Mechanical arm tail end clamping device and surgical navigation robot with same

Abstract

The invention discloses a mechanical arm tail end clamping device and a surgical navigation robot. The mechanical arm tail end clamping device comprises a mechanical arm tail end, an ultrasonic knife locking device, a visual tracking identification device and a connecting part. The ultrasonic knife locking device is fixedly connected with the tail end of the mechanical arm through a connecting part; the ultrasonic knife is arranged in the ultrasonic knife locking device and is fastened; the visual tracking identification device is installed on the ultrasonic knife locking device and located above the ultrasonic knife. The mechanical arm moves to drive the ultrasonic knife to move. According to the mechanical arm tail end clamping device, the ultrasonic knife is connected with the mechanical arm, a surgical operator does not need to hold the ultrasonic knife continuously for operation, the problem that manual operation is prone to fatigue is solved, and the surgical operation precision and efficiency are improved; the visual tracking identification device is located above the ultrasonic knife all the time, and it is guaranteed that the identification plate can be identified by image acquisition equipment all the time.

Description

technical field [0001] The invention belongs to the technical field of surgical robots in medical instruments, and particularly relates to a mechanical arm end clamping device and a surgical navigation robot having the same. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art or prior art. [0003] In normal orthopaedic surgery, doctors need to hold an ultrasonic bone knife for tissue cutting. The positioning accuracy during the operation is difficult to guarantee, and the doctor is easily fatigued when standing for a long time and holding the ultrasonic knife during the operation, thus losing the judgment of the accuracy of the force. , affecting the quality of the operation; that is to say, there are higher requirements for the operating experience and operation stability of the operating personnel. [0004] In recent years, the emergence of surgical...

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Problems solved by technology

[0005] Such as the invention patent application (CN113081270A) proposes a terminal clamping device for robotic surgery. Based on the analysis of its technical characteristics, the structure is very complicated. Especially when the ultrasonic scalpel is tilted forward during the operation, the camera cannot recognize the identification plate, which is very easy The safety strategy of the robot is triggered, causing the robot to stop moving; and when the terminal posture is adjusted, the ultrasonic bone knife often blocks the identification board due to the angle of view, causing the identification board to be unrecognizable; the above problems will bring operational risks to the operation and affect the quality of the operation. Therefore, it is necessary to optimize related technologies

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