CN113180830B - Rope-driven parallel reconfigurable surgical navigation positioning robot - Google Patents
Rope-driven parallel reconfigurable surgical navigation positioning robot Download PDFInfo
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- CN113180830B CN113180830B CN202110406612.0A CN202110406612A CN113180830B CN 113180830 B CN113180830 B CN 113180830B CN 202110406612 A CN202110406612 A CN 202110406612A CN 113180830 B CN113180830 B CN 113180830B
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- 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
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- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
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Abstract
The application discloses parallelly connected restructural operation navigation positioning robot of rope drive includes: the navigation tube is used for placing surgical instruments, and is provided with two connecting joints which are arranged at the upper end and the lower end of the navigation tube; the positioning rods are arranged into three groups, and the lower ends of the positioning rods are provided with fixing parts; the six driving ropes are divided into three groups on average; the first end of one of the driving ropes in each group of driving ropes is fixed on the connecting joint at the upper end of the navigation tube, the second end of the driving rope penetrates through the upper part of the corresponding positioning rod and is in transmission connection with the rope driving mechanism, the first end of the other driving rope is fixed on the connecting joint at the lower end of the navigation tube, and the second end of the driving rope penetrates through the lower part of the corresponding positioning rod and is in transmission connection with the rope driving mechanism. The surgical robot solves the problems that in the related art, the surgical robot is large in size, complex in structure, heavy in mass, incapable of achieving intraoperative real-time operation, low in precision, easy to interfere with doctor operation, small in working space and unchangeable.
Description
Technical Field
The application relates to the field of surgical medical instruments, in particular to a rope-driven parallel reconfigurable surgical navigation and positioning robot.
Background
Traditional surgical operations usually depend on the experience of doctors and the control of arm muscles, are long in operation time, complex in operation, insufficient in accuracy and large in operation wound, and are not beneficial to recovery of patients. Some procedures also require the physician to operate in a nuclear magnetic environment, and the resulting radiation harms the health of the physician.
The minimally invasive surgery overcomes the defects of the traditional surgical operation, has the advantages of small wound and quick recovery, and can reduce inconvenience and pain of patients caused by diseases. The main surgical method is (taking the brain minimally invasive surgery as an example) to drill a hole on the surface of the skull by using a surgical instrument, and in combination with medical image information, the geometrical relationship between the human anatomical structure and medical equipment is found out by depending on the experience of a surgeon, and a probe or other surgical instruments are introduced into the head of a patient by adjusting the position of the surgical instrument, so that operations such as biopsy, radiotherapy, excision and the like are carried out on a focus area. Minimally invasive surgery is gradually the development direction of future surgical operations, but the operation needs to accurately position the affected part structure, and the use of a robot as a positioning aid is the most advanced form at present.
The current working modes of positioning and navigation robots applied to surgical operations are that before the operation of a doctor, image data (such as MRI, CTA and the like) of a patient are guided into the robot to perform image fusion to form a three-dimensional image, the operation robot designs a personalized operation path according to target spot nuclear mass or hematoma shape, intracranial blood vessel trend and the like, and then navigation is performed according to the planned path in the operation.
There are three main types of common surgical robots: the first category is framed robots based on serial arm structures, such as NeuroMate (ISS) which can guide neurosurgical procedures, such as biopsies and brain tumor removal. However, NeuroMate adopts a structure with a frame, so that the flexibility is poor, the operation of a doctor is interfered, and the comfort of a patient is low. Meanwhile, the serial mechanical arm structure enables the robot to have a large volume and cannot realize nuclear magnetic compatibility and real-time control in the operation. The second type is a frameless robot based on a serial arm structure, such as ROSA (Medtech, france), "ri mi" (pachi weikang robot), etc., which has a large volume and is easy to interfere with the operation of a doctor, and meanwhile, the operation is complicated due to the fact that multiple registrations are required in the operation process. The third type is a small robot that can be fixed to the human body, such as Renaissance Brain, which is the only commercially available small robot that can be fixed to the human body, but has a small working space and is not variable, and nuclear magnetic compatibility cannot be achieved.
Aiming at the problems that the surgical robot in the related technology has large volume, complex structure, heavy weight, can not realize real-time operation in the operation, has low precision, is easy to interfere the operation of doctors, has small working space and is not changeable, an effective solution is not provided at present.
Disclosure of Invention
The application mainly aims to provide a rope-driven parallel reconfigurable surgical navigation and positioning robot, and aims to solve the problems that a surgical robot in the related art is large in size, complex in structure, heavy in mass, incapable of achieving intraoperative real-time operation, low in precision, easy to interfere with doctor operation, small in working space and unchangeable.
In order to achieve the above object, the present application provides a rope-driven parallel reconfigurable surgical navigation and positioning robot, including: the surgical instrument positioning device comprises a navigation tube, a positioning device and a positioning device, wherein the navigation tube is used for placing surgical instruments, and is provided with connecting joints which are arranged at the upper end and the lower end of the navigation tube; the positioning rods are arranged in three groups and surround the periphery of the navigation tube, and the lower ends of the positioning rods are provided with fixing parts; the six driving ropes are divided into three groups on average and correspond to the three groups of positioning rods; the first end of one of the driving ropes in each group is fixed on the connecting joint at the upper end of the navigation tube, the second end of the driving rope penetrates through the upper part of the corresponding positioning rod and is in transmission connection with the rope driving mechanism, the first end of the other driving rope is fixed on the connecting joint at the lower end of the navigation tube, and the second end of the driving rope penetrates through the lower part of the corresponding positioning rod and is in transmission connection with the rope driving mechanism.
Further, the connecting joint comprises an inner ring, a middle ring and an outer ring which are sequentially sleeved on the navigation tube from inside to outside; the inner ring is fixed on the navigation tube, the middle ring and the inner ring are movably connected through a first connecting pin, and the outer ring and the middle ring are movably connected through a second connecting pin, so that the middle ring can rotate around the axis of the first connecting pin, and the outer ring can rotate around the axis of the second connecting pin; the first end of the driving rope is connected to the outer ring.
Further, the first connecting pin and the second connecting pin are arranged in two opposite directions, and the axis of the first connecting pin is perpendicular to the axis of the second connecting pin.
Furthermore, a rope end ring is fixed at the first end of the driving rope, and the rope end ring is sleeved on the outer ring in a sliding mode.
Furthermore, three fixing holes are formed in the connecting joint, and the first end of the driving rope is fixed to the corresponding fixing hole.
Furthermore, visual positioning balls are arranged at the upper end and the lower end of the navigation tube, and the navigation tube is arranged in a hollow mode and used for placing puncture needles.
Furthermore, through holes for the driving ropes to pass through are formed in the upper end and the lower end of the positioning rod, visual positioning balls are arranged at the upper end and the lower end of the positioning rod, flexible pipe connecting pieces corresponding to the through holes are arranged on the side faces of the positioning rod, and the driving ropes extend out of the flexible pipe connecting pieces.
Furthermore, the fixing part is a positioning rod base detachably fixed at the lower end of the positioning rod, and a plurality of fixing teeth are arranged at the lower end of the positioning rod base along the circumferential direction.
The positioning device comprises a first positioning rod, a second positioning rod, a first end of the first connecting rod is rotatably sleeved on one positioning rod, a second end of the first connecting rod is rotatably connected with a first end of the second connecting rod through an encoder, and a second end of the second connecting rod is rotatably sleeved on the other positioning rod.
Further, rope actuating mechanism includes six groups of lead screw straight line displacement mechanisms that set up side by side and locates force sensor on the lead screw straight line displacement mechanism, the second end of driving rope with force sensor's sense terminal is connected.
Further, the lead screw linear displacement mechanism comprises a first stop block, a slide block, a second stop block, a coupler, a motor base and a motor fixed on the motor base, wherein the first stop block, the slide block, the second stop block, the coupler and the motor base are sequentially arranged along a straight line; the output end of the motor extends out of the motor base and is in transmission connection with the coupler, one end, far away from the motor, of the coupler is in transmission connection with a screw, the screw sequentially penetrates through the second stop block, the sliding block and the first stop block, and the screw is in threaded connection with the sliding block; a guide shaft is further arranged between the first stop block and the second stop block, and the slide block is sleeved on the guide shaft in a sliding manner; the force sensor is fixed on the sliding block.
Further, the guide shafts are arranged to be three and distributed in a triangular mode, a sensor connecting piece is arranged at the upper end of the sliding block, and the force sensors are fixed to the sensor connecting piece.
Furthermore, the rope driving mechanism comprises an SMA driving mechanism fixed on the positioning rod, the SMA driving mechanism is set to be six and two sets of two.
In the embodiment of the application, the navigation tube is used for placing surgical instruments, and the navigation tube is provided with connecting joints which are arranged at the upper end and the lower end of the navigation tube; the positioning rods are arranged in three groups and surround the periphery of the navigation tube, and the lower ends of the positioning rods are provided with fixing parts; the six driving ropes are divided into three groups on average and correspond to the three groups of positioning rods; the first end of one of the driving ropes in each group of driving ropes is fixed on the connecting joint at the upper end of the navigation tube, the second end of the driving rope penetrates through the upper part of the corresponding positioning rod and is in transmission connection with the rope driving mechanism, the first end of the other driving rope is fixed on the connecting joint at the lower end of the navigation tube, the second end of the driving rope penetrates through the lower part of the corresponding positioning rod and is in transmission connection with the rope driving mechanism, and the robot is set into a rope-driven parallel rod-shaped structure, so that the technical effects of enabling the surgical robot to be small in size, light in weight and capable of avoiding interference of a working space are achieved, and the problems that in the related technology, the surgical robot is large in size, complex in structure, heavy in weight, real-time operation in an operation cannot be achieved, the precision is low, doctor operation is easy to interfere, and the working space is small and unchangeable are solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a schematic structural diagram according to an embodiment of the present application;
FIG. 2 is a schematic structural view of a cord drive mechanism according to an embodiment of the present application;
FIG. 3 is a schematic view of a connection joint according to an embodiment of the present application;
FIG. 4 is a schematic view of a robot used in accordance with an embodiment of the present application;
FIG. 5 is another schematic structural diagram of a locating rod according to an embodiment of the present application;
FIG. 6 is another schematic structural view of a cord drive mechanism according to an embodiment of the present application;
FIG. 7 is a schematic structural diagram of a navigation tube according to an embodiment of the present application;
the device comprises a navigation tube 1, a connecting joint 2, an inner ring 21, a middle ring 22, an outer ring 23, a first connecting pin 24, a second connecting pin 25, a puncture needle 3, a rope end ring 4, a driving rope 5, a through hole 6, a visual positioning ball 7, a flexible tube connecting piece 8, a positioning rod 9, a positioning rod base 10, a fixed tooth 11, a rope driving mechanism 12, a motor 121, a motor 122, a shaft 123, a second stop 124, a guide shaft 125, a screw 126, a force sensor 127, a sliding block 128 and a first stop 129.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used.
In this application, the terms "upper", "lower", "inside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "disposed," "provided," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 4, an embodiment of the present application provides a rope-driven parallel reconfigurable surgical navigation and positioning robot, including: the surgical instrument positioning device comprises a navigation tube 1 for placing surgical instruments, wherein the navigation tube 1 is provided with connecting joints 2, and the connecting joints 2 are arranged at the upper end and the lower end of the navigation tube 1; the positioning rods 9 are arranged in three groups, the positioning rods 9 surround the periphery of the navigation tube 1, and the lower ends of the positioning rods 9 are provided with fixing parts; the six driving ropes 5 are divided into three groups on average and correspond to the three groups of positioning rods 9; the first end of one of the driving ropes 5 in each group of driving ropes 5 is fixed on the connecting joint 2 at the upper end of the navigation tube 1, the second end passes through the upper part of the corresponding positioning rod 9 and is in transmission connection with the rope driving mechanism 12, the first end of the other driving rope 5 is fixed on the connecting joint 2 at the lower end of the navigation tube 1, and the second end passes through the lower part of the corresponding positioning rod 9 and is in transmission connection with the rope driving mechanism 12.
In this embodiment, the surgical navigation positioning robot comprises a working part and a driving part, and a driving rope 5 led out from the driving part is used for controlling the working part to operate. Specifically, the working part is composed of the navigation tube 1 and the positioning rod 9, and the driving part is a rope driving mechanism 12. Wherein, locating lever 9 sets up to three and be the triangular distribution in the outside of navigation pipe 1, has the interval between locating lever 9 and the navigation pipe 1, and the fixed part of locating lever 9 lower extreme is used for fixing locating lever 9 in the affected part, for example on human skull, connects through drive rope 5 between locating lever 9 and the navigation pipe 1, and locating lever 9 plays the supporting role to navigation pipe 1.
In order to enable the navigation tube 1 to move stably, the upper end and the lower end of the navigation tube 1 are respectively provided with a connecting point connected with the driving rope 5, specifically, the upper end and the lower end of the navigation tube 1 are respectively provided with a connecting joint 2, and each connecting joint 2 is provided with three connecting points connected with the driving rope 5. The driving ropes 5 are provided with six driving steel wire ropes, each two driving ropes 5 are divided into three groups, and one group of driving ropes 5 corresponds to one positioning rod 9. For a group of driving ropes 5, a first end of one driving rope 5 is fixed on a connection point of the connection joint 2 on the upper part of the navigation tube 1, a second end of the other driving rope 5 passes through the upper end of one positioning rod 9 and is connected with one rope driving mechanism 12, a first end of the other driving rope 5 is fixed on a connection point of the connection joint 2 on the lower part of the navigation tube 1, and a second end of the other driving rope 5 passes through the lower end of the same positioning rod 9 and is connected with the other rope driving mechanism 12, so that the connection between the other two positioning rods 9 and the navigation tube 1 is completed in the same way.
In this embodiment, the rope driving mechanism 12 acts to drive the corresponding driving rope 5 to move, so as to drive the navigation tube 1 to translate on the X axis and the Y axis and rotate on the X axis and the Y axis, so that the navigation tube has four degrees of freedom in a working space, and the surgical operation requirements are met. The operation navigation positioning robot has the use mode as follows: the method comprises the steps of obtaining a CT image of a patient before an operation, making an operation plan, determining a target position needing minimally invasive operation, drilling holes at the corresponding position of a skull of the patient, and installing a positioning rod 9, a driving rope 5 and a navigation tube 1. The initial positions of the positioning rod 9 and the navigation tube 1 and the position where the operation is required are obtained through vision and CT imaging. During the operation, the doctor controls the extension and the shortening of the six driving ropes 5 through the action of the main end control rope driving mechanism 12, thereby controlling the navigation tube 1 to move to the target position needing to be operated. The doctor passes a surgical instrument such as a puncture needle through the navigation tube 1 to perform a series of surgical operations.
Because the action of the navigation tube 1 is realized by matching the rope driving mechanism 12 and the driving rope 5, and because of the characteristic of rope driving, the rope driving mechanism 12 can be installed at the position where the navigation tube 1 has a certain safety distance, the remote operation can be realized, the nuclear magnetism is compatible, the size and the weight of the action part of the robot are effectively reduced, the interference of a working space can be avoided, and the problems that the surgical robot in the related technology is large in size, complex in structure, heavy in weight, incapable of realizing real-time operation in the operation, low in precision, easy to interfere with the operation of a doctor, small in working space and unchangeable are solved.
As shown in fig. 1 to 3, the connecting joint 2 is used for connecting a driving rope 5, and may be configured as a fixed structure or a movable structure, and in the present embodiment, the connecting joint 2 is configured as a movable structure for simplifying force control. Specifically, the connecting joint 2 comprises an inner ring 21, a middle ring 22 and an outer ring 23 which are sleeved on the navigation tube 1 from inside to outside in sequence; the inner ring 21 is fixed on the navigation tube 1, the middle ring 22 and the inner ring 21 are movably connected through a first connecting pin 24, the outer ring 23 and the middle ring 22 are movably connected through a second connecting pin 25, so that the middle ring 22 can rotate around the axis of the first connecting pin 24, and the outer ring 23 can rotate around the axis of the second connecting pin 25; the first end of the drive rope 5 is connected to the outer ring 23. The first connecting pin 24 and the second connecting pin 25 are each provided in opposing two, and the axis of the first connecting pin 24 is perpendicular to the axis of the second connecting pin 25.
The inner ring 21 is cylindrical and fixedly sleeved on the navigation tube 1, the middle ring 22 and the outer ring 23 are both circular rings with smaller thickness, the middle ring 22 and the inner ring 21 are coaxially arranged, a certain movable distance is reserved between the inner ring 21 and the middle ring 22, the first connecting pins 24 are connected with the inner ring 21 along the radial direction of the middle ring 22, the number of the first connecting pins is one or two coaxial lines, and the two first connecting pins 24 have the advantage that the movement process of the middle ring 22 is more stable. The middle ring 22 is rotatable about its radial direction by a connecting pin. The outer ring 23 is arranged coaxially with the middle ring 22 and the outer ring 23 and the middle ring 22 are also arranged with a certain play between them, the second connecting pins 25 and the first connecting pins 24 being arranged in such a way that the outer ring 23 is also rotatable in its radial direction. And since the axis of the first connecting pin 24 is perpendicular to the axis of the second connecting pin 25, the outer ring 23 can rotate around the axis X alone, and the outer ring 23 can drive the inner ring 21 to rotate around the axis Y.
Because the fixed position of the positioning rod 9 is changed, the connection point of the driving rope 5 and the outer ring 23 is required to be changed, in this embodiment, the rope end ring 4 is fixed at the first end of the driving rope 5, and the rope end ring 4 is slidably sleeved on the outer ring 23, so that the connection point of the driving rope 5 and the outer ring 23 can be changed in the circumferential direction, and the use flexibility of the surgical robot is improved.
In the working process, the three driving ropes 5 connected to the outer ring 23 apply forces in three directions to the outer ring 23 in the working process, the outer ring 23 has the rotation degree of the X axis and the Y axis, and the directions of the forces of the three driving ropes 5 acting on the outer ring 23 are always located on the same plane and intersected with the axis of the navigation tube 1 under the combined action of the rope end rings 4, so that the technical effect of simplifying force control is achieved.
As shown in fig. 7, the connecting joint 2 is provided with three fixing holes, and the first end of the driving rope 5 is fixed on the corresponding fixing hole. The structure of the joint 2 is more complex to control than the movable structure, but the structure is simpler.
As shown in fig. 1 to 3, visual positioning balls 7 are further disposed at the upper and lower ends of the navigation tube 1, and the navigation tube 1 is hollow and used for placing the puncture needle 3. The initial position of the navigation tube 1 is realized by the visual positioning balls 7 and the visual positioning equipment, and the visual positioning balls 7 are two and are positioned at two ends of the navigation tube 1 for accurately acquiring the position of the navigation tube 1. The puncture needle 3 can pass through the hollow part of the navigation tube 1, and other surgical instruments can be arranged on the navigation tube 1 in the same way.
As shown in fig. 1 to 3, through holes 6 for driving the rope 5 to pass through are provided at the upper end and the lower end of the positioning rod 9, visual positioning balls 7 are provided at the upper end and the lower end of the positioning rod 9, the initial position of the positioning rod 9 is realized by the visual positioning balls 7 and visual positioning equipment, and the position of the positioning rod 9 is more accurately acquired due to the visual positioning balls 7 at the two ends. The side of the positioning rod 9 is provided with a flexible pipe connecting piece 8 corresponding to the through hole 6, and the driving rope 5 extends out of the flexible pipe connecting piece 8. The flexible tube connection 8 is a flexible plastic tube, and the outwardly extending part of the driving rope 5 is protected by the flexible tube connection 8 when there is a certain operating distance between the rope driving mechanism 12 and the positioning rod 9.
As shown in fig. 1 to 3, the fixing portion is a jumper bar base 10 detachably fixed to the lower end of the jumper bar 9, and a plurality of fixing teeth 11 are provided in the circumferential direction on the lower end of the jumper bar base 10. The positioning rod base 10 is sleeved at the lower end of the positioning rod 9 and fixedly connected through a locking screw on the side face, the positioning rod base 10 can also be directly in threaded connection with the lower end of the positioning rod 9, the fixing teeth 11 at the lower end of the positioning rod base 10 are convenient for fixing the positioning rod 9 on the head of a patient, operation is convenient, influence on operation of a doctor is avoided, and the comfort level of the patient is improved.
As shown in fig. 5, the positioning device further includes a connecting rod assembly connected to adjacent positioning rods 9, the connecting rod assembly includes a first connecting rod 13 and a second connecting rod 15, a first end of the first connecting rod 13 is rotatably sleeved on one positioning rod 9, a second end of the first connecting rod is rotatably connected to a first end of the second connecting rod 15 through an encoder 14, and a second end of the second connecting rod 15 is rotatably sleeved on another positioning rod 9.
The initial position of the navigation tube 1 is tightly attached to one of the positioning rods 9, the position and the posture of the three positioning rods 9 are known, the navigation tube 1 is tightly attached to one of the positioning rods 9, the position and the posture are the same as those of the positioning rods 9, so that the initial position and the posture of the navigation tube 1 can be known, in the moving process or after moving, the variable quantity of the position and the posture of the navigation tube 1 can be calculated by six driving rope length variable quantities (an encoder can give out data), and the final position and the posture of the navigation tube 1 are obtained by combining the variable quantity and the initial quantity.
As shown in fig. 1 to 3, the rope driving mechanism 12 includes six sets of screw linear displacement mechanisms arranged side by side and a force sensor 127 arranged on the screw linear displacement mechanism, a second end of the driving rope 5 is connected to a detection end of the force sensor 127, and the force sensor 127 obtains a traction force of the driving rope 5 to control the driving rope 5. The rotary motion of the motor is changed into the translational motion of the driving rope 5 through the displacement mechanism of the lead screw linear displacement mechanism, so that the navigation tube 1 is driven to move.
The lead screw linear displacement mechanism comprises a first stop block 129, a slide block 128, a second stop block 124, a coupler 123, a motor base 122 and a motor 121 fixed on the motor base 122 which are sequentially arranged along a straight line; the output end of the motor 121 extends out of the motor base 122 and is in transmission connection with the coupler 123, one end, away from the motor 121, of the coupler 123 is in transmission connection with a screw 126, the screw 126 sequentially passes through the second stop block 124, the slider 128 and the first stop block 129, and the screw 126 is in threaded connection with the slider 128; a guide shaft 125 is further arranged between the first stop 129 and the second stop 124, and the slide block 128 is slidably sleeved on the guide shaft 125; the force sensor 127 is fixed to the slider 128. The guide shafts 125 are arranged in three and distributed in a triangular manner, the upper end of the sliding block 128 is provided with a sensor connecting piece, and the force sensor 127 is fixed on the sensor connecting piece.
The first block 129 is a structural body with 6 through holes 6 and 5 threaded holes for limiting the farthest moving distance of the sliding block 128, the sliding block 128 is a structural body with 2 through holes 6 and 2 threaded holes for placing the force sensor 127 and realizing the translational movement of the driving rope 5, and the sensor connecting piece is a structural body with 1 through hole 6 and 2 threaded holes for connecting the force sensor 127 and the driving rope 5; the second stopper 124 is a rectangular parallelepiped structure with 5 through holes 6 and 2 screw holes for limiting the initial position of the slider 128; the motor base 122 is a cuboid structure with 1 large through hole 6, 3 small through holes 6 and 5 threaded holes and is used for fixing the motor 121; the coupling 123 is a cylindrical structure with an axial through hole 6 and is used for connecting the motor 121 and the screw 126; the guide shaft 125 is a long polished rod screwed to each of the coupling members for fixedly positioning the internal parts of the entire driving section and restricting the rotational movement of the slider 128; the screw 126 is a long threaded rod with optical axes at both ends for translational movement of the slider 128.
As shown in fig. 6, the rope driving mechanism 12 includes SMA driving mechanisms 16 fixed on the positioning rod 9, the SMA driving mechanisms 16 are arranged in groups of six and two by two at the upper and lower ends of the positioning rod 9, and the second end of the driving rope 5 passes through the positioning rod 9 and then is connected to the output end of the SMA driving mechanism 16. In this embodiment, the rope driving mechanism 12 is an SMA driving mechanism 16 fixed to the positioning rod 9, and compared with the case of driving the driving rope 5 remotely by using the lead screw linear displacement mechanism, the rope driving mechanism 12 is driven in a short distance, and can make the weight of the working part of the surgical robot heavy.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. A rope-driven parallel reconfigurable surgical navigation positioning robot is characterized by comprising:
the surgical instrument positioning device comprises a navigation tube, a positioning device and a positioning device, wherein the navigation tube is used for placing surgical instruments, and is provided with connecting joints which are arranged at the upper end and the lower end of the navigation tube;
the positioning rods are arranged in three groups and surround the periphery of the navigation tube, and the lower ends of the positioning rods are provided with fixing parts;
the number of the driving ropes is six, the six driving ropes are averagely divided into three groups and correspond to the three groups of the positioning rods;
the first end of one of the driving ropes in each group is fixed on the connecting joint at the upper end of the navigation tube, the second end of the driving rope penetrates through the upper part of the corresponding positioning rod and is in transmission connection with the rope driving mechanism, the first end of the other driving rope is fixed on the connecting joint at the lower end of the navigation tube, and the second end of the driving rope penetrates through the lower part of the corresponding positioning rod and is in transmission connection with the rope driving mechanism; the connecting joint comprises an inner ring, a middle ring and an outer ring which are sleeved on the navigation tube from inside to outside in sequence;
the inner ring is fixed on the navigation tube, the middle ring and the inner ring are movably connected through a first connecting pin, and the outer ring and the middle ring are movably connected through a second connecting pin, so that the middle ring can rotate around the axis of the first connecting pin, and the outer ring can rotate around the axis of the second connecting pin;
the first end of the driving rope is connected to the outer ring.
2. The cord-driven parallel reconfigurable surgical navigation and positioning robot of claim 1, wherein the first connecting pin and the second connecting pin are disposed in two opposite directions, and an axis of the first connecting pin is perpendicular to an axis of the second connecting pin.
3. The rope-driven parallel reconfigurable surgical navigation and positioning robot of claim 2, wherein a rope end ring is fixed to a first end of the driving rope, and the rope end ring is slidably sleeved on the outer ring.
4. The rope-driven parallel reconfigurable surgical navigation and positioning robot as claimed in any one of claims 1 to 3, wherein visual positioning balls are further arranged at the upper end and the lower end of the navigation tube, and the navigation tube is hollow and used for placing puncture needles;
through holes for the driving ropes to pass through are formed in the upper end and the lower end of the positioning rod, visual positioning balls are arranged at the upper end and the lower end of the positioning rod, flexible pipe connecting pieces corresponding to the through holes are arranged on the side faces of the positioning rod, and the driving ropes extend out of the flexible pipe connecting pieces.
5. The cord-driven parallel reconfigurable surgical navigation and positioning robot of claim 4, wherein the fixing portion is configured as a positioning rod base detachably fixed to a lower end of the positioning rod, and a plurality of fixing teeth are circumferentially disposed on a lower end of the positioning rod base.
6. The rope-driven parallel reconfigurable surgical navigation and positioning robot according to claim 1, further comprising a connecting rod assembly connecting adjacent positioning rods, wherein the connecting rod assembly comprises a first connecting rod and a second connecting rod, a first end of the first connecting rod is rotatably sleeved on one positioning rod, a second end of the first connecting rod is rotatably connected with a first end of the second connecting rod through an encoder, and a second end of the second connecting rod is rotatably sleeved on the other positioning rod.
7. The rope-driven parallel reconfigurable surgical navigation and positioning robot according to any one of claims 1 to 3 or 5 to 6, wherein the rope-driven mechanism comprises six groups of screw linear displacement mechanisms arranged side by side and a force sensor arranged on the screw linear displacement mechanisms, and a second end of the driving rope is connected with a detection end of the force sensor.
8. The rope-driven parallel reconfigurable surgical navigation and positioning robot as claimed in claim 7, wherein the lead screw linear displacement mechanism comprises a first stop block, a slide block, a second stop block, a coupler, a motor base and a motor fixed on the motor base, which are sequentially arranged along a straight line; wherein the content of the first and second substances,
the output end of the motor extends out of the motor base and is in transmission connection with the coupler, one end, far away from the motor, of the coupler is in transmission connection with a screw, the screw sequentially penetrates through the second stop block, the sliding block and the first stop block, and the screw is in threaded connection with the sliding block;
a guide shaft is further arranged between the first stop block and the second stop block, and the slide block is sleeved on the guide shaft in a sliding manner;
the force sensor is fixed on the sliding block.
9. The rope-driven parallel reconfigurable surgical navigation and positioning robot according to any one of claims 1 to 3 or 5 to 6, wherein the rope driving mechanism comprises SMA driving mechanisms fixed on the positioning rods, the SMA driving mechanisms are arranged in a group of six and two by two and are arranged at the upper and lower ends of the positioning rods, and the second ends of the driving ropes are connected with the output ends of the SMA driving mechanisms after penetrating through the positioning rods.
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