Manual operating device for bone surgery assisted robot

A manipulator and orthopedic surgery technology, applied in the field of robotics, can solve the problems of increasing the risk of mixed manipulation of movement and rotation, easy to cause major accidents, and no mention of control methods, etc., to facilitate collaborative operations and reduce the chance of misoperation Effect

Inactive Publication Date: 2011-04-06
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the mechanical structure of this technology has only two degrees of freedom. The 3D mouse is only used for rough positioning, and no control method is mentioned at all. In addition,

Method used

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  • Manual operating device for bone surgery assisted robot
  • Manual operating device for bone surgery assisted robot
  • Manual operating device for bone surgery assisted robot

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Embodiment Construction

[0020] The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

[0021] like Figure 1-Figure 3 As shown, it includes a three-degree-of-freedom joystick 1 , a mode selection switch 2 , a redundant attitude control switch 3 and a signal processor 4 connected to the robot control through signal cables.

[0022] The three-degree-of-freedom joystick 1 is installed on the side of the end of the mechanical arm close to the chief surgeon. The three-degree-of-freedom joystick 1 includes: a handle 5, a rotating shaft 6, a knob 7, a spring return device 8, three sets of potentiometers 9 and corresponding The connecting mechanism 10, wherein: the two mutually perpendicular rotating shafts...

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Abstract

The invention provides a manual operating device for a bone surgery assisted robot, belonging to the technical field of medical appliances. The device is arranged on the tail end of a mechanical arm, and comprises a three-freedom operating rod, a mode selection switch and a redundancy gesture control switch, wherein the three-freedom operating rod, the mode selection switch and the redundancy gesture control switch are respectively connected with a robot controller through a signal cable; a signal processor comprises a digital IO module, an A/D conversion module and a calculation module; the A/D conversion module converts a voltage analogue signal from a potentiometer in the operating rod into a digital signal and inputs to the calculation module; the digital IO module inputs the state information of the mode selection switch and the redundancy gesture control switch into the calculation module; the calculation module transmits a control instruction to the robot controller through a serial bus and the robot controller realizes the robot action. The device can enable the operators to control position and gesture of the executor at the tail end of a seven-freedom robot.

Description

technical field [0001] The invention relates to a device in the technical field of robots, in particular to a manual manipulation device for an orthopedic surgery auxiliary robot. Background technique [0002] The main goal of orthopedic surgery assisting robot is to assist physicians to complete specific fine operations in orthopedic surgery. The robot can perform the following functions during surgery: osteotomy cutting, grinding and drilling, clamping and fixing, etc. Robots have great advantages in completing these operations. On the one hand, the movements are relatively simple, and robots can be competent; on the other hand, these operations require high precision and stability, and the positioning of manipulators is more accurate, stable and powerful than humans. During the use of the robot, the robot mainly completes the actions planned before the operation under the guidance of the navigation device, but the doctor also needs to adjust and confirm the position and ...

Claims

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Application Information

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IPC IPC(8): A61B19/00A61B17/56A61B34/30
Inventor 栾楠张诗雷赵言正张晓明徐俊虎
Owner SHANGHAI JIAO TONG UNIV
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