CN210056219U

CN210056219U - Multi-degree-of-freedom end instrument for navigation robot

Info

Publication number: CN210056219U
Application number: CN201920175464.4U
Authority: CN
Inventors: 丛海波; 王炳强; 余志平; 谷鹏; 侯红军; 于盼峰
Original assignee: Shandong Weigao Medical Technology Co Ltd
Current assignee: Shandong Weigao Medical Technology Co Ltd
Priority date: 2019-01-31
Filing date: 2019-01-31
Publication date: 2020-02-14
Anticipated expiration: 2029-01-31

Abstract

The utility model belongs to the technical field of the medical instrument preparation technique and specifically relates to a multi freedom end apparatus for navigation robot, this end apparatus of its characterized in that removes clamping component and surgical instruments by the probe and removes clamping component and constitute, probe remove clamping component by probe base, the horizontal slide of probe, the vertical slide of probe, probe stand, probe mounting and constitute, the side middle part of probe base be equipped with the connection screw, connect the screw side and be equipped with surgical instruments and remove clamping component, surgical instruments remove clamping component by surgical instruments base, upset connecting screw, surgical instruments mounting, swivelling joint screw, swivel stand and constitute, have advantages such as simple structure, stability height, the degree of freedom is strong, nimble changeable.

Description

Multi-degree-of-freedom end instrument for navigation robot

Technical Field

The utility model belongs to the technical field of the medical instrument preparation technique and specifically relates to a simple structure, stability is high, the degree of freedom is strong, nimble changeable be used for navigation robot's multi freedom end apparatus.

Background

As is well known, the magnetic navigation operation system is widely applied to neurosurgery and puncture operation at present, and the system can track the position of the surgical instrument and display the position in real time in the operation process, so that a doctor can know the position of the surgical instrument relative to an affected part of a patient, and the operation is more accurate, safe and rapid.

Compared with the traditional operation, the magnetic navigation operation system has obvious advantages, for example, the operation precision is high, and the precise surgical operation which can not be realized by the traditional operation and is carried out on some important parts of the human body can be completed; the operation is time-consuming and short, and the doctor can be prevented from being exposed in the radiation range for a long time; the conventional interventional operation therapy can be perfectly combined with advanced imaging technology, computer control technology and superconducting magnet technology, and a new treatment means is provided for neurosurgery or puncture surgery. However, there are some problems in performing an operation by using the magnetic navigation operation system, such as unstable and unclear imaging caused by unavoidable shaking of the arm when the medical care personnel hold the imaging probe; when some precision operations are performed, the requirement of a doctor for performing the operation by holding the surgical instrument by the doctor is great, and errors can occur sometimes unavoidably due to the shaking problem.

At present, surgical end instruments are various in types, and although the problem of instability of a surgical imaging probe can be solved, the imaging probe and the surgical instrument are low in degree of freedom and not flexible enough.

Disclosure of Invention

The utility model aims at solving the defects of the prior art and providing a multi-freedom-degree terminal instrument for a navigation robot, which has simple structure, high stability, strong freedom degree and flexibility.

The utility model provides a technical scheme that its technical problem adopted is:

a multi-degree-of-freedom terminal instrument for a navigation robot is characterized by comprising a probe moving and clamping assembly and a surgical instrument moving and clamping assembly, wherein the probe moving and clamping assembly comprises a probe base, a probe transverse sliding seat, a probe longitudinal sliding seat, a probe upright post and a probe fixing piece, a transverse sliding groove is formed in the probe base, the probe transverse sliding seat is arranged above the transverse sliding groove, a transverse sliding block matched with the transverse sliding groove is arranged at the lower end of the probe transverse sliding seat, the probe transverse sliding seat is in sliding connection with the probe base through the matching effect of the transverse sliding block and the transverse sliding groove, a longitudinal sliding groove is arranged above the probe transverse sliding seat, a probe longitudinal sliding seat is arranged above the longitudinal sliding groove, a longitudinal sliding block matched with the longitudinal sliding groove is arranged at the lower end of the probe longitudinal sliding seat, and the probe longitudinal sliding seat is in sliding connection with the probe transverse sliding, the upper part of the probe longitudinal sliding seat is provided with a probe upright post, the lower end of the probe upright post is connected with a threaded post arranged on the probe longitudinal sliding seat through a connecting hole, the upper end of the probe upright post is connected with a probe fixing part, the probe fixing part is provided with a probe, the middle part of the side surface of the probe base is provided with a connecting screw hole, the side surface of the connecting screw hole is provided with a surgical instrument moving and clamping component, the surgical instrument moving and clamping component consists of a surgical instrument base, a turnover connecting screw, a surgical instrument fixing part, a rotary connecting screw and a rotary upright post, the side surface of the surgical instrument base is provided with a through hole corresponding to the connecting screw hole on the side surface of the probe base, the turnover connecting screw passes through the through hole on the side surface of the surgical instrument base to be connected with the connecting screw hole on, the upper part of the surgical instrument base is provided with a rotary upright post and a surgical instrument fixing part, the lower end of the rotary upright post is connected with the surgical instrument base, the upper end of the rotary upright post is provided with a thread groove, the surgical instrument fixing part is provided with a through hole matched with the position of the rotary upright post, the surgical instrument fixing part is sleeved outside the rotary upright post through the through hole and is arranged above the surgical instrument base, so that the surgical instrument fixing part rotates around the rotary upright post, the surgical instrument fixing part sleeved on the rotary upright post is fixed through a rotary connecting screw, the rotary connecting screw rotates through the through hole on the surgical instrument fixing part and is connected with the thread groove above the rotary upright post, the fixation of the surgical instrument fixing part is realized, the surgical instrument fixing part is provided with a surgical instrument, the probe base in the probe moving clamping component is provided with a connecting, the bolt is penetrated through the connecting hole to be connected with the mechanical arm.

The probe moving clamping component of the utility model is connected with the probe fixing piece through the probe rotary switch, the upper end of the probe upright post is provided with a probe fixing piece accommodating groove with an opening on the side surface, the lower end of the probe fixing piece extends into the probe fixing piece accommodating groove to be contacted with the probe upright post, the side surface of the probe fixing piece extending into the probe fixing piece accommodating groove is provided with a fixed groove, the probe upright post corresponding to the position of the fixed groove is provided with an arc groove, the fixed groove is internally provided with the probe rotary switch, the probe rotary switch is composed of a connecting rod, a spring and a positioning boss, one end of the connecting rod extends into the fixed groove and is connected with the spring in the fixed groove, the rod part of the connecting rod is provided with the positioning boss which is contacted with the inner side surface of the probe upright post, and the other end of the connecting rod, the fixing of probe mounting is realized to the boss top of will fixing a position at probe stand medial surface through the effect of spring, makes the boss of fixing a position not contact and then realize rotatoryly with probe stand medial surface through pressing the connecting rod.

Location boss constitute by four nose bars and rubber head, the inner equipartition of four nose bars on the outer wall of connecting rod, the outer end of nose bar is connected with the rubber head respectively, through the frictional force between rubber head increase probe mounting and the probe stand.

The radian of the arc wall on the probe stand be 120 degrees ~160 degrees, also increase the turned angle of probe mounting when guaranteeing stability.

Stretch into connecting rod tip side in the fixed slot be equipped with the wing board, the fixed slot side be equipped with the corresponding wing groove of wing board, fixed connection pole prevents connecting rod free rotation.

Probe mounting and surgical instruments mounting be connected with the probe through the joint subassembly respectively, the joint subassembly constitute by arc, hinge and set screw, the one end of arc be connected with probe mounting and surgical instruments mounting through the hinge, the arc fixed slot top that the middle part lock of arc was equipped with on probe mounting or surgical instruments mounting, the other end of arc is connected with probe mounting and surgical instruments mounting through set screw, realize the fixed of probe and surgical instruments through the fixed chamber that forms between arc and the solitary star fixed slot.

The horizontal spout on the probe base or the vertical spout of the horizontal slide top of probe establish to dovetail spout, establish to dovetail slider, increase the stability of structure with horizontal slider of spout complex or vertical slider.

Probe base on the length of horizontal spout be 200mm, the vertical spout length of probe horizontal slide top be 100 mm.

The utility model is characterized in that the end instrument comprises a probe moving and clamping component and a surgical instrument moving and clamping component, the probe moving and clamping component comprises a probe base, a probe transverse sliding seat, a probe longitudinal sliding seat, a probe upright post and a probe fixing component, the probe base is provided with a transverse sliding groove, the probe transverse sliding seat is arranged above the transverse sliding groove, the lower end of the probe transverse sliding seat is provided with a transverse sliding block matched with the transverse sliding groove, the probe transverse sliding seat is connected with the probe base in a sliding way through the matching effect of the transverse sliding block and the transverse sliding groove, the longitudinal sliding groove is arranged above the probe transverse sliding seat, the probe longitudinal sliding seat is arranged above the longitudinal sliding groove, the lower end of the probe longitudinal sliding seat is provided with a longitudinal sliding block matched with the longitudinal sliding groove, the probe longitudinal sliding seat is connected with the probe transverse, the upper part of the probe longitudinal sliding seat is provided with a probe upright post, the lower end of the probe upright post is connected with a threaded post arranged on the probe longitudinal sliding seat through a connecting hole, the upper end of the probe upright post is connected with a probe fixing part, the probe fixing part is provided with a probe, the middle part of the side surface of the probe base is provided with a connecting screw hole, the side surface of the connecting screw hole is provided with a surgical instrument moving and clamping component, the surgical instrument moving and clamping component consists of a surgical instrument base, a turnover connecting screw, a surgical instrument fixing part, a rotary connecting screw and a rotary upright post, the side surface of the surgical instrument base is provided with a through hole corresponding to the connecting screw hole on the side surface of the probe base, the turnover connecting screw passes through the through hole on the side surface of the surgical instrument base to be connected with the connecting screw hole on, the upper part of the surgical instrument base is provided with a rotary upright post and a surgical instrument fixing part, the lower end of the rotary upright post is connected with the surgical instrument base, the upper end of the rotary upright post is provided with a thread groove, the surgical instrument fixing part is provided with a through hole matched with the position of the rotary upright post, the surgical instrument fixing part is sleeved outside the rotary upright post through the through hole and is arranged above the surgical instrument base, so that the surgical instrument fixing part rotates around the rotary upright post, the surgical instrument fixing part sleeved on the rotary upright post is fixed through a rotary connecting screw, the rotary connecting screw rotates through the through hole on the surgical instrument fixing part and is connected with the thread groove above the rotary upright post, the fixation of the surgical instrument fixing part is realized, the surgical instrument fixing part is provided with a surgical instrument, the probe base in the probe moving clamping component is provided with a connecting, the probe moving clamping assembly is connected with the mechanical arm through a connecting hole penetrating through a bolt, the probe upright in the probe moving clamping assembly is connected with the probe fixing piece through a probe rotary switch, a probe fixing piece accommodating groove with an opening on the side face is arranged at the upper end of the probe upright, the lower end of the probe fixing piece extends into the probe fixing piece accommodating groove to be contacted with the probe upright, a fixing groove is arranged on the side face of the probe fixing piece extending into the probe fixing piece accommodating groove, an arc-shaped groove is arranged on the probe upright corresponding to the position of the fixing groove, a probe rotary switch is arranged in the fixing groove and consists of a connecting rod, a spring and a positioning boss, one end of the connecting rod extends into the fixing groove and is connected with the spring in the fixing groove, a positioning boss is arranged on the rod part of the connecting rod and is contacted with the inner side face of the probe upright, and, the fixing device comprises a probe stand column, a positioning boss, a connecting rod, a spring, a positioning assembly, a rubber head, a clamping assembly and a fixing screw, wherein the positioning boss is supported against the inner side surface of the probe stand column through the action of the spring to realize the fixing of the probe fixing member, the positioning boss is not contacted with the inner side surface of the probe stand column through pressing the connecting rod to further realize the rotation, the positioning boss consists of four convex rods and the rubber head, the inner ends of the four convex rods are uniformly distributed on the outer wall of the connecting rod, the outer ends of the convex rods are respectively connected with the rubber head, the friction force between the probe fixing member and the probe stand column is increased through the rubber head, the radian of an arc-shaped groove on the probe stand column is 120-160 degrees, the rotation angle of the probe fixing member is also increased while the stability is ensured, the probe fixing member and the surgical instrument fixing member are respectively connected, the middle part lock of arc is above the arc fixed slot that is equipped with on probe mounting or surgical instruments mounting, and the other end of arc is connected with probe mounting and surgical instruments mounting through set screw, realizes fixing of probe and surgical instruments through the fixed chamber that forms between arc and the solitary star fixed slot, probe base on the vertical spout of horizontal spout or the horizontal slide top of probe establish to the swallow-tail spout, establish to the swallow-tail slider with horizontal slider of spout complex or vertical slider, increase the stability of structure, probe base on the length of horizontal spout be 200mm, the vertical spout length of the horizontal slide top of probe be 100mm, have advantages such as simple structure, stability height, the degree of freedom is strong, nimble changeable.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic view of the probe moving clamp assembly of fig. 1.

Fig. 3 is a schematic view of the movable clamp assembly of the surgical instrument of fig. 1.

Fig. 4 is a schematic view of the combination structure of the probe longitudinal slide, the probe upright post and the probe fixing member in fig. 1.

Fig. 5 is a schematic structural diagram of the probe rotary switch of the present invention.

Fig. 6 is a schematic structural diagram of the probe holder according to the present invention.

Fig. 7 is a schematic structural view of a base of a surgical instrument of the present invention.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings:

as shown in the attached drawing, the multi-degree-of-freedom end instrument for the navigation robot is characterized by comprising a probe moving and clamping component and a surgical instrument moving and clamping component, wherein the probe moving and clamping component comprises a probe base 1, a probe transverse sliding seat 2, a probe longitudinal sliding seat 3, a probe upright post 4 and a probe fixing part 5, the probe base 1 is provided with a transverse sliding groove 6, the probe transverse sliding seat 2 is arranged above the transverse sliding groove 6, the lower end of the probe transverse sliding seat 2 is provided with a transverse sliding block matched with the transverse sliding groove 6, the probe transverse sliding seat 2 is in sliding connection with the probe base 1 through the matching action of the transverse sliding block and the transverse sliding groove 6, the longitudinal sliding groove 7 is arranged above the probe transverse sliding seat 2, the probe longitudinal sliding seat 3 is arranged above the longitudinal sliding groove 7, the lower end of the probe longitudinal sliding seat 3 is provided with a longitudinal sliding block matched, the probe longitudinal sliding seat 3 is connected with the probe transverse sliding seat 2 in a sliding manner through the cooperation of a longitudinal sliding block and a longitudinal sliding groove 7, a probe upright post 4 is arranged above the probe longitudinal sliding seat 3, the lower end of the probe upright post 4 is connected with a threaded post 8 arranged on the probe longitudinal sliding seat 3 through a connecting hole, the upper end of the probe upright post 4 is connected with a probe fixing part 5, a probe is arranged on the probe fixing part 5, a connecting screw hole 9 is arranged in the middle of the side surface of the probe base 1, the connecting screw hole 9 is arranged on the side surface of the probe base 1 on one side of the end part of the transverse sliding groove 6, a surgical instrument moving and clamping component is arranged on the side surface of the connecting screw hole 9, the surgical instrument moving and clamping component is composed of a surgical instrument base 12, a turnover connecting screw 11, a surgical instrument fixing part 13, a rotary connecting screw 14 and a rotary upright post 15, a through hole, the through hole 10 is internally provided with a turnover connecting screw 11, the turnover connecting screw 11 passes through the through hole 10 on the side surface of the surgical instrument base 12 and is connected with the connecting screw hole 9 on the side surface of the probe base 1, the connection between the surgical instrument base 12 and the probe base 1 is realized, a rotary upright post 15 and a surgical instrument fixing piece 13 are arranged above the surgical instrument base 12, the lower end of the rotary upright post 15 is connected with the surgical instrument base 12, the upper end of the rotary upright post 15 is provided with a thread groove 16, the surgical instrument fixing piece 13 is provided with a through hole matched with the position of the rotary upright post 15, the surgical instrument fixing piece 13 is sleeved outside the rotary upright post 15 through the through hole and is arranged above the surgical instrument base 12, so that the surgical instrument fixing piece 13 rotates around the rotary upright post 15, and the surgical instrument fixing piece 13 sleeved on the rotary upright post 15 is, the rotary connecting screw 14 rotates through a through hole on the surgical instrument fixing part 13 to be connected with a thread groove 16 above the rotary upright post 15, so as to fix the surgical instrument fixing part 13, the surgical instrument fixing part 13 is provided with a surgical instrument, the probe base 1 in the probe moving and clamping assembly is provided with a connecting hole 17 connected with the mechanical arm, the connecting hole 17 penetrates through a bolt to be connected with the mechanical arm, the probe upright post 4 in the probe moving and clamping assembly is connected with the probe fixing part 5 through a probe rotary switch, the upper end of the probe upright post 4 is provided with a probe fixing part accommodating groove 18 with an opening on the side surface, the lower end of the probe fixing part 5 extends into the probe fixing part accommodating groove 18 to be contacted with the probe upright post 4, the side surface of the probe fixing part 5 extending into the probe fixing part accommodating groove 18 is provided with a fixing groove 19, and the probe upright post 4 corresponding to the position of the fixing groove, a probe rotary switch is arranged in the fixed groove 19 and consists of a connecting rod 21, a spring and a positioning boss, one end of the connecting rod 21 extends into the fixed groove 19 and is connected with the spring in the fixed groove 19, the rod part of the connecting rod 21 is provided with the positioning boss which is contacted with the inner side surface of the probe upright post 4, the other end of the connecting rod 21 extends out of an arc-shaped groove 20 on the probe upright post 4, the positioning boss is propped against the inner side surface of the probe upright post 4 under the action of the spring to realize the fixation of the probe fixing piece 5, the positioning boss is not contacted with the inner side surface of the probe upright post 4 by pressing the connecting rod 21 to realize the rotation, the positioning boss consists of four convex rods 22 and a rubber head 23, the inner ends of the four convex rods 22 are uniformly distributed on the outer wall of the connecting rod 21, the outer ends of the convex rods 22 are respectively connected with the rubber head 23, and the friction force, the radian of the arc-shaped groove 20 on the probe upright post 4 is 120-160 degrees, the rotating angle of the probe fixing piece 5 is increased while the stability is ensured, the side surface of the end part of the connecting rod 21 extending into the fixing groove 19 is provided with a fin plate 28, the side surface of the fixing groove 19 is provided with a fin groove corresponding to the fin plate 28, the connecting rod 21 is fixed to prevent the connecting rod 21 from freely rotating, the probe fixing piece 5 and the surgical instrument fixing piece 13 are respectively connected with the probe through a clamping component, the clamping component consists of an arc-shaped plate 24, a hinge 25 and a fixing screw 26, one end of the arc-shaped plate 24 is connected with the probe fixing piece 5 and the surgical instrument fixing piece 13 through the hinge 25, the middle part of the arc-shaped plate 24 is buckled above an arc-shaped 27 arranged on the probe fixing piece 5 or the surgical instrument fixing piece 13, and the other end of the arc-shaped plate 24 is connected with the, realize probe and surgical instruments's fixed through the fixed chamber that forms between arc 24 and the solitary star fixed slot 19, probe base 1 on the horizontal spout 6 of horizontal spout or probe 2 top vertical spout 7 establish to the dovetail spout, establish to the dovetail slider with horizontal slider of spout complex or vertical slider, increase the stability of structure, probe base 1 on the length of horizontal spout 6 be 200mm, the horizontal slide 2 top of probe vertical spout 7 length be 100 mm.

When the utility model is used, the probe is connected on the probe fixing member 5, the surgical instrument is connected on the surgical instrument fixing member 13, then the mechanical arm is connected with the connecting hole 17 through the bolt, the mechanical arm can drive the whole terminal instrument to move, the surgical instrument is adjusted to be distant from the affected part of the patient, the relative turning rotation between the probe base 1 and the surgical instrument base 12 can be realized because the probe base 1 is connected with the surgical instrument base 12 through the turning connecting screw 11, the transverse sliding groove 6 on the probe base 1 can realize the transverse movement of the probe transverse sliding seat 2, the longitudinal sliding groove 7 on the probe transverse sliding seat 2 can realize the longitudinal sliding of the probe longitudinal sliding seat 3, and further realize the transverse and longitudinal movement of the probe fixing member 5, because the lower end of the probe upright post 4 is connected with the threaded post 8 arranged on the probe longitudinal sliding seat 3 through the connecting hole, the probe fixing piece 5 can be rotated, the probe upright post 4 in the probe moving and clamping assembly is connected with the probe fixing piece 5 through the probe rotary switch, the probe rotary switch can realize the rotation of the probe along the arc-shaped groove 20, the surgical instrument fixing piece 13 is sleeved on the outer side of the rotary upright post 15 through the through hole and is arranged above the surgical instrument base 12, so that the surgical instrument fixing piece 13 rotates around the rotary upright post 15, the surgical instrument fixing piece 13 can drive the surgical instrument to rotate, the probe upright post 4 can be held by a hand to realize the horizontal movement and the rotation of the probe, and the probe rotary switch can be pressed to realize the up-and-down swinging of the probe in all directions; the surgical instrument fixing part 13 can rotate on the instrument base to adjust to an optimal angle, the surgical instrument base 12 can also rotate, the problems of shaking and inaccuracy of an imaging probe and a surgical instrument in the surgical process are solved, and the characteristics of flexibility and convenience of the imaging probe and the surgical instrument are also realized, the utility model discloses a terminal instrument comprises a probe moving and clamping component and a surgical instrument moving and clamping component, the probe moving and clamping component comprises a probe base 1, a probe transverse sliding seat 2, a probe longitudinal sliding seat 3, a probe upright post 4 and a probe fixing part 5, a transverse sliding groove 6 is arranged on the probe base 1, a probe transverse sliding seat 2 is arranged above the transverse sliding groove 6, a transverse sliding block matched with the transverse sliding groove 6 is arranged at the lower end of the probe transverse sliding seat 2, and the probe transverse sliding seat 2 is connected with the probe base 1 in a sliding way through the matching effect of the transverse sliding block and the transverse sliding groove 6, the upper portion of the probe transverse sliding seat 2 is provided with a longitudinal sliding groove 7, a probe longitudinal sliding seat 3 is arranged above the longitudinal sliding groove 7, the lower end of the probe longitudinal sliding seat 3 is provided with a longitudinal sliding block matched with the longitudinal sliding groove 7, the probe longitudinal sliding seat 3 is in sliding connection with the probe transverse sliding seat 2 through the matching effect of the longitudinal sliding block and the longitudinal sliding groove 7, a probe upright post 4 is arranged above the probe longitudinal sliding seat 3, the lower end of the probe upright post 4 is connected with a threaded post 8 arranged on the probe longitudinal sliding seat 3 through a connecting hole 17, the upper end of the probe upright post 4 is connected with a probe fixing part 5, a probe is arranged on the probe fixing part 5, the middle part of the side surface of the probe base 1 is provided with a connecting screw hole 9, the side surface of the connecting screw hole 9 is provided with a surgical instrument moving clamping component, the surgical instrument fixing piece 13, the rotary connecting screw 14 and the rotary upright post 15 are arranged, the side surface of the surgical instrument base 12 is provided with a through hole 10 corresponding to the position of a connecting screw hole 9 on the side surface of the probe base 1, a turnover connecting screw 11 is arranged in the through hole 10, the turnover connecting screw 11 penetrates through the through hole 10 on the side surface of the surgical instrument base 12 and is connected with the connecting screw hole 9 on the side surface of the probe base 1, the connection between the surgical instrument base 12 and the probe base 1 is realized, the rotary upright post 15 and the surgical instrument fixing piece 13 are arranged above the surgical instrument base 12, the lower end of the rotary upright post 15 is connected with the surgical instrument base 12, the upper end of the rotary upright post 15 is provided with a thread groove 16, the surgical instrument fixing piece 13 is provided with a through hole matched with the position of the rotary upright post 15, the surgical instrument fixing piece 13 is sleeved outside the rotary, the fixing device comprises a rotating upright post 15, a surgical instrument fixing piece 13 sleeved on the rotating upright post 15 and fixed through a rotating connecting screw 14, the rotating connecting screw 14 rotates through a through hole in the surgical instrument fixing piece 13 to be connected with a thread groove 16 above the rotating upright post 15, so that the fixing of the surgical instrument fixing piece 13 is realized, the surgical instrument fixing piece 13 is provided with a surgical instrument, a probe base 1 in a probe moving and clamping assembly is provided with a connecting hole 17 connected with a mechanical arm, the connecting hole 17 penetrates through a bolt to be connected with the mechanical arm, a probe upright post 4 in the probe moving and clamping assembly is connected with a probe fixing piece 5 through a probe rotating switch, the upper end of the probe upright post 4 is provided with a probe fixing piece accommodating groove 18 with an opening on the side, and the lower end of the probe fixing piece 5 extends into the probe fixing piece accommodating groove 18 to be contacted with the probe upright post 4, the side surface of the probe fixing part 5 extending into the probe fixing part accommodating groove 18 is provided with a fixing groove 19, the probe upright post 4 corresponding to the position of the fixing groove 19 is provided with an arc-shaped groove 20, a probe rotary switch is arranged in the fixing groove 19 and consists of a connecting rod 21, a spring and a positioning boss, one end of the connecting rod 21 extends into the fixing groove 19 and is connected with the spring in the fixing groove 19, the rod part of the connecting rod 21 is provided with a positioning boss which is contacted with the inner side surface of the probe upright post 4, the other end of the connecting rod 21 extends out of the arc-shaped groove 20 on the probe upright post 4, the positioning boss is propped against the inner side surface of the probe upright post 4 under the action of the spring to realize the fixation of the probe fixing part 5, the positioning boss is not contacted with the inner side surface of the probe upright post 4 by pressing the connecting rod 21 so as, the inner ends of the four convex rods 22 are uniformly distributed on the outer wall of the connecting rod 21, the outer ends of the convex rods 22 are respectively connected with the rubber head 23, the friction force between the probe fixing piece 5 and the probe upright post 4 is increased through the rubber head 23, the radian of the arc-shaped groove 20 on the probe upright post 4 is 120-160 degrees, the rotating angle of the probe fixing piece 5 is also increased while the stability is ensured, the side surface of the end part of the connecting rod 21 extending into the fixing groove 19 is provided with a fin plate 28, the side surface of the fixing groove 19 is provided with a fin groove corresponding to the fin plate 28, the connecting rod 21 is fixed to prevent the connecting rod 21 from freely rotating, the probe fixing piece 5 and the surgical instrument fixing piece 13 are respectively connected with the probe through a clamping component, the clamping component is composed of an arc-shaped plate 24, a hinge 25 and a fixing screw 26, one end of the arc-shaped plate 24 is connected with the probe fixing, the middle part lock of arc 24 is in the arc fixed slot 27 top that is equipped with on probe mounting 5 or surgical instruments mounting 13, and the other end of arc 24 is connected with probe mounting 5 and surgical instruments mounting 13 through set screw 26, realizes fixing of probe and surgical instruments through the fixed chamber that forms between arc 24 and the solitary star fixed slot 19, probe base 1 on horizontal spout 6 or the vertical spout 7 of the horizontal slide 2 top of probe establish to the dovetail spout, establish to the dovetail slider with horizontal slider of spout complex or vertical slider, increase the stability of structure, probe base 1 on the length of horizontal spout 6 be 200mm, the vertical spout 7 length of the horizontal slide 2 top of probe be 100mm, have advantages such as simple structure, stability is high, the degree of freedom is strong, nimble changeable.

Claims

1. A multi-degree-of-freedom terminal instrument for a navigation robot is characterized by comprising a probe moving and clamping assembly and a surgical instrument moving and clamping assembly, wherein the probe moving and clamping assembly comprises a probe base, a probe transverse sliding seat, a probe longitudinal sliding seat, a probe upright post and a probe fixing piece, a transverse sliding groove is formed in the probe base, the probe transverse sliding seat is arranged above the transverse sliding groove, a transverse sliding block matched with the transverse sliding groove is arranged at the lower end of the probe transverse sliding seat, the probe transverse sliding seat is in sliding connection with the probe base through the matching effect of the transverse sliding block and the transverse sliding groove, a longitudinal sliding groove is arranged above the probe transverse sliding seat, a probe longitudinal sliding seat is arranged above the longitudinal sliding groove, a longitudinal sliding block matched with the longitudinal sliding groove is arranged at the lower end of the probe longitudinal sliding seat, and the probe longitudinal sliding seat is in sliding connection with the probe transverse sliding, the upper part of the probe longitudinal sliding seat is provided with a probe upright post, the lower end of the probe upright post is connected with a threaded post arranged on the probe longitudinal sliding seat through a connecting hole, the upper end of the probe upright post is connected with a probe fixing part, the probe fixing part is provided with a probe, the middle part of the side surface of the probe base is provided with a connecting screw hole, the side surface of the connecting screw hole is provided with a surgical instrument moving and clamping component, the surgical instrument moving and clamping component consists of a surgical instrument base, a turnover connecting screw, a surgical instrument fixing part, a rotary connecting screw and a rotary upright post, the side surface of the surgical instrument base is provided with a through hole corresponding to the connecting screw hole on the side surface of the probe base, the turnover connecting screw passes through the through hole on the side surface of the surgical instrument base to be connected with the connecting screw hole on, the upper part of the surgical instrument base is provided with a rotary upright post and a surgical instrument fixing part, the lower end of the rotary upright post is connected with the surgical instrument base, the upper end of the rotary upright post is provided with a thread groove, the surgical instrument fixing part is provided with a through hole matched with the position of the rotary upright post, the surgical instrument fixing part is sleeved outside the rotary upright post through the through hole and is arranged above the surgical instrument base, so that the surgical instrument fixing part rotates around the rotary upright post, the surgical instrument fixing part sleeved on the rotary upright post is fixed through a rotary connecting screw, the rotary connecting screw rotates through the through hole on the surgical instrument fixing part and is connected with the thread groove above the rotary upright post, the fixation of the surgical instrument fixing part is realized, the surgical instrument fixing part is provided with a surgical instrument, the probe base in the probe moving clamping component is provided with a connecting, the bolt is penetrated through the connecting hole to be connected with the mechanical arm.

2. The multi-degree-of-freedom end instrument for the navigation robot as claimed in claim 1, wherein the probe moving clamping assembly has a probe column connected to the probe holder through a probe rotary switch, the probe column has a probe holder receiving groove with an opening at its upper end, the lower end of the probe holder extends into the probe holder receiving groove to contact the probe column, the probe holder extending into the probe holder receiving groove has a fixing groove at its side, the probe column corresponding to the fixing groove has an arc-shaped groove, the fixing groove has a probe rotary switch therein, the probe rotary switch comprises a connecting rod, a spring and a positioning boss, one end of the connecting rod extends into the fixing groove and is connected to the spring in the fixing groove, the rod part of the connecting rod has a positioning boss contacting with the inner side of the probe column, the other end of the connecting rod is extended out from the arc-shaped groove on the probe stand column, the positioning boss is pushed against the inner side surface of the probe stand column to fix the probe fixing piece under the action of the spring, and the positioning boss is not contacted with the inner side surface of the probe stand column by pressing the connecting rod so as to rotate.

3. The multi-degree-of-freedom end instrument for the navigation robot as claimed in claim 2, wherein the positioning boss is composed of four protruding rods and rubber heads, inner ends of the four protruding rods are uniformly distributed on outer walls of the connecting rods, outer ends of the protruding rods are respectively connected with the rubber heads, and friction between the probe fixing member and the probe upright post is increased through the rubber heads.

4. The multi-degree-of-freedom end instrument for the navigation robot as claimed in claim 2, wherein the arc of the arc groove on the probe column is 120-160 degrees, so that the rotation angle of the probe fixing member is increased while the stability is ensured.

5. The distal end instrument with multiple degrees of freedom for a navigation robot of claim 2, wherein the side of the end of the connecting rod extending into the fixing groove is provided with a fin plate, and the side of the fixing groove is provided with a fin groove corresponding to the fin plate to fix the connecting rod.

6. The multi-degree-of-freedom end instrument for the navigation robot as claimed in claim 1, wherein the probe fixing member and the surgical instrument fixing member are respectively connected with the probe through a clamping assembly, the clamping assembly is composed of an arc-shaped plate, a hinge and a fixing screw, one end of the arc-shaped plate is connected with the probe fixing member and the surgical instrument fixing member through the hinge, the middle of the arc-shaped plate is buckled above an arc-shaped fixing groove formed in the probe fixing member or the surgical instrument fixing member, the other end of the arc-shaped plate is connected with the probe fixing member and the surgical instrument fixing member through the fixing screw, and the fixing of the probe and the surgical instrument is realized through a fixing cavity formed between the arc-shaped plate and the solitary star fixing groove.

7. The distal end instrument with multiple degrees of freedom for a navigation robot according to claim 1, wherein the transverse sliding groove on the probe base or the longitudinal sliding groove above the transverse sliding seat of the probe is a dovetail sliding groove, and the transverse sliding block or the longitudinal sliding block matched with the sliding groove is a dovetail sliding block, so that the structural stability is improved.

8. The distal end instrument of multiple degrees of freedom for a navigation robot according to claim 1, wherein the length of the lateral sliding groove on the probe base is 200mm, and the length of the longitudinal sliding groove above the probe lateral sliding base is 100 mm.