CN105662587A - Orthopaedics operation robot - Google Patents
Orthopaedics operation robot Download PDFInfo
- Publication number
- CN105662587A CN105662587A CN201610245578.2A CN201610245578A CN105662587A CN 105662587 A CN105662587 A CN 105662587A CN 201610245578 A CN201610245578 A CN 201610245578A CN 105662587 A CN105662587 A CN 105662587A
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- China
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- end plate
- actuating device
- abrasive drilling
- bar mechanism
- axle
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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
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
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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
- A61B2017/1602—Mills
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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
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B2017/564—Methods for bone or joint treatment
Abstract
The invention discloses an orthopaedics operation robot which structurally comprises six parts including a pedestal, a moving platform, two symmetrical five-linkage mechanisms, a polishing and drilling attitude adjustment mechanism and a polishing and drilling part, wherein the pedestal drives the moving platform to do rectilinear motion in the horizontal direction by virtue of a main component, that is, a screw sliding table; the two five-linkage mechanisms are connected in parallel with the polishing and drilling attitude adjustment mechanism; the polishing and drilling attitude adjustment mechanism and the polishing and drilling part are mounted on universal joints by virtue of a polishing and drilling fixed seat, are connected with the five-linkage mechanisms via shafts, and are driven by an independent EC motor, so that the polishing and drilling part has a front-and-back swing degree of freedom to meet the requirement of high-precision accurate execution of various complex actions. The orthopaedics operation robot is high in precision, flexible to operate, and high in isotropy, has no accumulative errors, and is especially suitable for drilling and polishing in a bone surgical operation.
Description
Technical field
The present invention relates to a kind of medical robot, particularly relate to a kind of minimal access bone robot; It is specifically related in a kind of bone surgery and performs boring and the micro-wound operation robot of sanding operation.
Background technology
In minimal access bone, such as Internal transpedicular fixation, percutaneous odontoid fracture screw internal fixation, femur and the bone surgery such as tibial intramedullary nailing internal fixation, cervical intervertebral disk replacement are required for carrying out carrying out holing and sanding operation according to exact path and track. Such operation needs in correct position, operative site to be holed and polish, therapeutic effect depends critically upon operation precision, misoperation may result in the damage of nerve, the blood vessel that body weight for humans wants etc., millimeter error can bring about catastrophic consequence, patient can be made time serious to paralyse, even threat to life.
Such operation at present depends on the experience of doctor, adds the uncertainty of operation undoubtedly, adds the damage of patient and the incidence rate of post-operative complication.
Surgical operation robot shows clear superiority in operating flexibility, stability and in being accurately positioned, the precision that can effectively solve to exist in orthopaedics Minimally Invasive Surgery is not enough, irradiated many, otch relatively greatly and the problem such as operation fatigue.
In prior art, minimal access bone robot architecture is various informative, but due to the congenital defect in structure, more or less, there is motility, degree of freedom deficiency respectively, compound action is performed to the shortcomings such as precision is not high or faulty problem or deficiency.
Also the doctor of orthopaedics Minimally Invasive Surgery is in operation process at present just for this, and labor intensity is big, operating time is long, and the quality of surgical quality varies with each individual and difference is bigger. Main reason is that orthopaedics Minimally Invasive Surgery still largely Shangdi depends mainly on the skills involved in the labour of doctor's staff operation.
Summary of the invention
It is an object of the present invention to provide a kind of minimal access bone robot, it has 6-DOF, and precision is high, manipulation is flexible, is particularly suitable in bone surgery and holes and sanding operation.
The present invention be employed technical scheme comprise that for achieving the above object, a kind of minimal access bone robot, it is characterized in that, including pedestal, mobile platform, the first five-bar mechanism, the second five-bar mechanism, abrasive drilling attitude-adjusting system and six ingredients of abrasive drilling; Wherein:
Described pedestal is integral type structure, cross section is approximate to take the shape of the letter U, and including the first base plate of a rectangle, the first two ends, base plate left and right are erect respectively and are provided with the first end plate and the second end plate, between the first end plate and the second end plate, near the second end plate side, also erect and be provided with the 3rd end plate;
Hold with the first end plate and the 3rd end plate for fixing, pedestal is separately installed with a screw pair and two guide rails, wherein, screw pair is placed in the middle, two guide rails are one in front and one in back arranged in the both sides, front and back of screw pair, screw pair and two guide rails and are positioned at same level, are parallel to each other, one end of screw pair is connected with the motor with reductor being arranged on the second end plate by the first shaft coupling, this motor drive; Above-mentioned first shaft coupling is between the second end plate and the 3rd end plate;
A determining deviation is retained between bottom surface and described first base plate of said base;
Described mobile platform is integral type structure, including top and bottom two parts, global approximation takes the shape of the letter U, the bottom of mobile platform is hexahedral shape, offering the hole of three through left and right both ends of the surface inside it respectively, each hole relative position matches with the relative position of above-mentioned screw pair and two guide rails respectively; Wherein, hole placed in the middle, position is internal thread hole, and the hole of both sides, front and back is smooth hole;
The top of mobile platform is approximate to take the shape of the letter U, including the second base plate, the 4th end plate and the 5th end plate; Wherein, the second base plate is fixed on the upper surface of the lower part of above-mentioned mobile platform, and the 4th end plate and the 5th end plate are vertical with the second base plate respectively, and the first from left right side is arranged in the two ends, left and right of the second base plate;
Described mobile platform is assemblied on described pedestal by its underpart, and wherein, hole placed in the middle, position on the bottom of mobile platform is threaded connection with screw pair, and the hole of both sides, front and back becomes loose fit with corresponding guide rail respectively;
Described first five-bar mechanism and second five-bar mechanism one the first from left right side are arranged between the 4th end plate and the 5th end plate; The plane at the movement locus place of described first five-bar mechanism is parallel with the 4th end plate, the plane at the movement locus place of the second five-bar mechanism is parallel with the 5th end plate, and the plane at the movement locus place of described first five-bar mechanism is parallel with the plane at the movement locus place of described second five-bar mechanism;
On the outer side surface of described 4th end plate, on same level straight line, one on the other, the first actuating device and the second actuating device it are separately installed with;
On the outer side surface of described 5th end plate, on the same line, one on the other, it is separately installed with the 3rd actuating device and the 4th actuating device;
Above-mentioned first actuating device, the second actuating device, the 3rd actuating device and the version of the 4th actuating device, type and spec are all identical; With the central plane between described 4th end plate and described 5th end plate for symmetrical plane, above-mentioned first actuating device and the 3rd actuating device is symmetrical, the second actuating device and the 4th actuating device symmetrical;
Above-mentioned first actuating device, the second actuating device, the 3rd actuating device and the 4th actuating device each all include the motor with reductor, the synchromesh gear being assemblied on speed reducer output shaft and the belt pulley driven by this synchromesh gear by Timing Belt;
The axle that rotates of the respective belt pulley of each actuating device penetrates from the outer side surface of each self-corresponding end plate, stretches out from opposite side wall respectively; The axle that rotates of position that belt pulley up becomes shaft hole matching with the head end of corresponding five-bar mechanism, and the axle that rotates of the position that belt pulley in lower section becomes shaft hole matching with the end of corresponding five-bar mechanism;
By that belt pulley up with head end and position rotate the connecting rod that axle is connected be first connecting rod, with end and position that belt pulley in lower section rotate the connecting rod that axle is connected be fourth link, with position, the end plate plate face rotated between axle rotating axle and position that belt pulley up of that belt pulley in lower section is for the 5th connecting rod, the principle that clockwise direction sorts:
Between above-mentioned first five-bar mechanism and the respective first connecting rod of the second five-bar mechanism and second connecting rod, and respectively through bearing hinge connection between third connecting rod and fourth link, and clamp by the bearing (ball) cover of the left and right sides and be fixed together;Between above-mentioned first five-bar mechanism and the respective second connecting rod of the second five-bar mechanism and third connecting rod, two end axles by described abrasive drilling attitude-adjusting system is hinged as jointed shaft respectively, and described first five-bar mechanism and the second five-bar mechanism are linked into an integrated entity by abrasive drilling attitude-adjusting system;
The two end axles of above-mentioned abrasive drilling attitude-adjusting system is with the fixing seat of abrasive drilling for symmetrical centre, and the first from left right side is arranged symmetrically with;
The fixing seat of described abrasive drilling is the square base with center hole, with the center of circle of this center hole for symmetrical centre, described abrasive drilling fixing seat left and right sides wall is respectively symmetrically and is provided with a fixing axle; The two end axles of above-mentioned abrasive drilling attitude-adjusting system 4 is connected respectively through the fixing axle of the fixing seat left and right sides of universal joint and described abrasive drilling;
In the outside of the wherein axle head of a butt axle, second connecting rod and the third connecting rod of above-mentioned abrasive drilling attitude-adjusting system, it is equipped with an EC motor with reductor;
Described abrasive drilling includes abrasive drilling body and is assemblied in the abrasive drilling motor of abrasive drilling bodies top, and described abrasive drilling is fixed in the center hole of the fixing seat of described abrasive drilling by tightening sleeve; Wherein, described abrasive drilling motor is positioned at above the fixing seat of described abrasive drilling, and the built-in bearing being provided with bearing (ball) cover of described tightening sleeve, described bearing (ball) cover is separately fixed in the upper and lower surface of the fixing seat of described abrasive drilling one on the other.
What technique scheme was directly brought has the technical effect that, adopts serial-parallel mirror mechanism so that whole robot architecture is compact; Main actions performance element (two five-bar mechanisms) adopts symmetrical (parallel connection) version, has good isotropism, and without cumulative error, precision is high; Further, driving device is placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, and speed is high, and dynamic response is good;
The robot of technique scheme, compact overall structure, rigidity is high, and bearing capacity is big; Full symmetric mechanism has good isotropism; Realizing six-freedom motion in minimally invasive spine operative space, can only have, perform any required all kinds of simple and compound action maneuverability, it runs gently, and work space is big, and safety is high, and manipulation is flexibly.
The robot of technique scheme, it is possible to precise positioning achieves operation minimal damage, the precision that improve medical diagnosis on disease and operative treatment and quality, makes operation safety be improved, shortens treatment time; Reduce medical treatment cost and substitute doctor's operation technique under lonizing radiation, improving the accuracy of operation, reducing the risk of operation; And then the sickness rate of minimizing post-operative complication, the radiological detriment to doctor can also be reduced simultaneously, the clinical expansion for the micro-operation of orthopaedics uses significant.
For being more fully understood that the technical characterstic of the present invention, release bright as follows further:
The minimal access bone robot of technique scheme, its mobile platform forms a series connection degree of freedom of this robot, and two five-bar mechanisms and abrasive drilling attitude-adjusting system are connected in parallel, and constitute five degree of freedom.
Wherein, mobile platform is one of robot series connection degree of freedom, it is achieved that two five-bar mechanisms in parallel, abrasive drilling attitude-adjusting system and abrasive drilling in the horizontal direction accurate mobile;
In five-bar mechanism, the parallel-connection structure of high torque Timing Belt and five-bar mechanism and five-bar mechanism, define full symmetric structure, there is good isotropism. That is, the synergism of two five-bar mechanisms achieve abrasive drilling attitude-adjusting system and abrasive drilling up and down, movable and swing, and the rotation around abrasive drilling central axis, make abrasive drilling mechanism have four degree of freedom.
What is more important, possessing six-freedom degree described above, can meet and perform on all kinds of simple and the basis of compound action execution, technique scheme by adopt abrasive drilling motor is arranged on the fixing seat of abrasive drilling, fixing seat is arranged on universal joint, universal joint is connected with axle in abrasive drilling, then it is connected on five-bar mechanism, finally it is connected with the main shaft of independent EC motor, driven by independent EC motor, it is achieved that the core component of minimal access bone operation: abrasive drilling also has the degree of freedom of swing.
Being preferably, be additionally provided with bracing piece between above-mentioned 4th end plate and the 5th end plate, described bracing piece two ends are fixing with the 4th end plate and the 5th end plate respectively to be connected; When described first five-bar mechanism and the second five-bar mechanism move, described bracing piece does not interfere with described first five-bar mechanism and the second five-bar mechanism.
What this optimal technical scheme was directly brought has the technical effect that, between 4th end plate and the 5th end plate, bracing piece is set, its objective is to improve rigidity, better ensure that the stability in five-bar mechanism work process, avoid in robot work process, because stress be may result in vibration that the 4th end plate and the 5th end plate be likely to occur because of elastic or insufficient rigidity or rocks.
It is preferred that, the quantity of above-mentioned bracing piece is two, one on the other, is arranged parallel to.
What this optimal technical scheme was directly brought has the technical effect that, the quantity of bracing piece is two, and is arranged symmetrically with, on the one hand, can be effectively increased support " area ", it is ensured that " reinforcement " effect; On the other hand, what be beneficial in overall structure is attractive in appearance.
It is preferred that, on the fixing axle of the fixing seat of above-mentioned abrasive drilling, offering installation through hole respectively, described joint boot is on described fixing axle, and forms shaft hole matching by bearing pin and this installation through hole, links into an integrated entity.
What this optimal technical scheme was directly brought has the technical effect that, dismounting simplicity, is beneficial to maintenance.
It is preferred that, above-mentioned it is equipped with bearing and axle sleeve with on the speed reducer output shaft of the EC motor of reductor.
What this optimal technical scheme was directly brought has the technical effect that; this mainly considers that robot frequently executes various compound movement; speed reducer output shaft adopts the mounting structure of bearing and axle sleeve; utilize " sacrificing protection " of axle sleeve; the abrasion of speed reducer output shaft can be reduced as far as possible, be beneficial to effective control of ordinary maintenance maintenance cost.
It is preferred that, above-mentioned first actuating device, the second actuating device, the 3rd actuating device and the 4th respective motor of actuating device is DC servo motor, reductor is planet-gear speed reducer.
What this optimal technical scheme was directly brought has the technical effect that, DC servo motor electronics commutation mode is flexible, drive motor as the actuator in all kinds of digital control systems is used widely, it exerts oneself greatly, respond fast, speed is high, inertia is little, rotations is smooth, moment is stable, it is easy to accomplish intellectuality; Further, its motor volume is little, lightweight, electromagnetic radiation is only small, long service life, is particularly suitable for medical operation applying working condition. It is preferred that, on the rotation axle of above-mentioned first actuating device, the second actuating device, the 3rd actuating device and the 4th respective belt pulley of actuating device, it is each equipped with bearing, and is fixed on respectively through respective bearing (ball) cover on the 4th end plate or the 5th end plate.
What this optimal technical scheme was directly brought has the technical effect that, further ensure the firm and firm of each moving component " articulare ", to ensure steady (not eccentric, do not beat) of state in axle rotation process, and then ensure that the steady running of five-bar mechanism so that the strict concordance of whole minimal access bone robot work process, Stability and dependability.
In sum, the present invention, relative to prior art, has manipulation flexibly, runs precision mild, action executing precision height, action executing high, and stability, reliability and harmony are good; And compact conformation, rigidity are high, work space is big, the beneficial effects such as safety is high.
Accompanying drawing explanation
Fig. 1 is the three dimensional structure schematic diagram of minimal access bone robot of the present invention;
Fig. 2 is the main TV structure schematic diagram of minimal access bone robot of the present invention;
Fig. 3 is minimal access bone robot of the present invention plan structure schematic diagram;
Fig. 4 is the left view structural representation of minimal access bone robot of the present invention;
Fig. 5 is the plan structure schematic diagram (mainly illustrating mobile base portion) of minimal access bone robot of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in detail.
As it can be seen, the minimal access bone robot of the present invention, it includes pedestal 6, mobile platform the 1, first five-bar mechanism the 2, second five-bar mechanism 3, abrasive drilling attitude-adjusting system 4 and 5 six ingredients of abrasive drilling.
As shown in Figures 2 to 5, pedestal is the support section of whole robot, mobile platform 1 utilizes screw pair and pedestal to link together, two feed rod 1-5, mobile platform 1 is led and is connected with pedestal and reinforces by 1-6, mobile platform 1 forms a series connection degree of freedom of robot, realize five-bar mechanism 2 and 3 and the moving horizontally of abrasive drilling mechanism 5 and abrasive drilling attitude-adjusting system 4, the two ends of five-bar mechanism 2 and five-bar mechanism 3 are separately fixed on side plate 1-2 and the 1-3 of mobile platform 1, hinged end forms revolute pair by axle and bearing and universal joint with the fixing seat 5-2 of abrasive drilling of abrasive drilling mechanism 5, two parallel-connection structures of composition robot, the rotary motion of motor 4-4 achieves the pose adjustment of abrasive drilling mechanism 5, abrasive drilling mechanism 5 mainly realizes the skeleton cutting of given trace, complete surgical functions.
As it is shown in figure 5, mobile platform 1 is made up of base 1-1, side plate 1-2 and 1-3 and 1-4, two feed rod 1-5 and 1-6, leading screw 1-7, motor 1-8. Two feed rod 1-5 and 1-6 are arranged on base 1-1 by interference fit, and motor 1-8 is screwed on side plate 1-4, and leading screw 1-7 and bearing 1-10 is formed and coordinates, and bearing 1-10 is fixed on side plate 1-3 by screw 1-12 by bearing holder (housing, cover) 1-11. The torque of motor 1-8 passes to leading screw 1-7 by shaft coupling 1-9 thus driving mobile platform 1 to move. Add the stability that micro-wound operation robot is overall.
If Fig. 2 is to shown in 5, the mobile platform 1 of present embodiment is connected together with pedestal by slide block 1-13, and the connection of pedestal and mobile platform 1 is reinforced by two feed rod 1-5 and 1-6. Mobile platform 1 is the one degree of freedom of robot, realize abrasive drilling mechanism 5 and five-bar mechanism 2 and 3 and the moving horizontally of abrasive drilling attitude-adjusting system 4, left support plate 1-2, right support plate 1-3, lower supporting plate are cast integrally, feed rod 1-5 and 1-6 is used for increasing the intensity of left support plate 1-2 and right support plate 1-3 and mobile platform 1 being led, and forms five-bar mechanism 2 and 3 and the support of abrasive drilling mechanism 5 and attitude-adjusting system 4. Improve integral rigidity, add the stability of superstructure, it is achieved that the horizontal movement that orthopaedics micro-wound operation robot is overall.
Five-bar mechanism 2 is made up of EC motor 2-1 and EC motor 2-6, driving pulley 2-4 and driving pulley 2-18, high torque Timing Belt 2-19 and high torque Timing Belt 2-20, driven pulley (high torque synchronous pulley) 2-21 and driven pulley (high torque synchronous pulley) 2-22, connecting rod 2-23 and connecting rod 2-24, connecting rod 2-25 and connecting rod 2-26.Driving torque is passed to driving pulley 2-4 by EC motor 2-1, high torque Timing Belt 2-19 pass to driven pulley 2-22 thus drivening rod 2-23 rotates, and then drivening rod 2-25 does plane motion; Simultaneously, driving torque is also passed to driving pulley 2-18 by EC motor 2-6, driven pulley 2-21 is passed to thus drivening rod 2-24 rotates by high torque Timing Belt 2-20, and then drivening rod 2-26 does plane motion, connecting rod 2-25 and connecting rod 2-26 is linked together by hinge 2-27, achieving the driving of five-bar mechanism double freedom, the coordinated of EC motor 2-1 and EC motor 2-6 is that five-bar mechanism has had fixing motion.
Five-bar mechanism 2 has same structure with five-bar mechanism 3, defines full symmetric structure, has good isotropism. The synergism of five-bar mechanism 3 and five-bar mechanism 2, it is achieved that abrasive drilling mechanism 5 is the movement in both direction and the rotation around two axles in plane X-Z, makes abrasive drilling mechanism have four degree of freedom. Two five-bar mechanisms 2 and five-bar mechanism 3 are coupled together by bracing piece 2-28 and 2-29, improve integral rigidity, add two five-bar mechanism structural stabilities in parallel.
As shown in Figures 2 to 5, two drive parts of five-bar mechanism 2 are made up of EC motor 2-1 and EC motor 2-6, decelerator 2-2 and decelerator 2-7, the fixing seat 2-3 of decelerator and the fixing seat 2-8 of decelerator, axle 2-11, axle 2-12, bearing (ball) cover 2-9, bearing 2-10. EC motor 2-1 and EC motor 2-6 provides power source for driving five-bar mechanism, power passes to decelerator 2-2 and 2-7, decelerator 2-2 and decelerator 2-7 is separately fixed on the fixing seat 2-3 of decelerator and the fixing seat 2-8 of decelerator, power gives axle 2-11 and 2-12 through gear sleeve transmission, it is achieved that the driving to five-bar mechanism double freedom. Axle 2-11 and bearing 2-10 forms interference fits, and bearing 2-10 is fixed in bearing (ball) cover 2-9, and bearing (ball) cover 2-9 is fixed on side plate 2-5 by screw, thus ensure that the stable not eccentric work of axle 2-11, and then ensure that the steady running of five-bar mechanism.
The hinged sections of five-bar mechanism 2 is made up of slotted screw 2-13, bearing 2-14, bearing (ball) cover 2-15, locking nut 2-16, axle 2-17.
Abrasive drilling mechanism 5 is made up of EC motor 5-1, the fixing seat 5-2 of abrasive drilling, axle 5-3, bulb abrasive drilling 5-4, tightening sleeve 5-5.
The rotation attitude guiding mechanism 4 of abrasive drilling is made up of EC motor 4-4, decelerator 4-5, motor sleeve 4-1, bearing 4-3, universal joint 4-6, universal joint 4-7, axle 4-8. Abrasive drilling EC motor 5-1 is arranged on the fixing seat 5-2 of abrasive drilling, the fixing seat 5-2 of abrasive drilling is arranged on universal joint 4-6 and universal joint 4-7, universal joint 4-7 is connected with axle 4-8, it is connected on hinge 2-27, universal joint 4-6 be connected on axle 4-2 with bearing 4-3 formed coordinate, it is connected on the main shaft of EC motor 4-4, it is achieved that abrasive drilling is around the rotation of Y-axis. Abrasive drilling 5-4 links together with abrasive drilling EC motor 5-1, and abrasive drilling 5-4 is supported by axle 5-3, is packed on the fixing seat 1-27 of abrasive drilling by tightening sleeve 5-5 and other mechanisms.
Illustrate: during operation, doctor this operating robot of the present invention is arranged on the side of operation table, and patient is placed on bed.
The present invention can in conjunction with 3-D view airmanship, the position determining robot abrasive drilling bit is guided by image, by computer control system, preoperative grinding planned trajectory is become driving pulse, drive four DC servo motors of two five-bar mechanisms and abrasive drilling rotation attitude adjusts and mobile working platform drives DC servo motor, the drive motor of four five-bar mechanisms by V belt translation by plane motion that convert rotational motion is two five-bar mechanisms, abrasive drilling rotation attitude adjusts motor and is used for adjusting the attitude of abrasive drilling, motor on mobile working platform is used for controlling the horizontal movement of entirety, it it is more than the input motion of whole robot, the pose of robot constantly changes along with the startup time of each motor does not coexist, preoperative grinding planned trajectory is exported to the movement locus of abrasive drilling bit, complete spinal operation on movement locus. the invention solves the operation risk brought due to dependence doctors experience, greatly reducing the working strength of doctor, thus improve operation precision.
The operation principle of the present invention:
Pedestal 6 and mobile platform 1 are attached defining the one degree of freedom of this operating robot by screw pair.Ball screw linear driving device is limited the position of slide unit by photoelectric sensor, it is ensured that the safety of operation. The synergism of five-bar mechanism and five-bar mechanism achieve abrasive drilling attitude-adjusting system and abrasive drilling up and down, movable and swing, and the rotation around abrasive drilling central axis, make abrasive drilling mechanism have four degree of freedom. Abrasive drilling attitude-adjusting system achieves abrasive drilling swing degree of freedom. The feed system of abrasive drilling and form regulation system ensure that steadily accurately cutting and then complete minimal access bone of abrasive drilling.
It should be noted that mobile platform, two five-bar mechanisms, abrasive drilling attitude-adjusting system, abrasive drillings, except standard component, the material of remaining parts is equal aluminium alloy or titanium magnesium alloy preferably. As such, it is possible to alleviate equipment self-weight amount and there is enough rigidity or intensity, meet the requirement of the advanced medical apparatus of bone surgery.
Claims (7)
1. a minimal access bone robot, it is characterised in that include pedestal, mobile platform, the first five-bar mechanism, the second five-bar mechanism, abrasive drilling attitude-adjusting system and six ingredients of abrasive drilling; Wherein:
Described pedestal is integral type structure, cross section is approximate to take the shape of the letter U, and including the first base plate of a rectangle, the first two ends, base plate left and right are erect respectively and are provided with the first end plate and the second end plate, between the first end plate and the second end plate, near the second end plate side, also erect and be provided with the 3rd end plate;
Hold with the first end plate and the 3rd end plate for fixing, pedestal is separately installed with a screw pair and two guide rails, wherein, screw pair is placed in the middle, two guide rails are one in front and one in back arranged in the both sides, front and back of screw pair, screw pair and two guide rails and are positioned at same level, are parallel to each other, one end of screw pair is connected with the motor with reductor being arranged on the second end plate by the first shaft coupling, this motor drive; Above-mentioned first shaft coupling is between the second end plate and the 3rd end plate;
A determining deviation is retained between bottom surface and described first base plate of said base;
Described mobile platform is integral type structure, including top and bottom two parts, global approximation takes the shape of the letter U, the bottom of mobile platform is hexahedral shape, offering the hole of three through left and right both ends of the surface inside it respectively, each hole relative position matches with the relative position of above-mentioned screw pair and two guide rails respectively; Wherein, hole placed in the middle, position is internal thread hole, and the hole of both sides, front and back is smooth hole;
The top of mobile platform is approximate to take the shape of the letter U, including the second base plate, the 4th end plate and the 5th end plate; Wherein, the second base plate is fixed on the upper surface of the lower part of above-mentioned mobile platform, and the 4th end plate and the 5th end plate are vertical with the second base plate respectively, and the first from left right side is arranged in the two ends, left and right of the second base plate;
Described mobile platform is assemblied on described pedestal by its underpart, and wherein, hole placed in the middle, position on the bottom of mobile platform is threaded connection with screw pair, and the hole of both sides, front and back becomes loose fit with corresponding guide rail respectively;
Described first five-bar mechanism and second five-bar mechanism one the first from left right side are arranged between the 4th end plate and the 5th end plate; The plane at the movement locus place of described first five-bar mechanism is parallel with the 4th end plate, the plane at the movement locus place of the second five-bar mechanism is parallel with the 5th end plate, and the plane at the movement locus place of described first five-bar mechanism is parallel with the plane at the movement locus place of described second five-bar mechanism;
On the outer side surface of described 4th end plate, on same level straight line, one on the other, the first actuating device and the second actuating device it are separately installed with;
On the outer side surface of described 5th end plate, on the same line, one on the other, it is separately installed with the 3rd actuating device and the 4th actuating device;
Above-mentioned first actuating device, the second actuating device, the 3rd actuating device and the version of the 4th actuating device, type and spec are all identical; With the central plane between described 4th end plate and described 5th end plate for symmetrical plane, above-mentioned first actuating device and the 3rd actuating device is symmetrical, the second actuating device and the 4th actuating device symmetrical;
Above-mentioned first actuating device, the second actuating device, the 3rd actuating device and the 4th actuating device each all include the motor with reductor, the synchromesh gear being assemblied on speed reducer output shaft and the belt pulley driven by this synchromesh gear by Timing Belt;
The axle that rotates of the respective belt pulley of each actuating device penetrates from the outer side surface of each self-corresponding end plate, stretches out from opposite side wall respectively; The axle that rotates of position that belt pulley up becomes shaft hole matching with the head end of corresponding five-bar mechanism, and the axle that rotates of the position that belt pulley in lower section becomes shaft hole matching with the end of corresponding five-bar mechanism;
By that belt pulley up with head end and position rotate the connecting rod that axle is connected be first connecting rod, with end and position that belt pulley in lower section rotate the connecting rod that axle is connected be fourth link, with position, the end plate plate face rotated between axle rotating axle and position that belt pulley up of that belt pulley in lower section is for the 5th connecting rod, the principle that clockwise direction sorts:
Between above-mentioned first five-bar mechanism and the respective first connecting rod of the second five-bar mechanism and second connecting rod, and respectively through bearing hinge connection between third connecting rod and fourth link, and clamp by the bearing (ball) cover of the left and right sides and be fixed together; Between above-mentioned first five-bar mechanism and the respective second connecting rod of the second five-bar mechanism and third connecting rod, two end axles by described abrasive drilling attitude-adjusting system is hinged as jointed shaft respectively, and described first five-bar mechanism and the second five-bar mechanism are linked into an integrated entity by abrasive drilling attitude-adjusting system;
The two end axles of above-mentioned abrasive drilling attitude-adjusting system is with the fixing seat of abrasive drilling for symmetrical centre, and the first from left right side is arranged symmetrically with;
The fixing seat of described abrasive drilling is the square base with center hole, with the center of circle of this center hole for symmetrical centre, described abrasive drilling fixing seat left and right sides wall is respectively symmetrically and is provided with a fixing axle; The two end axles of above-mentioned abrasive drilling attitude-adjusting system 4 is connected respectively through the fixing axle of the fixing seat left and right sides of universal joint and described abrasive drilling;
In the outside of the wherein axle head of a butt axle, second connecting rod and the third connecting rod of above-mentioned abrasive drilling attitude-adjusting system, it is equipped with an EC motor with reductor;
Described abrasive drilling includes abrasive drilling body and is assemblied in the abrasive drilling motor of abrasive drilling bodies top, and described abrasive drilling is fixed in the center hole of the fixing seat of described abrasive drilling by tightening sleeve; Wherein, described abrasive drilling motor is positioned at above the fixing seat of described abrasive drilling, and the built-in bearing being provided with bearing (ball) cover of described tightening sleeve, described bearing (ball) cover is separately fixed in the upper and lower surface of the fixing seat of described abrasive drilling one on the other.
2. minimal access bone robot according to claim 1, it is characterised in that be additionally provided with bracing piece between described 4th end plate and the 5th end plate, described bracing piece two ends are fixing with the 4th end plate and the 5th end plate respectively to be connected; When described first five-bar mechanism and the second five-bar mechanism move, described bracing piece does not interfere with described first five-bar mechanism and the second five-bar mechanism.
3. minimal access bone robot according to claim 2, it is characterised in that the quantity of described bracing piece is two, one on the other, is arranged parallel to.
4. according to the arbitrary described minimal access bone robot of claim 1-3, it is characterized in that, on the fixing axle of the fixing seat of described abrasive drilling, offer installation through hole respectively, described joint boot is on described fixing axle, and form shaft hole matching by bearing pin and this installation through hole, link into an integrated entity.
5. according to the arbitrary described minimal access bone robot of claim 1-3, it is characterised in that described be equipped with bearing and axle sleeve with on the speed reducer output shaft of the EC motor of reductor.
6. according to the arbitrary described minimal access bone robot of claim 1-3, it is characterized in that, described first actuating device, the second actuating device, the 3rd actuating device and the 4th respective motor of actuating device is DC servo motor, reductor is planet-gear speed reducer.
7. according to the arbitrary described minimal access bone robot of claim 1-3, it is characterized in that, on the rotation axle of described first actuating device, the second actuating device, the 3rd actuating device and the 4th respective belt pulley of actuating device, it is each equipped with bearing, and is fixed on respectively through respective bearing (ball) cover on the 4th end plate or the 5th end plate.
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| CN201610245578.2A CN105662587B (en) | 2016-04-18 | 2016-04-18 | A kind of minimal access bone robot |
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| CN201610245578.2A CN105662587B (en) | 2016-04-18 | 2016-04-18 | A kind of minimal access bone robot |
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| CN107569286A (en) * | 2017-10-24 | 2018-01-12 | 广西南宁栩兮科技有限公司 | A kind of high-precision medical manipulator |
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| CN112370113A (en) * | 2020-11-03 | 2021-02-19 | 杨勰娟 | Medical orthopedics section grinds flat fixed perforating device |
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| CN115607229A (en) * | 2022-11-18 | 2023-01-17 | 北京爱康宜诚医疗器材有限公司 | Eccentric talus drilling tool |
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