CN113974763B

CN113974763B - Intelligent grinding and drilling mechanical arm for minimally invasive surgery

Info

Publication number: CN113974763B
Application number: CN202111484712.1A
Authority: CN
Inventors: 董林林; 董兵
Original assignee: HENAN PROVINCE CHINESE MEDICINE RESEARCH INSTITUTE
Current assignee: HENAN PROVINCE CHINESE MEDICINE RESEARCH INSTITUTE
Priority date: 2021-12-07
Filing date: 2021-12-07
Publication date: 2023-07-21
Anticipated expiration: 2041-12-07
Also published as: CN113974763A

Abstract

The invention belongs to the technical field of intelligent manufacturing, and particularly relates to an intelligent grinding machine mechanical arm for minimally invasive surgery, which comprises a mechanical arm, wherein one end of the mechanical arm is connected with a bone grinding device, the bone grinding device comprises a grinding drill, the grinding drill comprises a cylindrical drill rod, the bottom end of the drill rod is connected with a grinding head, the top end of the drill rod is connected with a first motor, and the drill rod and the grinding head are vertically arranged; the first cylinder is arranged outside the drill rod and coaxial with the drill rod, the first cylinder is fixedly connected with the mechanical arm, and a camera is arranged on the first cylinder; the bone grinding device further comprises a broken bone cleaning device matched with the grinding drill, the broken bone cleaning device is connected with a pretreatment device, and the pretreatment device is connected with a conveying device; the invention provides an intelligent grinding and drilling mechanical arm for minimally invasive surgery, which can take out broken bones during grinding and drilling.

Description

Intelligent grinding and drilling mechanical arm for minimally invasive surgery

Technical Field

The invention belongs to the technical field of intelligent manufacturing, and particularly relates to an intelligent grinding and drilling mechanical arm for minimally invasive surgery.

Background

In recent years, in the trend of the development of the cross fusion of subjects such as medicine, biomechanics, mechatronics, computers and robotics, the application of the robot-assisted surgery technique has occurred, and has been widely used in clinical operations such as neurosurgery, abdominal surgery, thoracic surgery, bone surgery, vascular intervention, craniofacial surgery and the like.

Traditional orthopedics operation requires a doctor to hold a special grinding drill or milling cutter to carry out fine operations such as drilling, milling and the like, requires the doctor to have extremely high operation skills and abundant operation experience, and has high operation intensity and long learning curve. Compared with the traditional manual operation mode, the mechanical arm can realize more accurate and rapid fine operation by means of the image/optical navigation system during operation, can effectively improve the operation effect and reduce the fatigue degree of doctors.

The existing bone surgery can automatically grind the drill when the mechanical arm is used for surgery, so that the fatigue degree of doctors is reduced, but the broken bones still need to be taken out manually after the surgery, and the doctors still need to learn for a long time in the process. Because the drill bit is difficult to reposition to the same position after stopping, the operation can not be stopped to take out broken bones; because the drill bit continuously rotates, the broken bones ground at the beginning of the operation are scattered more, and more effort is required by doctors to take the bones after the grinding is finished.

Disclosure of Invention

The invention aims to provide an intelligent grinding and drilling mechanical arm for minimally invasive surgery, which can take out broken bones during grinding and drilling.

Based on the above purpose, the invention adopts the following technical scheme:

the intelligent grinding and drilling mechanical arm for the minimally invasive surgery comprises a mechanical arm, wherein one end of the mechanical arm is connected with a bone grinding device, the bone grinding device comprises a grinding drill, the grinding drill comprises a cylindrical drill rod, the bottom end of the drill rod is connected with a grinding head, the top end of the drill rod is connected with a first motor, and the drill rod and the grinding head are vertically arranged; the first cylinder is arranged outside the drill rod and coaxial with the drill rod, the first cylinder is fixedly connected with the mechanical arm, and a camera is arranged on the first cylinder; the bone grinding device further comprises a broken bone cleaning device matched with the grinding drill, the broken bone cleaning device is connected with a pretreatment device, and the pretreatment device is connected with a conveying device.

Further, the broken bone cleaning device comprises a pair of clamping jaws; each clamping jaw is connected with a telescopic mechanism and a rotating mechanism; each clamping jaw comprises a clamping plate arranged at the lower part, the top end of each clamping plate is fixedly connected with a rack, each rack is fixedly connected with a first sliding rail parallel to the rack, and each rack and the clamping plate are parallel to the drill rod; each telescopic mechanism comprises a first straight gear in meshed connection with the rack, and each first straight gear is connected with a second motor; every telescopic machanism all includes the first connecting block that the level set up, has seted up the first spout of vertical setting on the first connecting block, and first slide rail all sets up in first spout and with first spout sliding connection.

Further, each clamping plate comprises a fixed plate fixedly connected with the bottom end of the rack, and a rotating plate hinged with the bottom end of the fixed plate; and each fixing plate is fixedly connected with a fourth motor, and the shaft of each fourth motor is fixedly connected with the rotating plate.

Further, each rotating mechanism comprises a power mechanism and a track mechanism; the power mechanism comprises a second connecting block fixedly connected with the first connecting block and the second motor; each second connecting block is rotationally connected with a first connecting rod, and each first connecting rod is of a cylindrical structure which is horizontally arranged; one end of each first connecting rod far away from the second connecting block is fixedly connected with a bevel gear coaxial with the first connecting rod, each bevel gear is connected with a third motor, and bevel gears in the two rotating mechanisms are connected with a first gear ring coaxial with the second sliding rail in a meshed manner.

Further, the track mechanism comprises arc-shaped second sliding grooves formed in each second connecting block, the second sliding grooves in the two rotating mechanisms are connected with an annular second sliding rail in a sliding mode, and the second sliding rail and the drill rod are coaxially arranged; the radius of the first gear ring is smaller than that of the second sliding rail; the track mechanism further comprises third connecting blocks fixedly connected with each third motor, each third connecting block is provided with an arc-shaped third sliding groove, the third sliding grooves in the two rotating mechanisms are connected with an annular third sliding rail, and the third sliding rail and the first gear ring are coaxially arranged and smaller than the radius of the first gear ring; a fourth sliding groove perpendicular to the third sliding groove is further formed in the third sliding rail, the fourth sliding groove is of a circular ring structure, a first sliding block which is in sliding connection with the fourth sliding groove is fixedly connected to each third connecting block, and each first sliding block is of an arc structure; the third slide rail, the first gear ring and the second slide rail are fixedly connected with the first cylinder.

Further, the conveying device comprises a second cylinder arranged outside the drill rod, the second cylinder is coaxial with the drill rod, and a speed reducing mechanism is arranged between the second cylinder and the drill rod; the outer peripheral surface of the second cylinder is fixedly connected with a helical blade; a third cylinder coaxial with the second cylinder is arranged outside the spiral blade, and the radius of the third cylinder is smaller than that of the third sliding rail; the top of the third cylinder is fixedly connected with a conveying channel which is of a cylindrical structure in inclined arrangement; the top end of the conveying channel is communicated with the top of a third cylinder, and a first through hole communicated with the conveying channel is formed in the third cylinder; the first cylinder is provided with a second through hole, and the bottom end of the conveying channel passes through the second through hole and is arranged outside the first cylinder; the collecting mechanism is arranged on the outer circumferential surface of the first cylinder and is matched with the bottom end of the conveying channel.

Further, the speed reducing mechanism comprises a sun gear fixedly connected to the drill rod, the sun gear is connected with a planetary gear in a meshed mode, and the planetary gear is connected with a second gear ring in a meshed mode; the second gear ring is fixedly connected with the inner cambered surface of the second cylinder; the planetary gear is connected with a planetary carrier, and the planetary carrier is fixedly connected with the first cylinder.

Further, the collecting mechanism comprises a first connecting port fixedly connected to the outer peripheral surface of the first cylinder, the first connecting port is of a square cylindrical structure, the conveying channel is arranged in the first connecting port, and positioning holes are formed in the walls on the left side and the right side of the first connecting port; the collecting mechanism further comprises a second connecting port matched with the first connecting port, the second connecting port is of a square cylindrical structure, and one end of the second connecting port is connected with a collecting bag; the second connecting port is provided with a quick clamping mechanism matched with the first connecting port.

Further, the quick clamping mechanism comprises a pair of positioning blocks matched with the positioning holes, each positioning block is connected with a second connecting rod which is vertically arranged, and the two second connecting rods are respectively arranged in the walls on the left side and the right side of the second connecting port; the bottom end of each second connecting rod is fixedly connected with the positioning block; one side of each second connecting rod, which is close to the other second connecting rod, is fixedly connected with the positioning block, and the other side of each second connecting rod is connected with a pressure spring; the top end of each second connecting rod is fixedly connected with a horizontal third connecting rod, and the two third connecting rods are arranged in the wall above the second connecting port; each third connecting rod is hinged with a fixed shaft; one end, far away from the second connecting rods, of each third connecting rod is connected with a fifth chute, and each fifth chute is in the same direction as the third connecting rod; the two fifth sliding grooves are connected with a movable shaft in a sliding manner, and the movable shaft is parallel to the fixed shaft; a fourth connecting rod which is vertically arranged is fixedly connected to the movable shaft, and a button is fixedly connected to the top end of the fourth connecting rod; a movable channel matched with the positioning block, the second connecting rod, the third connecting rod and the button is arranged in the second connecting port.

Further, the pretreatment device comprises a third through hole formed in the cambered surface of the third cylinder, the third through hole is formed in the bottom of the third cylinder, a treatment box communicated with the third through hole is fixedly connected to the third cylinder, the length direction of the treatment box is the same as that of the third cylinder, the cross section of the treatment box is fan-shaped, and the top end of the treatment box is open; two or more rotating shafts are arranged in the treatment box, and each rotating shaft is parallel to the third cylinder; each rotating shaft is connected with a blade; the bottom end of the rotating shaft is connected with a driving mechanism.

Further, the driving mechanism comprises a first belt wheel fixedly connected to the bottom of each rotating shaft, and a second belt wheel fixedly connected to the drill rod, each first belt wheel is connected with a belt, and each belt is connected with the second belt wheel.

Compared with the prior art, the invention has the following beneficial effects:

1. when the broken bones are ground by the grinding drill, the position of the broken bones to be ground is obtained through the camera, the broken bones can be automatically cleaned by the broken bones cleaning device, the broken bones can be automatically subjected to preliminary treatment by the pretreatment device, the volume of the broken bones is reduced, and the broken bones are conveniently conveyed out; the conveying device can automatically convey the processed broken bones to the outside, so that the further processing is convenient; the automatic cleaning of broken bones is realized while the bones are ground, so that the wounds of the broken bones to patients in the grinding and drilling processes can be reduced. The broken bones can be taken out in time during grinding, omission can be avoided, and the broken bones are taken out more accurately.

2. Because the angle is different when grinding and drilling, the position of broken bones is also different, so that the clamping jaw can not be fixedly arranged. The rotating mechanism can drive the pair of clamping jaws to rotate around the grinding drill, so that the clamping jaws can conveniently find the positions of broken bones, and further clamp the broken bones; the telescopic mechanism can lengthen and shorten the clamping jaw, so that the clamping jaw is shortened, the drill grinding work is prevented from being influenced, and the stable drill grinding work is ensured; the clamping jaw stretches to move to the position of the broken bone, so that the broken bone is conveniently clamped, the clamping jaw is retracted after the broken bone is clamped, the broken bone can also be moved, and the broken bone is conveniently moved into the pretreatment device.

3. The third motor of the rotating mechanism can drive the bevel gear to rotate on the gear ring and enable the bevel gear to rotate around the axis of the gear ring; the bevel gear can drive the third motor and the third connecting block to rotate on the third sliding rail, and the gear ring and the third sliding rail are coaxial to enable the third motor and the bevel gear to keep synchronous; simultaneously, the bevel gear can also drive the first connecting rod to rotate around the axis of the gear ring, so that the first connecting rod drives the second connecting rod to rotate around the axis of the gear ring; the first connecting rod is rotationally connected with the second connecting block, so that the second connecting block does not interfere the rotation of the first connecting rod, and the rotating mechanism is kept stable. The bevel gear can drive the second connecting block and the bevel gear to synchronously rotate around the axis of the gear ring through the sliding connection of the second connecting block and the second sliding rail, and finally, the third motor drives the second connecting block and the clamping jaw to rotate around the axis of the gear ring, so that the position of the clamping jaw is adjusted. The fourth sliding groove and the third connecting block can limit the position of the third connecting block on the third sliding rail in the other direction, so that the third connecting block is prevented from moving along the direction of the third sliding groove and then separating from the third sliding rail, and the third connecting block can stably slide.

4. The conveying device is provided with the helical blade, so that the space between the drill rod and the third sliding rail can be fully utilized, the power of the drill rod can be transmitted to the helical blade by using the planetary reduction mechanism, the second cylinder and the helical blade are driven to rotate by using the power of the drill rod, the power is provided for the conveying device, and the space in the first cylinder is fully utilized; the conveying passage is connected with the spiral blade, and the pretreated broken bones can be conveyed to the collecting mechanism, so that the further treatment is convenient.

5. The collecting mechanism is provided with a first connecting port and a second connecting port, so that the second connecting port and the collecting bag can be conveniently fixed on the first cylinder, and meanwhile, the second connecting port and the collecting bag can be conveniently taken down from the first cylinder, and broken bones can be conveniently taken out for further treatment; the quick clamping mechanism is matched with the positioning hole, the second connecting port is quickly fixed with the first connecting port, the second connecting port is conveniently quickly removed, and the second connecting port can be stably connected with the first connecting port by matching the two positioning blocks with the positioning hole.

6. The blade is arranged in the treatment box of the pretreatment device, so that broken bones can be primarily cut, the volume of the broken bones is reduced, and the conveying is convenient. The blade adopts the first belt pulley and the second belt pulley to drive, so that the power of the drill rod can be fully utilized, the space is fully utilized, and the structure of the mechanical arm of the grinding machine is more compact.

Drawings

FIG. 1 is a schematic diagram of embodiment 1 of the present invention;

fig. 2 is a schematic view of a bone grinding apparatus according to embodiment 1 of the present invention;

fig. 3 is a schematic view of a crushed bone cleaning device according to embodiment 1 of the invention;

FIG. 4 is an enlarged view of a portion of FIG. 3;

FIG. 5 is a schematic view of a splint according to example 1 of the present invention;

fig. 6 is a schematic view of a broken bone cleaning device according to another angle of embodiment 1 of the present invention;

FIG. 7 is an enlarged view of a portion of FIG. 6;

FIG. 8 is a schematic view of a third connecting block of embodiment 1 of the present invention;

fig. 9 is a schematic diagram of a first connection block in embodiment 1 of the present invention;

FIG. 10 is a schematic view of a conveying apparatus according to embodiment 1 of the present invention;

FIG. 11 is a schematic view of the inside of a third cylinder according to example 1 of the present invention;

FIG. 12 is a cross-sectional view of FIG. 11;

FIG. 13 is a schematic view of a conveying path according to embodiment 1 of the present invention;

FIG. 14 is a schematic view of a collection mechanism according to embodiment 1 of the present invention;

FIG. 15 is an enlarged view of a portion of FIG. 14;

fig. 16 is a schematic diagram of a second connection port according to embodiment 1 of the present invention;

FIG. 17 is a schematic view of a collection bag according to example 1 of the present invention;

FIG. 18 is a schematic view of a quick-connect mechanism according to embodiment 1 of the present invention;

FIG. 19 is a schematic view of the movable tunnel according to embodiment 1 of the present invention;

FIG. 20 is a front view of the propulsion mechanism of embodiment 4 of the present invention;

FIG. 21 is an enlarged view of a portion of FIG. 20;

FIG. 22 is a schematic view of a propulsion mechanism according to another embodiment 4 of the present invention;

FIG. 23 is an enlarged view of a portion of FIG. 22;

FIG. 24 is an enlarged view of a portion of FIG. 23;

fig. 25 is a schematic view showing the internal structure of the automatic telescopic rod according to embodiment 4 of the present invention.

In the figure: mechanical arm 1, bone grinding device 2, broken bone cleaning device 3, conveying device 5, collecting mechanism 6, third gear ring 101, fifth motor 102, automatic telescopic rod 103, fourth slide rail 104, screw rod 105, nut 106, fourth connecting block 108, second spur gear 109, fifth connecting rod 110, sixth connecting rod 111, fixing piece 112, pin 113, grinding bit 201, drill rod 202, grinding head 203, first motor 204, first cylinder 205, camera 206, clamping jaw 301, clamping plate 302, rack 303, first slide rail 304, first spur gear 305, second motor 306, first connecting block 307, first slide groove 308, fixing plate 309, rotating plate 310, fourth motor 311, second connecting block 312, third slide rail the first connecting rod 313, the bevel gear 314, the third motor 315, the first gear ring 316, the second sliding groove 317, the second sliding rail 318, the third connecting block 319, the third sliding groove 320, the third sliding rail 321, the fourth sliding groove 322, the first slider 323, the second cylinder 501, the helical blade 502, the third cylinder 503, the conveying channel 504, the sun gear 505, the planetary gear 506, the second gear ring 507, the planet carrier 508, the first connecting port 601, the positioning hole 602, the second connecting port 603, the collecting bag 604, the positioning block 605, the second connecting rod 606, the compression spring 607, the third connecting rod 608, the fixed shaft 609, the fifth sliding groove 610, the moving shaft 611, the fourth connecting rod 612, the button 613, the moving channel 614.

Detailed Description

Example 1

1-19, an intelligent grinding drill 201 mechanical arm 1 for minimally invasive surgery comprises the mechanical arm 1, one end of the mechanical arm 1 is connected with a bone grinding device 2, the bone grinding device 2 comprises a grinding drill 201, the grinding drill 201 comprises a cylindrical drill rod 202, the bottom end of the drill rod 202 is connected with a grinding head 203, the top end of the drill rod 202 is connected with a first motor 204, and the drill rod 202 and the grinding head 203 are vertically arranged; the drill rod 202 is externally provided with a first cylinder 205 coaxial with the drill rod, the first cylinder 205 is fixedly connected with the mechanical arm 1, and the first cylinder 205 is provided with a camera 206; the bone grinding device 2 further comprises a broken bone cleaning device 3 matched with the grinding drill 201, wherein the broken bone cleaning device 3 is connected with a pretreatment device, and the pretreatment device is connected with a conveying device 5.

As shown in fig. 3-9, the crushed bone cleaning device 3 comprises a pair of clamping jaws 301; a pair of jaws 301 are arranged around the drill rod 202, and the projection of each jaw 301 on the horizontal plane is between the first cylinder 205 and the grinding head 203; each clamping jaw 301 is connected with a telescopic mechanism and a rotating mechanism; each clamping jaw 301 comprises a clamping plate 302 arranged at the lower part, the top end of each clamping plate 302 is fixedly connected with a rack 303, each rack 303 is fixedly connected with a first sliding rail 304 parallel to the rack 303, and each rack 303 and the clamping plate 302 are parallel to the drill rod 202; each telescopic mechanism comprises a first straight gear 305 in meshed connection with a rack 303, and each first straight gear 305 is connected with a second motor 306; each telescopic mechanism comprises a first connecting block 307 which is horizontally arranged, a first chute 308 which is vertically arranged is arranged on the first connecting block 307, and the first sliding rail 304 is arranged in the first chute 308 and is in sliding connection with the first chute 308.

Each clamping plate 302 comprises a fixed plate 309 fixedly connected with the bottom end of the rack 303, and a rotating plate 310 hinged with the bottom end of the fixed plate 309; a fourth motor 311 is fixedly connected to each fixing plate 309, and a shaft of each fourth motor 311 is fixedly connected to the rotating plate 310.

Each rotating mechanism comprises a power mechanism and a track mechanism; the power mechanism comprises a second connecting block 312 fixedly connected with the first connecting block 307 and the second motor 306; each second connecting block 312 is rotatably connected with a first connecting rod 313, and each first connecting rod 313 is of a cylindrical structure which is horizontally arranged; one end of each first connecting rod 313 far away from the second connecting block 312 is fixedly connected with a bevel gear 314 coaxial with the first connecting rod, each bevel gear 314 is connected with a third motor 315, and the bevel gears 314 in the two rotating mechanisms are in meshed connection with a first gear ring 316 coaxial with the second sliding rail 318.

The track mechanism comprises a circular arc-shaped second sliding groove 317 formed in each second connecting block 312, the second sliding grooves 317 are formed in the bottom ends of the second connecting blocks 312, the second sliding grooves 317 in the two rotating mechanisms are connected with a circular ring-shaped second sliding rail 318 in a sliding manner, and the second sliding rail 318 and the drill rod 202 are coaxially arranged; the radius of the first gear ring 316 is smaller than the radius of the second slide rail 318; the track mechanism further comprises a third connecting block 319 fixedly connected with each third motor 315, each third connecting block 319 is provided with a circular arc-shaped third sliding groove 320, each third sliding groove 320 is provided at the bottom end of each second connecting block 312, the third sliding grooves 320 in the two rotating mechanisms are connected with a circular ring-shaped third sliding rail 321, and the third sliding rails 321 and the first gear ring 316 are coaxially arranged and are smaller than the radius of the first gear ring 316; the third sliding rail 321 is also provided with a fourth sliding groove 322 which is vertical to the third sliding groove 320, the fourth sliding groove 322 is of a circular ring structure, each third connecting block 319 is fixedly connected with a first sliding block 323 which is in sliding connection with the fourth sliding groove 322, and each first sliding block 323 is of a circular arc structure; the third sliding groove 320 and the third sliding rail 321 are vertically arranged, and the first sliding block 323 and the fourth sliding groove 322 are horizontally arranged; the third sliding rail 321, the first gear ring 316 and the second sliding rail 318 are all fixedly connected with the first cylinder 205.

As shown in fig. 10-13, the conveying device 5 comprises a second cylinder 501 arranged outside the drill rod 202, the second cylinder 501 is coaxial with the drill rod 202, and a speed reducing mechanism is arranged between the second cylinder 501 and the drill rod 202; the outer circumferential surface of the second cylinder 501 is fixedly connected with a helical blade 502; a third cylinder 503 coaxial with the second cylinder 501 is arranged outside the helical blade 502, and the radius of the third cylinder 503 is smaller than the third slide rail 321; the top of the third cylinder 503 is fixedly connected with a conveying channel 504, and the conveying channel 504 is of a cylinder structure which is obliquely arranged; the top end of the conveying channel 504 is communicated with the top of the third cylinder 503, and the third cylinder 503 is provided with a first through hole communicated with the conveying channel 504; the first cylinder 205 is provided with a second through hole, and the bottom end of the conveying channel 504 passes through the second through hole and is arranged outside the first cylinder 205; a collecting mechanism 6 is provided on the outer peripheral surface of the first cylinder 205, and the collecting mechanism 6 is fitted to the bottom end of the conveying passage 504.

The speed reducing mechanism comprises a sun gear 505 fixedly connected to the drill rod 202, the sun gear 505 is in meshed connection with a planetary gear 506, and the planetary gear 506 is in meshed connection with a second gear ring 507; the second gear ring 507 is fixedly connected with the inner cambered surface of the second cylinder 501; the planet gear 506 is connected to a planet carrier 508, and the planet carrier 508 is fixedly connected to the first cylinder 205.

As shown in fig. 14-19, the collecting mechanism 6 includes a first connecting port 601 fixedly connected to the outer peripheral surface of the first cylinder 205, the first connecting port 601 is in a square tubular structure, the conveying channel 504 is arranged in the first connecting port 601, and positioning holes 602 are formed in the walls on the left and right sides of the first connecting port 601; the collecting mechanism 6 further comprises a second connecting port 603 matched with the first connecting port 601, the second connecting port 603 is of a square cylindrical structure, and one end of the second connecting port 603 is connected with a collecting bag 604; the second connection port 603 is provided with a quick-locking mechanism matched with the first connection port 601.

The quick clamping mechanism comprises a pair of positioning blocks 605 matched with the positioning holes 602, each positioning block 605 is connected with a second connecting rod 606 which is vertically arranged, and the two second connecting rods 606 are respectively arranged in the walls on the left side and the right side of the second connecting port 603; the bottom end of each second connecting rod 606 is fixedly connected with a positioning block 605; one side of each second connecting rod 606, which is close to the other second connecting rod 606, is fixedly connected with the positioning block 605, and the other side of each second connecting rod 606 is connected with a pressure spring 607; a horizontal third connecting rod 608 is fixedly connected to the top end of each second connecting rod 606, and two third connecting rods 608 are arranged in the wall above the second connecting port 603; each third connecting rod 608 is hinged with a fixed shaft 609, and the fixed shafts 609 are arranged at the corners of the third connecting rods 608 connected with the second connecting rods 606; one end of the two third connecting rods 608 far away from the second connecting rod 606 is connected with a fifth sliding groove 610, and each fifth sliding groove 610 has the same direction as the third connecting rod 608; the two fifth sliding grooves 610 are slidably connected with a moving shaft 611, and the moving shaft 611 is parallel to the fixed shaft 609; a fourth connecting rod 612 which is vertically arranged is fixedly connected to the movable shaft 611, a button 613 is fixedly connected to the top end of the fourth connecting rod 612, and the fourth connecting rod 612 and the button 613 are arranged above the movable shaft 611; the second connecting port 603 is provided with a movable channel 614 which is matched with the positioning block 605, the second connecting rod 606, the third connecting rod 608 and the button 613. The movable channel 614 allows the first connecting rod 313, the positioning block 605, the second connecting rod 606, the third connecting rod 608 and the button 613 to move or rotate within the wall of the second connecting port 603 without interfering with the wall of the second connecting port 603.

The pretreatment device comprises a third through hole formed in the cambered surface of a third cylinder 503, the third through hole is formed in the bottom of the third cylinder 503, a treatment box communicated with the third through hole is fixedly connected to the third cylinder 503, the length direction of the treatment box is the same as that of the third cylinder 503, the cross section of the treatment box is fan-shaped, and the top end of the treatment box is open; three rotating shafts are arranged in the treatment box, and each rotating shaft is parallel to the third cylinder 503; each rotating shaft is connected with a blade; the bottom end of the rotating shaft is connected with a driving mechanism.

The driving mechanism comprises a first belt wheel fixedly connected to the bottom of each rotating shaft, a second belt wheel fixedly connected to the drill rod 202, a belt connected to each first belt wheel, and a belt connected to each second belt wheel.

Example 2

The embodiment is an intelligent abrasive drilling 201 mechanical arm 1 for minimally invasive surgery, which comprises the following steps:

step 1, the mechanical arm 1 is operated to position the grinding head 203, the first motor 204 is started, and the first motor 204 drives the grinding head 203 to move through the drill rod 202 to start grinding bones.

And 2, taking down the crushed bones, and placing the crushed bones into a pretreatment device. The crushed bone is clamped using the clamping jaw 301 before it is ground off. The second motor 306 is started, the second motor 306 drives the first straight gear 305 to rotate, and the first straight gear 305 drives the rack 303 to enable the clamping jaw 301 to extend to the grinding head 203. The third motor 315 of the rotation mechanism drives the bevel gear 314 to rotate on the first ring gear 316, and rotates the bevel gear 314 around the axis of the first ring gear 316; the bevel gear 314 drives the third motor 315 and the third connecting block 319 to rotate on the third sliding rail 321, and the first gear ring 316 and the third sliding rail 321 are coaxial so that the third motor 315 and the bevel gear 314 can be kept synchronous; simultaneously, the bevel gear 314 also drives the first connecting rod 313 to rotate around the axis of the first gear ring 316, so that the first connecting rod 313 drives the second connecting block 312 to rotate around the axis of the first gear ring 316; the first connecting rod 313 is rotatably connected with the second connecting rod 312, so that the second connecting rod 312 does not interfere with the rotation of the first connecting rod 313, and the rotating mechanism is kept stable. The second connecting block 312 is slidably connected with the second sliding rail 318, so that the bevel gear 314 drives the second connecting block 312 to rotate around the axis of the first gear ring 316 synchronously with the second connecting block, and finally, the third motor 315 drives the second connecting block 312 and the clamping jaw 301 to rotate around the axis of the first gear ring 316, so that the position of the clamping jaw 301 is adjusted. The two clamping jaws 301 are moved to both sides of the crushed bone, respectively, so that the crushed bone is clamped by the two rotating plates 310. After the broken bones are ground off, a fourth motor 311 is started, the fourth motor 311 rotates to drive a rotating plate 310 to rotate, the rotating plate 310 clamps the broken bones to enable the broken bones to be far away from the grinding drill 201, a second motor 306 is started, the second motor 306 reversely rotates to drive a first straight gear 305 to rotate, the first straight gear 305 drives a rack 303 to retract a clamping jaw 301, and after the clamping jaw 301 drives the broken bones to move above a processing box, the second motor 306 stops rotating. The fourth motor 311 is reversed, the fourth motor 311 rotates to drive the rotating plate 310 to rotate, the rotating plate 310 clamps the crushed bones to enable the crushed bones to be close to the opening of the treatment box, and then the second motor 306 is reversed to place the crushed bones into the treatment box. After the crushed bones enter the treatment box, the third motor 315 is reversed, so that the third motor 315 and the bevel gear 314 drive the clamping jaw 301 to be far away from the crushed bones, the next crushed bone is continuously clamped, and the step 2 is repeated.

And step 3, performing preliminary treatment on the crushed bones, and conveying the treated crushed bones to a collecting device. After the crushed bones enter the treatment box, the drill rod 202 rotates to drive the second belt pulley to rotate, the second belt pulley drives the three first belt pulleys to rotate through the belt, the first belt pulley drives the rotating shaft to rotate, and the rotating shaft drives the blade to cut the crushed bones. The crushed bones are conveyed into the conveying channel 504 by the cooperation of the spiral blade 502 and the third cylinder 503 after being cut, and enter the collecting bag 604 from the conveying channel 504 under the action of gravity. The helical blade 502 is driven by the drill stem 202, and when the drill stem 202 rotates, the sun gear 505 is driven to rotate, and the sun gear 505 drives the second gear ring 507 to rotate through the planetary gear 506, so that the second gear ring 507 drives the second cylinder 501 and the helical blade 502 to rotate.

And 4, taking out the crushed bones from the collecting device. After all broken bones are conveyed to the collecting bag 604, a button 613 is pressed, the button 613 moves downwards and drives a fourth connecting rod 612 and a moving shaft 611 to move downwards, the moving shaft 611 moves downwards and then slides in two fifth sliding grooves 610, the two fifth sliding grooves 610 drive a third connecting rod 608 to move downwards far away from one end of a second connecting rod 606, the other end of the third connecting rod 608 moves upwards and drives the second connecting rod 606 to rotate around a fixed shaft 609, the second connecting rod 606 rotates and compresses a pressure spring 607, and meanwhile, the second connecting rod 606 drives a limiting block to move out of a limiting hole. By pressing the button 613, the second connection port 603 and the collection bag 604 can be pulled out.

Example 3

In contrast to embodiment 1, the conveyor belt is disposed in the conveying path 504 in this embodiment, so that the crushed bones can be stably conveyed into the collecting bag 604 without relying on gravity.

Example 4

Compared with the embodiment 1, the mechanical arm 1 of the embodiment is internally provided with a propulsion mechanism connected with the bone grinding device 2, and the propulsion mechanism is arranged above the bone grinding device as shown in fig. 20-25. The propelling mechanism comprises a third gear ring 101 fixedly connected with the mechanical arm, the third gear ring 101 is horizontally arranged, a second spur gear 109 is connected to the third gear ring 101 in a meshed mode, a fifth motor 102 is connected to the second spur gear 109, and the second spur gear 109 is vertically arranged with the shaft of the fifth motor 102. The fifth motor 102 is fixedly connected with a fourth connecting block 108, and the fourth connecting block 108 is arranged at the bottom end of the fifth motor 102; the fourth connecting block 108 is slidably connected with a fourth sliding rail 104, the fourth sliding rail 104 is in a ring structure, and the fourth sliding rail 104 is coaxial with the third gear ring 101 and is arranged below the third gear ring 101. A sixth sliding groove which is in sliding connection with the fourth sliding rail 104 is formed in the fourth connecting block 108, a seventh sliding groove which is vertical to the sixth sliding groove is formed in the fourth sliding rail 104, and a second sliding block which is in sliding connection with the seventh sliding groove is fixedly connected to the fourth connecting block 108; the sixth sliding groove and the second sliding block are arc-shaped; the seventh sliding groove and the fourth sliding rail 104 are both in circular ring structures; the structure of the fourth connection block 108 and the fourth slide rail 104 is the same as the structure of the third connection block and the third slide rail, i.e., the seventh slide groove limits the vertical direction of the fourth connection block 108. An automatic telescopic rod 103 is hinged to the fourth connecting block 108, a screw rod 105 is hinged to the other end of the automatic telescopic rod 103, the screw rod 105 is arranged vertically, the screw rod 105 is arranged below the fourth connecting block 108, and the screw rod 105 and the fourth sliding rail 104 are coaxially arranged. The screw rod 105 is in threaded connection with a nut 106, the nut 106 is fixedly connected with the mechanical arm, the bottom end (the end far away from the automatic telescopic rod 103) of the screw rod 105 is in rotary connection with the bone grinding device, and the screw rod 105 is in axial fixing and radial rotary connection with the bone grinding device. The screw rod 105 is rotatably connected with the top end of the first cylinder and can drive the first cylinder to ascend and descend. The automatic telescopic rod 103 comprises a fifth connecting rod 110 hinged with the screw rod 105, the fifth connecting rod 110 is of a cylindrical structure, the automatic telescopic rod 103 further comprises a sixth connecting rod 111 which is in sliding connection with the fifth connecting rod 110, the sixth connecting rod 111 is of a barrel-shaped structure, and the fifth connecting rod 110 is arranged in a sliding mode in the sixth connecting rod 111. A connecting plate is fixedly connected to the fourth connecting block 108, and a sixth connecting rod 111 is hinged to the connecting plate.

The top end of the screw rod 105 is provided with a fixing piece 112, and the fixing piece 112 and the screw rod 105 are of an integrated structure; the fixing piece 112 is connected with the head end of the fifth connecting rod 110 through a pin 113; the connecting plate is also provided with a fixing piece 112, the sixth connecting rod 111 is connected with the fixing piece 112 on the connecting plate through a pin roll 112, and the fifth connecting rod 110 is parallel to two pin rolls 113 on the sixth connecting rod 111. The fifth connecting rod 110 is rotationally connected with the fixing piece 112 on a vertical surface, so that the angle between the fifth connecting rod 110 and the screw rod 105 can be conveniently and automatically adjusted; when the automatic telescopic rod 103 rotates around the third gear ring 101 in the horizontal direction, the fifth connecting rod 110 can drive the fixing piece 112 and the screw rod 105 to rotate, so that the screw rod 105 is lifted.

When the bone is ground, the bone grinding device 2 is pushed by the pushing mechanism, so that the grinding head is pushed forward. Starting the fifth motor 102, wherein the fifth motor 102 drives the second spur gear 109 to rotate on the third gear ring 101, and rotates the second spur gear 109 around the axis of the third gear ring 101; the second spur gear 109 drives the fifth motor 102 and the fourth connecting block 108 to rotate on the fourth sliding rail 104, and the third gear ring 101 and the fourth sliding rail 104 are coaxial, so that the fifth motor 102 and the second spur gear 109 can keep synchronous. When the fourth connecting block 108 rotates, the sixth connecting rod 111 and the fifth connecting rod are driven to rotate around the axis of the screw rod 105, the fifth connecting rod 110 drives the screw rod 105 to rotate, the screw rod 105 rotates in the nut 106 and moves downwards, and meanwhile, the screw rod 105 drives the bone grinding device (the first cylinder) to push forwards. When the screw rod 105 moves downwards, the angle of the fifth connecting rod 110 hinged with the screw rod 105 can be automatically adjusted, so that the fifth connecting rod is prevented from interfering with the downward movement of the screw rod 105; simultaneously, the screw rod 105 moves downwards to drive the fifth connecting rod 110 to slide in the sixth connecting rod 111, so that the automatic telescopic rod 103 stretches, and the screw rod 105 is prevented from interfering with the fifth connecting rod 110. The propelling mechanism adopts the fifth motor 102 to drive the automatic telescopic rod 103 to rotate around the third gear ring 101, so that the automatic telescopic rod 103 drives the screw rod 105 to rotate, and the screw rod 105 can drive the bone grinding device to propel with higher precision. Compared with the existing speed reducing mechanism for driving the screw rod 105, the speed reducing mechanism realizes speed reducing transmission, and meanwhile, the automatic telescopic rod 103 also serves as a labor saving lever between the fifth motor 102 and the screw rod 105, so that the torque required by the output of the fifth motor 102 is reduced.

Claims

1. The intelligent grinding and drilling mechanical arm for the minimally invasive surgery comprises a mechanical arm and is characterized in that one end of the mechanical arm is connected with a bone grinding device, the bone grinding device comprises a grinding drill, the grinding drill comprises a cylindrical drill rod, the bottom end of the drill rod is connected with a grinding head, the top end of the drill rod is connected with a first motor, and the drill rod and the grinding head are vertically arranged; the drill rod is provided with a first cylinder coaxial with the drill rod, the first cylinder is fixedly connected with the mechanical arm, and a camera is arranged on the first cylinder; the bone grinding device further comprises a broken bone cleaning device matched with the grinding drill, wherein the broken bone cleaning device is connected with a pretreatment device, and the pretreatment device is connected with a conveying device; the broken bone cleaning device comprises a pair of clamping jaws; each clamping jaw is connected with a telescopic mechanism and a rotating mechanism; each clamping jaw comprises a clamping plate arranged at the lower part, the top end of each clamping plate is fixedly connected with a rack, each rack is fixedly connected with a first sliding rail parallel to the rack, and each rack is parallel to the clamping plate and the drill rod; each telescopic mechanism comprises a first straight gear in meshed connection with a rack, and each first straight gear is connected with a second motor; each telescopic mechanism comprises a first connecting block which is horizontally arranged, a first chute which is vertically arranged is formed in each first connecting block, and each first sliding rail is arranged in each first chute and is in sliding connection with the corresponding first chute; each clamping plate comprises a fixed plate fixedly connected with the bottom end of the rack and a rotating plate hinged with the bottom end of the fixed plate; a fourth motor is fixedly connected to each fixed plate, and the shaft of each fourth motor is fixedly connected with the rotating plate; each rotating mechanism comprises a power mechanism and a track mechanism; the power mechanism comprises a second connecting block fixedly connected with the first connecting block and the second motor; each second connecting block is rotationally connected with a first connecting rod, and each first connecting rod is of a cylindrical structure which is horizontally arranged; one end of each first connecting rod, which is far away from the second connecting block, is fixedly connected with a bevel gear coaxial with the first connecting rod, each bevel gear is connected with a third motor, and bevel gears in the two rotating mechanisms are connected with a first gear ring coaxial with the second sliding rail in a meshed manner; the track mechanism comprises arc-shaped second sliding grooves formed in each second connecting block, the second sliding grooves in the two rotating mechanisms are connected with an annular second sliding rail in a sliding manner, and the second sliding rail and the drill rod are coaxially arranged; the radius of the first gear ring is smaller than that of the second sliding rail; the track mechanism further comprises third connecting blocks fixedly connected with each third motor, each third connecting block is provided with a circular arc-shaped third sliding groove, the third sliding grooves in the two rotating mechanisms are connected with a circular ring-shaped third sliding rail, and the third sliding rail and the first gear ring are coaxially arranged and smaller than the radius of the first gear ring; a fourth sliding groove perpendicular to the third sliding groove is further formed in the third sliding rail, the fourth sliding groove is of a circular ring structure, each third connecting block is fixedly connected with a first sliding block which is in sliding connection with the fourth sliding groove, and each first sliding block is of an arc structure; the third sliding rail, the first gear ring and the second sliding rail are fixedly connected with the first cylinder; the conveying device comprises a second cylinder arranged outside the drill rod, the second cylinder is coaxial with the drill rod, and a speed reducing mechanism is arranged between the second cylinder and the drill rod; the outer peripheral surface of the second cylinder is fixedly connected with a spiral blade; a third cylinder coaxial with the second cylinder is arranged outside the spiral blade, and the radius of the third cylinder is smaller than that of the third sliding rail; the top of the third cylinder is fixedly connected with a conveying channel which is of a cylindrical structure in inclined arrangement; the top end of the conveying channel is communicated with the top of a third cylinder, and a first through hole communicated with the conveying channel is formed in the third cylinder; the first cylinder is provided with a second through hole, and the bottom end of the conveying channel passes through the second through hole and is arranged outside the first cylinder; a collecting mechanism is arranged on the peripheral surface of the first cylinder and is matched with the bottom end of the conveying channel; the speed reducing mechanism comprises a sun gear fixedly connected to the drill rod, the sun gear is connected with a planetary gear in a meshed mode, and the planetary gear is connected with a second gear ring in a meshed mode; the second gear ring is fixedly connected with the inner cambered surface of the second cylinder; the planetary gear is connected with a planetary carrier, and the planetary carrier is fixedly connected with the first cylinder; the pretreatment device comprises a third through hole formed in the cambered surface of a third cylinder, the third through hole is formed in the bottom of the third cylinder, a treatment box communicated with the third through hole is fixedly connected to the third cylinder, the length direction of the treatment box is the same as that of the third cylinder, the cross section of the treatment box is fan-shaped, and the top end of the treatment box is open; two or more rotating shafts are arranged in the treatment box, and each rotating shaft is parallel to the third cylinder; each rotating shaft is connected with a blade; the bottom end of the rotating shaft is connected with a driving mechanism; the driving mechanism comprises a first belt wheel fixedly connected to the bottom of each rotating shaft, a second belt wheel fixedly connected to the drill rod, belts connected to the first belt wheels, and belts connected to the second belt wheels.

2. The intelligent abrasive drilling mechanical arm for minimally invasive surgery according to claim 1, wherein the collecting mechanism comprises a first connecting port fixedly connected to the outer peripheral surface of the first cylinder, the first connecting port is of a square cylindrical structure, the conveying channel is arranged in the first connecting port, and positioning holes are formed in the walls on the left side and the right side of the first connecting port; the collecting mechanism further comprises a second connecting port matched with the first connecting port, the second connecting port is of a square cylindrical structure, and one end of the second connecting port is connected with a collecting bag; the second connecting port is provided with a quick clamping mechanism matched with the first connecting port.

3. The intelligent abrasive drilling mechanical arm for minimally invasive surgery according to claim 2, wherein the quick clamping mechanism comprises a pair of positioning blocks matched with the positioning holes, each positioning block is connected with a vertically arranged second connecting rod, and the two second connecting rods are respectively arranged in the walls on the left side and the right side of the second connecting port; the bottom end of each second connecting rod is fixedly connected with the positioning block; one side of each second connecting rod, which is close to the other second connecting rod, is fixedly connected with a positioning block, and the other side of each second connecting rod is connected with a pressure spring; the top end of each second connecting rod is fixedly connected with a horizontal third connecting rod, and the two third connecting rods are arranged in the wall above the second connecting port; each third connecting rod is hinged with a fixed shaft; one end, far away from the second connecting rod, of each third connecting rod is connected with a fifth sliding groove, and each fifth sliding groove is in the same direction as the third connecting rod; the two fifth sliding grooves are connected with a movable shaft in a sliding manner, and the movable shaft is parallel to the fixed shaft; a fourth connecting rod which is vertically arranged is fixedly connected to the movable shaft, and a button is fixedly connected to the top end of the fourth connecting rod; and a movable channel matched with the positioning block, the second connecting rod, the third connecting rod and the button is arranged in the second connecting port.