CN210697809U

CN210697809U - Gantry type spine surgery robot with detachable mechanical arm

Info

Publication number: CN210697809U
Application number: CN201921071495.1U
Authority: CN
Inventors: 张春霖
Original assignee: Suzhou Dianhe Medical Technology Co ltd
Current assignee: Suzhou Dianhe Medical Technology Co ltd
Priority date: 2019-07-10
Filing date: 2019-07-10
Publication date: 2020-06-09
Anticipated expiration: 2029-07-10

Abstract

The utility model relates to a planer-type can remove and receive arm backbone surgical robot, including the operating table, the both sides of operating table are provided with X in pairs to guide control device, and X installs main swing arm through the main connecting seat on to guide control device, still installs the main push rod on the main connecting seat, and the main push rod is connected with the lower extreme of main swing arm and promotes the swing of main swing arm, and the main connecting seat is connected with main positioning lock with the upper end of main swing arm, still is connected with Y on the main swing arm to guiding device, and Y is connected with Z on to guiding device to guide control device, constitutes main gantry mechanical arm. This robot can map vertebra surface coordinate to external, makes things convenient for the accurate quick collection of bone surface coordinate data, under "heavy load" situation, realizes the random switching of multiple instruments such as orthopedics power, pliers, soft tissue excision cutter through rotary drum apparatus storehouse, and the accurate operation of multiple different spinal surgeries is accomplished to whole journey, has to bear the weight of advantages such as big, the rigidity is good, the structure is dexterous, the expansibility is strong.

Description

Gantry type spine surgery robot with detachable mechanical arm

Technical Field

The utility model relates to a surgical robot especially relates to a planer-type can remove and receive arm backbone surgical robot.

Background

In recent years, some spine surgery robots, such as an israel Mazor spine assistant, a korean SPINEBOT spine robot, and an american Mazor X spine surgery robot, which are fixed to spinous processes of the human body and have a structure using a joint-type robot arm mounted on a cart, have been clinically used, and currently have the following problems: 1. the robot has poor bearing light rigidity, and obviously can not carry heavy load if the spinal surgery robot fixed on the spinous process of a human body, the articulated mechanical arm robot arranged on the trolley also belongs to a light load robot, the mechanical arm of the robot is a long cantilever structure, the tail end of the mechanical arm only bears a guide tube to guide the placement of the pedicle screw, and the tail end of the mechanical arm is easy to deform if the tail end of the mechanical arm needs to bear an instrument with larger weight; 2. the whole robot system is complex, except for the robot, the system can complete the operation only by the cooperation of equipment such as navigation equipment, an ISO-3D (international organization for standardization) or O-arm machine and the like; 3. precision is difficult to further improve due to the system structure, more error links exist, the whole operation precision of the robot is improved due to bottleneck problems, and the precision is difficult to further improve; 4. the instrument is difficult to switch, the function is single, and the expansion and upgrade are difficult to realize, and the multifunctional operation of the spine is influenced by the single mechanical arm structure; 5. the volume is bigger, and the patient easily produces the sense of fear of psychology.

In view of the above-mentioned drawbacks, the present designer actively makes research and innovation to create a gantry-type spine surgical robot with detachable mechanical arms, so that the robot has industrial value.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model aims at providing a planer-type can remove and receive arm backbone surgical robot.

The gantry type detachable robot arm spinal surgery robot comprises an operating table, wherein X-direction guide control devices are arranged on two sides of the operating table in pairs, a main swing arm is installed on each X-direction guide control device through a main connecting seat, a main push rod is further installed on each main connecting seat, the main push rod is connected with the lower end of each main swing arm and pushes the main swing arm to swing, the main connecting seat and the upper end of each main swing arm are connected with a main positioning lock, each main swing arm is further connected with a Y-direction guide device, and each Y-direction guide device is connected with a Z-direction guide control device to form a main gantry robot arm; the X-direction guide control device is provided with auxiliary swing arms through auxiliary connecting seats, and the auxiliary swing arms are connected with a cross beam through a quick change mechanism to form an auxiliary gantry mechanical arm; be connected with vice push rod between vice connecting seat and the vice swing arm, and vice push rod links to each other with vice swing arm lower extreme, still be provided with the vice positioning lock that increases vice swing arm rigidity between vice swing arm and the vice connecting seat, wherein: the auxiliary gantry mechanical arm is provided with a rotary drum instrument library and a rotary driving mechanism and comprises a rotary drum, the bottom of the rotary drum is provided with a rotary table, an orthopedic power lifting mechanism, a soft tissue cutting tool lifting mechanism and a forceps lifting mechanism are arranged in the rotary drum respectively, the upper end of the rotary drum forms a motor bin, and the lower end of the rotary drum forms a transmission bin.

Further, foretell planer-type can remove and receive arm backbone surgical robot, wherein, orthopedics power elevating system is including being located the first motor in the motor storehouse, the lower extreme of first motor is connected with the first guide rail that is located the transmission storehouse, install first slider on the first guide rail, install orthopedics power connector on the first slider.

Furthermore, the gantry type spine surgical robot with the detachable mechanical arm comprises a second motor located in a motor cabin, wherein the lower end of the second motor is connected with a second guide rail located in a transmission cabin, a second sliding block is mounted on the second guide rail, and a soft tissue resection cutter connector is mounted on the second sliding block.

Furthermore, the gantry type spine surgical robot with the detachable mechanical arm comprises a third motor located in a motor bin, a third guide rail located in a transmission bin is connected to the lower end of the third motor, a third sliding block is mounted on the third guide rail, and a forceps connector is mounted on the third sliding block.

Furthermore, the gantry type detachable mechanical arm spine surgical robot comprises an X-direction guide rail, wherein a main X-direction slider and an auxiliary X-direction slider are arranged on the X-direction guide rail, the main X-direction slider is connected with a main connecting seat, the auxiliary X-direction slider is connected with an auxiliary connecting seat, and an X-direction movement motor is arranged at one end of the X-direction guide rail.

Furthermore, the gantry type spine surgery robot with the detachable mechanical arm comprises a Y-direction guide device, a rotating shaft is mounted on the Y-direction drive motor, and a main push rod is connected between the main connecting seat and the main swing arm.

Furthermore, the gantry type spine surgery robot with the detachable mechanical arm comprises a Z-direction guide control device, wherein the Z-direction guide control device comprises a Z-direction driving motor, and a quick-change mechanism is mounted on the Z-direction driving motor.

Still further, foretell planer-type can remove and receive arm backbone surgical robot, wherein, main positioning lock and vice positioning lock are all including linking up the sleeve, it has the upper connecting rod to insert in linking up telescopic upper end, it has lower connecting rod to insert to link up telescopic lower extreme, it is provided with main positive screw thread to link up telescopic inside upper end, it is provided with main back-and-forth thread to link up telescopic inside lower extreme, the telescopic part of upper connecting rod insertion linking is provided with main positive screw thread, the telescopic part of lower connecting rod insertion linking is provided with main back-and-forth thread, be provided with positive back-and-forth turn nut in the linking sleeve.

Borrow by above-mentioned scheme, the utility model discloses at least, have following advantage:

1. the automatic gantry type mechanical arm switching device is provided with a main gantry mechanical arm and an auxiliary gantry mechanical arm which are mutually independent, and the devices are quickly and automatically switched through a quick-change structure of a rotary drum device library, so that high-precision coordinated operation similar to 'double hands' or even 'multiple hands' is realized.

2. The gantry structure has strong rigidity and a short cantilever, so that various defects of the conventional long-cantilever articulated robot are overcome, and multiple surgical instruments are mounted under heavy load simultaneously to meet different operation requirements of multiple spinal surgeries.

3. The guide control device in the direction of X, Y, Z that is provided with is can cooperate subsequent control software, realizes multiaxis motion control and regulation, can realize the independent control respectively of orthopedics apparatus, pliers apparatus, soft tissue excision cutter, improves robot operation flexibility and precision.

4. The main gantry mechanical arm and the auxiliary gantry mechanical arm can be detached and assembled, so that a sterile sleeve is convenient to install, and the implementation safety and sterility are guaranteed.

5. Adopt independent push rod structure, can provide effectual support and altitude mixture control to each portal mechanical arm, satisfy the needs of various operations, the volume is showing and is diminishing after tearing open and receiving, avoids too much occupation operating room space, improves the operation convenience, reduces patient's psychological fear.

6. The rotary drum instrument library has good expansibility, and can meet the operation requirements of various spinal operations and even other surgical subjects.

The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.

Drawings

Fig. 1 is a schematic structural diagram of a gantry type retractable mechanical arm spine surgical robot. (Drum instrument library and rotary drive mechanism not mounted temporarily)

Fig. 2 is a schematic side view of the main gantry robot.

Fig. 3 is a schematic view of the installation of the rotary drum instrument magazine and the rotary drive mechanism with other surgical instruments.

Fig. 4 is a schematic side view of the drum instrument magazine and the rotation driving mechanism.

Fig. 5 is a front view of the rotary drum instrument magazine and the rotary drive mechanism.

The meanings of the reference symbols in the drawings are as follows.

1 operating table 2 main connecting seat

3 main swing arm 4Y direction guiding device

5 primary positioning lock 6 auxiliary swing arm

7-beam 8-pair positioning lock

9 main storage groove 10X-direction guide rail

11 main X-direction slide block 12X-direction movement motor

13 connecting sleeve 14 lower connecting rod

15 upper connecting rod 16Y-direction driving motor

17 rotating shaft 18Z-direction driving motor

19 quick-change mechanism 20 lock nut

21 positioning boss and 22 groove

23 connecting buckle 24 positioning sleeve

25 main push rod 26 auxiliary push rod

27 quick-change mechanism 28 drum instrument library and rotary driving mechanism

29 rotating drum 30 rotating table

31 power lifting mechanism for orthopedics department and 32 soft tissue excision cutter lifting mechanism

33 pliers lifting mechanism 34 motor cabin

35 driving chamber 36 first motor

37 first guide track 38 first slide

39 second motor of orthopedic power connector 40

41 second guide rail 42 second slider

43 soft tissue resection tool connector 44 third motor

45 third guide rail 46 third slide block

47 pliers connector

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

The gantry type spine surgical robot with the detachable mechanical arm as shown in fig. 1 to 5 comprises an operating table 1, and in order to realize the adjustment of the X-direction motion of the subsequently installed surgical instruments, X-direction guide control devices are arranged on two sides of the operating table 1 in pairs. Meanwhile, a main swing arm 3 is installed on the X-direction guide control device through a main connecting seat 2, and a main push rod 25 is also installed on the main connecting seat 2. The main push rod 25 is connected with the lower end of the main swing arm 3 and pushes the swing of the main swing arm 3. And the main connecting seat 2 and the upper end of the main swing arm 3 are connected with a main positioning lock 5, and the Y-direction guide device 4 is connected with a Z-direction guide control device to form a main gantry mechanical arm. During actual assembly, the rotating shaft 17 is installed at the top of the main swing arm 3, and a first shaft for connecting the main connecting seat 2 and a second shaft for connecting the main push rod 25 are respectively arranged at the same time. (not shown in the figure) and considering the operation execution of multi-posture and multi-apparatus, a secondary swing arm 6 is installed on the X-direction guide control device through a secondary connecting seat, and a cross beam 7 is connected between the secondary swing arms 6 to form a secondary gantry mechanical arm. The auxiliary connecting seat is provided with an auxiliary push rod 26, and the auxiliary push rod 26 is connected with the lower end of the auxiliary swing arm 6 to provide proper support and height adjustment of the cross beam 7. And a secondary positioning lock 8 is also arranged between the secondary swing arm 6 and the secondary connecting seat to increase the rigidity of the secondary swing arm 6. In view of the convenience of posture adjustment of the auxiliary swing arm 6 and the convenience of switching and using subsequent instruments, the cross beam 7 is provided with a quick-change mechanism 27, which is distinctive in that: the auxiliary gantry mechanical arm is provided with a rotary drum 29 instrument library and a rotary driving mechanism 281, and comprises a rotary drum 29, the bottom of the rotary drum 29 is provided with a rotary table 30, an orthopedic power lifting mechanism 31, a soft tissue cutting tool lifting mechanism 32 and a forceps lifting mechanism 33 are respectively arranged in the rotary drum 29, the upper end of the rotary drum 29 forms a motor cabin 34, and the lower end of the rotary drum 29 forms a transmission cabin 35.

In combination with the preferred embodiment of the present invention, in order to realize effective stroke control for the subsequent installation of various orthopedic surgical instruments, the adopted orthopedic power lifting mechanism 31 includes the first motor 36 located in the motor chamber 34, the lower end of the first motor 36 is connected with the first guide rail 37 located in the transmission chamber 35, the first guide rail 37 is provided with the first slider 38, and the first slider 38 is provided with the orthopedic power connector 39. Meanwhile, in order to cooperate with the soft tissue resection cutter, the adopted soft tissue resection cutter lifting mechanism 32 comprises a second motor 40 positioned in a motor cabin 34, the lower end of the second motor 40 is connected with a second guide rail 41 positioned in a transmission cabin 35, a second slide block 42 is installed on the second guide rail 41, and a soft tissue resection cutter connector 43 is installed on the second slide block 42. And, to the accurate operation of pliers device during operation implementation, the pliers elevating system 33 that adopts, including being located the third motor 44 in motor storehouse 34, the lower extreme of third motor 44 is connected with and is located the third guide rail 45 in transmission storehouse 35, installs third slider 46 on the third guide rail 45, installs pliers connector 47 on the third slider 46.

Furthermore, the independent control of the main gantry mechanical arm and the auxiliary gantry mechanical arm is met in consideration of the motion guide in the X direction. The X-direction guide control device comprises an X-direction guide rail 10, a main X-direction sliding block 11 and an auxiliary X-direction sliding block (not shown in the figure) are arranged on the X-direction guide rail 10, the main X-direction sliding block 11 is connected with the main connecting base 2, the auxiliary X-direction sliding block is connected with the auxiliary connecting base, and an X-direction movement motor 12 is arranged at one end of the X-direction guide rail 10.

Meanwhile, in order to meet daily Y-direction adjustment, the Y-direction guiding device 4 comprises a Y-direction driving motor 16, and a rotating shaft 17 is installed on the Y-direction driving motor 16. Meanwhile, in order to realize Z-axis adjustment by matching with subsequently installed instruments and better fit with an affected part for execution, the Z-direction guide control device comprises a Z-direction driving motor 18, and a quick-change mechanism 19 is installed on the Z-direction driving motor 18. Therefore, various instruments can be switched to use in cooperation with the actual requirements of different operations.

In order to change the closed gantry structure into an open state, a sterile sleeve is installed, and the top end of the main swing arm 3 is connected with a Y-direction guiding device 4 through an opening and closing device. Particularly, the utility model discloses an opening and shutting device including position sleeve 24, be provided with the mounting hole on the position sleeve 24, wear to be equipped with lock nut 20 in the mounting hole, position sleeve 24 passes through locking bolt and installs at 3 tops of main swing arm. Meanwhile, a positioning boss 21 is arranged on the positioning sleeve 24, a groove 22 is arranged at a position corresponding to the top of the main swing arm 3, and the positioning boss 21 is embedded into the groove 22.

Meanwhile, considering the convenience in disassembly and assembly of the cross beam 7 and the convenience in combination and installation of subsequent instruments, the sterile sleeve can be installed, the connecting buckle 23 is arranged at the top of the auxiliary swing arm 6, and the cross beam 7 is connected in a positioning mode through the connecting buckle 23. The cross beam 7 is also provided with a quick-change mechanism 27 for switching various instruments.

Seen in combination with the practical implementation, in order to realize the smooth adjustment of main positioning lock 5 and auxiliary positioning lock 8, also possess the support effect of preferred when giving effective motion direction, main positioning lock 5 and auxiliary positioning lock 8 all include linking sleeve 13, upper connecting rod 15 has been inserted to linking sleeve 13's upper end, lower connecting rod 14 has been inserted to linking sleeve 13's lower extreme, linking sleeve 13's inside upper end is provided with main positive screw, linking sleeve 13's inside lower extreme is provided with main back-off thread, the part that upper connecting rod 15 inserted linking sleeve 13 is provided with main positive screw, lower connecting rod 14 inserts the part that links sleeve 13 and is provided with main back-off thread, be provided with positive back-off nut in the linking sleeve 13. In this way, adjustment can be achieved by rotating the adapter sleeve 13.

Through foretell expression of characters and combination of the attached drawing can be seen, adopt the utility model discloses afterwards, possess following advantage:

5. Adopt independent push rod structure, can provide effectual support and altitude mixture control to each portal mechanical arm, satisfy the needs of various operations, the volume is showing and is diminishing after tearing open and receiving, avoids too much occupation operating room space.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. The gantry type spine surgical robot with the detachable mechanical arm comprises an operating table, wherein X-direction guide control devices are arranged on two sides of the operating table in pairs, a main swing arm is mounted on each X-direction guide control device through a main connecting seat, a main push rod is further mounted on each main connecting seat, the main push rod is connected with the lower end of each main swing arm and pushes the main swing arm to swing, main positioning locks are connected with the upper ends of the main connecting seats and the main swing arms, Y-direction guide devices are further connected onto the main swing arms, and Z-direction guide control devices are connected onto the Y-direction guide devices to form a main gantry mechanical arm; the X-direction guide control device is provided with auxiliary swing arms through auxiliary connecting seats, and the auxiliary swing arms are connected with a cross beam through a quick change mechanism to form an auxiliary gantry mechanical arm; be connected with vice push rod between vice connecting seat and the vice swing arm, and vice push rod links to each other with vice swing arm lower extreme, still be provided with the vice positioning lock that increases vice swing arm rigidity between vice swing arm and the vice connecting seat, its characterized in that: the auxiliary gantry mechanical arm is provided with a rotary drum instrument library and a rotary driving mechanism and comprises a rotary drum, the bottom of the rotary drum is provided with a rotary table, an orthopedic power lifting mechanism, a soft tissue cutting tool lifting mechanism and a forceps lifting mechanism are arranged in the rotary drum respectively, the upper end of the rotary drum forms a motor bin, and the lower end of the rotary drum forms a transmission bin.

2. The gantry type retractable mechanical arm spinal surgery robot of claim 1, wherein: orthopedics power elevating system, including being located the first motor in the motor storehouse, the lower extreme of first motor is connected with the first guide rail that is located the transmission storehouse, install first slider on the first guide rail, install orthopedics power connector on the first slider.

3. The gantry type retractable mechanical arm spinal surgery robot of claim 1, wherein: soft tissue excision cutter elevating system, including being located the second motor in the motor storehouse, the lower extreme of second motor is connected with the second guide rail that is located the transmission storehouse, install the second slider on the second guide rail, install soft tissue excision cutter connector on the second slider.

4. The gantry type retractable mechanical arm spinal surgery robot of claim 1, wherein: the pliers lifting mechanism comprises a third motor located in a motor bin, the lower end of the third motor is connected with a third guide rail located in a transmission bin, a third sliding block is installed on the third guide rail, and a pliers connector is installed on the third sliding block.

5. The gantry type retractable mechanical arm spinal surgery robot of claim 1, wherein: the X-direction guide control device comprises an X-direction guide rail, a main X-direction sliding block and an auxiliary X-direction sliding block are arranged on the X-direction guide rail, the main X-direction sliding block is connected with a main connecting seat, the auxiliary X-direction sliding block is connected with an auxiliary connecting seat, and an X-direction movement motor is arranged at one end of the X-direction guide rail.

6. The gantry type retractable mechanical arm spinal surgery robot of claim 1, wherein: the Y-direction guiding device comprises a Y-direction driving motor, a rotating shaft is mounted on the Y-direction driving motor, and a main push rod is connected between the main connecting seat and the main swing arm.

7. The gantry type retractable mechanical arm spinal surgery robot of claim 1, wherein: the Z-direction guide control device comprises a Z-direction driving motor, and a quick-change mechanism is installed on the Z-direction driving motor.

8. The gantry type retractable mechanical arm spinal surgery robot of claim 1, wherein: the main positioning lock and the auxiliary positioning lock respectively comprise a connecting sleeve, an upper connecting rod is inserted into the upper end of the connecting sleeve, a lower connecting rod is inserted into the lower end of the connecting sleeve, a main positive thread is arranged at the upper end of the inside of the connecting sleeve, a main negative thread is arranged at the lower end of the inside of the connecting sleeve, a main positive thread is arranged at the part of the upper connecting rod inserted into the connecting sleeve, a main negative thread is arranged at the part of the lower connecting rod inserted into the connecting sleeve, and a positive and negative rotating nut is arranged in the connecting sleeve.