WO2021098584A1 - 骨科z字型切割导向装置及包括该导向装置的骨科手术机器人 - Google Patents

骨科z字型切割导向装置及包括该导向装置的骨科手术机器人 Download PDF

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WO2021098584A1
WO2021098584A1 PCT/CN2020/128449 CN2020128449W WO2021098584A1 WO 2021098584 A1 WO2021098584 A1 WO 2021098584A1 CN 2020128449 W CN2020128449 W CN 2020128449W WO 2021098584 A1 WO2021098584 A1 WO 2021098584A1
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Prior art keywords
guide device
orthopedic
shaped
cutting guide
holes
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PCT/CN2020/128449
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English (en)
French (fr)
Inventor
荣健
许靖
乔天
董旭亮
文理为
杜思傲
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杭州键嘉机器人有限公司
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Application filed by 杭州键嘉机器人有限公司 filed Critical 杭州键嘉机器人有限公司
Priority to JP2022529570A priority Critical patent/JP7278017B2/ja
Priority to KR1020227014767A priority patent/KR102517838B1/ko
Publication of WO2021098584A1 publication Critical patent/WO2021098584A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1732—Guides or aligning means for drills, mills, pins or wires for bone breaking devices
    • 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
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/14—Surgical saws ; Accessories therefor
    • A61B17/15—Guides therefor
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery

Definitions

  • the present disclosure belongs to the technical field of medical devices, and specifically relates to a guiding device for directional guiding an operator during bone cutting and an orthopedic surgical robot installed with the guiding device.
  • the present disclosure will design a Z-shaped cutting guide device, whose function is to assist the operator in determining the position and angle of the cutting surface during the operation. During use, it is necessary to cooperate with the active and passive modes of the robotic arm, and use the mutual switching between the two to achieve precise positioning of the cutting surface.
  • an orthopedic Z-shaped cutting guide device that can be accurately positioned and an orthopedic surgical robot using the guide device.
  • the technical solution adopted is: an orthopedic Z-shaped cutting
  • the guide device includes a quick installation flange, an installation base, a Z-type extension handle and a stopper, and is characterized in that one end of the quick installation flange is installed at the end of the mechanical arm, and the positioning structure is used for quick positioning.
  • the quick installation The other end of the flange is equipped with a mounting base, the mounting base is fixedly connected with a Z-shaped extension handle, and the end of the Z-shaped extension handle is fixedly connected with a stopper.
  • the center of the stopper is slightly wider than the swing saw blade and allows The guide slot through which the blade passes.
  • a thread is provided on the middle part of the Z-shaped expansion handle to fix the displacement handle.
  • the quick installation flange is in the shape of a groove
  • the positioning structure includes three pin holes arranged on the front surface of the quick installation flange, and the pin holes are respectively configured to be connected to the quick positioning pin, cylindrical pin, and diamond.
  • the line between the three pin holes forms an isosceles triangle with the apex facing downward, and the pin holes on the apex of the isosceles triangle formed by the line between the three pin holes are arranged to
  • the quick-installation flange and the quick positioning pin of the end interface of the robot arm perform interference fit, and the two pin holes on the bottom side of the isosceles triangle formed by the connection between the three pin holes are respectively connected with the cylindrical pin and the diamond pin Cooperate.
  • the front surface of the quick installation flange is further provided with three countersunk through holes, and the connection between the three countersunk through holes constitutes an isosceles triangle and the connection between the three pin holes constitutes an isosceles In contrast to the triangle, the three countersunk bolts pass through the three countersunk through holes to lock the quick installation flange and the end interface of the robot arm.
  • the front surface of the quick installation flange also has two threaded holes configured to lock the installation base to the quick installation flange.
  • the three pin holes, three countersunk through holes and two threaded holes on the front surface of the quick installation flange are located on the same circumference, and the angle between each other is 45°.
  • the mounting base has basically the same shape as the quick mounting flange, and there are two pin holes on one side of the groove, which are respectively in interference fit with the cylindrical pin and the diamond pin, and the two pin holes are aligned with the center of the mounting base.
  • the angle between the lines is 90°.
  • the groove surface of the mounting base is equipped with two hexagonal socket countersunk head through holes that cooperate with the hexagon socket countersunk head bolts to facilitate fixing the Z-shaped extension handle to the mounting base.
  • the front of the mounting base is provided with two hexagon socket countersunk head through holes two, and the hexagon socket countersunk head through holes two arranged on the front face fix the mounting base to the end interface of the mechanical arm through hexagon socket countersunk bolts.
  • the screw holes of the first through hole of the hexagon socket head and the screw holes of the second through hole of the hexagon socket head are opposite to each other, and the line between the two through holes of the two hexagon socket head and the two The connecting line between the two through-holes of the inner hexagonal countersunk head is at 90° to each other.
  • a rectangular groove is provided on the front of the mounting base at the same time, and the bottom of the rectangular groove allows a through hole with a hexagon socket countersunk head to penetrate.
  • 3/4 cylindrical grooves are provided on the four vertices of the rectangular grooves.
  • the Z-shaped extension handle has a "Z"-shaped structure as a whole, and its mating surface with the mounting base is provided with two threaded holes corresponding to the hexagon socket countersunk head on the groove surface of the mounting base. The holes one correspond to each other, and the mounting base and the Z-shaped extension handle are locked by bolts.
  • the two rotation angles of the Z-shaped extension handle are obtuse angles.
  • a threaded hole 1 is provided directly above the "Z"-shaped end of the Z-shaped extension handle, and a countersunk through hole 2 corresponding to the position of the threaded hole 1 is provided on the stopper.
  • the second through hole of the head locks the stopper and the Z-shaped extension handle by bolts.
  • the stopper is also in a zigzag shape, and its bending angles are all right angles.
  • the outer surface of the Z-shaped expansion handle is provided with two micro-semi-circular grooves at staggered positions, and the outer surface of the stopper is also provided with two micro-semi-circular grooves at staggered positions.
  • the first semicircular groove and the second micro semicircular groove are not located on the same horizontal plane; the first micro semicircular groove and the second micro semicircular groove jointly perform the positioning of the Z-shaped cutting guide device.
  • the present disclosure also provides an orthopedic surgical robot, including a robotic arm and an orthopedic Z-shaped cutting guide device as described above.
  • the robotic arm can switch between active and passive modes, and utilizes the mutual relationship between the two.
  • the switch drives the Z-shaped cutting guide device of the orthopedic surgical robot to realize the precise positioning of the cutting surface.
  • the beneficial effects of the embodiments of the present disclosure are: the front surface of the quick installation flange of the present disclosure is provided with three pin holes and three countersunk holes, and the connecting line between the three pin holes constitutes an isosceles The triangle is opposite to the isosceles triangle formed by the connecting line between the three countersunk holes.
  • the pin holes are respectively configured to cooperate with quick positioning pins, cylindrical pins and diamond pins to quickly locate the mounting base, and pass the countersunk bolts through
  • the countersunk through hole locks the quick installation flange and the end interface of the robotic arm, maintains uniform force, and fully saves the space on the upper surface of the quick installation flange;
  • the two rotation angles of the Z-type extension handle of the present disclosure are obtuse angles, It can fully expand the entire Z-shaped cutting guide device, leaving more operating space for the operator; at the same time, there is a quick positioning card slot directly in front of the "Z" end of the Z-shaped extension handle, which can quickly locate the stopper
  • Fig. 1 is a structural schematic diagram of a Z-shaped cutting guide device for orthopedics of the present disclosure
  • Figure 2 is a perspective view of the disclosed orthopedic Z-shaped cutting guide device
  • Figure 3 is a schematic diagram of the end interface of the mechanical arm in the orthopedic surgical robot of the present disclosure
  • FIG. 4 is a schematic structural diagram of the disclosed orthopedic surgical robot after the mechanical arm and the quick mounting flange are positioned and connected;
  • Figure 5 is a schematic diagram of the structure of the groove surface of the mounting base of the present disclosure.
  • Fig. 6 is a schematic diagram of the front structure of the mounting base of the present disclosure.
  • FIG. 7 is a schematic diagram of the structure of the Z-shaped extension handle of the present disclosure.
  • FIG. 8 is a schematic diagram of the structure of the limit handle of the present disclosure.
  • the orthopedic Z-shaped cutting guide device 10 described in the present disclosure may include a quick mounting flange 1, a mounting base 2, a Z-shaped extension handle 3, and a stopper 4.
  • One end of the quick installation flange 1 can be installed at the end of the robotic arm 15 and can be quickly positioned by a positioning structure.
  • the other end of the quick installation flange 1 can be equipped with an installation base 2, and the installation base 2 is fixedly connected with a Z type
  • the extension handle 3, the end of the Z-shaped extension handle 3 can be fixedly connected with the stopper 4, and the center of the stopper 4 can be opened with a guide groove 8 that is slightly wider than the blade of the swing saw and allows the blade to pass through.
  • the middle part of the Z-shaped extension handle 3 of the guide device 10 may be provided with a thread for fixing the displacement handle 5.
  • the quick installation flange 1 may be in the shape of a groove, and its whole body may be substantially cylindrical, and the positioning structure may include three positions arranged on the front surface of the quick installation flange 1.
  • the pin holes 12 are respectively configured to cooperate with the quick positioning pin, the cylindrical pin 6 and the diamond pin 7, and the connecting line between the three pin holes 12 can form an isosceles triangle with the apex facing downward.
  • the quick positioning pin can be located on the apex of the isosceles triangle formed by the connecting line between the three pin holes, and the quick installation flange 1 is interfaced with the end of the mechanical arm 15 through the interference fit between the quick positioning pin and the pin hole.
  • the cylindrical pin 6 and the diamond-shaped pin 7 can be respectively installed in the two pin holes at the base vertices of the isosceles triangle formed by the connecting line between the three pin holes, using the positioning principle of two pins on one side, fast Position the installation base 2.
  • the front surface of the quick mounting flange 1 may also be provided with three countersunk through holes 11, and the isosceles triangle formed by the connecting line between the three countersunk through holes 11 is formed between the three pin holes
  • the isosceles triangle is the opposite, that is, the apex of the isosceles triangle formed by the connection between the three countersunk through holes 11 is facing upwards, and the three countersunk bolts pass through the countersunk through holes 11 to quickly install the flange 1 and
  • the end interface of the mechanical arm 15 is locked, and the locking force can be kept uniform, and at the same time, the space on the upper surface of the quick installation flange 1 can be fully saved.
  • the front surface of the quick installation flange 1 can also be equipped with two threaded holes 13 for locking the installation base 2 to the quick installation flange 1.
  • the three pin holes 12, the three countersunk through holes 11, and the two threaded holes 13 on the front surface of the quick installation flange 1 can be on the same circumference; the pin holes 12, the countersunk through holes 11, and the threaded holes 13 are arbitrary
  • the angle between adjacent two can be 45°. Such a design can reduce the processing procedures while ensuring the processing accuracy.
  • the mounting base 2 may have basically the same shape as the quick mounting flange 1, and be fixedly connected to the quick mounting flange 1, and there may be two pin holes on one side of the groove, It can be interference fit with the cylindrical pin and diamond pin passing through the front surface of the quick installation flange 1 respectively.
  • the angle of the connecting line between the two pin holes and the center of the installation base 2 can be 90°, which can be exactly the same as the quick installation method.
  • the pin holes at the base vertices of the isosceles triangle formed by the connecting lines between the three countersunk through holes 11 on the front surface of the flange 1 are used in conjunction.
  • the groove surface of the mounting base 2 may be configured with two hexagonal socket countersunk head through holes 9 that cooperate with the hexagon socket countersunk head bolts to facilitate fixing the Z-shaped extension handle 3 to the mounting base 2;
  • the mounting base The front face of 2 can be provided with two hexagon socket countersunk head through holes 14, and the hexagon socket countersunk head through holes 14 provided on the front side are fixed to the end interface of the robot arm 15 by using hexagon socket countersunk bolts;
  • the countersunk holes of the hexagon socket countersunk head through hole 9 and the countersunk holes of the hexagon socket countersunk head through hole two 14 are opposite, and the line between the two hexagon socket countersunk head through holes 9 and the two hexagon socket countersunk head through holes The line between two and 14 is 90°.
  • the front surface of the mounting base 2 may be provided with a rectangular groove 16 at the same time, and the bottom of the rectangular groove 16 allows the hexagon socket countersunk through hole 9 to penetrate therethrough.
  • the four vertices of the rectangular groove 16 can be provided with 3/4 cylindrical grooves, because the right angle can only be approximated in the milling process, and the use of 3/4 cylindrical grooves can avoid the inconvenience of right-angle machining; Quick positioning of Z-type extension handle 3 and installation base 2.
  • the Z-shaped extension handle 3 has a “Z”-shaped structure as a whole, and its end surface mated with the mounting base 2 may be provided with two threaded holes 22 correspondingly. Corresponding to the through hole 9 of the inner hexagonal countersunk head on the groove surface of the mounting base 2, and the mounting base 2 and the Z-shaped extension handle 3 are locked by bolts.
  • the two turning angles of the Z-shaped extension handle 3 are obtuse angles, which can fully expand the entire Z-shaped cutting guide device, leaving more operating space for the operator.
  • a threaded hole 18 may be provided directly above the "Z" end of the Z-shaped extension handle 3, and a threaded hole 19 corresponding to the position of the threaded hole 18 may be provided on the stopper 4, and a threaded hole 18 The stopper 4 and the Z-shaped extension handle 3 are locked with the threaded hole 19 through bolts.
  • the stopper 4 may also have a zigzag shape, and the bending angles thereof may all be substantially right angles.
  • the outer surface of the Z-shaped extension handle 3 may be provided with two micro-semi-circular grooves 20 that do not overlap, and the outer surface of the stopper 4 may also be provided with two micro-semi-circular grooves 21 that do not overlap.
  • the micro semicircular groove one 20 and the micro semicircular groove two 21 may not be located on the same horizontal plane; the micro semicircular groove one 20 and the micro semicircular groove two 21 may jointly perform the Z-cutting guide device Positioning.
  • the positioning method may be to first use the probe point to the position of the micro semicircular groove one 20 and the micro semicircular groove two 21, and then read the position of the probe by a binocular vision instrument, and then change the position and pose to determine The position of the Z-cutting guide device in the entire space.
  • the present disclosure also provides an orthopedic surgical robot, which may include a robotic arm 15 and an orthopedic zigzag cutting guide device 10 as described above.
  • the robotic arm 15 can switch between active and passive modes, and uses The mutual switching between the two drives the orthopedic surgical robot's Z-shaped cutting guide device 10.
  • the passive mode manually pull the manipulator to near the working position, and then switch the active mode to let the manipulator move by itself according to the algorithm. Finally, the precise positioning of the cutting surface is realized. So as to provide operators with a more excellent operation mode, simple structure and strong reliability.
  • the Z-shaped cutting guide device 10 can be installed in the above-mentioned manner first, and then the notch of the stopper 4 can be used to determine the cutting position, and the operator will swing The saw blade is inserted along the slot of the stopper 4 to perform cutting operations. The cutting speed and depth can be adjusted based on experience. After the operation is completed, the swing saw is retracted and the mechanical arm 15 is adjusted to a safe position.
  • the front surface of the quick installation flange of the present disclosure is provided with three pin holes and three countersunk head holes, and the connecting line between the three pin holes constitutes an isosceles triangle and three countersunk heads.
  • the isosceles triangle formed by the connecting lines between the holes is opposite, and the pin holes are respectively configured to cooperate with the quick positioning pins, cylindrical pins and diamond pins to quickly locate the mounting base, and pass the countersunk bolts through the countersunk through-hole lock Tightly install the flange and the end interface of the robotic arm to keep the force uniform and fully save the upper surface space of the quick-install flange;
  • the Z-shaped extension handle of the present disclosure has two obtuse angles, which can fully reduce the entire Z
  • the font-shaped cutting guide is expanded, leaving more operating space for the operator; at the same time, there is a quick positioning card slot directly in front of the "Z" end of the Z-shaped extension handle, which can quickly locate the stopper and the Z-shaped extension handle.
  • the embodiments of the present disclosure aim at the position deviation problem existing in the current orthopedic surgery to cut bones.
  • the device By switching the active and passive modes of the mechanical arm, the device can be quickly positioned and guided, thereby providing the operator with more excellent Operation mode, simple structure and strong reliability.

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Abstract

一种骨科Z字型切割导向装置（10）和应用该导向装置（10）的骨科手术机器人，该导向装置包括快速安装法兰（1）、安装底座（2）、Z型扩展柄（3）和限位器（4），该快速安装法兰（1）一端安装于机械臂（15）末端，并通过定位结构进行快速定位，该快速安装法兰（1）另一端搭载安装底座（2），该安装底座（2）上固定连接有Z型扩展柄（3），该Z型扩展柄（3）末端固定连接有限位器（4），该限位器（4）中央开有比摆锯刀片略宽并容许刀片通过的导向槽（8）。应用该导向装置（10）的骨科手术机器人针对目前骨科手术截取骨头时存在的位置偏差问题，通过切换机械臂（15）的主动和被动模式，实现该导向装置（10）快速的定位和导向，从而为操作者提供更加优良的操作模式，结构简单，可靠性强。

Description

骨科Z字型切割导向装置及包括该导向装置的骨科手术机器人
相关申请的交叉引用
本公开要求于2019年11月20日提交中国专利局的申请号为CN201911139075.7、名称为“骨科Z字型切割导向装置及包括该导向装置的骨科手术机器人”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开属于医疗器械技术领域，具体而言是涉及一种在进行骨头切割时对操作者进行定向引导的导向装置及安装有上述导向装置的骨科手术机器人。
背景技术
随着机器人技术的突飞猛进，各个领域对其应用需求也在不断拓宽，其中医学领域的发展前景也是万众瞩目。在骨科手术领域，协助机器人的益处越来越明显。而对于其中的骨骼切割作业，其切割面的确定一直都是操作者的手感和目测占据较大的层面，这对于整个作业过程的精确度会产生很大的影响，进而影响到患者的康复进度。
发明内容
针对这一现象，本公开将会设计出一种Z型切割导向装置，其作用是协助操作者在作业过程中确定切割面的位置和角度。使用过程中，需要配合机械臂的主动和被动模式，利用两者的相互切换，实现切割面的精准定位。
为解决上述技术问题，本公开提供了一种能够精确定位的骨科Z型切割导向装置及应用该导向装置的骨科手术机器人，可选地，其采用的技术方案是：一种骨科Z字型切割导向装置，包括快速安装法兰、安装底座、Z型扩展柄和限位器，其特征在于：所述快速安装法兰一端安装于机械臂末端，并通过定位结构进行快速定位，所述快速安装法兰另一端搭载安装底座，所述安装底座上固定连接有Z型扩展柄，所述Z型扩展柄末端固定连接有限位器，所述限位器中央开有比摆锯刀片略宽并容许刀片通过的导向槽。
可选地，所述Z型扩展柄的中间部分上设置有螺纹用以固定移位柄。
可选地，所述快速安装法兰呈凹槽状所述定位结构包括设置于快速安装法兰正表面上的三个销孔，所述销孔分别配置成与快速定位销、圆柱销和菱形销配合，所述三个销孔之间的连线构成顶点朝向下方的等腰三角形，其中位于所述三个销孔之间的连线构成的等腰三角形的顶点上的销孔配置成与快速安装法兰和机械臂末端接口的快速定位销进行过盈配合，所述三个销孔之间的连线构成的等腰三角形的底边上的两个销孔分别与圆柱销和菱形销配合。
可选地，所述快速安装法兰正表面还设有三个沉头通孔，所述三个沉头通孔之间的连 线构成的等腰三角形与三个销孔的连线构成等腰三角形相反，，三个沉头螺栓分别穿过三个沉头通孔将快速安装法兰和机械臂末端接口锁紧。
可选地，所述快速安装法兰正表面还存在两个配置成将安装底座锁紧到快速安装法兰上的螺纹孔。
可选地，所述快速安装法兰正表面的三个销孔、三个沉头通孔以及两个螺纹孔处于同一个圆周上，彼此之间的角度为45°。
可选地，所述安装底座具有与快速安装法兰基本相同的形状，其凹槽的一面存在两个销孔，分别与圆柱销和菱形销过盈配合，两个销孔与安装底座的圆心之间的连线夹角为90°。
可选地，所述安装底座的凹槽面配置有与内六角沉头螺栓相配合以便于将Z型扩展柄固定到安装底座上的两个内六角沉头通孔一。
可选地，所述安装底座的正面设有两个内六角沉头通孔二，设置于正面的内六角沉头通孔二通过内六角沉头螺栓将安装底座固定到机械臂末端接口上。
可选地，所述内六角沉头通孔一和所述内六角沉头通孔二的螺孔朝向相反，所述两个内六角沉头通孔一之间的连线与所述两个内六角沉头通孔二之间的连线彼此成90°。
可选地，所述安装底座的正面同时设有长方形凹槽，该长方形凹槽底部容许内六角沉头通孔一贯穿。
可选地，所述长方形凹槽的四个顶点上设有3/4圆柱凹槽。
可选地，所述Z型扩展柄整体为“Z”字型结构，其与安装底座配合的面对应设置有两个螺纹孔，该螺纹孔与安装底座凹槽面的内六角沉头通孔一相互对应，并通过螺栓将所述安装底座与所述Z型扩展柄锁紧。
可选地，所述Z型扩展柄两次的转角均为钝角。
可选地，所述Z型扩展柄的“Z”型末端正前方存在与限位器的中间竖直段配合的快速定位卡槽。
可选地，所述Z型扩展柄的“Z”型末端正上方设有螺纹孔一，所述限位器上设有与螺纹孔一位置对应的沉头通孔二，螺纹孔一与沉头通孔二通过螺栓将所述限位器与所述Z型扩展柄锁紧。
可选地，所述限位器也为Z字形状，其折弯角度均为直角。
可选地，所述Z型扩展柄的外表面设有两个位置交错的微型半圆凹槽一，所述限位器外表面同样设有两个位置交错的微型半圆凹槽二，所述微型半圆凹槽一和所述微型半圆凹槽二不位于同一水平面；所述微型半圆凹槽一和所述微型半圆凹槽二共同进行Z型切割导向装置的定位。
可选地，本公开还提供一种骨科手术机器人，包括机械臂和如上述骨科Z字型切割导向装置，所述机械臂能够在主动和被动两种模式之间切换，并利用两者的相互切换带动该骨科手术机器人Z字型切割导向装置，实现切割面的精准定位。
与现有技术相比，本公开的实施例有益效果是：本公开的快速安装法兰正表面设置有三个销孔和三个沉头孔，三个销孔之间的连线构成的等腰三角形与三个沉头孔之间的连线构成的等腰三角形相反，所述销孔分别配置成与快速定位销、圆柱销和菱形销配合来快速定位安装底座，并通过沉头螺栓穿过该沉头通孔锁紧快速安装法兰和机械臂末端接口，保持受力均匀，并充分将快速安装法兰上表面空间节约出来；本公开的Z型扩展柄两次的转角均为钝角，可以充分的将整个Z字型切割导向装置扩展开，给操作者留下更多的操作空间；同时Z型扩展柄的“Z”型末端正前方存在快速定位卡槽，能够快速定位限位器与Z型扩展柄的相对位置；最后，本公开的实施例针对目前骨科手术截取骨头时存在的位置偏差问题，通过切换机械臂的主动和被动模式，实现该装置快速的定位和导向，从而为操作者提供更加优良的操作模式，结构简单，可靠性强。
附图说明
图1为本公开一种骨科Z字型切割导向装置的结构示意图；
图2为本公开骨科Z字型切割导向装置的立体视图；
图3为本公开骨科手术机器人中机械臂末端接口示意图；
图4为本公开骨科手术机器人的机械臂与快速安装法兰定位连接后的结构示意图；
图5为本公开安装底座凹槽面的结构示意图；
图6为本公开安装底座正面的结构示意图；
图7为本公开Z型扩展柄的结构示意图；
图8为本公开限位柄的结构示意图；
图中：1-快速安装法兰；2-安装底座；3-Z型扩展柄；4-限位器；5-移位柄；6-菱形销；7-圆柱销；8-导向槽；9-内六角沉头通孔一；10-骨科Z型切割导向装置；11-沉头通孔12-销孔；13-螺纹孔A；14-内六角沉头通孔二；15-机械臂；16-长方形凹槽；17-快速定位卡槽；18-螺纹孔一；19-螺纹孔二；20-微型半圆凹槽一；21-微型半圆凹槽二；22-螺纹孔B。
具体实施方式
下面将结合附图以及具体实施例来详细说明本公开，其中的示意性实施例以及说明仅用来解释本公开，但并不作为对本公开的不当限定。
如附图1、2所示，本公开所述的一种骨科Z字型切割导向装置10，可以包括快速安装法兰1、安装底座2、Z型扩展柄3和限位器4，所述快速安装法兰1一端可以安装于机 械臂15末端，并可以通过定位结构进行快速定位，所述快速安装法兰1另一端可以搭载安装底座2，并且所述安装底座2上固定连接有Z型扩展柄3，所述Z型扩展柄3末端可以固定连接有限位器4，所述限位器4中央可以开有比摆锯刀片略宽并容许刀片通过的导向槽8。
为了便于操作者进行Z字型切割，导向装置10的所述Z型扩展柄3的中间部分上可以设置有螺纹用以固定移位柄5。
如附图3和图4所示，所述快速安装法兰1可以呈凹槽状，其整体可以基本上为柱状，所述定位结构可以包括设置于快速安装法兰1正表面上的三个销孔12，所述销孔分别配置成与快速定位销、圆柱销6和菱形销7配合，所述三个销孔12之间的连线可以构成顶点朝向下方的等腰三角形。快速定位销可以位于所述三个销孔之间的连线构成的等腰三角形的顶点上，通过快速定位销与销孔之间的过盈配合使快速安装法兰1与机械臂15末端接口准确地定位；圆柱销6和菱形销7可以分别安装于所述三个销孔之间的连线构成的等腰三角形的底边顶点处的两个销孔，利用一面两销定位原理，快速定位安装底座2。
所述快速安装法兰1正表面还可以设有三个沉头通孔11，所述三个沉头通孔11之间的连线构成的等腰三角形与所述三个销孔之间构成的等腰三角形相反，即由三个沉头通孔11之间的连线组成的等腰三角形顶点朝向上方，三个沉头螺栓分别穿过该沉头通孔11，将快速安装法兰1和机械臂15末端接口锁紧，并能够保持锁紧力均匀，同时充分将快速安装法兰1上表面空间节约出来。
所述快速安装法兰1正表面还可以配置有将安装底座2锁紧到快速安装法兰1上的两个螺纹孔13。
所述快速安装法兰1正表面的三个销孔12、三个沉头通孔11以及两个螺纹孔13可以处于同一个圆周上；销孔12、沉头通孔11和螺纹孔13任意相邻两者之间的角度可以为45°，这样的设计可以减少加工的工序，同时能保证加工精度。
如附图5和图6所示，所述安装底座2可以具有与快速安装法兰1基本相同的形状，并与快速安装法兰1固定连接，其凹槽的一面可以存在两个销孔，可以分别与穿过快速安装法兰1正表面的圆柱销和菱形销过盈配合，两个销孔与安装底座2的圆心之间的连线夹角可以为90°，正好可以与快速安装法兰1正表面的三个沉头通孔11之间的连线构成的等腰三角形的底边顶点处的销孔配合使用。
所述安装底座2的凹槽面可以配置有与内六角沉头螺栓相配合以便于将Z型扩展柄3固定到安装底座2上的两个内六角沉头通孔一9；所述安装底座2的正面可以设有两个内六角沉头通孔二14，设置于正面的内六角沉头通孔二14通过内六角沉头螺栓将安装底座2 固定到机械臂15末端接口上；所述内六角沉头通孔一9和所述内六角沉头通孔二14的沉头孔朝向相反，两个内六角沉头通孔一9之间的连线与两个内六角沉头通孔二14之间的连线成90°。所述安装底座2的正面同时可以设有长方形凹槽16，该长方形凹槽16底部容许内六角沉头通孔一9贯穿。所述长方形凹槽16的四个顶点上可以设有3/4圆柱凹槽，因为铣削工艺中直角只能是近似，利用3/4圆柱凹槽可以规避直角加工的不便之处；并有利于Z型扩展柄3与安装底座2的快速定位。
如附图7和图8所示，所述Z型扩展柄3整体为“Z”字型结构，其与安装底座2配合的端面上可以对应设置有两个螺纹孔22，该螺纹孔22可以与安装底座2凹槽面的内六角沉头通孔一9相互对应，并通过螺栓将安装底座2与Z型扩展柄3锁紧。所述Z型扩展柄3两次的转角均为钝角，可以充分的将整个Z字型切割导向装置扩展开，给操作者留下更多的操作空间。所述Z型扩展柄3的“Z”型末端正前方可以存在与限位器4的中间竖直段配合的快速定位卡槽17，从而实现限位器4与Z型扩展柄3的快速定位。
所述Z型扩展柄3的“Z”型末端正上方可以设有螺纹孔一18，所述限位器4上可以设有与螺纹孔一18位置对应的螺纹孔二19，螺纹孔一18与螺纹孔二19通过螺栓将限位器4与Z型扩展柄3锁紧。
所述限位器4也可以为Z字形状，其折弯角度可以均基本上为直角。
所述Z型扩展柄3的外表面可以设有两个位置不重合的微型半圆凹槽一20，所述限位器4外表面同样可以设有两个位置不重合的微型半圆凹槽二21，所述微型半圆凹槽一20和所述微型半圆凹槽二21可以不位于同一水平面；所述微型半圆凹槽一20和所述微型半圆凹槽二21可以共同进行Z型切割导向装置的定位。可选地，定位方法可以是先利用探针点到微型半圆凹槽一20和微型半圆凹槽二21的位置，然后双目视觉仪器读取探针的位置，再通过位姿变换，从而确定Z型切割导向装置在整个空间的位置。
可选地，本公开还提供一种骨科手术机器人，可以包括机械臂15和如上述骨科Z字型切割导向装置10，所述机械臂15能够在主动和被动两种模式之间切换，并利用两者的相互切换带动该骨科手术机器人Z字型切割导向装置10，可选地，通过被动模式下，手动拉动机械臂到作业位置附近，再通过切换主动模式，让机械臂根据算法自行运动，最终实现切割面的精准定位。从而为操作者提供更加优良的操作模式，结构简单，可靠性强。
本公开的骨科手术机器人在使用时，可以先通过以上所述的方式安装好Z字型切割导向装置10，然后可以利用限位器4的槽口来确定好切割的位置，操作者再将摆锯刀片沿着限位器4槽口插入后进行切割作业，可以根据经验调节切割速度和深度，作业完毕后收回摆锯，并将机械臂15调至安全位置。
以上所述，仅是本公开的较佳实施例而已，并非对本公开的技术范围作任何限制，故凡是依据本公开的技术实质对以上实施例所作的任何细微修改、等同变化与修饰，均仍属于本公开技术方案的范围内。
工业实用性
本公开的实施例有益效果是：本公开的快速安装法兰正表面上设置有三个销孔和三个沉头孔，三个销孔之间的连线构成的等腰三角形与三个沉头孔之间的连线构成的等腰三角形相反，所述销孔分别配置成与快速定位销、圆柱销和菱形销配合来快速定位安装底座，并通过沉头螺栓穿过该沉头通孔锁紧快速安装法兰和机械臂末端接口，保持受力均匀，并充分将快速安装法兰上表面空间节约出来；本公开的Z型扩展柄两次的转角均为钝角，可以充分的将整个Z字型切割导向装置扩展开，给操作者留下更多的操作空间；同时Z型扩展柄的“Z”型末端正前方存在快速定位卡槽，能够快速定位限位器与Z型扩展柄的相对位置；最后，本公开的实施例针对目前骨科手术截取骨头时存在的位置偏差问题，通过切换机械臂的主动和被动模式，实现该装置快速的定位和导向，从而为操作者提供更加优良的操作模式，结构简单，可靠性强。

Claims (19)

  1. 一种骨科Z字型切割导向装置，包括快速安装法兰(1)、安装底座(2)、Z型扩展柄(3)、限位器(4)，其特征在于：所述快速安装法兰(1)一端安装于机械臂末端，并通过定位结构进行快速定位，所述快速安装法兰(1)另一端搭载安装底座(2)，所述安装底座(2)上固定连接有Z型扩展柄(3)，所述Z型扩展柄(3)末端固定连接有限位器(4)，所述限位器(4)中央开有比摆锯刀片略宽并容许刀片通过的导向槽。
  2. 根据权利要求1所述的骨科Z字型切割导向装置，其特征在于：所述Z型扩展柄(3)的中间部分上设置有螺纹用以固定移位柄(5)。
  3. 根据权利要求1或2所述的骨科Z字型切割导向装置，其特征在于：所述快速安装法兰(1)呈凹槽状，所述定位结构包括设置于快速安装法兰(1)正表面上的三个销孔(12)，所述销孔分别配置成与快速定位销、圆柱销(7)和菱形销(6)配合，所述三个销孔(12)之间的连线构成顶点朝向下方的等腰三角形，其中位于所述三个销孔之间的连线构成的等腰三角形的顶点上的销孔配置成与快速安装法兰(1)和机械臂末端接口的快速定位销进行过盈配合，所述三个销孔之间的连线构成的等腰三角形的底边上的两个销孔分别与圆柱销(7)和菱形销(6)配合。
  4. 根据权利要求1至3中任一项所述的骨科Z字型切割导向装置，其特征在于：所述快速安装法兰(1)正表面还设有三个沉头通孔(11)，所述三个沉头通孔(11)之间的连线构成的等腰三角形与三个销孔(12)的连线构成的等腰三角形相反，三个沉头螺栓分别穿过三个沉头通孔(11)将快速安装法兰(1)和机械臂(15)末端接口锁紧。
  5. 根据权利要求1至4中任一项所述的骨科Z字型切割导向装置，其特征在于：所述快速安装法兰(1)正表面还存在两个配置成将安装底座(2)锁紧到快速安装法兰(1)上的螺纹孔(13)。
  6. 根据权利要求1至5中任一项所述的骨科Z字型切割导向装置，其特征在于：所述快速安装法兰(1)正表面的三个销孔(12)、三个沉头通孔(11)以及两个螺纹孔(13)处于同一个圆周上，彼此之间的角度为45°。
  7. 根据权利要求1至4中任一项所述的骨科Z字型切割导向装置，其特征在于：所述安装底座(2)具有与快速安装法兰(1)基本相同的形状，其凹槽的一面存在两个销孔，分别与圆柱销(7)和菱形销(6)过盈配合，两个销孔与安装底座(2)的圆心之间的连线夹角为90°。
  8. 根据权利要求1至7中任一项所述的骨科Z字型切割导向装置，其特征在于：所述安装底座(2)的凹槽面设有配置成与内六角沉头螺栓相配合以便于将Z型扩展柄(3)固定到安装底座(2)上的两个内六角沉头通孔一(9)。
  9. 根据权利要求1至8中任一项所述的骨科Z字型切割导向装置，其特征在于：所述安装底座(2)的正面设有两个内六角沉头通孔二(14)，设置于正面的所述内六角沉头通孔二(14)通过内六角沉头螺栓将安装底座(2)固定到机械臂(15)末端接口上。
  10. 根据权利要求1至9中任一项所述的骨科Z字型切割导向装置，其特征在于：所述内六角沉头通孔一(9)和所述内六角沉头通孔二(14)的螺孔朝向相反，所述两个内六角沉头通孔一(9)之间的连线与所述两个内六角沉头通孔二(14)之间的连线彼此成90°。
  11. 根据权利要求1至10中任一项所述的骨科Z字型切割导向装置，其特征在于：所述安装底座(2)的正面同时设有长方形凹槽(16)，所述长方形凹槽(16)底部容许所述内六角沉头通孔一(9)贯穿。
  12. 根据权利要求11所述的骨科Z字型切割导向装置，其特征在于：所述长方形凹槽(16)的四个顶点上设有3/4圆柱凹槽。
  13. 根据权利要求8所述的骨科Z字型切割导向装置，其特征在于：所述Z型扩展柄(3)整体为“Z”字型结构，其与安装底座(2)配合的端面对应设置有两个螺纹孔(22)，该螺纹孔(22)与安装底座(2)凹槽面的内六角沉头通孔一(9)相互对应，并通过螺栓将所述安装底座(2)与所述Z型扩展柄(3)锁紧。
  14. 根据权利要求1至13中任一项所述的骨科Z字型切割导向装置，其特征在于：所述Z型扩展柄(3)两次的转角均为钝角。
  15. 根据权利要求1至14中任一项所述的骨科Z字型切割导向装置，其特征在于：所述Z型扩展柄(3)的“Z”型末端正前方存在与限位器(4)的中间竖直段配合的快速定位卡槽。
  16. 根据权利要求1-15任一项所述的骨科Z字型切割导向装置，其特征在于：所述Z型扩展柄(3)的“Z”型末端正上方设有螺纹孔一(18)，所述限位器(4)上设有与螺纹孔一(18)位置对应的螺纹孔二(19)，螺纹孔一(18)与螺纹孔二(19)通过螺栓将所述限位器(4)与所述Z型扩展柄(3)锁紧。
  17. 根据权利要求1-15任一项所述的骨科Z字型切割导向装置，其特征在于：所述限位器(4)也为Z字形状，其折弯角度均为直角。
  18. 根据权利要求1-15任一项所述的骨科Z字型切割导向装置，其特征在于：所述Z型扩展柄(3)的外表面设有两个位置交错的微型半圆凹槽一(20)，所述限位器(4)外表面同样设有两个位置交错的微型半圆凹槽二(21)，所述微型半圆凹槽一(20)和所述微型半圆凹槽二(21)不位于同一水平面；所述微型半圆凹槽一(20)和所述微型半圆凹槽二(21)共同进行Z型切割导向装置的定位。
  19. 一种骨科手术机器人，包括机械臂(15)和如权利要求1-18任一项所述的骨科Z字型切割导向装置，所述机械臂具有主动和被动两种模式，并利用两者的相互切换带动该骨科手术机器人Z字型切割导向装置，实现切割面的精准定位。
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