CN110537978A - Medical surgical robot and tool end capable of finely adjusting and positioning - Google Patents
Medical surgical robot and tool end capable of finely adjusting and positioning Download PDFInfo
- Publication number
- CN110537978A CN110537978A CN201910891372.0A CN201910891372A CN110537978A CN 110537978 A CN110537978 A CN 110537978A CN 201910891372 A CN201910891372 A CN 201910891372A CN 110537978 A CN110537978 A CN 110537978A
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- universal ball
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- surgical robot
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- 230000003287 optical effect Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000399 orthopedic effect Effects 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 206010017076 Fracture Diseases 0.000 description 1
- 206010034246 Pelvic fractures Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002695 general anesthesia Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
the invention relates to a medical surgical robot and a tool end capable of fine-tuning and positioning, wherein the tool end comprises a universal rotating device capable of rotating in any direction, and the universal rotating device is arranged at the tail end of a mechanical arm; an operation channel is arranged on the universal rotating device; when the preset operation path is slightly different from the position of a patient, the universal rotating device is adjusted to enable the operation channel to be aligned to the position to be operated, and the technical problem that in the prior art, after the optical positioning and tracking system of the operation robot completes automatic positioning, the patient or a sickbed slightly moves, the patient or the sickbed needs to be positioned again, and then the positioning time is too long is solved.
Description
Technical Field
The invention relates to a medical surgical robot, in particular to a medical surgical robot and a tool end capable of fine adjustment and positioning.
Background
Medical surgical robots are increasingly popular. The surgical robot can provide accurate positioning and powerful support, and avoid the influence of the surgeon caused by fatigue, arm vibration and other reasons during the operation, thereby improving the precision and safety of the operation.
Surgical robots, particularly orthopaedic surgical robots, are generally divided into three parts: the optical positioning and tracking system realizes the navigation function; secondly, a mechanical arm host; and thirdly, the main control trolley is used for operation planning. When the operation is started, the robot scans the affected part through an imaging device, such as an X-ray machine, medical images are obtained, a doctor finishes operation planning on a robot main control trolley, an operation path is determined, and then the mechanical arm can automatically find the position of the operation path. The tail end of the mechanical arm is provided with a tool end, and an operation channel is provided on the tool end.
When the optical positioning and tracking system of the surgical robot completes automatic positioning and the patient or the sickbed slightly moves, the patient or the sickbed needs to be positioned again, so that the positioning time is too long. At present, an operation channel at a tool end is fixed at the tail end of a mechanical arm and cannot be finely adjusted.
Disclosure of Invention
The invention aims to provide a medical surgical robot and a tool end capable of fine-tuning and positioning, and aims to solve the technical problem that in the prior art, when an optical positioning and tracking system of the surgical robot completes automatic positioning and a patient or a sickbed slightly moves, the positioning needs to be performed again, and further the positioning time is too long.
In order to solve the problems, the invention provides a tool end capable of fine adjustment and positioning for a medical surgical robot, which comprises a universal rotating device capable of rotating in any direction, wherein the universal rotating device is arranged at the tail end of a mechanical arm;
An operation channel is arranged on the universal rotating device;
When the preset operation path is slightly different from the position of the patient, the universal rotating device is adjusted to enable the operation channel to be aligned to the position to be operated.
Preferably, the universal rotating device comprises a universal ball, and the universal ball is mounted at the tail end of the mechanical arm through a guide sleeve;
The operation channel is arranged on the universal ball, the universal ball can be movably arranged in the guide sleeve, and the universal ball can be fixed in the guide sleeve through a threaded fastener or a locking piece.
Preferably, a threaded hole is formed in the side wall of the guide sleeve, the locking member penetrates through the threaded hole and faces the universal ball, and when an operation channel on the universal ball is aligned to a part to be operated, the universal ball can be locked in the guide sleeve through the locking member.
preferably, the guide sleeve comprises a left half shell and a right half shell, the opposite positions of the left half shell and the right half shell are respectively provided with an arc-shaped groove matched with the universal ball, and the two arc-shaped grooves are connected through a threaded fastener to form the guide sleeve for accommodating the universal ball;
When the threaded fastener is screwed down, the two arc-shaped grooves clamp the universal ball to prevent the universal ball from rotating; when the threaded fastener is loosened, the universal ball can rotate in the two arc-shaped grooves.
Preferably, the universal ball is a hollow ball shell.
preferably, the universal ball comprises a first hemispherical shell and a second hemispherical shell, a core rod is fixedly arranged in the first hemispherical shell, the operation channel is axially arranged in the core rod, and the operation channel penetrates through the first hemispherical shell and the second hemispherical shell.
Preferably, the universal rotating device comprises a rotating body, the operation channel is arranged on the rotating body, and the rotating body is arranged at the tail end of the mechanical arm through a universal joint.
Preferably, the universal joint comprises a shaft head and a shaft sleeve matched with the shaft head, the shaft sleeve is fixed at the tail end of the mechanical arm, and the shaft head is rotatably arranged in the shaft sleeve;
The rotating body is fixedly arranged at one end of the shaft, and the shaft head is fixedly arranged at the other end of the shaft;
The shaft head can be fastened in the shaft sleeve through a locking piece;
When the locking piece is screwed down, the shaft head is fixed in the shaft sleeve; when the locking piece is unscrewed, the shaft head can rotate in the guide sleeve.
The invention also provides a medical surgical robot, which comprises the tool end capable of being finely positioned according to the embodiment.
the invention also provides a medical surgical robot, which is an orthopedic surgical robot, and the orthopedic surgical robot comprises the tool end capable of fine-tuning and positioning.
compared with the prior art, the invention has the following technical effects:
in the invention, when the optical positioning tracking system of the surgical robot finishes automatic positioning, a patient or a sickbed slightly moves, or when the surgical robot breaks down, fine adjustment of a positioning angle can be manually realized through the universal transmission device, and the accurate positioning of a surgical channel is ensured.
Drawings
in order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts. In the drawings:
fig. 1 is a schematic structural diagram of a tool end of a medical surgical robot capable of fine-tuning positioning according to a preferred embodiment of the present invention;
Fig. 2 is a schematic structural diagram of an embodiment of a guide sleeve according to embodiment 1 of the present invention;
Fig. 3 is a schematic structural view of another embodiment of the guide sleeve according to embodiment 1 of the present invention;
FIG. 4 is a schematic diagram of a gimbaled ball according to a preferred embodiment of the present invention;
Fig. 5 is a schematic structural diagram of a universal rotating apparatus according to embodiment 1 of the present invention.
Detailed Description
The medical surgical robot and the tool end capable of fine positioning provided by the present invention will be described in detail with reference to fig. 1 to 5, and this embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments, and those skilled in the art can modify and decorate the medical surgical robot within the scope of not changing the spirit and content of the present invention.
referring to fig. 1 to 5, a tool end of a medical surgical robot capable of fine-tuning positioning includes a universal rotation device 1 capable of rotating in any direction, wherein the universal rotation device 1 is installed at the end of a mechanical arm 4;
An operation channel 12 is arranged on the universal rotating device 1;
when the scheduled operation path is slightly different from the position of the patient, the universal rotating device 1 is adjusted to lead the operation channel 12 to be aligned with the position to be operated.
The present invention is not limited to the specific structure of the universal rotation device 1, and may be any structure that satisfies the requirement of universal rotation. Two specific embodiments of the universal swivel 1 will be described in detail below.
Example 1
In the embodiment, the universal rotating device 1 comprises a universal ball 11, and the universal ball 11 is mounted at the tail end of the mechanical arm 4 through a guide sleeve 13;
the operation channel 12 is arranged on the universal ball 11, and the universal ball 11 is arranged in the guide sleeve 13 through a threaded fastener or a locking piece.
Referring to fig. 2, as an embodiment, the guide sleeve 13 may be an integrally formed structure, and a receiving groove for receiving the universal ball 11 is formed in the guide sleeve 13, and the shape and size of the receiving groove are adapted to the universal ball 11. The universal ball 11 is adjusted by a human hand or other tools, so that the universal ball 11 rotates in the guide sleeve 13. When the universal ball 11 is rotated to a required position (namely, the operation channel 12 is aligned with a part to be operated), the universal ball 11 can be locked in the guide sleeve 13 through the locking piece 14; when the universal ball 11 needs to be adjusted, the locking piece 14 only needs to be separated from the universal ball 11, and the universal ball 11 is separated from the constraint of the locking piece 14 and can be rotated in the guide sleeve 13 manually or by a tool. Retaining member in the mechanical field has a lot, and this embodiment does not do specific restriction to the retaining member, and general retaining member 14 all includes locking portion and the regulating part that an organic whole was made, in this embodiment, sets up a screw hole on the guide sleeve 13 wall, the periphery of the locking portion of retaining member 14 be equipped with the screw thread of screw hole adaptation, locking portion pass the through-hole and face to universal ball 11, and the regulating part is located the guide pin bushing 13 outside, and when the universal ball 11 of needs locking, rotatory locking portion makes the regulating part tightly support universal ball 11, makes universal ball 11 hug closely with guide pin bushing 13 inner wall, and does not produce the rotation. The retaining member 14 may be a threaded fastener such as a bolt, the head of which is the adjustment portion and the shank of which is the retaining portion.
in this embodiment, the outer wall of the integrated guide sleeve 13 may be directly and fixedly connected to the mechanical arm 4, or may be fixedly connected to the mechanical arm 4 through a connecting rod 2. The outer wall of the guide sleeve 13 can be integrally connected with a connecting sleeve 15, the connecting sleeve 15 is fixed on the connecting rod 2, and the connecting rod 2 is fixed on the mechanical arm 4. The fixing mode is not particularly limited, and welding, threaded fastener connection or integral forming can be adopted.
Referring to fig. 3, as another embodiment, the guide sleeve 13 is not an integral structure, but is composed of two half shells, that is, the guide sleeve 13 includes a left half shell 131 and a right half shell 132, an arc-shaped groove 133 adapted to the universal ball 11 is respectively disposed on the opposite positions of the left half shell 131 and the right half shell 132, and two ends of the two arc-shaped grooves 133 are respectively connected by a threaded fastener 16 (such as a bolt, a screw, etc.) so that the two arc-shaped grooves 133 form a receiving groove for receiving the universal ball 11;
when the threaded fastener 16 is tightened, the two arc-shaped grooves 133 clamp the universal ball 11 against rotation; the ball 11 is adjustable by hand or other means to rotate between the two arcuate grooves 133 when the threaded fastener 16 is loosened.
The outer wall of the split-type connecting sleeve 15 (the outer wall of one of the half shells) may be directly and fixedly connected to the mechanical arm 4 (the fixing connection manner is not particularly limited in the present invention, and may be welded, screwed with a fastener or integrally formed), or may be fixedly connected to the mechanical arm 4 through a connecting rod 2. The outer wall of the guide sleeve 13 can be also provided with a connecting sleeve 15, the connecting sleeve 15 is fixedly sleeved on the connecting rod 2, and the connecting rod 2 is fixed on the mechanical arm 4. Because the guide sleeve 13 is split, therefore, the connection sleeve 15 is also split, that is, the left half shell 131 and the right half shell 132 both include the connection sleeve section 151 and the arc-shaped groove section, in the same half shell, the connection sleeve section 151 and the arc-shaped groove section are integrally formed, when the left half shell 131 and the right half shell 132 are fastened and connected by the threaded fastener 16, the two connection sleeve sections 151 are connected by the threaded fastener 16 to form the connection sleeve 15, and the connection sleeve 15 is fixedly sleeved on the connection rod 2 of the mechanical arm 4.
further, in order to be suitable for different operation positions, the connecting rod 2 can also be fixedly installed at the tail end of the mechanical arm 4 through the installation bracket 3, and as for the specific structure of the installation bracket 3, the invention is not particularly limited and can be set according to the specific position of the operation.
In the present invention, the universal ball 11 may be solid or hollow, and in order to prevent the universal ball 11 from blocking the development of the surgical site under X-ray, the universal ball 11 is preferably a hollow ball shell in the present embodiment.
Referring to fig. 4, further, the universal ball 11 includes a first hemispherical shell 111 and a second hemispherical shell 112, the two hemispherical shells may be fixedly connected by welding, gluing or clamping, a core rod 113 is fixedly disposed in the first hemispherical shell 111, a center of the universal ball 11 is located on an axis of the core rod, the surgical channel 12 is axially disposed in the core rod 113, and the surgical channel 12 penetrates through the first hemispherical shell 111 and the second hemispherical shell 112.
example 2
Referring to fig. 5, in the present embodiment, the universal rotation device 1 includes a rotating body 17, the surgical channel 12 is opened on the rotating body 17, and the rotating body 17 is disposed at the end of the mechanical arm 4 through a universal joint 18.
the universal joint 18 comprises a shaft head 182 and a shaft sleeve 181 matched with the shaft head 182, the shaft sleeve 181 is fixed at the tail end of the mechanical arm 4, and the shaft head 182 is arranged in the shaft sleeve 181 in a universal rotating manner;
The rotating body 17 is fixedly arranged at one end of a shaft 183, and the shaft head 182 is fixedly arranged at the other end of the shaft 183;
The spindle head 182 may be secured within the spindle sleeve 181 by a retaining member 184;
when the locking member 184 is tightened, the shaft head 182 is fixed in the shaft sleeve 181; when the locking member 184 is unscrewed, the shaft head 182 may rotate within the guide sleeve 13.
The present embodiment does not specifically limit the structure of the lock member, and the lock member described in embodiment 1 can be referred to.
The shape of the rotating body 17 is not limited in this embodiment, and may be a sphere, a cylinder, or the like. In the present invention, the rotating body 17 may be solid or hollow, and in order to prevent the rotating body 17 from blocking the development of the surgical site under X-ray, the embodiment is preferably hollow, and the specific structure can refer to the structure of the universal ball 11 in embodiment 1.
In this embodiment, in order to be suitable for different operation sites, the shaft sleeve 181 may be fixedly mounted at the end of the mechanical arm 4 through the mounting bracket 3, and as for the specific structure of the mounting bracket 3, the present invention is not particularly limited, and may be set according to the specific site of the operation.
The tool end capable of fine adjustment and positioning provided by the invention is applied to a medical surgical robot, and the invention does not specifically limit which department the robot is applied to, such as surgery, orthopedics and the like.
Taking orthopedics as an example, when performing pelvic fracture surgery, firstly, a doctor takes an X-ray film for a patient, determines the position of a focus and plans a surgery path; then, the patient lies on the operating bed for general anesthesia; next, the doctor plans a surgical path on the main trolley of the surgical robot, and the mechanical arm 4 automatically moves to the surgical path; then, the operation channel 12 and the position of the patient are photographed by using a C-arm X-ray machine, if the operation path is slightly different from the position of the patient, the threaded fastener 16 or the locking member (14 or 184) is loosened, the universal ball 11 or the rotating body 17 is rotated by hand or other tools, the position of the operation channel 12 is confirmed under the C-arm X-ray machine, then the threaded fastener 16 or the locking member (14 or 184) is tightened, a sleeve with better lubricity is firstly arranged in the operation channel 12, and then a K-type needle is driven into the sleeve to fix the fracture position.
the above disclosure is only for the purpose of describing several embodiments of the present application, but the present application is not limited thereto, and any variations that can be considered by those skilled in the art are intended to fall within the scope of the present application.
Claims (10)
1. A tool end capable of fine adjustment and positioning of a medical surgical robot is characterized by comprising a universal rotating device capable of rotating in any direction, wherein the universal rotating device is arranged at the tail end of a mechanical arm;
An operation channel is arranged on the universal rotating device;
when the preset operation path is slightly different from the position of the patient, the universal rotating device is adjusted to enable the operation channel to be aligned to the position to be operated.
2. the tool end of a medical surgical robot capable of fine adjustment positioning as claimed in claim 1, wherein the universal rotation device comprises a universal ball, and the universal ball is mounted at the tail end of the mechanical arm through a guide sleeve;
The operation channel is arranged on the universal ball, the universal ball can be movably arranged in the guide sleeve, and the universal ball can be fixed in the guide sleeve through a threaded fastener or a locking piece.
3. the tool end of claim 2, wherein the guide sleeve has a threaded hole formed in a side wall thereof, and the locking member is inserted through the threaded hole and faces the ball, so that the ball can be locked in the guide sleeve by the locking member when the surgical passage on the ball is aligned with the surgical site.
4. the tool end of a medical surgical robot capable of fine adjustment and positioning as claimed in claim 2, wherein the guide sleeve comprises a left half shell and a right half shell, an arc groove matched with the universal ball is respectively arranged on the relative positions of the left half shell and the right half shell, and the two arc grooves are connected through a threaded fastener to form the guide sleeve for accommodating the universal ball;
when the threaded fastener is screwed down, the two arc-shaped grooves clamp the universal ball to prevent the universal ball from rotating; when the threaded fastener is unscrewed, the universal ball can rotate in the two arc-shaped grooves.
5. a medical surgical robot tool end capable of fine adjustment positioning as claimed in claim 2, wherein the universal ball is a hollow ball shell.
6. The tool end capable of fine adjustment and positioning of a medical surgical robot as claimed in claim 5, wherein the universal ball comprises a first hemispherical shell and a second hemispherical shell, a core rod is fixedly arranged in the first hemispherical shell, the core rod is axially provided with the surgical channel, and the surgical channel penetrates through the first hemispherical shell and the second hemispherical shell.
7. A finely positionable tool end of a medical surgical robot as recited in claim 1, wherein said universal swivel means comprises a swivel body, said surgical channel opening in said swivel body, said swivel body being disposed at a distal end of said robotic arm by a universal joint.
8. The tool end of claim 7, wherein the universal joint comprises a shaft head and a shaft sleeve adapted to the shaft head, the shaft sleeve is fixed to the end of the robotic arm, and the shaft head is rotatably disposed within the shaft sleeve;
The rotating body is fixedly arranged at one end of the shaft, and the shaft head is fixedly arranged at the other end of the shaft;
the shaft head can be fastened in the shaft sleeve through a locking piece;
when the locking piece is screwed down, the shaft head is fixed in the shaft sleeve; when the locking piece is unscrewed, the shaft head can rotate in the guide sleeve.
9. A medical surgical robot comprising a fine-positionable tool end according to any of claims 1 to 8.
10. a medical surgical robot, characterized in that the robot is an orthopaedic surgical robot comprising a tool end that can be fine-positioned according to any of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910891372.0A CN110537978A (en) | 2019-09-20 | 2019-09-20 | Medical surgical robot and tool end capable of finely adjusting and positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910891372.0A CN110537978A (en) | 2019-09-20 | 2019-09-20 | Medical surgical robot and tool end capable of finely adjusting and positioning |
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| Publication Number | Publication Date |
|---|---|
| CN110537978A true CN110537978A (en) | 2019-12-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910891372.0A Pending CN110537978A (en) | 2019-09-20 | 2019-09-20 | Medical surgical robot and tool end capable of finely adjusting and positioning |
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| Country | Link |
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| CN (1) | CN110537978A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112716605A (en) * | 2021-03-31 | 2021-04-30 | 上海龙慧医疗科技有限公司 | Two-way self-locking lever of ball socket type positioner |
| CN112998625A (en) * | 2021-02-08 | 2021-06-22 | 首都医科大学附属北京天坛医院 | Endoscope adapting device |
| WO2021239139A1 (en) * | 2020-05-29 | 2021-12-02 | 苏州康多机器人有限公司 | Positioning device and positioning method for mechanical arm of surgical robot |
| CN117084667A (en) * | 2023-10-19 | 2023-11-21 | 山东第一医科大学第一附属医院(山东省千佛山医院) | Be used for orthopedic operation passageway check out test set |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021239139A1 (en) * | 2020-05-29 | 2021-12-02 | 苏州康多机器人有限公司 | Positioning device and positioning method for mechanical arm of surgical robot |
| CN112998625A (en) * | 2021-02-08 | 2021-06-22 | 首都医科大学附属北京天坛医院 | Endoscope adapting device |
| CN112716605A (en) * | 2021-03-31 | 2021-04-30 | 上海龙慧医疗科技有限公司 | Two-way self-locking lever of ball socket type positioner |
| CN112716605B (en) * | 2021-03-31 | 2021-06-11 | 上海龙慧医疗科技有限公司 | Two-way self-locking lever of ball socket type positioner |
| CN117084667A (en) * | 2023-10-19 | 2023-11-21 | 山东第一医科大学第一附属医院(山东省千佛山医院) | Be used for orthopedic operation passageway check out test set |
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