V-shaped end effector array

Abstract

The invention relates to a V-shaped end effector array which is used for being fixedly connected with a to-be-registered article and comprises an array frame, reflective sticker fixing rings and reflective stickers, the array frame is of a V-shaped structure, a plurality of circular through holes are formed in the two sides of the V shape of the array frame, the reflective sticker fixing rings are arranged on the back faces of the circular through holes, and the reflective stickers are arranged on the reflective sticker fixing rings. A reflective sticker is attached to the inner side of the reflective sticker fixing ring, and the back face of the array frame is provided with a rapid positioning and installing structure which is in transition fit connection with an article to be registered. According to the structure, the operation process is simplified, the operation time is saved, conventional end effector registration is not needed, after registration of the focus position of a patient is completed, a target object (an acetabulum file or a prosthesis) is directly pushed into the focus position, and accurate positioning is provided by the V-shaped end effector array; errors generated by the mechanical arm are reduced; the device has the advantages of convenient installation, plug and play and the like.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a V-shaped end effector array. Background technique [0002] At present, the end-of-end calibration of orthopedic surgical robots is mainly performed through the registration of the robotic arm trolley array and the end-effector array. After obtaining the relative position of the mechanical end relative to the robotic arm trolley array through this step, the end-effector array is removed, and the mechanical Real-time data from the arm trolley array and the movement of the robotic arm to determine the precise position of the end instrument. The optical locator is used to obtain the physical space position information of the optical tool, and the unification of the image space and the physical space is realized by solving the transformation matrix between the corresponding marker points in the image space and the physical space coordinates obtained by the optical locato...

AI Technical Summary

Problems solved by technology

Existing problems: 1. During the operation, some sterile protective surgical drapes are often very high, which is easy to block the array of robotic arm trolleys; 2. Errors may occur during the operation of the robotic arm, which cannot be compensated; 3. The end effector cannot compensate after the target object (reamer or prosthesis) is installed

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