Flexible Mounting Mechanism for the End of Robotic Arm in Craniotomy

A technology of surgical robot and installation mechanism, which is applied in the field of medical equipment, can solve the problems of time-consuming, time-consuming, and physical exertion of doctors, and achieve the effects of improving stability, avoiding sudden changes in load force, and ensuring safety

Active Publication Date: 2019-10-18
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The steps of neurosurgery are complicated and time-consuming. The craniotomy and craniotomy process take up a large part of the entire operation time, consume a lot of physical strength of the doctor, and are also necessary steps for intracranial operations.

Method used

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  • Flexible Mounting Mechanism for the End of Robotic Arm in Craniotomy
  • Flexible Mounting Mechanism for the End of Robotic Arm in Craniotomy
  • Flexible Mounting Mechanism for the End of Robotic Arm in Craniotomy

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Embodiment Construction

[0022] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0023] as attached figure 1 As shown, the flexible installation mechanism for the end of the craniotomy robot arm provided by the present invention is used to connect the cranium milling 1 and the flange 3 at the end of the manipulator, and the cranium milling 1 is driven by the robotic arm of the robot to realize the craniotomy. operate. The flexible installation mechanism includes cranial milling fixed components, terminal fixed components and springs 13;

[0024] The cranial milling fixed connection component is used for fixed connection cranial milling;

[0025] The end fixing component is used for fixed connection with the end flange of the mechanical arm;

[0026] The spring 13 forms an elastic connection between the cranimilling fixed component and the end fixed component. When the craniomill maintains contact force with the bottom of the skull, ...

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Abstract

The invention discloses a flexible mounting mechanism for the tail end of a mechanical arm of a craniotomy operation robot, belonging to the technical field of medical apparatus and instruments. The flexible mounting mechanism comprises a skull milling fixedly connecting assembly, a tail end fixedly connecting assembly and springs, wherein the skull milling fixedly connecting assembly is used for fixedly connecting a skull milling part; the tail end fixedly connecting assembly is used for being fixedly connected with a flange at the tail end of the mechanical arm; the skull milling fixedly connecting assembly and the tail end fixedly connecting assembly are elastically connected through the springs, when a contact force is kept between the skull milling part and the bottom of the skull, the springs are in the compressed state, and thus the connection between the skull milling part and the tail end of the robot becomes flexible connection. For the flexible mounting mechanism, the flexible connection of the skull milling part and the flange at the tail end of the mechanical arm in the skull milling axial direction can be realized, and the rapid adjustment in the circumferential direction of skull drilling also can be realized.

Description

technical field [0001] The invention relates to an installation mechanism for a tool at the end of a six-degree-of-freedom mechanical arm, in particular to an installation method for an operation end of a craniotomy robot, and belongs to the technical field of medical devices. Background technique [0002] At present, the proportion of craniotomy in neurosurgery is the highest, and only the PLA General Hospital performs more than 1,000 craniotomies every year. Neurosurgery is the most time-consuming and labor-intensive surgery, especially craniotomy with craniectomy. Traditional craniotomy is performed by humans. Usually, in the parts that can be reached by surgery, cranial drilling and cranial milling can be used to achieve bone windows similar in shape and size to the tumor. Carry out tumor removal surgery to achieve complete resection or subtotal resection. Generally, it takes 1 hour for craniotomy, 2 hours for tumor removal, and 1 hour for cranial closure. It can be se...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30
Inventor 段星光崔腾飞李建玺马晓东韩定强
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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