CN219940789U - Positioning reference frame and surgical robot - Google Patents
Positioning reference frame and surgical robot Download PDFInfo
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- CN219940789U CN219940789U CN202321034400.5U CN202321034400U CN219940789U CN 219940789 U CN219940789 U CN 219940789U CN 202321034400 U CN202321034400 U CN 202321034400U CN 219940789 U CN219940789 U CN 219940789U
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- 230000007246 mechanism Effects 0.000 claims description 14
- 210000000078 claw Anatomy 0.000 claims description 7
- 230000004308 accommodation Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000004544 sputter deposition Methods 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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Abstract
The utility model discloses a positioning reference frame and a surgical robot, and belongs to the technical field of surgical robots. The positioning reference frame and the surgical robot can accurately determine the movement of the rod-type part at the front end of the mechanical arm, clamp and fix rod-type parts with different specifications in the accommodating groove, and the positioning reference frame has the advantages of small size, portability, flexibility, convenient operation and capability of meeting the requirements of clinical complexity and variability.
Description
Technical Field
The utility model relates to the technical field of surgical robots, in particular to a positioning reference frame and a surgical robot.
Background
Surgical robotic systems are commonly used in surgical procedures, which generally include a host computer, robotic arms disposed on the host computer, a tracking system that can determine the pose (position and orientation) of one or more objects during the procedure to detect movement of the objects, such as movement of the robotic arms, patient anatomy, etc., a surgical bed on which the patient is performing the procedure.
In order to accurately determine the movement of a rod-type part (such as a drill bit) at the front end of the mechanical arm, a positioning reference frame is usually required to be connected to the rod-type part in a positioning way, a plurality of reflecting balls are arranged on a frame body of the positioning reference frame, the rod-type part can be measured and positioned in an operation by utilizing the reflecting balls on the positioning reference frame, and reference coordinate information of the rod-type part is collected and the mechanical arm is commanded to work.
As shown in fig. 1-2, the existing positioning reference frame generally includes a pair of parallel and opposite frame bodies, the pair of frame bodies are provided with positioning holes for the rod-type parts to pass through, because of the different types/specifications of the rod-type parts, a plurality of positioning holes with different sizes are required to be arranged on the frame bodies, the more the specifications of the rod-type parts are, the more the positioning holes are on the frame bodies, which results in the large volume of the positioning reference frame, and many inconveniences such as transportation, packaging, disinfection and the like, and sometimes even no matching positioning holes are arranged on the positioning reference frame, so that the requirement of clinical complexity and variability cannot be met.
Disclosure of Invention
The utility model aims to solve the technical problem of providing a positioning reference frame and a surgical robot which are small in size and can adapt to rod-type parts with different specifications.
In order to solve the technical problems, the utility model provides the following technical scheme:
in one aspect, a positioning reference frame is provided, including support body and be located reflecting ball on the support body, wherein:
the frame body is provided with a containing groove for containing the rod-type part, the width of the containing groove is larger than the diameter of the rod-type part, one end of the containing groove is provided with an inlet, the other end of the containing groove is provided with a central positioning block for positioning the front end of the rod-type part, and two sides of the containing groove on the frame body are provided with clamping mechanisms for clamping and fixing the rod-type part in the containing groove to position the axis of the rod-type part.
Further, a pair of guide grooves are formed in the two sides of the accommodating groove on the frame body, and the clamping mechanism comprises a pair of clamping blocks which are connected in the pair of guide grooves in a sliding mode and a driving piece used for driving the pair of clamping blocks to move relatively so as to clamp the fixed rod type part.
Further, the driving piece is an adjusting screw rod which is axially positioned and circumferentially rotatable and assembled on the frame body, external threads are arranged on two sides of the adjusting screw rod, and threaded holes matched with the external threads are respectively formed in the pair of clamping blocks.
Further, the spiral directions of the external threads on two sides of the adjusting screw rod are opposite;
and/or the two ends of the adjusting screw rod are respectively provided with an adjusting hand wheel at the outer sides of the pair of clamping blocks.
Further, an annular groove is formed in the middle of the adjusting screw, an adjusting screw positioning block is arranged on the frame body, and an arc-shaped positioning part capable of extending into the annular groove is arranged on the adjusting screw positioning block.
Further, V-shaped grooves for accommodating rod-type parts are formed in the opposite end surfaces of the pair of clamping blocks, and the size of openings of the V-shaped grooves is smaller than or equal to the diameter of the rod-type parts;
and/or the two side walls of each guide groove are provided with positioning convex ribs, and each clamping block is provided with positioning sliding grooves matched with the positioning convex ribs.
Further, the center positioning block is cylindrical, wherein:
the middle part of the inner side end surface of the center positioning block is provided with a positioning bulge;
or the inner side end surface of the center positioning block is a plane;
or a locating hole is formed in the middle of the inner side end face of the center locating block.
Further, the frame body is provided with a mounting hole for accommodating the central positioning block, and the side wall of the mounting hole is provided with a fixing piece for fixing the central positioning block in the mounting hole;
and/or the accommodating groove extends along the length direction of the frame body.
Furthermore, two pairs of positioning claws are arranged on two sides of the front part of the frame body in parallel, and the reflecting balls are arranged on the positioning claws;
and/or the frame body is provided with a connecting bowl, and the reflecting ball is arranged in the connecting bowl.
In another aspect, a surgical robot is provided that includes a rod-type part and the positioning reference frame described above.
The utility model has the following beneficial effects:
compared with the prior art, the positioning reference frame and the surgical robot have the advantages that the width of the accommodating groove used for accommodating the rod-type parts on the frame body of the positioning reference frame is larger than the diameter of the rod-type parts, the inlet is formed in one end of the accommodating groove, the center positioning block used for positioning the front end of the rod-type parts is arranged at the other end of the accommodating groove, the clamping mechanisms used for fixing the rod-type part clamps in the accommodating groove to position the axis of the rod-type parts are arranged on the two sides of the accommodating groove on the frame body, the movement of the rod-type parts at the front end of the mechanical arm can be accurately determined, the rod-type part clamps with different specifications can be fixed in the accommodating groove, and the positioning reference frame is small in size, light, flexible and convenient to operate and can meet the requirements of clinical complexity and variability.
Drawings
FIG. 1 is a schematic view of a prior art positioning reference frame in use;
FIG. 2 is a schematic view of a prior art rod-type part;
FIG. 3 is a schematic view showing a usage state of the positioning reference frame in one direction of the present utility model;
FIG. 4 is a schematic view illustrating another direction of the positioning reference frame according to the present utility model;
FIG. 5 is an exploded view of FIG. 3;
FIG. 6 is a schematic view of the internal cross-sectional structure of the positioning reference frame shown in FIG. 3;
fig. 7 is a schematic structural diagram of the center positioning block in fig. 3 in different structural forms.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
In one aspect, the present utility model provides a positioning reference frame, as shown in fig. 3-7, including a frame body 1 and a reflective ball 2 located on the frame body 1, wherein:
be equipped with the storage tank 11 that is used for holding rod-type part 3 on the support body 1, the width of storage tank 11 is greater than the diameter of rod-type part 3, and the one end of storage tank 11 is equipped with entry 12, and the other end is equipped with the central locating piece 4 that is used for carrying out the location to the front end of rod-type part 3, is equipped with the clamping mechanism that is used for pressing from both sides the fastening of rod-type part 3 in storage tank 11 in order to carry out the location to the axis of rod-type part 3 on support body 1 in the both sides of storage tank 11.
When the device is used, firstly, according to the difference of rod-type parts 3 to be measured and positioned, a proper center positioning block 4 is selected to be mounted on the frame body 1, then the rod-type parts 3 are placed in the accommodating groove 11 along the inlet 12 of the accommodating groove 11, the front ends of the rod-type parts 3 are abutted against the inner side end faces of the center positioning block 4 so as to position the front ends of the rod-type parts 3, then the rod-type parts 3 are clamped and fastened in the accommodating groove 11 by utilizing the clamping mechanism, the axis of the rod-type parts 3 is coaxial with the central line of the center positioning block 4 so as to position the axis of the rod-type parts 3, and finally, the positions of the rod-type parts 3 can be measured and positioned by the NDI optical positioning instrument and the reflecting balls 2.
Compared with the prior art, the positioning reference frame has the advantages that the width of the accommodating groove for accommodating the rod-type part on the frame body of the positioning reference frame is larger than the diameter of the rod-type part, the inlet is formed in one end of the accommodating groove, the center positioning block for positioning the front end of the rod-type part is arranged at the other end of the accommodating groove, the clamping mechanisms for fastening the rod-type part clamp in the accommodating groove to position the axis of the rod-type part are arranged on the two sides of the accommodating groove on the frame body, the movement of the rod-type part at the front end of the mechanical arm can be accurately determined, the rod-type part clamps with different specifications can be fastened in the accommodating groove, and the positioning reference frame is small in size, light, flexible and convenient to operate and can meet the requirements of clinical complexity and variability.
The utility model is mainly suitable for surgical robots, can measure and position rod-type parts, can be suitable for rod-type parts with different forms/specifications, solves the problem that a mechanism clamps rod-type parts with multiple specifications and multiple forms, can realize quick and accurate installation and positioning, has a small structure, is light and flexible, and is convenient to operate. Wherein the rod type part can be a straight rod type part such as a drill bit or a grinding head, and the drill bit can be hollow, solid or stepped drill.
The clamping mechanism can take various structural forms which are easily thought by the person skilled in the art, for example, the clamping mechanism is a pair of locking screws positioned at two sides of the accommodating groove, and the tail ends of the locking screws press the fixed rod type parts; however, for a firm and precise clamping of the fixing bar element 3, the utility model preferably takes the following form:
as shown in fig. 3 to 5, a pair of guide grooves 13 may be provided on both sides of the receiving groove 11 on the frame body 1, and the clamping mechanism includes a pair of clamping blocks 14 slidably coupled in the pair of guide grooves 13, and a driving member for driving the pair of clamping blocks 14 to move relatively to clamp the fixed bar-type part 3. The accommodating groove 11 preferably extends along the longitudinal direction of the frame body 1.
The driving member can take various forms as will be readily apparent to those skilled in the art, for example, the driving member is a push rod which drives the connecting clamp block; however, in order to precisely drive the relative movement of the pair of gripping blocks 14 and thus to precisely position the axis of the rod-type element 3, the present utility model preferably adopts the following structural form:
the driving member may be an adjusting screw 15 axially positioned and circumferentially rotatably assembled on the frame body 1, both sides of the adjusting screw 15 are respectively provided with external threads 151, and a pair of clamping blocks 14 are respectively provided with threaded holes 141 matched with the external threads 151. Both ends of the adjusting screw 15 may be provided with adjusting handwheels 16 at outer sides of the pair of clamping blocks 14, so as to conveniently drive the adjusting screw 15 to rotate. The adjusting hand wheel 16 can be fixedly connected to the end part of the adjusting screw rod 15 through a positioning pin 161; the adjustment handwheel 16 may be a knurled adjustment handwheel.
At this time, the use process of the clamping mechanism in the present utility model may be referred to as follows:
when the device is used, the adjusting hand wheel 16 is driven to rotate in a handheld manner, the adjusting hand wheel 16 drives the adjusting screw rod 15 to rotate, external threads 151 on two sides of the adjusting screw rod 15 are matched with threaded holes 141 of the pair of clamping blocks 14, and the pair of clamping blocks 14 are driven to move relatively along the pair of guide grooves 13 so as to clamp and fix the rod part 3 to be measured and positioned in the accommodating groove 11, and the axis of the rod part 3 is coaxial with the central line of the central positioning block 4 so as to position the axis of the rod part 3.
Depending on the structure of the adjusting screw 15, the following structural forms are possible:
structural form one (not shown): the adjusting screw rod 15 may be a split structure and comprises a first adjusting screw rod and a second adjusting screw rod, and external threads 151 are respectively arranged on the first adjusting screw rod and the second adjusting screw rod, at this time, the first adjusting screw rod and the second adjusting screw rod can be respectively driven to rotate, and further, the pair of clamping blocks 14 are driven to relatively move along the pair of guide grooves 13 so as to position the axis of the rod-type part 3;
and the structural form II is as follows: as shown in fig. 5-6, the adjusting screw 15 may be in an integral structure, the screw directions of the external threads on two sides of the adjusting screw 15 are opposite, at this time, the adjusting screw 15 is driven to rotate, and the adjusting screw 15 can simultaneously drive the pair of clamping blocks 14 to relatively move along the pair of guide grooves 13, so as to position the axis of the rod part 3, so that the operation is more convenient, and the positioning is more accurate.
On the basis of the second structural form, in order to realize the axial positioning and circumferential rotatable assembly of the adjusting screw 15 on the frame body 1, the utility model preferably adopts the following structural form:
as shown in fig. 5 to 6, the middle part of the adjusting screw 15 may be provided with an annular groove 152, the frame body 1 is provided with an adjusting screw positioning block 17, and the adjusting screw positioning block 17 is provided with an arc positioning part 171 capable of extending into the annular groove 152. The adjusting screw positioning block 17 may be fixed to the frame body 1 by a pair of inner hexagonal cylinder bolts 172.
As shown in fig. 4 to 5, V-shaped grooves 142 for accommodating the rod-shaped parts 3 may be provided on opposite end surfaces of the pair of clamping blocks 14, the size of the opening of the V-shaped groove 142 is smaller than or equal to the diameter of the rod-shaped part 3, and the center lines of the two V-shaped grooves 142 and the center line of the center positioning block 4 are coaxial, so that when the pair of clamping blocks 14 clamp and fix the rod-shaped part 3 in the accommodating groove 11, the V-shaped grooves 142 on the two clamping blocks 14 cannot completely cover the rod-shaped part 3, a gap remains between the two clamping blocks 14, and thus the rod-shaped part 3 with different specifications can be adapted,
the two side walls of each guide slot 13 can be provided with a positioning convex rib 131, and each clamping block 14 is provided with a positioning sliding groove 143 matched with the positioning convex rib 131, so that the clamping blocks 14 can move more stably due to the matching of the positioning convex rib 131 and the positioning sliding groove 143 in the sliding process of the clamping blocks 14 along the guide slots 13, and the clamping blocks 14 can be prevented from falling off.
As shown in fig. 7, the center positioning block 4 may be cylindrical. Depending on the inner end face of the central positioning block 4, the following structural forms are possible:
and the structural form III: as shown in fig. 7 (a), the middle part of the inner end surface of the center positioning block 4 may be provided with a positioning protrusion 41;
and the structural form is four: as shown in fig. 7 (b), the inner end surface of the center positioning block 4 may be a plane 42;
and the structural form is five: as shown in fig. 7 (c), the center positioning block 4 may be provided with a positioning hole 43 (specifically, may be tapered) in the middle of the inner end surface.
As shown in fig. 5, to realize the detachable assembly of the center positioning block 4, the frame body 1 may be provided with a mounting hole 18 for accommodating the center positioning block 4, and a fixing piece 19 for fixing the center positioning block 4 in the mounting hole 18 is provided on a side wall of the mounting hole 18. The fixing member 19 may be of conventional design in the art, for example, the side walls of the central positioning block 4 and the mounting hole 18 may be provided with pin holes which are matched with each other, and the fixing member 19 may be a positioning pin located in the pin holes.
As shown in fig. 3 to 6, two pairs of positioning claws 10 may be disposed on two sides of the front portion of the frame body 1 in parallel, and the positioning claws 10 are provided with reflective balls 2, it is understood that the number of reflective balls 2 is at least 3, and the reflective balls may be disposed on 3 positioning claws 10. The frame body 1 can be provided with a connecting bowl 21, and a reflecting ball 2 is arranged in the connecting bowl 21 so as to achieve the purpose that the reflecting ball 2 can prevent liquid from sputtering during operation.
In summary, the steps for installing the positioning reference frame of the present utility model may specifically be as follows:
1. according to the different rod-type parts 3 to be measured and positioned, selecting a proper center positioning block 4 to be matched with a fixing piece 19 to be installed in an installation hole 18 of the frame body 1;
2. the adjusting screw rod positioning block 17 is fixed on the frame body 1 through a pair of inner hexagonal cylindrical bolts 172;
3. mounting the adjusting screw 15 on the adjusting screw positioning block 17, so that the annular groove 152 of the adjusting screw 15 is matched with the arc-shaped positioning part 171 of the adjusting screw positioning block 17;
4. a pair of clamping blocks 14 are arranged at two ends of the adjusting screw rod 15 through threaded holes 141, and the adjusting screw rod 15 is rotated to enable the clamping blocks 14 to slide relatively along the guide grooves 13;
5. the adjusting handwheel 16 is fixedly connected to the two ends of the adjusting screw rod 15 through the locating pin 161, and the reflecting ball 2 is arranged on the frame body 1.
In another aspect, the present utility model provides a surgical robot comprising a rod-type part 3 and the above-described positioning reference frame. Since the structure of the positioning reference frame is the same as that described above, the description thereof will not be repeated here.
Compared with the prior art, the surgical robot has the advantages that the width of the accommodating groove for accommodating the rod-type part on the frame body of the positioning reference frame is larger than the diameter of the rod-type part, the inlet is formed in one end of the accommodating groove, the center positioning block for positioning the front end of the rod-type part is arranged at the other end of the accommodating groove, the clamping mechanisms for fastening and fixing the rod-type part clamp in the accommodating groove to position the axis of the rod-type part are arranged on two sides of the accommodating groove on the frame body, the movement of the rod-type part at the front end of the mechanical arm can be accurately determined, the rod-type part clamps with different specifications can be fastened and fixed in the accommodating groove, and the positioning reference frame is small in size, light, flexible and convenient to operate and can meet the requirements of clinical complexity and variability.
While the foregoing is directed to the preferred embodiments of the present utility model, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present utility model, and such modifications and adaptations are intended to be comprehended within the scope of the present utility model.
Claims (10)
1. The utility model provides a location reference frame which characterized in that includes the support body and is located reflecting ball on the support body, wherein:
the frame body is provided with a containing groove for containing the rod-type part, the width of the containing groove is larger than the diameter of the rod-type part, one end of the containing groove is provided with an inlet, the other end of the containing groove is provided with a central positioning block for positioning the front end of the rod-type part, and two sides of the containing groove on the frame body are provided with clamping mechanisms for clamping and fixing the rod-type part in the containing groove to position the axis of the rod-type part.
2. The positioning reference frame according to claim 1, wherein the frame body is provided with a pair of guide grooves on both sides of the accommodation groove, and the clamping mechanism comprises a pair of clamping blocks slidably connected in the pair of guide grooves, and a driving member for driving the pair of clamping blocks to move relatively to clamp the fixed rod-type part.
3. The positioning reference frame according to claim 2, wherein the driving member is an adjusting screw rod axially positioned and circumferentially rotatably assembled on the frame body, external threads are arranged on two sides of the adjusting screw rod, and threaded holes matched with the external threads are respectively arranged on the pair of clamping blocks.
4. A positioning reference frame according to claim 3, wherein the external threads on both sides of the adjusting screw are opposite in spiral direction;
and/or the two ends of the adjusting screw rod are respectively provided with an adjusting hand wheel at the outer sides of the pair of clamping blocks.
5. The positioning reference frame according to claim 3, wherein an annular groove is formed in the middle of the adjusting screw, an adjusting screw positioning block is arranged on the frame body, and an arc-shaped positioning part capable of extending into the annular groove is arranged on the adjusting screw positioning block.
6. The positioning reference frame according to claim 2, wherein V-shaped grooves for accommodating rod-type parts are formed in the opposite end surfaces of the pair of clamping blocks, and the size of the opening of each V-shaped groove is smaller than or equal to the diameter of each rod-type part;
and/or the two side walls of each guide groove are provided with positioning convex ribs, and each clamping block is provided with positioning sliding grooves matched with the positioning convex ribs.
7. The positioning reference frame of claim 1, wherein the center positioning block is cylindrical, wherein:
the middle part of the inner side end surface of the center positioning block is provided with a positioning bulge;
or the inner side end surface of the center positioning block is a plane;
or a locating hole is formed in the middle of the inner side end face of the center locating block.
8. The positioning reference frame according to claim 1, wherein the frame body is provided with a mounting hole for accommodating the central positioning block, and a fixing piece for fixing the central positioning block in the mounting hole is arranged on the side wall of the mounting hole;
and/or the accommodating groove extends along the length direction of the frame body.
9. The positioning reference frame according to claim 1, wherein two pairs of positioning claws are arranged on two sides of the front part of the frame body in parallel, and the reflective balls are arranged on the positioning claws;
and/or the frame body is provided with a connecting bowl, and the reflecting ball is arranged in the connecting bowl.
10. A surgical robot comprising a rod-type part and a positioning reference frame according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321034400.5U CN219940789U (en) | 2023-05-04 | 2023-05-04 | Positioning reference frame and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321034400.5U CN219940789U (en) | 2023-05-04 | 2023-05-04 | Positioning reference frame and surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219940789U true CN219940789U (en) | 2023-11-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321034400.5U Active CN219940789U (en) | 2023-05-04 | 2023-05-04 | Positioning reference frame and surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219940789U (en) |
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2023
- 2023-05-04 CN CN202321034400.5U patent/CN219940789U/en active Active
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