CN111920523B

CN111920523B - Auxiliary arm for orthopedic surgery robot

Info

Publication number: CN111920523B
Application number: CN202010618367.5A
Authority: CN
Inventors: 周振宇; 陈海丰; 刘雅克; 周弋洋; 徐建辉
Original assignee: Nanjing Yidong Intelligent Technology Co ltd; Affiliated Hospital of Nantong University
Current assignee: Jiangsu Yidong Medical Equipment Co ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2022-05-24
Anticipated expiration: 2040-06-30
Also published as: CN111920523A

Abstract

The invention discloses an auxiliary arm for an orthopedic surgery robot, belonging to the field of orthopedic surgery mechanical arms, and comprising a mechanical arm main body, wherein a movable arm span is connected on the mechanical arm main body, a rotary disc is rotatably connected on the movable arm span, a first electric push rod is fixedly connected in the movable arm span, a central rod is fixedly connected on the telescopic end of the first electric push rod, a through hole matched with the telescopic end of the first electric push rod is chiseled on the rotary disc, a plurality of uniformly distributed movable claws are hinged at one end of the rotary disc far away from the movable arm span, a plurality of small motors matched with the movable claws are arranged in the rotary disc, a steering gear set is fixedly connected on the power output end of each small motor, so that the operation can be assisted by using a plurality of movable claws in the remote orthopedic surgery, a plurality of tool assistance is provided for the remote surgery by one mechanical arm, the space utilization rate and the space are greatly improved.

Description

Auxiliary arm for orthopedic surgery robot

Technical Field

The invention relates to the field of mechanical arms for orthopedic operations, in particular to an auxiliary arm for an orthopedic operation robot.

Background

Currently, many countries around the world are dedicated to developing various surgical robots to overcome the shortcomings of manual operation. The surgical robot has incomparable high stability and precision of hands, surpasses the limitation of naked eyes and hands, has less wound and less blood loss of the operation finished from the above, and the patient can recover faster and heal better after the operation, thereby shortening the hospitalization time.

In the process of the orthopedic surgery, various tools such as bone saws need to be used, the orthopedic surgery is large in size, long in multipurpose time and large in physical consumption of doctors, some doctors cannot adapt to high-strength operation of the orthopedic surgery, and robots for the surgery are also used at present, so that the doctors can perform remote operation for the surgery.

When the bone surgery robot carries out bone surgery, need use the bone surgery apparatus of various different usage, and present surgical robot goes up mostly can only to use a surgical tool to carry out the operation, and during bone surgery, need use the bone surgery apparatus cooperation of various different usage, so just need to install a plurality of surgical robot in the operating room and cooperate the use, not only with high costs but also occupation space is great, and needs many people to operate, and is very troublesome.

Disclosure of Invention

1. Technical problem to be solved

Aiming at the problems in the prior art, the invention aims to provide an auxiliary arm for an orthopedic surgery robot, which can be used for assisting a surgery by using a plurality of movable claws in an orthopedic remote surgery, can quickly switch the used surgical tools, can provide a plurality of tool assistance for the remote surgery by using one mechanical arm, greatly improves the space utilization rate and space, and can also be used for performing auxiliary clamping operation by using a claw-shaped structure, thereby being suitable for a plurality of operation requirements in the surgery process.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

An auxiliary arm for an orthopedic surgery robot comprises a mechanical arm main body, wherein a movable arm exhibition is connected to the mechanical arm main body, a rotary disc is rotatably connected to the movable arm exhibition, a tooth groove which is uniformly distributed is formed in one end, located in the movable arm exhibition, of the rotary disc, a stepping motor is installed in the movable arm exhibition, a gear matched with the rotary disc is fixedly connected to the power output end of the stepping motor, a first electric push rod is fixedly connected to the movable arm exhibition, a central rod is fixedly connected to the telescopic end of the first electric push rod, a through hole matched with the telescopic end of the first electric push rod is formed in the rotary disc, a plurality of movable claws which are uniformly distributed are hinged to one end, away from the movable arm exhibition, of the rotary disc, a plurality of small motors matched with the movable claws are installed in the rotary disc, and a steering gear set is fixedly connected to the power output end of the small motor, the steering gear set comprises a pair of conical gears which are hinged with each other, one of the conical gears is fixedly connected with a driving wheel, the movable claw is connected with a hinged shaft matched with the rotary table, a driven wheel is arranged between the hinged shaft and the driving wheel, a driving crawler belt is connected between the driving wheel and the hinged shaft and between the driven wheel, the movable claw comprises a claw-shaped shell, one end of the claw-shaped shell, which is far away from the rotary table, is fixedly connected with a claw head, an accommodating groove is chiseled on the claw-shaped shell, an expansion arm is rotatably connected in the accommodating groove, one end of the expansion arm, which is far away from the claw head, is fixedly connected with a rotating shaft, an inserting groove is chiseled on the inner wall of the accommodating groove, a rack matched with the rotating shaft is slidably connected in the inserting groove, a second electric push rod matched with the rack is installed in the claw-shaped shell, and the operation can be assisted by using a plurality of movable claws in remote orthopedic surgery, and the used surgical tools can be quickly switched, a plurality of tools are provided for remote surgery through one mechanical arm for assistance, the space utilization rate and the space are greatly improved, and the claw-shaped structure can also be used for assisting clamping operation, so that various operation requirements in the surgical process are met.

Further, well core rod includes T type pole, install spherical camera on the T type pole, the outer wall of T type pole open chisel have with the first assorted recess of claw, install pressure sensor in the recess, detect whether separate of all movable claws through pressure sensor, make all movable claws and well core rod after-separating, well core rod can contract automatically, facilitates the use movable claw and carries out the centre gripping operation.

Furthermore, the one end that the pivot was kept away from to the extension arm is opened the chisel and is had the mounting hole, threaded connection has the locking screw that matches with the mounting hole on the extension arm, the movable claw sets up to four pairs, and every is every install different surgical instruments on the extension arm of movable claw respectively, and the required instrument in the extension arm installation operation can be installed by oneself to technical staff in the debugging process before the operation, makes the device can carry out different auxiliary work.

Further, fixedly connected with and extension arm assorted stopper on the inner wall of holding tank, the stopper is close to the one end of extension arm and is the inclined plane, and inclined plane inclination and 30-40 inject extension arm rotation angle through the stopper, make the extension arm the biggest rotatable to with carousel surface vertical.

Furthermore, be connected with supplementary camera on the claw, when the technical staff used single movable claw, can use supplementary camera to assist and observe, make things convenient for technical staff to the position regulation and control of movable claw.

Furthermore, the end face of the claw head is a cambered surface with the radian of 10-12rad, and the surface of the claw head is coated with a rubber layer with an anti-skid groove cut on the surface, so that technicians can clamp the movable claw more firmly when controlling the movable claw to perform clamping operation.

Further, including an auxiliary arm control system, auxiliary arm control system is including installing the singlechip in the activity arm exhibition, first electric putter and small-size motor all with singlechip electric connection, install the distributed control circuit board with singlechip electric wire connection in the claw shape shell, supplementary camera and second electric putter all with distributed control circuit board electric connection.

An auxiliary arm for an orthopedic surgery robot is provided, which comprises the following steps:

s1, a technician moves the movable arm span to a working position by controlling the mechanical arm main body, and a real-time image is transmitted by the spherical camera in the moving process;

s2, selecting a movable claw to be used by using an auxiliary arm control system, and controlling a small motor corresponding to the movable claw in the turntable to work, so that the movable claw rotates to realize the expansion of the movable claw;

s3, after the movable claw is unfolded, a technician can use the auxiliary arm control system to control the distributed control circuit board in the claw-shaped shell, the distributed control circuit board controls the second electric push rod to work, the second electric push rod drives the rack to move, and the expansion arm is unfolded, at the moment, the technician can move the position of the expansion arm by controlling the mechanical arm main body and the movable arm to be unfolded, so that the expansion arm is used for working, and when the expansion arm is used, an auxiliary camera on the claw head is used for collecting images to assist in position adjustment;

S4, when all the movable claws are unfolded, the pressure sensors on the pressure sensors send the models to the single chip microcomputer, the single chip microcomputer controls the first electric push rod to contract, so that the center rod automatically descends to the turntable, and technicians can simultaneously control the plurality of movable claws to contract after being unfolded to clamp the movable claws.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

(1) this scheme can realize using multiple operation appurtenance to assist the operation through using a plurality of movable claws in the remote operation of orthopedics, and the operation instrument of use can switch over fast, and it is supplementary for remote operation provides multiple instrument through a arm, has greatly improved space utilization space, and still can assist the centre gripping operation through claw shape structure to this multiple operation demand that adapts to the operation in-process.

(2) According to the scheme, the center rod comprises a T-shaped rod, a spherical camera is mounted on the T-shaped rod, a groove matched with the claw head is formed in the outer wall of the T-shaped rod, a pressure sensor is mounted in the groove, whether all movable claws are separated or not is detected through the pressure sensor, after all the movable claws are separated from the center rod, the center rod can automatically retract, and the movable claws are convenient to use to perform clamping operation.

(3) The one end that the pivot was kept away from to the extension arm is opened the chisel and is had the mounting hole, and threaded connection has the locking screw that matches with the mounting hole on the extension arm, and the movable claw sets up to four pairs, installs different surgical instruments on every extension arm to the movable claw respectively, and the required instrument in the extension arm installation operation can be installed by oneself to technical staff in the debugging process before the operation, makes the device can carry out different auxiliary work.

(4) Fixedly connected with and extension arm assorted stopper on the inner wall of holding tank, the stopper is close to the one end of extension arm and is the inclined plane, and inclined plane inclination and 30-40 inject extension arm rotation angle through the stopper, make the extension arm the biggest rotatable to with carousel surface vertical.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a cross-sectional view of the moveable jaw of the present invention as it is retracted;

FIG. 3 is a schematic view of the structure at A in FIG. 2;

FIG. 4 is a cross-sectional view of the moveable jaw of the present invention as it is deployed;

FIG. 5 is a schematic view of the structure at B in FIG. 4;

fig. 6 is a schematic structural diagram at C in fig. 4.

The robot comprises a mechanical arm body 1, a movable arm extension 2, a turntable 3, a small motor 301, a steering gear set 302, a driving wheel 303, a driven wheel 304, a driving crawler 305, a first electric push rod 4, a movable claw 5, a claw-shaped shell 501, a claw head 502, a holding groove 503, an expansion arm 504, a rotating shaft 505, a rack 506, a second electric push rod 507, a central rod 6, a T-shaped rod 601, a pressure sensor 602 and a spherical camera 603.

Detailed Description

The drawings in the embodiments of the invention will be incorporated below; the technical scheme in the embodiment of the invention is clearly and completely described; obviously; the described embodiments are only some of the embodiments of the invention; but not all embodiments, are based on the embodiments of the invention; all other embodiments obtained by a person skilled in the art without making any inventive step; all fall within the scope of protection of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1: referring to fig. 1-3, an auxiliary arm for an orthopedic surgery robot comprises a main arm body 1, a movable arm span 2 is connected to the main arm body 1, a rotary disc 3 is rotatably connected to the movable arm span 2, tooth grooves evenly distributed are chiseled at one end of the rotary disc 3 located in the movable arm span 2, a stepping motor is installed in the movable arm span 2, a gear matched with the rotary disc 3 is fixedly connected to a power output end of the stepping motor, a first electric push rod 4 is fixedly connected to the inside of the movable arm span 2, a central rod 6 is fixedly connected to a telescopic end of the first electric push rod 4, a through hole matched with a telescopic end of the first electric push rod 4 is chiseled on the rotary disc 3, a plurality of movable claws 5 evenly distributed are hinged to one end of the rotary disc 3 away from the movable arm span 2, the central rod 6 comprises a T-shaped rod 601, a spherical camera 603 is installed on the T-shaped rod 601, grooves matched with a head 502 are chiseled on an outer wall of the T-shaped rod 601, install pressure sensor 602 in the recess, whether separate through pressure sensor 602 detection all movable jaw 5, make all movable jaw 5 with well core rod 6 after-separating, well core rod 6 can contract automatically, facilitates the use movable jaw 5 and carries out the centre gripping operation.

Referring to fig. 4-6, a plurality of small motors 301 matched with the movable claws 5 are installed in the turntable 3, a steering gear set 302 is fixedly connected to a power output end of each small motor 301, the steering gear set 302 includes a pair of conical gears hinged to each other, a driving wheel 303 is fixedly connected to one conical gear, a hinge shaft matched with the turntable 3 is connected to the movable claw 5, a driven wheel 304 is arranged between the hinge shaft and the driving wheel 303, and a transmission crawler 305 is connected between the driving wheel 303 and the hinge shaft and the driven wheel 304;

Referring to fig. 2-5, the movable claw 5 includes a claw-shaped housing 501, a claw head 502 is fixedly connected to an end of the claw-shaped housing 501 away from the turntable 3, an auxiliary camera is connected to the claw head 502, when a technician uses a single movable claw 5, the auxiliary camera can be used for auxiliary observation, so as to facilitate the technician to adjust and control the position of the movable claw 5, an end surface of the claw head 502 is a cambered surface with a radian of 10-12rad, a surface of the claw head 502 is coated with a rubber layer with an anti-slip groove, so that the technician can control the movable claw 5 to perform clamping operation more firmly, the claw-shaped housing 501 is provided with an accommodating groove 503, an extension arm 504 is rotatably connected to the accommodating groove 503, a limiting block matched with the extension arm 504 is fixedly connected to an inner wall of the accommodating groove 503, an end of the limiting block close to the extension arm 504 is an inclined plane, an inclination angle of the inclined plane is 30-40 °, the rotation angle of the extension arm 504 is limited by the limiting block, the extension arm 504 is rotated to be maximally perpendicular to the surface of the turntable 3. One end of the extension arm 504, which is far away from the claw head 502, is fixedly connected with a rotating shaft 505, an insertion groove is formed in the inner wall of the accommodating groove 503, a rack 506 matched with the rotating shaft 505 is connected in the insertion groove in a sliding manner, a second electric push rod 507 matched with the rack 506 is installed in the claw-shaped shell 501, an installation hole is formed in one end, which is far away from the rotating shaft 505, of the extension arm 504, locking screws matched with the installation hole are connected to the extension arm 504 in a threaded manner, four pairs of movable claws 5 are arranged, different surgical tools are respectively installed on the extension arm 504 of each pair of movable claws 5, and a technician can install tools required in surgery, such as a bone saw, a positioning nail, a small probe expansion plate and the like, on the extension arm 504 by himself in the pre-surgery debugging process, so that the device can perform different auxiliary works.

The utility model provides an orthopedic surgery robot is with auxiliary arm, includes an auxiliary arm control system, and auxiliary arm control system is including installing the singlechip in activity arm exhibition 2, first electric putter 4 and micro motor 301 all with singlechip electric connection, install in the claw shell 501 with singlechip electric wire connection's distributed control circuit board, supplementary camera and second electric putter 507 all with distributed control circuit board electric connection.

An auxiliary arm for an orthopedic surgery robot, which comprises the following steps:

s1, a technician moves the movable arm span 2 to a working position by controlling the mechanical arm main body 1, and a real-time image is transmitted through the spherical camera 603 in the moving process;

s2, selecting the movable claw 5 to be used by using the auxiliary arm control system, and controlling the small motor 301 corresponding to the movable claw 5 in the turntable 3 to work, so that the movable claw 5 rotates to realize the expansion of the movable claw 5;

s3, after the movable jaw 5 is unfolded, the technician can use the auxiliary arm control system to control the distributed control circuit board in the jaw-shaped housing 501, so that the distributed control circuit board controls the second electric push rod 507 to work, so that the second electric push rod 507 drives the rack 506 to move, so as to unfold the extension arm 504, at this time, the technician can use the extension arm 504 to work by controlling the robot main body 1 and the movable arm stretcher 2 to work to move the position of the extension arm 504, when using the extension arm 504, the technician can use the extension arm 504 with the bone saw by collecting images through the auxiliary camera on the jaw 502 to assist position adjustment, different surgical auxiliary tools are installed on different extension arms 504, for example, after using the extension arm 504 with the bone saw, after the extension arm 504 with the bone saw is unfolded, the technician can control the robot main body 1 to drive the movable arm stretcher 2 to move back and forth in the horizontal direction to use the bone saw, when using the extension arm 504 with the expander, the position of the used movable claw 5 can be adjusted by controlling the rear pair of movable claws 5 to cut the operation by a pair of hands, inserting the expander arranged on the expanding arm 504 into the cut, then expanding the movable claw 5 to expand the cut, and controlling the stepping motor in the rotating disc 3 to rotate by a technician in the control device 2;

S4, when all the movable claws 5 are unfolded, the pressure sensor on the pressure sensor 602 sends the model to the single chip microcomputer, so that the single chip microcomputer controls the first electric push rod 4 to contract, the center rod 6 automatically descends to the turntable 3, a technician can simultaneously control the plurality of movable claws 5 to contract after being unfolded, the movable claws 5 are enabled to carry out clamping operation, and the technician can clamp the bone taken out in the orthopedic operation by using the clamping operation.

Can realize using multiple operation appurtenance to assist the operation through using a plurality of movable claws in the bone remote surgery, and the operation instrument of use can switch over fast, and it is supplementary for remote surgery provides multiple instrument through a arm, has greatly improved the space utilization space, and still can assist the centre gripping operation through claw shape structure to this multiple operation demand that adapts to the operation in-process.

The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.

Claims

1. The utility model provides an orthopedic surgery robot is with auxiliary arm, includes arm main part (1), be connected with swing arm exhibition (2) on arm main part (1), the rotation is connected with carousel (3) on swing arm exhibition (2), the tooth's socket that has evenly distributed is opened and chiseled to the one end that carousel (3) are located swing arm exhibition (2), install step motor in swing arm exhibition (2), fixedly connected with and carousel (3) assorted gear, its characterized in that on step motor's the power take off: a first electric push rod (4) is fixedly connected in the movable arm exhibition (2), a central rod (6) is fixedly connected on the telescopic end of the first electric push rod (4), a through hole matched with the telescopic end of the first electric push rod (4) is formed in the rotary disc (3), a plurality of movable claws (5) which are uniformly distributed are hinged at one end of the rotary disc (3) far away from the movable arm exhibition (2), a plurality of small motors (301) matched with the movable claws (5) are installed in the rotary disc (3), a steering gear set (302) is fixedly connected on the power output end of each small motor (301), each steering gear set (302) comprises a pair of conical gears which are hinged with each other, one of the conical gears is fixedly connected with a transmission wheel (303), a hinge shaft matched with the rotary disc (3) is connected on each movable claw (5), and a driven wheel (304) is arranged between the hinge shaft and the transmission wheel (303), all be connected with transmission track (305) between drive wheel (303) and articulated shaft and follow driving wheel (304), movable claw (5) are including claw shape shell (501), one end fixedly connected with claw head (502) of carousel (3) are kept away from in claw shape shell (501), it has holding tank (503) to cut on claw shape shell (501), holding tank (503) internal rotation is connected with expansion arm (504), one end fixedly connected with pivot (505) of claw head (502) are kept away from in expansion arm (504), cut the slot on the inner wall of holding tank (503), sliding connection has rack (506) with pivot (505) assorted in the slot, install in claw shape shell (501) with rack (506) assorted second electric putter (507).

2. The auxiliary arm for an orthopedic robot according to claim 1, wherein: the central rod (6) comprises a T-shaped rod (601), a spherical camera (603) is mounted on the T-shaped rod (601), a groove matched with the claw head (502) is formed in the outer wall of the T-shaped rod (601), and a pressure sensor (602) is mounted in the groove.

3. The auxiliary arm for the orthopedic surgery robot as claimed in claim 1, wherein a mounting hole is drilled at one end of the extension arm (504) far away from the rotating shaft (505), a locking screw matched with the mounting hole is connected to the extension arm (504) in a threaded manner, the movable claws (5) are arranged in four pairs, and different surgical tools are respectively mounted on the extension arms (504) of each pair of movable claws (5).

4. The auxiliary arm for an orthopedic robot according to claim 1, wherein: fixedly connected with and extension arm (504) assorted stopper on the inner wall of holding tank (503), the stopper is close to the one end of extension arm (504) and is the inclined plane, inclined plane inclination and 30-40.

5. The auxiliary arm for an orthopedic robot according to claim 1, wherein: an auxiliary camera is connected to the claw head (502).

6. The auxiliary arm for an orthopedic surgical robot of claim 1, wherein: the end face of the claw head (502) is an arc face with radian of 10-12rad, and the surface of the claw head (502) is coated with a rubber layer with a chiseled anti-slip groove on the surface.

7. The auxiliary arm for an orthopedic robot according to claim 1, wherein: including an auxiliary arm control system, auxiliary arm control system is including installing the singlechip in activity arm exhibition (2), first electric putter (4) and small-size motor (301) all with singlechip electric connection, install the distributed control circuit board with singlechip electric wire connection in claw shape shell (501), supplementary camera and second electric putter (507) all with distributed control circuit board electric connection.

8. The auxiliary arm for an orthopedic robot according to claim 1, wherein: the using method comprises the following steps:

s1, a technician moves the movable arm exhibition (2) to a working position by controlling the mechanical arm main body (1), and a real-time image is transmitted by the spherical camera (603) in the moving process;

s2, selecting a movable claw (5) to be used by using an auxiliary arm control system, and controlling a small motor (301) corresponding to the movable claw (5) in the turntable (3) to work so as to rotate the movable claw (5) and realize the expansion of the movable claw (5);

S3, after the movable claw (5) is unfolded, a technician can use the auxiliary arm control system to control the distributed control circuit board in the claw-shaped shell (501), the distributed control circuit board controls the second electric push rod (507) to work, the second electric push rod (507) drives the rack (506) to move, and the expansion arm (504) is unfolded, at the moment, the technician can move the position of the expansion arm (504) by controlling the mechanical arm main body (1) and the movable arm unfolding (2) to work, so that the work of the expansion arm (504) is realized, and when the expansion arm (504) is used, the auxiliary camera on the claw head (502) is used for collecting images to assist in position adjustment;

s4, when all the movable claws (5) are unfolded, the pressure sensors on the pressure sensors (602) send models to the single chip microcomputer, the single chip microcomputer controls the first electric push rod (4) to contract, so that the center rod (6) automatically descends to the turntable (3), and technicians can control the plurality of movable claws (5) to contract after unfolding at the moment to clamp the movable claws (5).