Detachable double-gantry-type manipulator surgery robot

Abstract

The invention relates to a detachable double-gantry-type manipulator surgery robot. The detachable double-gantry-type manipulator surgery robot comprises an operation table; a pair of X-direction guidance control devices are arranged on two sides of the operation table; main swinging arms are mounted on the X-direction guidance control devices via main connecting seats; the main connecting seats are further mounted with main push rods; the main push rods are connected with the lower ends of the main swinging arms, and are used for pushing the main swinging arms to swing; main positioning locksare connected with the main connecting seats and the upper ends of the main swinging arms; the main swinging arms are further connected with Y-direction guidance devices; the Y-direction guidance devices are connected with a Z-direction guidance control device so as to form a main-gantry manipulator arm; the X-direction guidance control devices are mounted with auxiliary swing arms by auxiliary connecting seats; and auxiliary positioning locks are further arranged between the auxiliary swing arms and the auxiliary connecting seats so as to be used for enhancing rigidity of the auxiliary swingarms. Thus, coordination of a plurality of surgical instruments and operation of different surgeries can be realized. Moreover, a double-arm structure is adopted so as to realize synchronous high-precision operation similar to operations of 'hands'; and thus, various defects of existing single-arm operation are overcome.

Description

technical field [0001] The invention relates to a mechanical arm surgical robot, in particular to a detachable double gantry type mechanical arm surgical robot. Background technique [0002] In recent years, some orthopedic surgical robots have been successfully applied clinically, such as Israel's Mazor spine assistant, South Korea's SPINEBOT spine robot, American Mazor X spine surgery robot, and Think joint surgery robot, etc. Some of them are fixed on the human body. On the spinous process, but the structure is mostly used, and the following problems are currently faced: 1. The spine surgery robot, which is as light as being fixed on the spinous process of the human body, obviously cannot be overloaded, and the wheeled articulated robot mounted on the trolley is also a light-load robot; 2. The rigidity is poor, such as the wheeled articulated spinal surgery robot. Its mechanical arm is a very long cantilever structure, and the end is only designed to carry a guide tube to...

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Problems solved by technology

[0002] In recent years, some orthopedic surgical robots have been successfully applied clinically, such as Israel's Mazor spine assistant, South Korea's SPINEBOT spine robot, American Mazor X spine surgery robot, and Think joint surgery robot, etc. Some of them are fixed on the human body. On the spinous process, but the structure is mostly used, and the following problems are currently faced: 1. The spine surgery robot, which is as light as being fixed on the spinous process of the human body, obviously cannot be overloaded, and the wheeled articulated robot mounted on the trolley is also a light-load robot; 2. The rigidity is poor, such as the wheeled articulated spinal surgery robot. Its mechanical arm is a very long cantilever structure, and the end is only designed to carry a guide tube to guide the insertion of the pedicle screw. If the end of the mechanical arm needs to carry heavy 3. It is difficult to further improve the accuracy. Due to the above-mentioned structural reasons, the improvement of robot operation accuracy encounters a bottleneck problem, and it is difficult to further improve the accuracy; 4. The function is single, and it is difficult to expand and upgrade. Most of them are single-arm structures, which affect orthopedics. Realization of multi-functional surgery; 5. Huge size, patients are easy to be "intimidated" Some orthopedic surgery robots are bulky, easy to cause fear in patients, and cause certain psychological pressure; 6. Occupy more space in the operating room, affecting the convenience of operation

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