Six-degree-of-freedom cervical-vertebra grinding parallel robot

A degree of freedom and robot technology, applied in medical science, surgery, etc., can solve the problems of high work intensity, insufficient precision, and excessive radiation for doctors, and achieve the effects of compact structure, improved accuracy and quality, and reduced radiation dose

Inactive Publication Date: 2012-09-26
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problems of insufficient accuracy, excessive radiation, and high work intensity of doctors in the existing artificial cervical disc replacement surgery, and to provide a six-degree-of-freedom cervical vertebra grinding parallel robot

Method used

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  • Six-degree-of-freedom cervical-vertebra grinding parallel robot
  • Six-degree-of-freedom cervical-vertebra grinding parallel robot
  • Six-degree-of-freedom cervical-vertebra grinding parallel robot

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Experimental program
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specific Embodiment approach 1

[0007] Specific implementation mode 1: Combination Figure 1-Figure 3 , Figure 5 , Figure 7 or Figure 8 , Picture 9 To explain this embodiment, the six-degree-of-freedom cervical vertebra grinding parallel robot in this embodiment includes a fixed platform 1, a movable platform 2, a grinding drill 4, and three pairs of branch chains. The fixed platform 1 and the movable platform 2 pass through three pairs of branch chains. Each pair of branch chains includes two branch chains 3, and each branch chain 3 includes a ball hinge mechanism 3-1, a ball screw linear drive mechanism and a Hooker hinge mechanism 3-12. The ball hinge mechanism 3-1 is arranged on the ball wire The upper end of the rod linear drive mechanism, the Hooker hinge mechanism 3-12 is arranged at the lower end of the ball screw linear drive mechanism, the ball hinge mechanism 3-1 is connected to the moving platform 2, the Hooker hinge mechanism 3-12 is connected to the fixed platform 1, and the drill 4 includes ...

specific Embodiment approach 2

[0009] Specific implementation manner two: combination Figure 3-Figure 6 To explain this embodiment, the ball screw linear drive mechanism of this embodiment includes a branch chain front telescopic rod 3-2, a ball screw 3-3, a ball nut 3-4, a bearing end cover 3-5, and a branch chain motor connector 3. -6, bearing spacer 3-7, lock nut 3-8, branch chain rear rod 3-10, branch chain motor 3-11, Hook hinge 3-12, round guide 3-13, linear ball guide sleeve 3-14 , Two sensors 3-15, positioning block 3-16, two second bearings 3-18, branch chain motor connector 3-6 includes a first connection cavity 3-6-1 and parallel to the first connection cavity The second connecting cavity 3-6-2 offset a certain distance, one end of the ball screw 3-3 is inserted in the front telescopic rod 3-2 of the branch chain, and one end of the ball screw 3-3 is installed in the ball nut 3-4 , The ball nut 3-4 is fixedly connected to the front telescopic rod 3-2 of the branch chain, the other end of the ball...

specific Embodiment approach 3

[0010] Specific implementation mode three: combination Figure 5 To explain this embodiment, the ball screw linear drive mechanism of this embodiment also includes a top screw cover 3-9 and a top screw 3-17. The branch chain motor connector 3-6 is provided with a top screw hole, and the top screw cover 3- 9 is set on the top screw hole, and the input end of the ball screw 3-3 and the output shaft end of the branch chain motor 3-11 are connected through the top screw 3-17. This arrangement facilitates the installation of the top wire 3-18, and facilitates the replacement and tightening of the top wire 3-18. Other components and connection relationships are the same as in the second embodiment.

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Abstract

The invention relates to a six-degree-of-freedom cervical-vertebra grinding parallel robot which relates to a grinding parallel robot. The invention aims to solve the problems of insufficient precision, overmuch radiation and large doctor working strength of a traditional manual cervical intervertebral-disc replacement operation. A fixed platform and a movable platform are connected through threepairs of branched chains, a spherical hinge mechanism is arranged at the upper end of a ball-screw linear driving mechanism, a hooker hinge mechanism is arranged at the lower end of the ball-screw linear driving mechanism, the spherical hinge mechanism is connected with the movable platform, the hooker hinge mechanism is connected with the fixed platform, an abrasive-drilling motor penetrates themovable platform, the abrasive-drilling motor is fixedly connected with an abrasive-drilling motor connecting body, the abrasive-drilling motor connecting body is fixedly connected with the movable platform, an abrasive-drilling body is fixedly installed on the abrasive-drilling motor connecting body, an abrasive-drilling jackscrew hole is arranged on the abrasive-drilling body, an abrasive-drilling jackscrew hole cover is installed on the abrasive-drilling jackscrew hole, an abrasive-drilling shaft is connected with the abrasive-drilling motor through a shaft coupler, and a cutting head is connected with the abrasive-drilling shaft through a tightening nut. The invention is applicable to the grinding of cervical vertebra.

Description

Technical field [0001] The invention relates to a parallel robot for grinding cervical vertebrae, in particular to a parallel robot for grinding cervical vertebrae with six degrees of freedom. Background technique [0002] The biggest difficulty in artificial cervical disc replacement surgery is the need to grind the joint surface of the bone that matches the prosthesis in the correct position to ensure the cooperation between the prosthesis and the human bone. The treatment effect depends heavily on the accuracy of the operation. At present, a clamp system is used for grinding and positioning in artificial cervical disc replacement surgery. This traditional mechanical positioning system is based on the observation of limbs and prostheses with the naked eye. In the operation, the clamp system is widely used for polishing, grinding and positioning. The operation is cumbersome, and the positioning accuracy mainly depends on the experience of the doctor, which undoubtedly increases ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B17/16A61B17/00
Inventor 杜志江吴冬梅田和强
Owner HARBIN INST OF TECH
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