CN219397441U - Bone drilling feeding mechanism for orthopedic operation robot - Google Patents

Abstract

The utility model discloses a bone drilling feeding mechanism for an orthopedic operation robot, which comprises a mechanical arm body, wherein a mounting frame is fixedly arranged on the left side of the mechanical arm body, a clamping plate is fixedly arranged on the left side of the mounting frame, a guide rail seat is fixedly arranged at the top of the mounting frame, a servo motor is fixedly arranged on the right side of the guide rail seat, a screw rod is fixedly arranged on an output shaft of the servo motor, a nut is connected with the surface thread of the screw rod, a mounting seat is fixedly arranged at the top of the nut, and a bone drill body is fixedly arranged at the top of the mounting seat. According to the utility model, the feeding motion of the bone drill body is realized by arranging the servo motor, the screw rod and the nut, the marker and the mounting rod move along with the bone drill, the real-time position of the bone drill body is determined by determining the real-time position of the marker, and the feeding motion of the bone drill body is completed only by the mechanical arm body without driving the mechanical arm body.

Description

Bone drilling feeding mechanism for orthopedic operation robot

Technical Field

The utility model relates to the technical field of orthopedic operation robots, in particular to a bone drilling mechanism for an orthopedic operation robot.

Background

The robot surgical system is a complex integrating a plurality of modern high-tech means, the application is wide, a great amount of application is realized in clinical surgery, a surgeon can operate a machine away from an operating table, the robot surgical system is completely different from the traditional surgical concept, the robot surgical system is a revolutionary surgical tool in the field of world minimally invasive surgery, in the prior art, the tail end of an orthopedic surgical robot is mainly driven by the motion of a mechanical arm to drill into bones, in the bone drilling process, the bone drill can be subjected to the acting force of the bones, the acting force can be influenced by the size, the specification, the self-drilling rate and the feeding rate of the bone drill, and certain errors exist in the mechanical arm, so that the path error of the robot is difficult to determine, that is, the feeding direction of the bone drill is difficult to be ensured to be consistent with the axis of the drill, deviation occurs in the punching direction, the serious person even occurs in the bone fracture condition, in addition, the bone drill is purely moved by the mechanical arm to overcome the resistance to drill the bone, the dynamic load capacity requirement of the mechanical arm is relatively high, and therefore, the bone drilling mechanism for the orthopedic surgical robot is provided.

Disclosure of Invention

The utility model aims to provide a bone drilling giving mechanism for an orthopedic operation robot, which has the advantages of avoiding punching deviation or drill bit breakage caused by mechanical arm path error in the bone drilling giving process, improving the treatment effect of an operation, reducing the requirement on the dynamic load capacity of the mechanical arm, and solving the problems that the punching deviation or drill bit breakage is caused by the too high mechanical arm path error caused by the too high load in the bone drilling giving process of the traditional orthopedic operation robot, and the dynamic load capacity requirement of the orthopedic operation robot on the mechanical arm is relatively high.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a bone drills into and gives mechanism for orthopedic surgery robot, includes the arm body, the left side fixed mounting of arm body has the mounting bracket, the left side fixed mounting of mounting bracket has the cardboard, the top fixed mounting of mounting bracket has the guide rail seat, the right side fixed mounting of guide rail seat has servo motor, servo motor's output shaft fixed mounting has the lead screw, the surface screw connection of lead screw has the nut, the top fixed mounting of nut has the mount pad, the top fixed mounting of mount pad has the bone to bore the body, the positive fixed mounting of mount pad has the installation pole, the top fixed mounting of installation pole has the marker.

Preferably, limit protrusions are fixedly arranged on the left side and the right side of the guide rail seat.

Preferably, the clamping plate and the mounting frame are fixed through four crossed countersunk screws.

Preferably, the left bottom of the clamping plate is provided with a loose screw, the other end of the loose screw penetrates through the mounting frame and is fixedly connected with the mechanical arm body, and the left side of the loose screw is provided with an E-shaped check ring.

Preferably, the front and rear surfaces of the bottom of the mounting seat are fixedly provided with sliding blocks, and the front and rear surfaces of the top of the guide rail seat are fixedly provided with linear guide rails.

Preferably, photoelectric switches are arranged on the left side and the right side of the bottom of the guide rail seat, and trigger plates matched with the photoelectric switches are arranged on the front end and the rear end of the bottom of the installation seat.

Compared with the prior art, the utility model has the following beneficial effects:

1. according to the utility model, the servo motor, the screw rod and the nut are arranged to realize the feeding motion of the bone drill body, the marker and the mounting rod move along with the bone drill, the real-time azimuth of the bone drill body is determined by determining the real-time azimuth of the marker, the mechanical arm body is only required to complete the guiding and positioning, the mechanical arm body is not required to drive to complete the feeding motion of the bone drill body, and the problems of punching deviation or drill bit breakage caused by too high mechanical arm path error due to too high load in the bone drilling feeding process of the traditional bone surgery robot are solved, and the dynamic load capacity requirement of the bone surgery robot on the mechanical arm is relatively high.

2. According to the utility model, the trigger plate and the photoelectric switch are arranged to realize hardware limit of front and rear positions, the limit bulge is arranged to realize mechanical limit of the feeding mechanism, the sliding block and the linear guide rail are arranged to guide the mounting seat, the clamping plate can be fixed on the mounting frame through the cross countersunk head screw, the clamping plate and the mounting frame can be fixed on the mechanical arm body through the loosening-preventing screw and the E-shaped check ring, and when the whole structure is detached from the mechanical arm, the E-shaped gasket can keep the loosening-preventing screw on the clamping plate and is not easy to lose.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

fig. 2 is a schematic rear view of the present utility model.

In the figure: 1. a robot arm body; 2. a bone drill body; 3. a servo motor; 4. a screw rod; 5. a nut; 6. a linear guide rail; 7. an optoelectronic switch; 8. a guide rail seat; 9. a mounting base; 10. a slide block; 11. a mounting frame; 12. a clamping plate; 13. the screw is not loosened; 14. e-shaped check rings; 15. a cross countersunk head screw; 16. a marker; 17. a mounting rod; 18. a trigger plate; 19. and a limit protrusion.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-2, a bone drilling feeding mechanism for an orthopedic operation robot comprises a mechanical arm body 1, a mounting frame 11 is fixedly arranged on the left side of the mechanical arm body 1, a clamping plate 12 is fixedly arranged on the left side of the mounting frame 11, the clamping plate 12 and the mounting frame 11 are fixed through four crossed countersunk head screws 15, the clamping plate 12 can be fixed on the mounting frame 11 through the crossed countersunk head screws 15, a loose and non-releasing screw 13 is arranged at the bottom of the left side of the clamping plate 12, the other end of the loose and non-releasing screw 13 penetrates through the mounting frame 11 and is fixedly connected with the mechanical arm body 1, an E-shaped retaining ring 14 is arranged at the left side of the loose and non-releasing screw 13, the clamping plate 12 and the mounting frame 11 can be fixed on the mechanical arm body 1 through the loose and non-releasing screw 13 and the E-shaped retaining ring 14, a guide rail seat 8 is fixedly arranged at the top of the mounting frame 11, and a servo motor 3 is fixedly arranged on the right side of the guide rail seat 8, the output shaft of the servo motor 3 is fixedly provided with a screw rod 4, the surface of the screw rod 4 is in threaded connection with a nut 5, the top of the nut 5 is fixedly provided with a mounting seat 9, the front and rear sides of the bottom of the mounting seat 9 are fixedly provided with a sliding block 10, the front and rear sides of the top of the guide rail seat 8 are fixedly provided with a linear guide rail 6, the mounting seat 9 can be guided by arranging the sliding block 10 and the linear guide rail 6, the left and right sides of the guide rail seat 8 are fixedly provided with limit protrusions 19, the mechanical limit of the feeding mechanism is realized by arranging the limit protrusions 19, the left and right sides of the bottom of the guide rail seat 8 are provided with photoelectric switches 7, the front and rear ends of the bottom of the mounting seat 9 are provided with trigger plates 18 matched with the photoelectric switches 7, the hardware limit of the front and rear positions is realized by arranging the trigger plates 18 and the photoelectric switches 7, the top of the mounting seat 9 is fixedly provided with a bone drill body 2, the front fixed mounting of mount pad 9 has installation pole 17, and the top fixed mounting of installation pole 17 has marker 16, through setting up servo motor 3, lead screw 4 and nut 5, realizes the feed motion of bone drill body 2, through setting up marker 16 and installation pole 17, marker 16 and installation pole 17 follow bone drill and move together, through confirming the real-time position of marker 16 and then confirm the real-time position of bone drill body 2, only need mechanical arm body 1 to accomplish direction and location, and need not mechanical arm body 1 to drive and accomplish bone drill body 2 and feed the action.

During the use, with cardboard 12 card on mounting bracket 11, fix the two through cross countersunk head screw 15, fix cardboard 12 and mounting bracket 11 on arm body 1 through loosening not taking off screw 13 and E retaining ring 14, the motion of accessible arm body 1 is with bone drill body 2 to the assigned position, open servo motor 3, servo motor 3 drives lead screw 4 and rotates, lead screw 4 drives nut 5 and moves left, nut 5 drives mount pad 9 and moves left, open the drill bit rotation of bone drill body 2 messenger's tip, mount pad 9 drives bone drill body 2 and feeds, through the real-time position of determining marker 16 in turn can confirm the real-time position of bone drill body 2.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. Bone drilling feeding mechanism for orthopedic operation robot, including arm body (1), its characterized in that: the left side fixed mounting of arm body (1) has mounting bracket (11), the left side fixed mounting of mounting bracket (11) has cardboard (12), the top fixed mounting of mounting bracket (11) has guide rail seat (8), the right side fixed mounting of guide rail seat (8) has servo motor (3), the output shaft fixed mounting of servo motor (3) has lead screw (4), the surface threaded connection of lead screw (4) has nut (5), the top fixed mounting of nut (5) has mount pad (9), the top fixed mounting of mount pad (9) has bone drill body (2), the positive fixed mounting of mount pad (9) has installing pole (17), the top fixed mounting of installing pole (17) has marker (16).

2. A bone drill feeding mechanism for an orthopedic surgical robot according to claim 1, wherein: limiting protrusions (19) are fixedly arranged on the left side and the right side of the guide rail seat (8).

3. A bone drill feeding mechanism for an orthopedic surgical robot according to claim 1, wherein: the clamping plate (12) is fixed with the mounting frame (11) through four crossed countersunk head screws (15).

4. A bone drill feeding mechanism for an orthopedic surgical robot according to claim 1, wherein: the left bottom of cardboard (12) is provided with pine and does not take off screw (13), and the other end that loosens and does not take off screw (13) runs through mounting bracket (11) and with arm body (1) fixed connection, the left side that loosens does not take off screw (13) is provided with E retaining ring (14).

5. A bone drill feeding mechanism for an orthopedic surgical robot according to claim 1, wherein: the sliding blocks (10) are fixedly arranged on the front surface and the rear surface of the bottom of the mounting seat (9), and the linear guide rail (6) is fixedly arranged on the front surface and the rear surface of the top of the guide rail seat (8).

6. A bone drill feeding mechanism for an orthopedic surgical robot according to claim 1, wherein: photoelectric switches (7) are arranged on the left side and the right side of the bottom of the guide rail seat (8), and trigger plates (18) matched with the photoelectric switches (7) are arranged at the front end and the rear end of the bottom of the installation seat (9).