Orthopaedic surgery robot based on non-invasive type real-time surgery positioning navigation device

Abstract

The invention relates to an orthopaedic surgery robot based on a non-invasive type real-time surgery positioning navigation device. The robot is characterized by comprising a surgery bed, a fixing device, an executing mechanism, a mechanical arm and a mechanical hand, the fixing device is arranged on the surgery bed in a sliding mode, the executing mechanism is arranged above the fixing device, the mechanical arm is arranged on one side of the executing mechanism, and the mechanical hand is clamped in the mechanical arm. The mechanical hand is used for implementing the piercing movement of a steel needle which has the diameter of 2 mm and rotates at a high speed, and the final surgery channel is established. The mechanical hand comprises a steel needle clamping mechanism, a high-speed rotating mechanism and an axial movement mechanism, wherein the core working principle of the steel needle clamping mechanism is the centrifugal principle. When the high-speed rotating mechanism drives a main shaft to rotate at a high speed, a centrifugal clamping device of the steel needle clamping mechanism starts to work, that is, the steel needle clamping mechanism clamps the steel needle, and the movement of putting down the steel needle in a segmented mode can be achieved. Due to the working mode, the mechanical hand can have the dual advantages that the geometrical size of the mechanical hand is reduced and meanwhile no working stroke loss exists.

Description

technical field [0001] The invention relates to an orthopedic surgery robot based on non-invasive real-time surgical positioning and navigation equipment. Background technique [0002] In traditional surgical methods, doctors mainly rely on visual subjective judgments and accumulated surgical clinical experience to determine the surgical path. Especially for some relatively hidden organs, even experienced surgeons sometimes cannot fully confirm the exact position of the surgical instruments during the operation, and there is a certain failure rate, especially for difficult operations, such as cervical spine operations. Mortality and disability. In addition, long-term surgical operations will be a great physical burden on the doctor, and the doctor is prone to fatigue, which affects the effect of the operation. [0003] At present, many countries in the world are devoting themselves to developing various surgical robots to overcome the shortage of manual operation. Surgica...

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Problems solved by technology

[0005] However, due to the adoption of this construction method, there are defects and deficiencies in the use of this type of surgical robot: 1. The reference frame needs to be fixed, which not only brings additional trauma to the patient, but also if the reference frame shifts during the operation (movement of the fracture fragment, loose fractures, etc.), positioning dislocation will occur, affecting surgical accuracy; 2. Three-dimensional reconstruction is required, which not only increases the patient's additional radiation exposure, image acquisition and three-dimensional reconstruction also increase the operation time

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