CN102764157B - Robot for orthopaedic surgery - Google Patents

Abstract

An orthopedic surgical robot includes a bracket, a lifting assembly, a large arm, a small arm and a rotating arm. The lifting component is installed on the bracket, the lifting component is connected to the big arm through the first joint, the big arm is connected to the small arm through the second joint, and the small arm is connected to the rotating arm through the third joint. The axes of rotation of the first joint and the second joint are parallel to the direction of gravity. The axis of rotation of the third joint is perpendicular to the direction of gravity. The above-mentioned orthopedic surgical robot can enable orthopedic surgical instruments to cover all positions where surgical operations are required during surgery, thereby improving the utilization rate of surgical space.

Description

Orthopedic Surgical Robot

technical field

The invention relates to the technical field of medical robots, in particular to an orthopedic surgery robot.

Background technique

The development of computer technology, microelectronics technology and medical science is the driving force for the development of robots. Medical robots have been greatly developed and widely used. At present, research on medical robots mainly focuses on surgical robots, rehabilitation robots, nursing robots and micro-robots. Among them, according to different structural forms, surgical robots can be divided into active surgical robots, master-slave surgical robots, and teleoperated surgical robots.

An orthopedic surgical robot is a surgical robot. Traditional orthopedic surgical robots have a low utilization rate of the surgical workspace, and it is difficult to cover all the positions that require surgical operations. In addition, when the robot fails or is misoperated, the mechanical arm will fall along the vertical plane due to the influence of gravity, which will damage the surgical tools installed at the end of the orthopedic surgical robot and even cause medical accidents.

Contents of the invention

Based on this, it is necessary to provide an orthopedic surgical robot with high airborne surgical utilization to solve the problem of low surgical space utilization of traditional orthopedic surgical robots.

An orthopedic surgical robot, comprising a bracket, a lifting assembly, a large arm, a small arm and a rotating arm, the lifting assembly is installed on the bracket, the lifting assembly is connected to the large arm through a first joint rotation, and the large arm is connected to the The forearm is rotatably connected through a second joint, and the forearm and the rotating arm are rotatably connected through a third joint; the axes of rotation of the first and second joints are parallel to the direction of gravity; the third joint The axis of rotation is perpendicular to the direction of gravity.

In one of the embodiments, the lifting assembly includes a screw, a screw nut, a connecting piece and a driving mechanism, the screw nut is screwed on the screw, one end of the connecting piece is fixed to the screw nut, and the other One end is rotatably connected to the boom, the driving mechanism is installed on the bracket, one end of the screw rod is connected to the driving mechanism, and the other end is rotatably connected to the bracket.

In one of the embodiments, the rotation axis of the third joint is parallel to the extension direction of the forearm.

In one of the embodiments, it further includes a wrist assembly, and the wrist assembly is rotationally connected to an end of the rotating arm away from the third joint through a fourth joint.

In one of the embodiments, the rotation axis of the fourth joint is perpendicular to the extension direction of the rotation arm.

In one of the embodiments, the wrist assembly includes a surgical instrument mount and a pitch arm, the pitch arm is connected to the rotating arm through the fourth joint, and the surgical instrument mount is mounted on the pitch arm .

In one of the embodiments, the wrist assembly further includes an identification part, and the identification part is mounted on an end of the pitch arm away from the surgical instrument installation part.

In one of the embodiments, the driving mechanism includes a shaft coupling, a multi-stage reduction box, a servo motor and an encoder, and the lead screw passes through the output of the shaft coupling, the multi-stage reduction box and the servo motor in sequence. The shaft is connected, and the encoder is installed on the servo motor.

In one of the embodiments, the encoder is connected with the control system of the surgical robot.

In the above-mentioned orthopedic surgery robot, the rotation axes of the first joint and the second joint are parallel to the direction of gravity. By rotating the first joint and the second joint and moving the lifting assembly to adjust the positions of the upper arm and the forearm, it is possible to make the orthopedic surgery The instrument covers all the positions that need to be operated on, which improves the utilization rate of the operating space.

Description of drawings

Fig. 1 is a perspective view of a preferred embodiment of the present invention;

Fig. 2 is a posture diagram of an angle when the rotating arm in Fig. 1 rotates;

Fig. 3 is a posture diagram of another angle when the rotating arm in Fig. 1 rotates;

Fig. 4 is a posture diagram of an angle when the pitching arm in Fig. 1 performs a pitching motion;

Fig. 5 is a posture diagram of another angle when the pitching arm in Fig. 1 performs a pitching motion.

Detailed ways

In view of the low utilization rate of the surgical workspace of traditional orthopedic surgical robots, it is difficult to cover all the positions that need to be operated on, and when the robot fails or is misoperated, the mechanical arm will fall along the vertical plane due to the influence of gravity, which will damage the The surgical tool at the end of the orthopedic surgical robot even causes the problem of medical malpractice, and an orthopedic surgical robot is provided.

As shown in FIG. 1 , the orthopedic surgical robot of the preferred embodiment of the present invention includes a frame 110 , a lift assembly 120 mounted on the frame, a large arm 130 , a small arm 140 and a rotating arm 150 . The lifting assembly 120 is mounted on the bracket 110 , and the lifting assembly 120 is rotatably connected to the boom 130 through the first joint 160 . The big arm 130 is rotatably connected to the small arm 140 through the second joint 170 . The small arm 140 is rotationally connected to the rotating arm 150 through a third joint 180 . The rotational axis of the first joint 160 and the second joint 170 are parallel to the direction of gravity, and the rotational axis of the third joint 180 is perpendicular to the direction of gravity.

In the above-mentioned orthopedic surgical robot, the rotation axes of the first joint 160 and the second joint 170 are parallel to the direction of gravity, and the positions of the big arm 130 and the small arm 140 are adjusted by rotating the first joint 160 and the second joint 170 and moving the lifting assembly 120, During the operation, the orthopedic surgical instrument can cover all the positions where the operation needs to be performed, thereby improving the utilization rate of the operation space.

In this embodiment, the lifting assembly 120 includes a screw rod 121 , a screw nut 123 , a connecting piece 125 and a driving mechanism 127 . The screw nut 123 is screwed on the screw rod 121 . One end of the connecting piece 125 is fixed to the screw nut 123 , and the other end is rotatably connected to the boom 130 . The driving mechanism 127 is installed on the bracket 110 , one end of the threaded rod 121 is connected to the driving mechanism 127 , and the other end is rotatably connected to the bracket 110 . The rotation axis of the third joint 180 is parallel to the extension direction of the forearm 140 .

In the above embodiment, the rotation axes of the first joint 160 and the second joint 170 are parallel to the direction of gravity, and the rotation axis of the third joint 180 is perpendicular to the direction of gravity. To move, the swivel arm 150 rotates along the axis. Although the movement of the lifting assembly 120 is along the vertical direction, the screw rod 121 equipped with the screw nut 123 is used as the movement track in the lifting assembly 120, even if the robot fails or misoperates, it will not fall back in the direction of gravity , effectively avoiding surgical tool damage or medical accidents caused by the fall of the robotic arm.

As shown in FIG. 2 , FIG. 3 , FIG. 4 and FIG. 5 , the orthopedic surgical robot further includes a wrist assembly 210 . The wrist assembly 210 is rotatably connected to an end of the rotating arm 150 away from the third joint 180 through the fourth joint 220 . The rotation axis of the fourth joint 220 is perpendicular to the extension direction of the rotation arm 150 . Wrist assembly 210 includes surgical instrument mount 212 , pitch arm 214 , and identification member 216 . The pitching arm 214 is connected to the rotating arm 150 through the fourth joint 220, and the pitching arm 214 can perform a pitching motion around the fourth joint as an axis. The surgical instrument mounting part 212 is mounted on one end of the pitching arm 214 , and the identification part 216 is mounted on the end of the pitching arm 214 away from the surgical instrument mounting part 212 . The surgical instrument mounting part 212 is used for installing the orthopedic surgical instrument, and the identification part 216 is used for locating the position of the orthopedic surgical instrument during the movement of the orthopedic surgical robot.

In this embodiment, the driving mechanism 127 includes a shaft coupling, a multi-stage reduction box, a servo motor and an encoder. The lead screw is connected to the output shaft of the servo motor through a coupling and a multi-stage reduction box in turn, and the encoder is installed on the servo motor. As the power source, the servo motor outputs torque and speed, and is decelerated by a multi-stage gearbox to increase the output torque of the drive mechanism. The coupling transmits the speed and torque to the screw, and the rotation of the screw drives the movement of the screw nut, thereby completing the lifting movement of the lifting assembly. The encoder is connected with the control system of the surgical robot. The encoder detects the angular displacement and angular velocity of the servo motor, and feeds back to the control system in the form of electrical signals. After processing, the control system adjusts the angular displacement and angular velocity of the servo motor through the drive circuit of the servo motor.

In this embodiment, the first joint 160 includes a first encoder, a first servo motor and a first harmonic reducer. The first servo motor is installed on the connecting member 125 , and the first encoder is installed on the first servo motor. The first harmonic reducer includes a first wave generator, a first flex spline and a first steel wheel. The first wave generator is connected to the output shaft of the first servo motor, the first steel wheel is fixed to the connecting member 125 , and the first flexible wheel is connected to the big arm 130 . The first servo motor outputs the rotational speed and torque, and transmits the motion to the boom 130 through the deceleration of the first harmonic reducer, so as to realize the rotation of the boom 130 . The first encoder is connected with the control system of the surgical robot, converts the angular velocity and angular displacement of the first servo motor into electrical signals and transmits the electrical signals to the control system.

In this embodiment, the second joint 170 includes a second encoder, a second servo motor and a second harmonic reducer. The second servo motor is mounted on the arm 140 . The second encoder is installed on the second servo motor. The second harmonic reducer includes a second wave generator, a second flex spline and a second steel wheel. The second wave generator is connected with the output shaft of the second servo motor, the second steel wheel is fixed on the small arm 140 , and the second flexible wheel is connected with the big arm 130 . The second servo motor provides the speed and torque of the second joint, and the second harmonic reducer reduces the speed and increases the torque. The second encoder is connected with the control system of the surgical robot, converts the angular velocity and angular displacement of the second servo motor into electrical signals and transmits the electrical signals to the control system.

In this embodiment, both the third joint 180 and the fourth joint 220 include driving parts, which are respectively used to drive the rotating arm 150 to rotate and the pitching arm 212 to perform a pitching motion.

The above-mentioned orthopedic surgery robot is designed in the form of a planar joint robot. The rotation axes of the first joint 160 and the second joint 170 are parallel to the direction of gravity. And the position of the forearm 140 can make the orthopedic surgical instruments cover all the positions that need to be operated during the operation, which improves the utilization rate of the operation space. At the same time, when dragging the robot, the distance between the big arm 130 and the small arm 140 of the robot and the rotating arm 150 and the ground remains unchanged, and the robot can be dragged at will without any safety hazard to the patient, which greatly improves the safety of the operation. , and the planar joint robot also has the characteristics of large working space, precise positioning and simple operation.

In addition, the orthopedic surgical robot has five degrees of freedom of the lifting assembly 120 , the first joint 160 , the second joint 170 , the third joint 180 and the fourth joint 210 . Wherein, the lifting assembly 120, the first joint 160 and the second joint 170 are used to adjust the end position of the orthopedic surgery robot. The third joint 180 and the fourth joint 210 are used to adjust the terminal posture of the orthopedic surgery robot. When cooperating with the doctor's operation, it is easy to drag and drop, and the five degrees of freedom can ensure that the orthopedic surgical instrument can be adjusted to any position within the working range, and any posture within the working range can be realized, fully meeting the needs of the doctor's operation.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (7)

1. An orthopedic surgical robot, characterized in that it comprises a support, a lifting assembly, a large arm, a forearm and a rotating arm, the lifting assembly is installed on the support, and the lifting assembly is rotationally connected with the large arm through a first joint , the big arm is rotationally connected to the small arm through a second joint, and the small arm is rotationally connected to the rotating arm through a third joint; the axes of rotation of the first joint and the second joint are parallel to the direction of gravity; The axis of rotation of the third joint is perpendicular to the direction of gravity; it also includes a wrist assembly, which is rotationally connected to the end of the rotating arm away from the third joint through a fourth joint; the wrist assembly includes A surgical instrument mounting part and a pitching arm, the pitching arm is connected to the rotating arm through the fourth joint, the surgical instrument mounting part is installed on the pitching arm; the third joint and the fourth joint both include a drive parts, respectively used to drive the rotating arm to rotate and the pitching arm to perform pitching motion. 2. The orthopedic surgical robot according to claim 1, wherein the lifting assembly comprises a screw mandrel, a screw nut, a connector and a drive mechanism, the screw nut is screwed on the screw mandrel, and the connector of the connector One end is fixed to the screw nut, the other end is rotatably connected to the boom, the drive mechanism is installed on the bracket, one end of the screw rod is connected to the drive mechanism, and the other end is rotatably connected to the bracket . 3. The orthopedic surgical robot according to claim 1, wherein the rotation axis of the third joint is parallel to the extension direction of the forearm. 4. The orthopedic surgical robot according to claim 1, wherein the rotation axis of the fourth joint is perpendicular to the extending direction of the rotating arm. 5 . The orthopedic surgical robot according to claim 1 , wherein the wrist assembly further comprises an identification piece, and the identification piece is mounted on an end of the pitch arm away from the surgical instrument mounting piece. 6 . 6. The orthopedic surgical robot according to claim 2, wherein the drive mechanism comprises a shaft coupling, a multistage reduction box, a servo motor and an encoder, and the lead screw passes through the coupling, the multistage The stage reduction box is connected with the output shaft of the servo motor, and the encoder is installed on the servo motor. 7. The orthopedic surgical robot according to claim 6, wherein the encoder is connected with a control system of the surgical robot.