WO2019090694A1 - 骨科机器人 - Google Patents

骨科机器人 Download PDF

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Publication number
WO2019090694A1
WO2019090694A1 PCT/CN2017/110448 CN2017110448W WO2019090694A1 WO 2019090694 A1 WO2019090694 A1 WO 2019090694A1 CN 2017110448 W CN2017110448 W CN 2017110448W WO 2019090694 A1 WO2019090694 A1 WO 2019090694A1
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WIPO (PCT)
Prior art keywords
platform
rail
robot
proximal
docking
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PCT/CN2017/110448
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English (en)
French (fr)
Inventor
唐佩福
胡磊
王炳强
赵燕鹏
曹延祥
郝明
王锟
张�浩
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唐佩福
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Application filed by 唐佩福 filed Critical 唐佩福
Priority to PCT/CN2017/110448 priority Critical patent/WO2019090694A1/zh
Publication of WO2019090694A1 publication Critical patent/WO2019090694A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/10—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/10—Parts, details or accessories
    • A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces

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  • the present invention relates to orthopedic robots for use with an operating bed, and more particularly to a resetting robot for use in a reduction procedure.
  • Fig. 1 is a drawing of the invention of the publication number CN105997253A, showing the orthopaedic surgical system disclosed therein.
  • the system includes a surgical planning and monitoring device 31, a C-arm X-ray machine 32, an orthopedic surgical robot 33, and a surgical positioning device 34.
  • the surgical planning and monitoring device 31 is a movable operating table with a built-in graphic workstation computer. With the software installed on the graphics workstation computer, doctors can achieve 3D reconstruction of bones, preoperative planning, surgical robot manipulation and intraoperative dynamic image monitoring.
  • the X-ray machine 32 captures the X-ray film of the patient in both horizontal and vertical directions, and achieves matching of a plurality of spatial coordinate systems by a spatial algorithm to accurately determine the surgical site.
  • FIG. 2 shows an exploded view of the orthopedic surgery robot 33.
  • the robot includes a robot body 233 and a six-axis robot arm 232 secured to the body.
  • bone drills and other functional modules are also mounted on the robot 33.
  • the orthopedic surgical robot 33 is not coupled to the operating bed. Since the reduction surgery often requires a large amount of force to pull the fracture site, the prior art orthopedic surgery system is difficult to ensure the stability of the relative orientation of the reduction device and the patient/surgical bed during the reduction surgery.
  • the present invention provides an orthopaedic robot for use with an operating bed, the robot including a docking member, a distal platform, a proximal platform, and a control cylinder truck that are sequentially connected; wherein the control cylinder
  • the cart includes a motion platform having six degrees of freedom and a control box that controls the motion platform, and a connecting post on the distal side, the connecting post being capable of adjusting a height of the proximal platform;
  • the proximal platform including forming Sliding a mating side panel assembly to adjust a distance between the proximal platform and the control cylinder car;
  • the remote platform includes A rotating rail assembly through which the distal platform is rotatable relative to the proximal platform in a horizontal plane.
  • the robot of the present invention can form a strong connection with the operating bed; in addition, the robot of the present invention provides height, distance and horizontal angle adjustment capabilities in a modular manner.
  • FIG. 1 and 2 are schematic views of a prior art orthopedic robot system and an orthopedic robot therein;
  • FIG. 3 is a perspective view of an orthopedic robot in accordance with an embodiment of the present invention.
  • FIG. 4 is a perspective view of a docking member of an orthopedic robot in accordance with an embodiment of the present invention.
  • Figure 5 is a perspective view of the distal end of the orthopaedic robot seen from above, in accordance with one embodiment of the present invention.
  • FIG. 6 and FIG. 7 are perspective views of the distal platform of FIG. 5 as seen from below; wherein FIG. 7 removes the rail mount to expose the rail seat and the guide rail;
  • FIG. 8 and 9 are perspective views of a proximal end platform of an orthopaedic robot in accordance with an embodiment of the present invention, wherein the rail mount and control cylinder box of the distal platform respectively connected to the proximal platform on both sides are shown in FIG. Connection block of the car;
  • Figure 10 is a perspective view of a control cylinder car of an orthopaedic robot in accordance with one embodiment of the present invention.
  • Figure 11 is a perspective view of the connecting post of the control cylinder car of Figure 10;
  • Figure 12 is a cross-sectional view of the height adjustment column of the connecting post of Figure 11.
  • the left side is named the distal side
  • the robot includes a docking member 100, a distal platform 200, a proximal platform 300, and a control cylinder cart 400 that are sequentially connected on the distal side.
  • the control cylinder car 400 includes a motion platform 420 having six degrees of freedom and a control box 440 that controls the motion platform 420, and a connecting post 460 (shown in FIG. 10) on the distal side, the connecting post 460
  • the height of the proximal platform 300 can be adjusted;
  • the proximal platform 300 includes a side panel assembly that forms a sliding fit to adjust a distance between the proximal platform 200 and the control cylinder cart 400;
  • the distal platform 200 includes a rotating slide assembly through which the distal platform 200 can be rotated relative to the proximal platform 300 in a horizontal plane.
  • the orthopedic robot of the present invention can form a strong connection with the operating bed; in addition, the robot of the present invention provides adjustment capabilities for height, distance and horizontal angles, respectively, in different modules.
  • the docking member 100 of the orthopedic robot includes a docking seat 120 including a first docking channel and a second docking channel on the front and rear sides, respectively;
  • the operating bed has a side bar, and the side bar can Entering the second docking channel;
  • a side rail 140 that can be rigidly mounted to the distal platform 200, the side rail 140 can enter the first docking channel;
  • a first fastener 160 for A side rail 140 is fastened to the docking station 100;
  • a second fastener 180 is used to securely connect the side bars of the operating bed to the docking station 100.
  • the docking station 120 has a C-shaped cross section at the first docking channel and the second docking channel.
  • the side rails 140 may be the same size as the side bars of the operating bed, and the first docking channel and the second docking channel of the docking station 120 also have the same specifications. Thereby, the processing of the docking station 120 is easier and more convenient in use.
  • the distal platform 200 includes: a main body plate 220, the rotating slide assembly is located at a lower side of the main body plate 220; and a docking member mounting portion located at left and right sides of the main body plate 220 225, the docking member 100 is mounted on the docking member mounting portion 225; wherein the rotating rail assembly includes an arcuate rail 240 and a rail seat 260 having an arcuate rail (shown in FIG. 7); 240 is mounted to the body panel 220, and the rail seat 260 is rigidly coupled to the proximal platform 300.
  • the distal platform 200 provides a horizontal angle adjustment capability in a simple and reliable configuration by means of an arcuate rail 240 and a rail mount 260 having an arcuate track.
  • the side rail 140 of the docking member 100 includes a mounting post 145 that includes an installation corresponding to the mounting post 145 Block 225.
  • the distal platform 200 further includes a rail mount 270 rigidly coupled to the rail mount 260 by a first fastener 275 and through a second fastening
  • a piece 277 is rigidly coupled to the proximal platform 300.
  • the rail mount 270 includes side sections on the left and right sides (upper and lower sides of FIG. 6), and a middle section connecting the two side sections.
  • the middle section is rigidly connected to the rail seat 260 by the first fastener 275, and the two side sections are connected to the connecting plate 340 of the proximal platform 300 by two second fasteners 277 (refer to Figure 8).
  • a perineal column 280 having a perineal tray 285 is mounted on the distal platform 200. Thereby, support is provided for the patient's hip.
  • the side panel assembly of the proximal platform 300 includes: a slide rail 320 stacked together, a connection panel 340, and a side rail 360; wherein the slide rail 320 can be along The proximal-distal direction slides relative to the web 340; the side rails 360 are rigidly connected to the web 340, the side rails 360 having at least one accessory mount.
  • the accessory mounting portion can be used to mount a leg support 367 (shown in Figure 3), a leg rest 368, and an arm rest 369 (shown in Figure 8).
  • the slide rail 320 includes a first connection portion 325 for connection to the control cylinder car 400; the connection plate 340 includes a second for connection to the remote platform 200 Connection portion 345.
  • the second connecting portion 345 is a screw hole formed on the distal end side of the connecting plate 340, and the second fastener 277 passes through the screw hole to rigidly connect the connecting plate 340 of the proximal end platform 300.
  • the connecting post 460 of the control cylinder car 400 includes a height adjusting column 462 and a connecting block 464 , the height of the height adjusting column 462 is adjustable, and the connecting block 464 can be The slide rail 320 of the proximal platform 300 is detachably coupled.
  • control cylinder car 400 also includes a vehicle body 450 and wheels 455 to facilitate its movement.
  • the first connecting portion 325 of the sliding rail 320 of the proximal platform is four screw holes arranged in a rectangular shape, and the connecting block 464 of the control cylinder car has a Corresponding screw holes.
  • the connecting block 464 is rigidly connected to the first connecting portion 325 by using screws, thereby rigidly connecting the control cylinder car 400 to the proximal platform 300.
  • the height adjustment post 462 includes a rotatable handle 4621 at the top, a rotatable screw 4623 driven by the handle 4621, and a wrap around the lead screw 4623 and formed with the lead screw 4623.
  • a threaded nut rod 4624 that is coupled to the bottom of the heightening post 462.
  • the lead screw 4623 is hollow, and the rotatable mandrel 4625 is located in the hollow screw rod (4623.
  • the addition of the above-mentioned mandrel can improve the relevant parts of the heightening column. The reliability of concentric positioning.
  • the heightening post 462 further includes a lifting column 4626 coupled to the handle 4621 and surrounding the nut stem 4624. When the handle 4621. is rotated, the lifting column 4626 is raised and lowered. .
  • the orthopedic robot according to one embodiment of the present invention further includes a support plate 500 mounted on the control cylinder car 400 to support a patient's body part, such as a patient's lower leg.
  • the support plate 500 can be connected with additional fixtures as needed.
  • the additional fixation device can secure the proximal or distal end of the patient's fracture and effect a reset operation by controlling the actuation of the motion platform of the cylinder cart 400.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
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  • Molecular Biology (AREA)
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Abstract

一种骨科机器人，其与手术床配合使用，包括依次连接的对接件(100)、远端平台(200)、近端平台(300)、及控制缸箱车(400)；控制缸箱车(400)包括具有六自由度的运动平台(420)及控制运动平台(420)的控制箱(440)，以及在远端侧的连接柱(460)，连接柱(460)能调节近端平台(300)的高度；近端平台(300)包括形成滑动配合的侧板组件，以调节近端平台(200)与控制缸箱车(400)之间的距离；远端平台(200)包括旋转滑轨组件，通过其所述远端平台(200)能在水平面内相对于近端平台旋转。该机器人与手术床连接牢固，并以模块化的方式提供各种调节能力。

Description

骨科机器人 技术领域
本发明涉及与手术床配合使用的骨科机器人，尤其是一种在复位手术中使用的复位机器人。
背景技术
随着机器人技术的发展，在修复骨折的手术特别是长骨骨科手术中，出现了将机器人应用于其中的趋势。
参考图1，其为公开号CN105997253A的发明申请的附图，示出其公开的骨科手术系统。该系统包括手术规划和监控装置31、C形臂X射线机32、骨科手术机器人33和手术定位装置34。其中，手术规划和监控装置31是一台内置了图形工作站电脑的可移动操作台。借助于图形工作站电脑上安装的软件，医生可以实现骨骼的三维重建、术前规划、手术机器人操控和术中的动态图像监控。X射线机32拍摄病人的水平和垂直两个方向的X光片，通过空间算法实现多个空间坐标系的匹配，以精确确定手术部位。
图2示出骨科手术机器人33的分解图。如图所示，该机器人包括机器人本体233和固定在所述本体上的六轴机械臂232。此外，骨钻和其他功能模块也安装在所述机器人33上。
在现有技术的上述骨科手术系统中，骨科手术机器人33未与手术床联接。由于复位手术经常需要较大的力量来牵引骨折部位，现有技术的骨科手术系统难以保证复位手术中复位器械与患者/手术床的相对方位的稳定。
因此，存在这样的需要，即，为骨科手术，特别是复位手术提供一个机器人，其与手术床形成牢固的刚性连接。
发明内容
有鉴于此，本发明的目的是提出一种骨科机器人，其与手术床牢固连接而配合使用。
为实现上述目的，本发明提供一种骨科机器人，其与手术床配合使用，所述机器人包括依次连接的对接件、远端平台、近端平台、及控制缸箱车；其中，所述控制缸箱车包括具有六自由度的运动平台以及控制所述运动平台的控制箱，以及在远端侧的连接柱，所述连接柱能够调节所述近端平台的高度；所述近端平台包括形成滑动配合的侧板组件，以调节所述近端平台与所述控制缸箱车之间的距离；所述远端平台包括 旋转滑轨组件，通过所述旋转滑轨组件所述远端平台能够在水平面内相对于所述近端平台旋转。
与现有技术的骨科机器人相比，本发明机器人与手术床能形成牢固的连接；此外，本发明机器人还以模块化的方式提供高度、距离和水平角度的调节能力。
附图说明
参考附图和说明书可以更好地理解本发明。附图中的部件不一定按比例绘制，其用意仅在于阐明本发明的原理。在附图中：
图1和图2为现有技术的骨科机器人系统以及其中的骨科机器人的示意图；
图3为根据本发明的一个实施例的骨科机器人的立体图；
图4为根据本发明的一个实施例的骨科机器人的对接件的立体图；
图5为根据本发明的一个实施例的骨科机器人的远端平台的从上方看到的立体图；
图6和图7为图5的远端平台的从下方看到的立体图；其中图7去除了轨座架，以露出轨座和导轨；
图8和图9为根据本发明的一个实施例的骨科机器人的近端平台立体图，其中图8中示出了分别在两侧与近端平台连接的远端平台的轨座架和控制缸箱车的连接块；
图10为根据本发明的一个实施例的骨科机器人的控制缸箱车的立体图；
图11为图10中的控制缸箱车的连接柱的立体图；
图12为图11中的连接柱的调高柱的截面图。
具体实施方式
下面的说明涉及根据本发明的一个实施例的骨科机器人，其与手术床配合使用。参考图3，将其左侧命名为远端侧，所述机器人包括在远端侧依次连接的对接件100、远端平台200、近端平台300、及控制缸箱车400。
所述控制缸箱车400包括具有六自由度的运动平台420以及控制所述运动平台420的控制箱440，以及在远端侧的连接柱460(图10中示出)，所述连接柱460能够调节所述近端平台300的高度；
所述近端平台300包括形成滑动配合的侧板组件，以调节所述近端平台200与所述控制缸箱车400之间的距离；
所述远端平台200包括旋转滑轨组件，通过所述旋转滑轨组件所述远端平台200能够在水平面内相对于所述近端平台300旋转。
通过提供对接件，本发明的骨科机器人与手术床能形成牢固的连接；此外，本发明机器人以不同模块分别提供对高度、距离和水平角度的调节能力。
参考图4，优选地，骨科机器人的所述对接件100包括对接座120，其在前后两侧分别包括第一对接通道和第二对接通道；所述手术床具有边杠，所述边杠能够进入所述第二对接通道；能够刚性安装到所述远端平台200上的边轨140，所述边轨140能够进入所述第一对接通道；第一紧固件160，用于将所述边轨140紧固连接到所述对接座100；第二紧固件180，用于将所述手术床的所述边杠紧固连接到所述对接座100。
仍参考图4，优选地，所述对接座120在所述第一对接通道和所述第二对接通道处的截面为C形。
更优选地，所述边轨140可以和手术床的边杠的规格相同，对接座120的第一对接通道和第二对接通道也具有相同的规格。由此，对接座120的加工更加容易，并且使用时更加便利。
参考图5-7，优选地，所述远端平台200包括：主体板220，所述旋转滑轨组件位于所述主体板220下侧；位于所述主体板220左右两侧的对接件安装部225，所述对接件100安装在所述对接件安装部上225；其中所述旋转滑轨组件包括弧形导轨240和具有弧形轨道的轨座260(图7中示出)；所述导轨240安装到所述主体板220，所述轨座260刚性连接到所述近端平台300。
通过弧形导轨240和具有弧形轨道的轨座260，上述远端平台200以简单可靠的结构提供对水平角度的调节能力。
参考图6并参考图4，作为连接的一种示例，优选地，所述对接件100的所述边轨140包括安装柱145，所述远端平台200包括与所述安装柱145对应的安装座225。
仍参考图6，优选地，所述远端平台200还包括：轨座架270，所述轨座架270通过第一紧固件275刚性连接到所述轨座260，并且通过第二紧固件277刚性连接到所述近端平台300。
具体地说，所述轨座架270包括位于左右两侧的侧段(图6的上下两侧)，以及连接所述两个侧段的中段。所述中段由所述第一紧固件275刚性连接到所述轨座260，所述两个侧段由两个第二紧固件277连接到所述近端平台300的连接板340(参考图8)。
参考图3以及图5-7，优选地，具有会阴托285的会阴柱280安装在所述远端平台200上。由此，为患者的髋部提供支撑。
参考图3及图8，优选地，所述近端平台300的所述侧板组件包括：层叠在一起的滑轨320、连接板340，及边轨360；其中，所述滑轨320能够沿近端-远端方向相对于所述连接板340滑动；所述边轨360刚性连接到所述连接板340，所述边轨360具有至少一个附件安装部。
具体地说，所述附件安装部可用于安装腿部支撑架367(图3中示出)、腿托368以及臂托369(图8中示出)。
参考图9，优选地，所述滑轨320包括用于连接到所述控制缸箱车400的第一连接部325；所述连接板340包括用于连接到所述远端平台200的第二连接部345。
作为示例，第二连接部345为形成在所述连接板340的远端侧的螺钉孔，第二紧固件277穿过所述螺钉孔，将近端平台300的所述连接板340刚性连接到远端平台200的所述轨座架270。
参考图10和图11，优选地，所述控制缸箱车400的所述连接柱460包括调高柱462和连接块464，所述调高柱462的高度可调，所述连接块464可拆卸地连接到所述近端平台300的所述滑轨320。
此外，所述控制缸箱车400还包括车体450和车轮455，以便于其移动。
同时参考图8和图11，作为示例，近端平台的所述滑轨320的所述第一连接部325为排列成矩形的四个螺钉孔，控制缸箱车的所述连接块464具有与之对应的螺钉孔。通过使用螺钉，连接块464被刚性连接到第一连接部325，由此将控制缸箱车400刚性连接到近端平台300。
参考图12，优选地，所述调高柱462包括位于顶部的可转动把手4621、由所述把手4621带动的可转动丝杆4623，以及围绕所述丝杆4623并与所述丝杠4623形成螺纹配合的螺母杆4624，所述螺母杆4624连接到所述调高柱462的底部。
仍参考图12，更优选地，所述丝杆4623是中空的，可转动芯轴4625位于所述中空丝杆(4623内。上述芯轴的加入，能够提高所述调高柱的相关零件的同心定位的可靠性。
仍参考图12，再优选地，所述调高柱462还包括升降柱4626，其连接到所述把手4621并且围绕所述螺母杆4624，当转动所述把手4621时，所述升降柱4626升降。
参考图3，优选地，根据本发明一个实施例的骨科机器人还包括支撑板500，其安装在所述控制缸箱车400上，以支撑患者身体部位，例如患者的小腿。
另外，根据需要，所述支撑板500可连接额外的固定装置。在复位手术中，所述额外的固定装置可固定患者的骨折的近端或远端，并借助于控制缸箱车400的运动平台的驱动而实现复位操作。
尽管已经公开多个示例性实施例，但是本领域技术人员将理解，在不偏离本发明的精神和保护范围的情况下，可做出各种改变和改进，并可适当地替代执行相同功能的部件。应注意，参考一个附图说明的特征可以与其他附图的特征组合起来，即使未明确提及。

Claims (14)

  1. 一种骨科机器人，其与手术床配合使用，所述机器人包括依次连接的对接件(100)、远端平台(200)、近端平台(300)、及控制缸箱车(400)；
    所述控制缸箱车(400)包括具有六自由度的运动平台(420)、控制所述运动平台(420)的控制箱(440)，以及在远端侧连接到所述近端平台(300)的连接柱(460)，所述连接柱(460)能够调节所述近端平台(300)的高度；
    所述近端平台(300)包括形成滑动配合的侧板组件，以调节所述近端平台(200)与所述控制缸箱车(400)之间的距离；
    所述远端平台(200)包括旋转滑轨组件，通过所述旋转滑轨组件所述远端平台(200)能够在水平面内相对于所述近端平台(300)旋转。
  2. 根据权利要求1所述的机器人，其中所述对接件(100)包括：
    对接座(120)，其在前后两侧分别包括第一对接通道和第二对接通道；所述手术床具有边杠，所述边杠能够进入所述第二对接通道；
    能够刚性安装到所述远端平台(200)上的边轨(140)，所述边轨(140)能够进入所述第一对接通道；
    第一紧固件(160)，用于将所述边轨(140)紧固连接到所述对接座(100)；
    第二紧固件(180)，用于将所述手术床的所述边杠紧固连接到所述对接座(100)。
  3. 根据权利要求2所述的机器人，其中
    所述对接座(120)在所述第一对接通道和所述第二对接通道处的截面为C形。
  4. 根据权利要求1所述的机器人，其中所述远端平台(200)包括：
    主体板(220)，所述旋转滑轨组件位于所述主体板(220)下侧；
    位于所述主体板(220)左右两侧的对接件安装部(225)，所述对接件(100)安装在所述对接件安装部上(225)；
    其中所述旋转滑轨组件包括弧形导轨(240)和具有弧形轨道的轨座(260)；所述导轨(240)安装到所述主体板(220)，所述轨座(260)刚性连接到所述近端平台(300)。
  5. 根据权利要求4所述的机器人，其中
    所述对接件(100)的所述边轨(140)包括安装柱(145)，所述远端平台(200)包括与所述安装柱(145)对应的安装座(225)
  6. 根据权利要求4所述的机器人，其中所述远端平台(200)还包括：
    轨座架(270)，所述轨座架(270)通过第一紧固件(275)刚性连接到所述轨座(260)，并且通过第二紧固件(277)刚性连接到所述近端平台(300)。
  7. 根据权利要求4所述的机器人，其中
    具有会阴托(285)的会阴柱(280)安装在所述远端平台(200)上。
  8. 根据权利要求1所述的机器人，其中
    所述近端平台(300)的所述侧板组件包括：层叠在一起的滑轨(320)、连接板(340)以及边轨(360)；
    其中，所述滑轨(320)能够沿近端-远端方向相对于所述连接板(340)滑动；所述边轨(360)刚性连接到所述连接板(340)，所述边轨(360)具有至少一个附件安装部。
  9. 根据权利要求8所述的机器人，其中
    所述近端平台(300)的所述滑轨(320)包括用于连接到所述控制缸箱车(400)的第一连接部(325)；所述近端平台(300)的所述连接板(340)包括用于连接到所述远端平台(200)的第二连接部(345)。
  10. 根据权利要求1所述的机器人，其中
    所述控制缸箱车(400)的所述连接柱(460)包括调高柱(462)和连接块(464)，所述调高柱(462)的高度可调，所述连接块(464)可拆卸地连接到所述近端平台(300)的所述滑轨(320)。
  11. 根据权利要求10所述的机器人，其中
    所述调高柱(462)包括位于顶部的可转动把手(4621)、由所述把手(4621)带动的可转动丝杆(4623)，以及围绕所述丝杆(4623)并与所述丝杠(4623)形成螺纹配合的螺母杆(4624)，所述螺母杆(4624)连接到所述调高柱(462)的底部。
  12. 根据权利要求11所述的机器人，其中
    所述丝杆(4623)是中空的，可转动芯轴(4625)位于所述中空丝杆(4623)内。
  13. 根据权利要求12所述的机器人，其中
    所述调高柱(462)还包括升降柱(4626)，其连接到所述把手(4621)并且围绕所述螺母杆(4624)，当转动所述把手(4621)时，所述升降柱(4626)升降。
  14. 根据权利要求1所述的机器人，还包括
    支撑板(500)，其安装在所述控制缸箱车(400)上，以支撑患者身体部位。
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CN2366062Y (zh) * 1999-03-11 2000-03-01 李伏生 遥控式多功能骨科复位治疗机
US20090138025A1 (en) * 2007-05-04 2009-05-28 Hansen Medical, Inc. Apparatus systems and methods for forming a working platform of a robotic instrument system by manipulation of components having controllably rigidity
WO2013067535A1 (en) * 2011-11-04 2013-05-10 The Johns Hopkins University Steady hand micromanipulation robot
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