CN102764157B - Robot for orthopaedic surgery - Google Patents
Robot for orthopaedic surgery Download PDFInfo
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- CN102764157B CN102764157B CN201210108847.2A CN201210108847A CN102764157B CN 102764157 B CN102764157 B CN 102764157B CN 201210108847 A CN201210108847 A CN 201210108847A CN 102764157 B CN102764157 B CN 102764157B
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Abstract
A robot for an orthopaedic surgery comprises a bracket, a lifting component, a big arm, a small arm and a rotating arm, wherein the lifting component is mounted on the bracket and is rotationally connected with the big arm through a first joint, the big arm and the small arm are rotationally connected through a second joint, and the small arm and the rotating arm are rotationally connected through a third joint; and the rotation axial lines of the first and the second joints are parallel to the gravity direction, and the rotation axial line of the third joint is vertical to the gravity direction. According to the robot for the orthopaedic surgery, when in a surgery, instruments for the orthopaedic surgery can cover all positioned needing to be subjected to surgical operation, and the utilization rate of surgical space is improved.
Description
Technical field
The present invention relates to medical robot technical field, particularly relate to a kind of bone surgery robot.
Background technology
Computer technology, microelectric technique and medical science applied development are the onward impulses of robot development, and Medical Robot has obtained very large development, and is widely used.At present, the research of medical robot mainly concentrates on several aspects such as surgical operation robot, healing robot, nursing robot and microrobot.Wherein, according to the different surgical operation robots of version, can be divided into active surgical operation robot, master-slave mode surgical operation robot and distant operated surgical operation robot.
Bone surgery robot is a kind of surgical operation robot.Traditional bone surgery robot is low in surgical work space availability ratio, is difficult to cover all positions that need to carry out operation technique.In addition, in robot, break down or during maloperation, mechanical arm can fall along vertical plane because of the impact of gravity, the operation tool that damage is installed on bone surgery robot end even causes malpractice.
Summary of the invention
Based on this, be necessary for traditional low problem of bone surgery robotic surgery space availability ratio, provide a kind of operation to utilize airborne higher bone surgery robot.
A kind of bone surgery robot, comprise support, lifting assembly, large arm, forearm and turning arm, described lifting assembly is installed on support, described lifting assembly and described large arm are rotationally connected by the first joint, described large arm and described forearm are rotationally connected by second joint, and described forearm and described turning arm are rotationally connected by the 3rd joint; The axis of rotation of described the first joint, second joint is parallel to gravity direction; The axis of rotation in described the 3rd joint is perpendicular to gravity direction.
Therein in an embodiment, described lifting assembly comprises screw mandrel, feed screw nut, connector and driving mechanism, described feed screw nut is threaded onto screw mandrel, described feed screw nut is fixed in one end of described connector, the other end and described large arm are rotationally connected, described driving mechanism is installed on described support, and one end of described screw mandrel is connected with described driving mechanism, and the other end and described support are rotationally connected.
In an embodiment, the axis of rotation in described the 3rd joint is parallel to the bearing of trend of described forearm therein.
In an embodiment, also comprise wrist assembly therein, by the 4th joint and described turning arm, the one end away from described the 3rd joint is rotationally connected described wrist assembly.
In an embodiment, the axis of rotation in described the 4th joint is perpendicular to the bearing of trend of described turning arm therein.
In an embodiment, described wrist assembly comprises operating theater instruments installed part and pitch arm therein, and described pitch arm is connected with described turning arm by described the 4th joint, and described operating theater instruments installed part is installed on described pitch arm.
In an embodiment, described wrist assembly also comprises identification piece therein, and described identification piece is installed on described pitch arm away from one end of described operating theater instruments installed part.
Therein in an embodiment, described driving mechanism comprises shaft coupling, multi-stage speed-reducing case, servomotor and encoder, described leading screw is connected with the output shaft of described servomotor by described shaft coupling, multi-stage speed-reducing case successively, and described encoder is installed on described servomotor.
In an embodiment, described encoder is connected with the control system of operating robot therein.
In above-mentioned bone surgery robot, the axis of rotation of the first joint, second joint is parallel to gravity direction, by rotating the position of the first joint and second joint and the large arm of moving lifting assembly adjustment and forearm, in the time of can making to perform the operation, bone surgery set covers all positions that need to carry out operation technique, has improved operative space utilization rate.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of preferred embodiment of the present invention;
Fig. 2 is the attitude figure of angle when turning arm rotates in Fig. 1;
Fig. 3 is the attitude figure of another angle when turning arm rotates in Fig. 1;
Fig. 4 is the attitude figure of angle when pitch arm is done elevating movement in Fig. 1;
Fig. 5 is the attitude figure of another angle when pitch arm is done elevating movement in Fig. 1.
The specific embodiment
Low in surgical work space availability ratio for traditional bone surgery robot, be difficult to cover all positions that need to carry out operation technique, and break down or during maloperation in robot, mechanical arm can fall along vertical plane because of the impact of gravity, the operation tool that damage is installed on bone surgery robot end even causes the problem of malpractice, and a kind of bone surgery robot is provided.
As shown in Figure 1, the bone surgery robot of preferred embodiment of the present invention, comprises support 110, is installed on the lifting assembly 120 of support, large arm 130, forearm 140 and turning arm 150.Lifting assembly 120 is installed on support 110, and lifting assembly 120 is rotationally connected by the first joint 160 with large arm 130.Large arm 130 is rotationally connected by described second joint 170 with forearm 140.Forearm 140 is rotationally connected by the 3rd joint 180 with turning arm 150.The first joint 160 is parallel to gravity direction with the axis of rotation of second joint 170, and the axis of rotation in the 3rd joint 180 is perpendicular to gravity direction.
In above-mentioned bone surgery robot, the axis of rotation of the first joint 160, second joint 170 is parallel to gravity direction, by rotating the first joint 160 and second joint 170 and moving lifting assembly 120, adjust the position of large arm 130 and forearm 140, in the time of can making to perform the operation, bone surgery set covers all positions that need to carry out operation technique, has improved operative space utilization rate.
In the present embodiment, lifting assembly 120 comprises screw mandrel 121, feed screw nut 123, connector 125 and driving mechanism 127.Feed screw nut 123 is threaded onto screw mandrel 121.Feed screw nut 123 is fixed in one end of connector 125, and the other end is rotationally connected with large arm 130.Driving mechanism 127 is installed on support 110, and one end of screw mandrel 121 is connected with driving mechanism 127, and the other end and support 110 are rotationally connected.The axis of rotation in the 3rd joint 180 is parallel to the bearing of trend of forearm 140.
In above-described embodiment, the axis of rotation of the first joint 160, second joint 170 is parallel to gravity direction, and the axis of rotation in the 3rd joint 180 is perpendicular to gravity direction, when doctor operates, large arm 130, the tight along continuous straight runs of forearm 140 move, and turning arm 150 rotates along axle.Although the motion of lifting assembly 120 vertically, but adopted in lifting assembly 120, be equipped with feed screw nut 123 screw mandrel 121 as tracks, even robot fault or maloperation, can there is not larger falling at gravity direction, effectively avoid because of mechanical arm fall the operation tool damage cause or the generation of malpractice yet.
As shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 5, bone surgery robot also comprises wrist assembly 210.Wrist assembly 210 is rotationally connected by the 4th joint 220 and turning arm 150 one end away from the 3rd joint 180.The axis of rotation in the 4th joint 220 is perpendicular to the bearing of trend of turning arm 150.Wrist assembly 210 comprises operating theater instruments installed part 212, pitch arm 214 and identification piece 216.Pitch arm 214 is connected with turning arm 150 by the 4th joint 220, and pitch arm 214 can be take the 4th joint and done elevating movement as axle.Operating theater instruments installed part 212 is installed on one end of pitch arm 214, and identification piece 216 is installed on pitch arm 214 away from one end of operating theater instruments installed part 212.Operating theater instruments installed part 212 is for bone surgery set is installed, and identification piece 216 is for positioning the position of bone surgery set in bone surgery robot motion process.
In the present embodiment, driving mechanism 127 comprises shaft coupling, multi-stage speed-reducing case, servomotor and encoder.Leading screw is connected with the output shaft of servomotor by shaft coupling, multi-stage speed-reducing case successively, and encoder is installed on servomotor.Servomotor is as power source, and output torque and rotating speed, slow down through multi-stage speed-reducing case, to increase the output torque of driving mechanism.Shaft coupling passes to screw mandrel by rotating speed and moment, and screw mandrel rotates the movement that drives feed screw nut, and then completes the elevating movement of lifting assembly.Encoder is connected with the control system of operating robot.Encoder detects corner displacement and the angular velocity of servomotor, with the form of the signal of telecommunication, feeds back to control system, and control system, through processing, is adjusted corner displacement and the angular velocity of servomotor by the drive circuit of servomotor.
In the present embodiment, the first joint 160 comprises the first encoder, the first servomotor and first harmonic decelerator.The first servomotor is installed on connector 125, the first encoders and is installed on the first servomotor.First harmonic decelerator comprises first wave generator, the first flexbile gear and the first steel wheel.First wave generator is connected with the output shaft of the first servomotor, and the first steel wheel is fixed on connector 125, the first flexbile gears and is connected with large arm 130.The first servomotor output speed and moment, by the deceleration of first harmonic decelerator, passes motion to large arm 130, realizes the rotation of large arm 130.The first encoder is connected with the control system of operating robot, and the angular velocity of the first servomotor and angular displacement are converted to the signal of telecommunication and sends this signal of telecommunication to control system.
In the present embodiment, second joint 170 comprises the second encoder, the second servomotor and second harmonic decelerator.The second servomotor is installed on forearm 140.The second encoder is installed on the second servomotor.Second harmonic decelerator comprises Second Wave generator, the second flexbile gear and the second steel wheel.Second Wave generator is connected with the output shaft of the second servomotor, and the second steel wheel is fixed on forearm 140, the second flexbile gears and is connected with large arm 130.The second servomotor provides rotating speed and the torque of second joint, and second harmonic decelerator reduces rotating speed, increases torque.The second encoder is connected with the control system of operating robot, and the angular velocity of the second servomotor and angular displacement are converted to the signal of telecommunication and sends this signal of telecommunication to control system.
In the present embodiment, the 3rd joint 180 and the 4th joint 220 include actuator, are respectively used to drive turning arm 150 rotations and pitch arm 212 to do elevating movement.
Above-mentioned bone surgery robot, be designed to plane joint Robot Design form, the axis of rotation of the first joint 160, second joint 170 is parallel to gravity direction, by rotating the first joint 160 and second joint 170 and moving lifting assembly 120, adjust the position of large arm 130 and forearm 140, in the time of can making to perform the operation, bone surgery set covers all positions that need to carry out operation technique, has improved operative space utilization rate.Simultaneously, when pulling robot, the distance on the large arm 130 of robot, forearm 140 and turning arm 150 and ground is constant, can arbitrarily pull and can not have any potential safety hazard to patient, greatly improved the safety of operation, and plane joint robot also has work space large, registration, feature simple to operate.
In addition, bone surgery robot has lifting assembly 120, the first joint 160, second joint 170, the 3rd joint 180 and 210 5, the 4th joint degree of freedom.Wherein, lifting assembly 120, the first joint 160 and second joint 170 are for adjusting the terminal position of bone surgery robot.The 3rd joint 180 and the 4th joint 210 are for adjusting the terminal angle of bone surgery robot.When coordinating doctor to perform the operation, pull conveniently, five degree of freedom can guarantee bone surgery set to adjust to any position in working range, can realize any attitude in working range, meet the demand of doctor's operation completely.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (7)
1.Yi Zhong bone surgery robot, it is characterized in that, comprise support, lifting assembly, large arm, forearm and turning arm, described lifting assembly is installed on support, described lifting assembly and described large arm are rotationally connected by the first joint, described large arm and described forearm are rotationally connected by second joint, and described forearm and described turning arm are rotationally connected by the 3rd joint; The axis of rotation of described the first joint, second joint is parallel to gravity direction; The axis of rotation in described the 3rd joint is perpendicular to gravity direction; Also comprise wrist assembly, by the 4th joint and described turning arm, the one end away from described the 3rd joint is rotationally connected described wrist assembly; Described wrist assembly comprises operating theater instruments installed part and pitch arm, and described pitch arm is connected with described turning arm by described the 4th joint, and described operating theater instruments installed part is installed on described pitch arm; Described the 3rd joint and the 4th joint include actuator, are respectively used to drive described turning arm rotation and described pitch arm to do elevating movement.
2. bone surgery according to claim 1 robot, it is characterized in that, described lifting assembly comprises screw mandrel, feed screw nut, connector and driving mechanism, described feed screw nut is threaded onto screw mandrel, described feed screw nut is fixed in one end of described connector, and the other end and described large arm are rotationally connected, and described driving mechanism is installed on described support, one end of described screw mandrel is connected with described driving mechanism, and the other end and described support are rotationally connected.
3. bone surgery according to claim 1 robot, is characterized in that, the axis of rotation in described the 3rd joint is parallel to the bearing of trend of described forearm.
4. bone surgery according to claim 1 robot, is characterized in that, the axis of rotation in described the 4th joint is perpendicular to the bearing of trend of described turning arm.
5. bone surgery according to claim 1 robot, is characterized in that, described wrist assembly also comprises identification piece, and described identification piece is installed on described pitch arm away from one end of described operating theater instruments installed part.
6. bone surgery according to claim 2 robot, it is characterized in that, described driving mechanism comprises shaft coupling, multi-stage speed-reducing case, servomotor and encoder, described leading screw is connected with the output shaft of described servomotor by described shaft coupling, multi-stage speed-reducing case successively, and described encoder is installed on described servomotor.
7. bone surgery according to claim 6 robot, is characterized in that, described encoder is connected with the control system of operating robot.
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| CN201210108847.2A CN102764157B (en) | 2012-04-13 | 2012-04-13 | Robot for orthopaedic surgery |
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| CN201210108847.2A CN102764157B (en) | 2012-04-13 | 2012-04-13 | Robot for orthopaedic surgery |
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| CN102764157A CN102764157A (en) | 2012-11-07 |
| CN102764157B true CN102764157B (en) | 2014-12-10 |
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