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Cross-shaped sliding table driving-type series-parallel spinal surgery robot

The technology of a surgical robot and a cross slide table is applied in the field of a cross slide table-driven hybrid spine surgery robot, which can solve the problem that the spine minimally invasive surgery robot cannot realize the functions of active grinding and drilling, and achieve the effect of easy control.

Active Publication Date: 2020-07-31
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the existing spinal minimally invasive surgery robot cannot realize active grinding and drilling functions, and provides a cross-slider-driven hybrid spinal surgery robot

Method used

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  • Cross-shaped sliding table driving-type series-parallel spinal surgery robot
  • Cross-shaped sliding table driving-type series-parallel spinal surgery robot
  • Cross-shaped sliding table driving-type series-parallel spinal surgery robot

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specific Embodiment approach 1

[0030] Specific implementation mode one: the following combination figure 1 This embodiment is described. A cross-slider-driven hybrid spinal surgery robot described in this embodiment includes two sliding bases 1, a four-degree-of-freedom parallel structure 2 and an axial feed structure 3.

[0031] The sliding base 1 includes a slideway and a bracket, and the two slideways are respectively connected to the guide rails on both sides of the operating bed in the length direction, the slideway is connected to the bracket, and the four-degree-of-freedom parallel structure 2 is connected between the two brackets , and straddle the top of the operating table;

[0032] The four-degree-of-freedom parallel structure 2 includes two sets of upper and lower cross slides driven by synchronous belts. The two sets of cross slides can realize the feed in the XY direction in the coordinate system XYZ; To the feed structure 3, the axial feed structure 3 can realize the pitching and yaw motion ...

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Abstract

The invention discloses a cross-shaped sliding table driving-type series-parallel spinal surgery robot, and belongs to the technical field of surgical robots. The invention aims to solve the problem that existing spine minimally invasive surgery robots cannot achieve active grinding and drilling functions. The spinal surgery robot comprises sliding bases, a four-degree-of-freedom parallel structure and an axial feeding structure, and the four-degree-of-freedom parallel structure is arranged between the two sliding bases in a connection mode; the four-degree-of-freedom parallel structure comprises an upper group and a lower group of cross-shaped sliding tables which are driven by synchronous belts, and the two cross-shaped sliding tables can achieve feeding in the X direction and the Y direction in a coordinate system XYZ; tail end movable platforms of longitudinal branches of the two sets of cross-shaped sliding tables are connected to the axial feeding structure, and the axial feedingstructure can be driven by the two sets of cross-shaped sliding tables to achieve pitching yawing motion; and the axial feeding structure is connected to surgical instruments and can provide feedingof the surgical instruments in the Z direction in the coordinate system XYZ. The spinal surgery robot is used for minimally invasive spine surgery.

Description

technical field [0001] The invention relates to a cross-sliding table-driven hybrid spinal surgery robot, which belongs to the technical field of surgical robots. Background technique [0002] Spinal minimally invasive surgery robots are mainly used to guide surgical instruments in minimally invasive spinal surgery. Existing minimally invasive spinal surgery robots cannot achieve active grinding and drilling functions; at the same time, existing minimally invasive spinal surgery robots are usually connected by multiple series mechanisms, which need to be fixed on a trolley. The large space will affect the doctor's operation. [0003] Therefore, it is necessary to provide a new type of spinal minimally invasive surgery robot, which can have sufficient rigidity and precision to meet the needs of robot-assisted drilling and grinding and other surgical operations. Contents of the invention [0004] The purpose of the present invention is to solve the problem that the existin...

Claims

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Application Information

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IPC IPC(8): A61B34/30A61G13/10A61B17/16A61B34/20F16H21/10
CPCA61B34/30A61G13/10A61B17/1671A61B34/20F16H21/10A61B2034/303A61B2034/301A61B2017/1602
Inventor 于洪健杜志江王健丞
Owner HARBIN INST OF TECH
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