craniomaxillofacial surgery parallel robot based on optical guidance |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821904488.0U CN209269875U (en) | 2018-11-19 | 2018-11-19 | A kind of craniomaxillofacial surgery parallel robot based on optical guidance |
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| Publication Number | Publication Date |
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| CN209269875U true CN209269875U (en) | 2019-08-20 |
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| CN201821904488.0U Active CN209269875U (en) | 2018-11-19 | 2018-11-19 | A kind of craniomaxillofacial surgery parallel robot based on optical guidance |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109316241A (en) * | 2018-11-19 | 2019-02-12 | 上海交通大学医学院附属第九人民医院 | A kind of craniomaxillofacial surgery parallel robot based on optical guidance |
| WO2021147268A1 (en) * | 2020-01-23 | 2021-07-29 | 诺创智能医疗科技(杭州)有限公司 | Surgical robot arm and surgical robot |
| WO2023137925A1 (en) * | 2022-01-19 | 2023-07-27 | 北京罗森博特科技有限公司 | Parallel robot system |
-
2018
- 2018-11-19 CN CN201821904488.0U patent/CN209269875U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109316241A (en) * | 2018-11-19 | 2019-02-12 | 上海交通大学医学院附属第九人民医院 | A kind of craniomaxillofacial surgery parallel robot based on optical guidance |
| WO2021147268A1 (en) * | 2020-01-23 | 2021-07-29 | 诺创智能医疗科技(杭州)有限公司 | Surgical robot arm and surgical robot |
| WO2023137925A1 (en) * | 2022-01-19 | 2023-07-27 | 北京罗森博特科技有限公司 | Parallel robot system |
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