WO2017219207A1

WO2017219207A1 - Orthopedic surgery robot

Info

Publication number: WO2017219207A1
Application number: PCT/CN2016/086424
Authority: WO
Inventors: 孙东辉; 石训军; 黄伟; 梁锡杰
Original assignee: 深圳市鑫君特智能医疗器械有限公司
Priority date: 2016-06-20
Filing date: 2016-06-20
Publication date: 2017-12-28

Abstract

An orthopedic surgery robot, comprising a robot body (233), and a mechanical arm (232), an intelligent bone drill (231), a communication module (235), a mechanical arm control module (239), an intelligent bone drill control module (236), and a surgical robot electrical control module which are fixed on the robot body (233); the intelligent bone drill (231) comprises a surgical electric drill (11), a guide mechanism (12) sleeved on an electric drill bit of the surgical electric drill (11), a propelling mechanism (13), a binocular vision recognition system (14), a pressure sensor (15) fixed on the surgical electric drill (11), and a bone drill controller (16); the surgical electric drill (11), the guide mechanism (12), the binocular vision recognition system (14) and the pressure sensor (15) are all mounted on the propelling mechanism (13); the bone drill controller (16) is electrically connected to the surgical electric drill (11), the propelling mechanism (13), the binocular vision recognition system (14) and the pressure sensor (15), separately. The orthopedic surgery robot can achieve an accurate punching function on the basis of navigation for surgical operations, thereby improving the surgical accuracy and stability and relieving the working intensity of doctors.

Description

一种骨科手术机器人 Orthopedic surgery robot

技术领域 Technical field

[0001] 本发明属于医疗设备领域，尤其涉及一种骨科手术机器人。 [0001] The present invention belongs to the field of medical equipment, and in particular to an orthopedic surgery robot.

背景技术 Background technique

[0002] 随着交通运输业的不断发展，交通事故的发生也不断攀升，创伤已经成为全球的主要死因。目前国内外的骨科手术机器人虽然具有导航指引装置，但其只能完成对手术器械的辅助定位功能，在实际应用中并不能取代医生进行手术操作，虽然能够改善医生的劳动强度，但由于对手术的操作仍需要由医生完成，所以手术的准确性依然容易出现偏差，医生的劳动强度还是比较大。 [0002] With the continuous development of the transportation industry, the occurrence of traffic accidents has also been rising, and trauma has become the leading cause of death worldwide. At present, orthopedic surgery robots at home and abroad have navigation guidance devices, but they can only complete the auxiliary positioning function for surgical instruments. In practice, they cannot replace doctors for surgical operations. Although they can improve the labor intensity of doctors, The operation still needs to be done by a doctor, so the accuracy of the operation is still prone to deviation, and the doctor's labor intensity is still relatively large.

技术问题 technical problem

[0003] 本发明的目的在于提供一种骨科手术机器人，旨在解决现有技术的骨科手术机器人只能完成对手术器械的辅助定位功能的问题。 [0003] It is an object of the present invention to provide an orthopedic surgical robot that aims to solve the problem that the prior art orthopedic surgical robot can only perform the auxiliary positioning function for the surgical instrument.

问题的解决方案 Problem solution

技术解决方案 Technical solution

[0004] 本发明提供了一种骨科手术机器人，所述骨科手术机器人包括机器人本体和固定在机器人本体上的机械臂、固定在机械臂上的智能骨钻、通信模块、分别与机械臂和通信模块电连接的机械臂控制模块、分别与智能骨钻和通信模块电连接的智能骨钻控制模块、以及与智能骨钻控制模块和机械臂控制模块电连接的手术机器人电气控制模块，所述智能骨钻包括手术电钻、套接在手术电钻的电钻头的引导机构、推进机构、双目视觉识别***、固定在手术电钻上的压力传感器和骨钻控制器，所述手术电钻、引导机构、双目视觉识别***和压力传感器均安装在推进机构上，骨钻控制器分别与手术电钻、推进机构、双目视觉识别***和压力传感器电连接。 [0004] The present invention provides an orthopedic surgical robot including a robot body and a mechanical arm fixed on the robot body, an intelligent bone drill fixed on the robot arm, a communication module, respectively, and a robot arm and communication a mechanical arm control module electrically connected to the module, an intelligent bone drill control module electrically connected to the intelligent bone drill and the communication module respectively, and a surgical robot electrical control module electrically connected to the intelligent bone drill control module and the mechanical arm control module, the smart The bone drill includes a surgical drill, a guiding mechanism for the electric drill bit that is sleeved on the surgical drill, a propulsion mechanism, a binocular vision recognition system, a pressure sensor fixed on the surgical drill, and a bone drill controller, the surgical drill, the guiding mechanism, and the double Both the visual recognition system and the pressure sensor are mounted on the propulsion mechanism, and the bone drill controller is electrically connected to the surgical drill, the propulsion mechanism, the binocular vision recognition system, and the pressure sensor, respectively.

[0005] 进一步地，所述手术电钻包括电钻头和驱动电钻头运行的电钻电机，骨钻控制器与手术电钻的电钻电机电连接。 [0005] Further, the surgical drill includes an electric drill and an electric drill motor that drives the electric drill, and the bone drill controller is electrically connected to the electric drill motor of the surgical drill.

[0006] 进一步地，所述推进机构包括骨钻底座、直线导轨、载物平台、驱动电机、联轴器和滚珠丝杠，直线导轨和滚珠丝杠安装在骨钻底座上，载物平台固定在直线导轨上，载物平台通过连接件与滚珠丝杠上的螺母连接，驱动电机安装在骨钻底座的后端，载物平台由驱动电机通过联轴器联接驱动。 [0006] Further, the propulsion mechanism includes a bone drill base, a linear guide, a load platform, a drive motor, and a joint The shaft and the ball screw, the linear guide and the ball screw are mounted on the bone drill base, the loading platform is fixed on the linear guide rail, the loading platform is connected with the nut on the ball screw through the connecting piece, and the driving motor is mounted on the bone drill At the rear end of the base, the load platform is driven by a drive motor through a coupling.

[0007] 进一步地，所述载物平台上安装有手术电钻固定板，手术电钻通过压力传感器安装在手术电钻固定板上。 [0007] Further, a surgical electric drill fixing plate is mounted on the loading platform, and the surgical electric drill is mounted on the surgical electric drill fixing plate through a pressure sensor.

[0008] 进一步地，所述引导机构是安装在骨钻底座前端的套接在手术电钻的电钻头的套筒。 [0008] Further, the guiding mechanism is a sleeve that is mounted on the front end of the bone drill base and is sleeved on the electric drill of the surgical drill.

[0009] 进一步地，所述双目视觉识别***包括两个相机和固定两个相机的固定座，两个相机通过固定座安装在骨钻底座的前端下部。 Further, the binocular visual recognition system includes two cameras and a fixing base for fixing two cameras, and the two cameras are mounted on a lower portion of the front end of the bone drill base through a fixing base.

[0010] 进一步地，所述机械臂是六轴机械臂。 [0010] Further, the mechanical arm is a six-axis mechanical arm.

[0011] 进一步地，所述六轴机械臂共有六个关节轴，由六个伺服电机直接通过谐波减速器、同步带轮驱动六个关节轴的旋转。 [0011] Further, the six-axis robot arm has six joint axes, and six servo motors directly drive the rotation of the six joint shafts through the harmonic reducer and the synchronous pulley.

发明的有益效果 Advantageous effects of the invention

有益效果 Beneficial effect

[0012] 在本发明中，由于在现有技术的骨科手术机器人上把导航指引装置更换成智能骨钻，由于骨科手术机器人的智能骨钻包括双目视觉识别***，骨钻控制器与双目视觉识别***电连接。因此不仅可以让远端医生通过双目视觉识别***观看到手术操作的实吋图像，还可以通过双目视觉识别***在手术机器人动作之前进行坐标定位用，具体为通过双目视觉识别***识别安装在患者或者是手术床上的手术定位标识装置上的图标，建立手术定位标识装置的立体坐标，并将骨科手术机器人和智能骨钻的坐标统一到通过手术定位标识装置确定的立体坐标中，指引手术机器人的机器臂到达相应的坐标位置和位姿状态。因此，本发明的骨科手术机器人在导航基础上可以实现精确打孔功能，实现手术操作，从而提高手术的精度和稳定度，减轻医生的工作强度，避免诸如人的疲劳、精神压力等因素对手术的干扰。 [0012] In the present invention, since the navigation guide device is replaced with an intelligent bone drill on the prior art orthopedic surgery robot, the intelligent bone drill of the orthopedic surgery robot includes a binocular vision recognition system, a bone drill controller and a binocular The visual recognition system is electrically connected. Therefore, it is possible not only to allow the remote doctor to view the actual image of the surgical operation through the binocular visual recognition system, but also to perform coordinate positioning before the operation of the surgical robot through the binocular visual recognition system, specifically to identify and install through the binocular visual recognition system. In the patient or on the surgical bed, the icon on the surgical positioning device establishes the stereo coordinates of the surgical positioning device, and unifies the coordinates of the orthopedic robot and the intelligent bone drill into the stereo coordinates determined by the surgical positioning device, and guides the operation The robot's robotic arm reaches the corresponding coordinate position and pose state. Therefore, the orthopedic surgical robot of the present invention can realize precise punching function on the basis of navigation, realize surgical operation, thereby improving the accuracy and stability of the operation, reducing the working intensity of the doctor, and avoiding factors such as human fatigue and mental stress on the operation. Interference.

对附图的简要说明 Brief description of the drawing

附图说明 DRAWINGS

[0013] 图 1是本发明实施例提供的骨科手术机器人的分解图。 [0014] 图 2是本发明实施例提供的骨科手术机器人的立体图。 1 is an exploded view of an orthopedic surgical robot provided by an embodiment of the present invention. 2 is a perspective view of an orthopedic surgical robot according to an embodiment of the present invention.

[0015] 图 3是本发明实施例提供的智能骨钻的分解图。 3 is an exploded view of an intelligent bone drill according to an embodiment of the present invention.

[0016] 图 4是本发明实施例提供的智能骨钻的立体图。 4 is a perspective view of an intelligent bone drill according to an embodiment of the present invention.

本发明的实施方式 Embodiments of the invention

[0017] 为了使本发明的目的、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。 The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0018] 为了说明本发明所述的技术方案，下面通过具体实施例来进行说明。 [0018] In order to explain the technical solutions described in the present invention, the following description will be made by way of specific embodiments.

[0019] 请参阅图 1和图 2，本发明实施例提供的骨科手术机器人包括机器人本体 233和固定在机器人本体 233上的机械臂 232、固定在机械臂 232上的智能骨钻 231、通信模块 235、分别与机械臂 232和通信模块 235电连接的机械臂控制模块 239、分别与智能骨钻 231和通信模块 235电连接的智能骨钻控制模块 236、以及与智能骨钻控制模块 236和机械臂控制模块 239电连接的手术机器人电气控制模块。所述机械臂 232具体可以为六轴机械臂。 1 and 2, an orthopaedic surgical robot provided by an embodiment of the present invention includes a robot body 233 and a robot arm 232 fixed on the robot body 233, an intelligent bone drill 231 fixed on the robot arm 232, and a communication module. 235, a robot arm control module 239 electrically connected to the robot arm 232 and the communication module 235, an intelligent bone drill control module 236 electrically connected to the smart bone drill 231 and the communication module 235, respectively, and an intelligent bone drill control module 236 and a machine The surgical robot electrical control module is electrically connected to the arm control module 239. The robot arm 232 may specifically be a six-axis robot arm.

[0020] 六轴机械臂 232用于移动智能骨钻 231到指定的手术位置。智能骨钻 231用于对患者进行手术。机器臂控制模块 239用于对六轴机械臂 232进行控制。智能骨钻控制模块 236对智能骨钻 231进行控制。通信模块 235可以是以太网交换机，以太网交换机用于把智能骨钻控制模块 236和机械臂控制模块 239等连接起来后与外部网络连接。手术机器人电气控制模块为整个骨科手术机器人提供电气控制。 [0020] A six-axis robotic arm 232 is used to move the intelligent bone drill 231 to a designated surgical site. The intelligent bone drill 231 is used to perform surgery on the patient. The robot arm control module 239 is used to control the six-axis robot arm 232. The intelligent bone drill control module 236 controls the intelligent bone drill 231. The communication module 235 can be an Ethernet switch, and the Ethernet switch is used to connect the intelligent bone drill control module 236 and the robot arm control module 239 and the like to the external network. The surgical robot electrical control module provides electrical control for the entire orthopaedic surgical robot.

[0021] 六轴机械臂 232共有六个关节轴，由六个伺服电机直接通过谐波减速器、同步带轮等驱动六个关节轴的旋转。因为六轴机械臂有六个轴，具有六个自由度，因此可以实现末端在机座关节的活动范围内以任意位姿到达任意空间位置。 [0021] The six-axis robot arm 232 has six joint axes, and six servo motors directly drive the rotation of the six joint shafts through a harmonic reducer, a synchronous pulley, and the like. Because the six-axis robot has six axes and six degrees of freedom, it is possible to reach the end position in any position within the range of motion of the joint of the base.

[0022] 六轴机械臂 232的六个关节轴均采用相同的结构，采用两种不同大小的伺服电机，其中旋转轴（S轴）、下臂轴（L轴）、上臂轴（U轴）采用大伺服电机，手腕放转轴（R轴）、手腕摆动轴（B轴）和手腕回转轴（T轴）采用小伺服电机。关节轴的大小模拟人体手臂的比例大小。这样，可以方便地以任意姿态到达可达范围中的任意一个空间位置。 [0023] 六轴机械臂 232安装在机器人本体 233的机器臂底座上。机器臂底座的末端为法兰，智能骨钻 231通过法兰固定在六轴机械臂 232上。智能骨钻 231在六轴机械臂 232到达指定位置后执行手术动作。 [0022] The six joint axes of the six-axis robot arm 232 adopt the same structure, and two servo motors of different sizes are used, wherein the rotating shaft (S-axis), the lower arm shaft (L-axis), and the upper arm shaft (U-axis) With a large servo motor, the wrist release shaft (R axis), the wrist swing axis (B axis) and the wrist rotary axis (T axis) use a small servo motor. The size of the joint axis mimics the proportion of the human arm. In this way, it is convenient to reach any one of the reachable ranges in an arbitrary posture. [0023] The six-axis robot arm 232 is mounted on the robot arm base of the robot body 233. The end of the base of the robot arm is a flange, and the intelligent bone drill 231 is fixed to the six-axis robot arm 232 by a flange. The intelligent bone drill 231 performs a surgical action after the six-axis robot arm 232 reaches the designated position.

[0024] 机器人本体 233外部左右各有三色光带 244—条，可以发出多种不同颜色的光，分别由机械臂控制模块 239和智能骨钻控制模块 236控制，指示六轴机械臂的工作状态和骨科机器人的工作状态。 [0024] The robot body 233 has three chromatic strips 244-shaped on the left and right sides, and can emit a plurality of different colors of light, which are respectively controlled by the robot arm control module 239 and the intelligent bone drill control module 236, and indicate the working state of the six-axis robot arm and The working state of the orthopedic robot.

[0025] 机器人本体 233底部装有四个滚轮 241，使用吋可以方便地进行移动。机器人本体 233底部还装有电动脚撑 242，由直流电机通过皮带轮带动脚撑的升起与降落。电动脚撑 242的上下均装有限位幵关 240，以对电动脚撑 242的运动量程进行限制。当电动脚撑 242落下吋，机器人本体 233被固定在地上，当电动脚撑 242升起后，机器人本体 233可以方便地通过四个滚轮 241来移动。脚撑电机 243的控制由安装在机器人本体 233后部移动推手 237处的两个按钮控制。 [0025] The bottom of the robot body 233 is provided with four rollers 241, which can be easily moved using a crucible. The bottom of the robot body 233 is also equipped with an electric foot support 242, and the DC motor drives the rise and fall of the foot support through the pulley. A limited position 240 is mounted on the upper and lower sides of the electric foot support 242 to limit the range of motion of the electric foot support 242. When the electric foot support 242 is lowered, the robot body 233 is fixed to the ground, and when the electric foot support 242 is raised, the robot body 233 can be easily moved by the four rollers 241. The control of the foot lift motor 243 is controlled by two buttons mounted at the rear of the robot body 233 to move the pusher 237.

[0026] 机器人本体 233后部下方为机器人输入电源和控制接口处，分别装有电源输入接口 250、电源幵关 249以及与外部连接的网络接口 248。 [0026] Below the rear of the robot body 233 is a robot input power and control interface, and is respectively provided with a power input interface 250, a power switch 249, and a network interface 248 connected to the outside.

[0027] 手术机器人电气控制模块包括电源输入插座、电源幵关、电源滤波器、隔离变压器 238、脚撑按钮 246、脚撑电机控制电路、机械臂急停幵关 245、外接急停幵关接口 247等。其中隔离变压器 238把整个骨科手术机器人的供电***与市网隔离幵来，增强了骨科手术机器人内部与市网的电气绝缘，增强了骨科手术机器人的电气安全性。隔离变压器安装在骨科手术机器人安装支架的底部。 [0027] The surgical robot electrical control module includes a power input socket, a power switch, a power filter, an isolation transformer 238, a foot button 246, a foot motor control circuit, a mechanical arm emergency stop 245, and an external emergency stop interface. 247 and so on. The isolation transformer 238 isolates the power supply system of the orthopaedic surgical robot from the city network, enhances the electrical insulation between the orthopedic robot and the city network, and enhances the electrical safety of the orthopedic surgery robot. The isolation transformer is mounted on the bottom of the orthopedic surgical robot mounting bracket.

[0028] 机器人本体 233还包括内部安装支架 234。安装支架 234是用于安装手术机器人其它部件的基座。 [0028] The robot body 233 also includes an internal mounting bracket 234. The mounting bracket 234 is a base for mounting other components of the surgical robot.

[0029] 请参阅图 3和图 4，本发明实施例提供的骨科手术机器人的智能骨钻包括手术电钻 11、套接在手术电钻 11的电钻头的引导机构 12、推进机构 13、双目视觉识别 *** 14、固定在手术电钻 11上的压力传感器 15和骨钻控制器 16。手术电钻 11、引导机构 12、双目视觉识别*** 14和压力传感器 15均安装在推进机构 13上，骨钻控制器 16分别与手术电钻 11、推进机构 13、双目视觉识别*** 14和压力传感器 15电连接。 3 and FIG. 4, the intelligent bone drill of the orthopedic surgery robot according to the embodiment of the present invention includes a surgical electric drill 11, a guiding mechanism 12 of the electric drill bit that is sleeved on the surgical electric drill 11, a propulsion mechanism 13, and binocular vision. An identification system 14, a pressure sensor 15 secured to the surgical drill 11, and a bone drill controller 16 are provided. The surgical drill 11, the guiding mechanism 12, the binocular vision recognition system 14 and the pressure sensor 15 are all mounted on the propulsion mechanism 13, and the bone drill controller 16 is respectively associated with the surgical drill 11, the propulsion mechanism 13, the binocular vision recognition system 14, and the pressure sensor. 15 electrical connections.

[0030] 手术电钻 11包括电钻头 111和驱动电钻头 111运行的电钻电机 112。骨钻控制器 1 6与手术电钻 11的电钻电机 112电连接。 [0030] The surgical drill 11 includes an electric drill bit 111 and an electric drill motor 112 that drives the electric drill bit 111 to operate. Bone drill controller 1 6 is electrically connected to the electric drill motor 112 of the surgical drill 11.

[0031] 推进机构 13包括骨钻底座 131、直线导轨 132、载物平台 133、驱动电机 134、联轴器 135和滚珠丝杠 136。直线导轨 132和滚珠丝杠 136安装在骨钻底座 131上，载物平台 133固定在直线导轨 132上，载物平台 133通过连接件与滚珠丝杠 136上的螺母连接。驱动电机 134安装在骨钻底座 131的后端，载物平台 133由驱动电机 13 4通过联轴器 135联接驱动，做前后直线往复运动。载物平台 133上安装有手术电钻固定板 137，手术电钻 11通过压力传感器 15安装在手术电钻固定板 137上。这样，手术电钻 11在手术中所受到的力即可通过压力传感器 15接收到。通过受力变化，结合手术电钻 11的推进速度，可以判断出手术电钻 11的手术部位的结构密度及其变化，并通过与***中的数据库参数进行比对推测出骨钻到达人体的哪一层（皮肤、肌肉、脂肪、骨膜、骨质、骨髓），避免手术事故的发生，从而为手术医生提供手术依据。 [0031] The propulsion mechanism 13 includes a bone drill base 131, a linear guide 132, a load platform 133, a drive motor 134, a coupling 135, and a ball screw 136. The linear guide 132 and the ball screw 136 are mounted on the bone drill base 131, and the carrier platform 133 is fixed to the linear guide 132, and the load platform 133 is coupled to the nut on the ball screw 136 through the connecting member. The drive motor 134 is mounted at the rear end of the bone drill base 131, and the load platform 133 is driven by the drive motor 134 through the coupling 135 to perform linear reciprocation. A surgical drill fixing plate 137 is mounted on the loading platform 133, and the surgical drill 11 is mounted on the surgical drill fixing plate 137 via a pressure sensor 15. Thus, the force received by the surgical drill 11 during the operation can be received by the pressure sensor 15. By the force change, combined with the advancement speed of the surgical drill 11, the structural density and the change of the surgical site of the surgical drill 11 can be determined, and the layer of the bone drill reaching the human body is estimated by comparing with the database parameters in the system. (Skin, muscle, fat, periosteum, bone, bone marrow), to avoid the occurrence of surgical accidents, thus providing surgery for the surgeon.

[0032] 手术电钻 11由驱动电机 134控制其行进和后退。驱动电机 134采用直流无刷减速电机，由骨钻控制器 16控制驱动电机 134的驱动电源的频率来控制驱动电机 134 的转速，达到控制手术电钻 11的推进或后退的速度。驱动电源的相序可以控制手术电钻是前进或后退。同吋通过测量驱动电机 134的转动次数，可以测量推进或后退的距离。 [0032] The surgical drill 11 is controlled by the drive motor 134 to travel and retreat. The drive motor 134 employs a DC brushless reduction motor, and the frequency of the drive power of the drive motor 134 is controlled by the bone drill controller 16 to control the rotational speed of the drive motor 134 to control the speed at which the surgical drill 11 is advanced or retracted. The phase sequence of the drive power can control whether the surgical drill is moving forward or backward. The peer can measure the distance of advancement or retreat by measuring the number of rotations of the drive motor 134.

[0033] 引导机构 12是安装在骨钻底座 131前端的套接在手术电钻 11的电钻头的套筒，用于引导电钻头的推进，并且阻隔电钻头与患者的肌肉接触，防止患者手术周围的肌肉跟随电钻头的旋转而一起运动。 [0033] The guiding mechanism 12 is a sleeve of an electric drill bit that is sleeved on the front end of the bone drill base 131 and is sleeved on the electric drill 11 for guiding the advancement of the electric drill bit, and blocks the electric drill bit from contacting the muscle of the patient to prevent the patient from operating around the surgery. The muscles move together following the rotation of the electric drill bit.

[0034] 双目视觉识别*** 14包括两个相机 141和固定两个相机 141的固定座 142，两个相机 141通过固定座 142安装在骨钻底座 131的前端下部。相机 141由网线经交换机与手术***相连。操作者和被授权人员可以通过网络实吋观看两个相机 141的实吋图像，并可通过 3D成像***直观看到立体影像。同吋，双目视觉识别*** 1 4还可在手术机器人动作之前进行坐标定位用。由于本发明的智能骨钻具有双目视觉识别***，因此不仅可以让远端医生通过双目视觉识别***观看到手术操作的实吋图像，还可以通过双目视觉识别***识别安装在患者或者是手术床上的手术定位标识装置上的图标，建立手术定位标识装置的立体坐标，并将骨科手术机器人和智能骨钻的坐标统一到通过手术定位标识装置确定的立体坐标中，指引手术机器人的机器臂到达相应的坐标位置和位姿状态。 [0034] The binocular vision recognition system 14 includes two cameras 141 and a mount 142 that fixes the two cameras 141, and the two cameras 141 are mounted to the lower portion of the front end of the bone drill base 131 through the mounts 142. The camera 141 is connected to the surgical system via a network cable via a switch. The operator and the authorized person can view the real images of the two cameras 141 through the network, and can visually see the stereoscopic images through the 3D imaging system. At the same time, the binocular visual recognition system 14 can also perform coordinate positioning before the surgical robot moves. Since the intelligent bone drill of the present invention has a binocular vision recognition system, it can not only allow the remote doctor to view the actual image of the surgical operation through the binocular visual recognition system, but also can identify the patient or the patient through the binocular visual recognition system. Surgical positioning on the operating table identifies the icon on the device, establishes the stereo coordinates of the surgical positioning device, and orthopedics The coordinates of the surgical robot and the intelligent bone drill are unified into the stereo coordinates determined by the surgical positioning indicator device, and the robot arm of the surgical robot is guided to reach the corresponding coordinate position and posture state.

[0035] 智能骨钻通过安装法兰 17可固定在骨科手术机器人的六轴机器臂上，可以按照术前手术规划对钻入速度和深度进行精确控制，减少了人工操作带来的偏差，使得手术精度得到保证，同吋减轻了医生的劳动强度。 [0035] The intelligent bone drill can be fixed on the six-axis robot arm of the orthopedic surgery robot through the mounting flange 17, and the drilling speed and depth can be accurately controlled according to the preoperative surgical planning, thereby reducing the deviation caused by the manual operation, The precision of the operation is guaranteed, and the labor intensity of the doctor is reduced.

[0036] 本发明实施例提供的骨科手术机器人的智能骨钻由骨钻控制器 16和 PC机软件进行控制，骨钻控制器 16外置于智能骨钻，骨钻控制器 16通过骨钻底座 131的控制接口 18与智能骨钻相连。骨钻控制器 16主要用于对手术电钻、 11推进电钻的控制和测量，以及对压力传感器 15的测量。手术电钻 11的电钻电机 112和驱动电机 134均采用无刷直流电机并内置霍尔传感器，通过控制电机输入电源的频率可以控制电机的转速，控制电机输入电源的相序控制电机的正反转，并通过霍尔传感器测量电机的转速。骨钻控制器 16通过网络接口与 PC机相连。 PC机通过专用软件可以方便地对智能骨钻进行控制，并可以通过网络与双目视觉识别***相连。 [0036] The intelligent bone drill of the orthopedic surgery robot provided by the embodiment of the present invention is controlled by the bone drill controller 16 and the PC software, the bone drill controller 16 is externally placed on the intelligent bone drill, and the bone drill controller 16 passes through the bone drill base. The control interface 18 of the 131 is coupled to an intelligent bone drill. The bone drill controller 16 is primarily used for the control and measurement of surgical drills, 11 propulsion drills, and measurements of the pressure sensor 15. The electric drill motor 112 and the driving motor 134 of the surgical drill 11 adopt a brushless DC motor and a built-in Hall sensor. The frequency of the motor can be controlled by controlling the frequency of the motor input power, and the phase sequence of the motor input power source controls the forward and reverse rotation of the motor. The speed of the motor is measured by a Hall sensor. The bone drill controller 16 is connected to the PC via a network interface. The PC can easily control the intelligent bone drill through dedicated software and can be connected to the binocular vision recognition system via the network.

[0037] 在本发明中，由于在现有技术的骨科手术机器人上把导航指引装置更换成智能骨钻，由于骨科手术机器人的智能骨钻包括双目视觉识别***，骨钻控制器与双目视觉识别***电连接。因此不仅可以让远端医生通过双目视觉识别***观看到手术操作的实吋图像，还可以通过双目视觉识别***在手术机器人动作之前进行坐标定位用，具体为通过双目视觉识别***识别安装在患者或者是手术床上的手术定位标识装置上的图标，建立手术定位标识装置的立体坐标，并将骨科手术机器人和智能骨钻的坐标统一到通过手术定位标识装置确定的立体坐标中，指引手术机器人的机器臂到达相应的坐标位置和位姿状态。因此，本发明的骨科手术机器人在导航基础上可以实现精确打孔功能，实现手术操作，从而提高手术的精度和稳定度，减轻医生的工作强度，避免诸如人的疲劳、精神压力等因素对手术的干扰。 [0037] In the present invention, since the navigation guide device is replaced with an intelligent bone drill on the prior art orthopedic surgery robot, the intelligent bone drill of the orthopedic surgery robot includes a binocular vision recognition system, a bone drill controller and a binocular The visual recognition system is electrically connected. Therefore, it is possible not only to allow the remote doctor to view the actual image of the surgical operation through the binocular visual recognition system, but also to perform coordinate positioning before the operation of the surgical robot through the binocular visual recognition system, specifically to identify and install through the binocular visual recognition system. In the patient or on the surgical bed, the icon on the surgical positioning device establishes the stereo coordinates of the surgical positioning device, and unifies the coordinates of the orthopedic robot and the intelligent bone drill into the stereo coordinates determined by the surgical positioning device, and guides the operation The robot's robotic arm reaches the corresponding coordinate position and pose state. Therefore, the orthopedic surgical robot of the present invention can realize precise punching function on the basis of navigation, realize surgical operation, thereby improving the accuracy and stability of the operation, reducing the working intensity of the doctor, and avoiding factors such as human fatigue and mental stress on the operation. Interference.

[0038] 本领域普通技术人员可以理解实现上述实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，所述的程序可以存储于一计算机可读取存储介质中，所述的存储介质，如 ROM/RAM、磁盘、光盘等。以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。 [0038] Those skilled in the art can understand that all or part of the steps in implementing the above embodiments may be completed by a program instructing related hardware, and the program may be stored in a computer readable storage medium. The storage medium described, such as a ROM/RAM, a magnetic disk, an optical disk, or the like. The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.

Claims

权利要求书 Claim

[权利要求 1] 一种骨科手术机器人，其特征在于，所述骨科手术机器人包括机器人本体和固定在机器人本体上的机械臂、固定在机械臂上的智能骨钻、通信模块、分别与机械臂和通信模块电连接的机械臂控制模块、分别与智能骨钻和通信模块电连接的智能骨钻控制模块、以及与智能骨钻控制模块和机械臂控制模块电连接的手术机器人电气控制模块，所述智能骨钻包括手术电钻、套接在手术电钻的电钻头的引导机构、推进机构、双目视觉识别***、固定在手术电钻上的压力传感器和骨钻控制器，所述手术电钻、引导机构、双目视觉识别***和压力传感器均安装在推进机构上，骨钻控制器分别与手术电钻、推进机构、双目视觉识别***和压力传感器电连接。 [Claim 1] An orthopedic surgery robot, comprising: a robot body and a robot arm fixed on the robot body, an intelligent bone drill fixed on the robot arm, a communication module, and a mechanical arm respectively a mechanical arm control module electrically connected to the communication module, an intelligent bone drill control module electrically connected to the intelligent bone drill and the communication module, and a surgical robot electrical control module electrically connected to the intelligent bone drill control module and the mechanical arm control module, The intelligent bone drill includes a surgical drill, a guiding mechanism of an electric drill that is sleeved on the surgical drill, a propulsion mechanism, a binocular vision recognition system, a pressure sensor fixed on the surgical drill, and a bone drill controller, the surgical drill and the guiding mechanism The binocular vision recognition system and the pressure sensor are both mounted on the propulsion mechanism, and the bone drill controller is electrically connected to the surgical drill, the propulsion mechanism, the binocular vision recognition system, and the pressure sensor, respectively.

[权利要求 2] 如权利要求 1所述的骨科手术机器人，其特征在于，所述手术电钻包括电钻头和驱动电钻头运行的电钻电机，骨钻控制器与手术电钻的电钻电机电连接。 [Claim 2] The orthopaedic surgical robot according to claim 1, wherein the surgical drill includes an electric drill and an electric drill motor that drives the electric drill, and the bone drill controller is electrically connected to the electric drill motor of the surgical drill.

[权利要求 3] 如权利要求 1所述的骨科手术机器人，其特征在于，所述推进机构包括骨钻底座、直线导轨、载物平台、驱动电机、联轴器和滚珠丝杠，直线导轨和滚珠丝杠安装在骨钻底座上，载物平台固定在直线导轨上，载物平台通过连接件与滚珠丝杠上的螺母连接，驱动电机安装在骨钻底座的后端，载物平台由驱动电机通过联轴器联接驱动。 [Claim 3] The orthopedic surgery robot according to claim 1, wherein the propulsion mechanism comprises a bone drill base, a linear guide, a load platform, a drive motor, a coupling and a ball screw, a linear guide, and The ball screw is mounted on the bone drill base, the load platform is fixed on the linear guide rail, the load platform is connected with the nut on the ball screw through the connecting member, the driving motor is installed at the rear end of the bone drill base, and the loading platform is driven The motor is driven by a coupling.

[权利要求 4] 如权利要求 3所述的骨科手术机器人，其特征在于，所述载物平台上安装有手术电钻固定板，手术电钻通过压力传感器安装在手术电钻固定板上。 [Claim 4] The orthopedic surgery robot according to claim 3, wherein the instrument platform is mounted with a surgical drill fixing plate, and the surgical drill is mounted on the surgical drill fixing plate by a pressure sensor.

[权利要求 5] 如权利要求 3所述的骨科手术机器人，其特征在于，所述引导机构是安装在骨钻底座前端的套接在手术电钻的电钻头的套筒。 [Claim 5] The orthopaedic surgery robot according to claim 3, wherein the guiding mechanism is a sleeve that is attached to the front end of the bone drill base and that is sleeved on the electric drill of the surgical drill.

[权利要求 6] 如权利要求 3所述的骨科手术机器人，其特征在于，所述双目视觉识别***包括两个相机和固定两个相机的固定座，两个相机通过固定座安装在骨钻底座的前端下部。 [Claim 6] The orthopedic surgery robot according to claim 3, wherein the binocular vision recognition system includes two cameras and a fixing base that fixes two cameras, and the two cameras are mounted on the bone drill through the fixing base. The lower part of the front end of the base.

[权利要求 7] 如权利要求 1所述的骨科手术机器人，其特征在于，所述机械臂是六轴机械臂。 [Claim 7] The orthopedic surgery robot according to claim 1, wherein the mechanical arm is six Axis arm.

[权利要求 8] 如权利要求 7所述的骨科手术机器人，其特征在于，所述六轴机械臂共有六个关节轴，由六个伺服电机直接通过谐波减速器、同步带轮驱动六个关节轴的旋转。 [Claim 8] The orthopedic surgery robot according to claim 7, wherein the six-axis robot arm has six joint axes, and six servo motors are directly driven by a harmonic reducer and a synchronous pulley. The rotation of the joint axis.

[权利要求 9] 如权利要求 1所述的骨科手术机器人，其特征在于，所述机器人本体的底部装有电动脚撑。 [Claim 9] The orthopaedic surgery robot according to claim 1, wherein the bottom of the robot body is provided with an electric foot support.

[权利要求 10] 如权利要求 9所述的骨科手术机器人，其特征在于，所述电动脚撑的上下均装有限位幵关。 [Claim 10] The orthopaedic surgery robot according to claim 9, wherein the upper and lower sides of the electric footrest are mounted with a limited position.