Modularized orthopedic surgery robot and use method thereof

Abstract

The invention belongs to the technical field of orthopedic surgery robots, and particularly relates to a modular orthopedic surgery robot and a using method thereof. The device comprises a trolley; a modular surgical mechanism; a pose separation adjusting mechanism; the position and posture separation adjusting mechanism comprises a vertical adjusting mechanism mounted on the trolley, a translation mechanism mounted at the output end of the vertical adjusting mechanism and a posture adjusting mechanism mounted at the output end of the translation mechanism; the vertical adjusting mechanism, the translation mechanism and the pose mechanism are combined, the adjusting mode that the vertical adjusting mechanism, the translation mechanism and the pose mechanism are completely decoupled is adopted, robot motion output has the complete separation characteristic of position adjustment and pose adjustment, and minimally invasive precise operation facing a patient surgery implementation area in cooperation of the robot and a doctor is achieved. Meanwhile, the translation mechanism adopts a pentagonal revolute pair, so that the translation mechanism has high rigidity and high precision, higher adaptability, weight ratio and motion precision of the robot body structure are ensured, and the robot can better adapt to the orthopedic surgery environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of bone surgery robots, and in particular relates to a modular orthopedic surgery robot and a method of using the same. Background Art

[0002] Affected by the cross-influence of multiple factors such as economic and social development, the aging of the population, and the growing scale of transportation, the incidence of orthopedic diseases has increased year by year, becoming a common and frequently-occurring disease that affects human life. Orthopedic surgical robots adopt precise surgical concepts and technical means, combined with the latest biomedical engineering research results, to achieve precise surgical operations with less damage through accurate, safe and stable operations. Specifically, the connected end-effector surgical instruments are used to assist doctors in completing orthopedic surgeries for the spine, joints, and trauma. By actively or flexibly adjusting the robot's motion state to adjust the position of the end-effector surgical instruments, auxiliary operations such as positioning, bone drilling, and osteotomy in orthopedic surgery can be achieved.

[0003] However, the current orthopedic surgical robots are limited by the hospital's procurement costs and operating room space. The current orthopedic surgical robots have narrow indications, low load-bearing capacity, and are not intuitive for doctors to operate. For example, the orthopedic surgical robot described in patent CN112971988A locks or replaces the bone swing saw through a quick-release device to achieve knee replacement, but it is only suitable for knee surgery operation scenarios. For example, the orthopedic surgical robot described in patent CN114869474A achieves stable support through the casters and support leg structure installed on the bottom plate of the trolley. However, it adopts an industrial collaborative robotic arm, and the load-bearing capacity of the serial robotic arm is relatively low. When a certain load is exceeded during the execution of the task, the motion accuracy of the end cannot be guaranteed. For example, the orthopedic surgical robot end described in patent CN113876425A can realize the replacement of different surgical instruments, but the collaborative robotic arm adopts a serial structure. During the operation, the doctor is easily restricted by the working space and joint singularity of the robotic arm. It is difficult to simultaneously ensure the smoothness of the position and posture during the dragging process, which increases the complexity of the operation to a certain extent and reduces the operation experience. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of narrow indications and low load-bearing ratio in the prior art, and to provide a modular orthopedic surgical robot and a method of using the robot that can ensure a high load-bearing ratio while still maintaining high rigidity and motion accuracy.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a modular orthopedic surgical robot, comprising:

[0006] Trolley;

[0007] Modular surgical mechanism, integrating several different surgical modules;

[0008] A position and posture separation adjustment mechanism, installed on the trolley, for adjusting the position and posture deviation of the modular surgical mechanism;

[0009] The posture separation adjustment mechanism comprises a vertical adjustment mechanism installed on the trolley, a translation mechanism installed at the output end of the vertical adjustment mechanism, and a posture adjustment mechanism installed at the output end of the translation mechanism; wherein,

[0010] The translation mechanism comprises:

[0011] A mounting base, fixedly disposed at an output end of the vertical adjustment mechanism;

[0012] The first translation arm, the second translation arm, the third translation arm, and the fourth translation arm are sequentially rotated and connected; and

[0013] A first translation motor and a second translation motor mounted on the mounting base; wherein an end of the first translation arm away from the second translation arm is coaxially arranged with an output shaft of the first translation motor, and an end of the fourth translation arm away from the third translation arm is coaxially arranged with an output shaft of the second translation motor;

[0014] The mounting base, the first translation arm, the second translation arm, the third translation arm and the fourth translation arm are arranged on a horizontal plane to form a pentagonal rotation pair. When the first translation motor and / or the second translation motor rotates, the pentagonal rotation pair is driven to translate on the plane.

[0015] Specifically, the posture adjustment mechanism includes: a static platform, a dynamic platform, two groups of posture adjustment mechanical arms and a group of fixed arms arranged between the static platform and the dynamic platform, and a quick release device installed on the lower end surface of the dynamic platform; wherein,

[0016] The static platform is connected to the junction of the second translation arm and the third translation arm, and the quick-release device is connected to the modular surgical mechanism; the angle between two adjacent posture adjustment robotic arms and / or the fixed arms is 120°, and when the two groups of posture adjustment robotic arms receive motion instructions, they drive the moving platform to rotate around a rotation diameter, and the rotation diameter passes through the installation center point of the fixed arm and the moving platform.

[0017] Specifically, the posture adjustment robot arm includes a micro servo push rod, and both ends of the micro servo push rod are rotatably mounted with the static platform and the dynamic platform respectively through Hooke's joints;

[0018] The fixed arm comprises a fixed rod, one end of which is fixedly mounted on the static platform, and the other end of which is rotatably mounted on the dynamic platform via a Hooke's hinge.

[0019] Specifically, the posture adjustment mechanism further includes a tracking module, and the tracking module includes a tracking bracket installed on the static platform and a tracer installed on the tracking bracket.

[0020] Specifically, the modular surgical mechanism includes at least one of a bone grinding module, a bone swing saw module, a bone drill module, a bone milling module, an osteotomy guide module, a bone drilling catheter module, and an ultrasonic acquisition module.

[0021] Specifically, the second translation arm and the third translation arm are both equipped with manual translation handles for manually adjusting the shape of the translation mechanism.

[0022] Specifically, the trolley includes:

[0023] A frame for mounting the vertical adjustment mechanism;

[0024] A display screen, mounted on the translation mechanism, for displaying intraoperative navigation information and real-time data of the doctor, robot and patient;

[0025] Universal casters, mounted on the frame, for movement of the entire robot;

[0026] The control unit is installed inside the frame and is used to control the movement of each mechanism in real time.

[0027] Specifically, the vertical adjustment mechanism includes:

[0028] A servo three-section column 311, the fixed end of which is fixedly mounted on the frame of the trolley;

[0029] The column protection shell 312 is sleeved on the outer side of the servo three-section column 311 and fixedly mounted on the lower end surface of the mounting base.

[0030] A method for using a modular orthopedic surgical robot comprises the following steps:

[0031] S1. Select a modular surgical institution, that is, select the corresponding modular surgical institution according to the patient's needs;

[0032] S2. Plan the movement trajectory of the modular surgical mechanism, that is, calculate and obtain the posture adjustment scheme of the vertical adjustment mechanism, the translation mechanism, and the posture adjustment mechanism according to the current posture and positioning of the surgical module, and plan the movement trajectory of the surgical module;

[0033] S3. The posture adjustment of the modular surgical mechanism, that is, the vertical adjustment mechanism, the translation mechanism, and the posture adjustment mechanism are adjusted according to the trajectory planning;

[0034] S4. Tracking the real-time position of the modular surgical mechanism, that is, using a tracer to track the modular surgical mechanism in real time during the operation;

[0035] S5. Registering the modular surgical mechanism, that is, registering the modular surgical mechanism through the registration compensation unit according to the tracking data in step S3;

[0036] S6. Complete the surgical operation of the modular surgical mechanism.

[0037] Specifically, in the step S2, in trajectory planning for the surgical module, a control method is adopted in which the translation mechanism and the posture adjustment mechanism are completely decoupled, so that the position adjustment and posture adjustment of the modular surgical mechanism are performed separately.

[0038] The beneficial effects of a modular orthopedic surgical robot of the present invention are:

[0039] The present invention combines the vertical adjustment mechanism, translation mechanism and posture mechanism, and adopts a completely decoupled adjustment method of the three, so that the robot motion output has the completely separated characteristics of position adjustment and posture adjustment, and has excellent intuitive operation and dragging experience, so as to realize the minimally invasive and precise operation of the patient's surgical implementation area in the collaboration between the robot and the doctor. At the same time, the translation mechanism adopts a pentagonal rotation pair, so that the translation mechanism has high rigidity and high precision, thereby ensuring the high adaptability, load-bearing ratio and motion accuracy of the robot body structure, and better adapting to the orthopedic surgical environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0041] Figure 1 is a stereoscopic diagram of the modular orthopedic surgical robot of the present invention;

[0042] Figure 2 It is a structural schematic diagram of the translation mechanism and posture mechanism of the modular orthopedic surgical robot of the present invention;

[0043] Figure 3 is an exploded view of the mounting base portion of the translation mechanism of the present invention;

[0044] Figure 4 It is an exploded view of the first translation arm and the first translation motor installation part of the translation mechanism of the present invention;

[0045] Figure 5 is an exploded view of the installation portion of the first translation arm and the second translation arm of the present invention;

[0046] Figure 6 is an exploded view of the installation portion of the second translation arm and the third translation arm of the present invention;

[0047] Figure 7 It is a structural schematic diagram of the posture adjustment mechanism of the present invention;

[0048] Figure 8 It is a structural schematic diagram of the trolley of the present invention;

[0049] Fig. 9 It is a structural schematic diagram of a surgical module corresponding to the modular surgical mechanism of the present invention;

[0050] Fig.10 It is a flow chart of the method of using the present invention.

[0051] Fig.11 It is an exploded view of the posture adjustment mechanism of the present invention.

[0052] In the figure: 1. trolley, 11. rack, 12. display screen, 13. universal casters, 14. control unit, 15. foot, 16. trolley shell, 17. display screen bracket, 2. modular surgical mechanism, 21. bone grinding module, 22. bone swing saw module, 23. bone drill module, 24. bone milling module, 25. osteotomy guide module, 26. bone drilling catheter module, 27. ultrasonic acquisition module, 3. posture separation adjustment mechanism, 31. vertical adjustment mechanism, 311. servo three-section column, 312. column protection shell, 32. translation mechanism, 321. mounting base, 322. first translation arm, 3221. first support rod, 32 22. The first joint connecting axis, 3224. The first bearing, 323. The second translation arm, 3231. The second support rod, 3232. The second joint connecting axis, 3234. The second bearing, 324. The third translation arm, 3241. The third support rod, 3242. The transfer rod, 325. The fourth translation arm, 326. The first translation motor, 327. The second translation motor, 328. The manual translation handle, 33. The posture adjustment mechanism, 331. The static platform, 332. The dynamic platform, 333. The posture adjustment robot arm, 334. The fixed arm, 335. The quick release device, 336. The tracking module, 337. The third driving unit, 4. The registration compensation unit. DETAILED DESCRIPTION

[0053] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0054] like Figure 1-Figure 9 A specific embodiment of a modular orthopedic surgical robot of the present invention is shown, comprising a trolley 1, a modular surgical mechanism 2, and a posture separation adjustment mechanism 3. In this embodiment, the modular surgical mechanism 2 integrates a number of different surgical modules; the posture separation adjustment mechanism 3 is installed on the trolley 1, and is used to adjust the position and posture deviation of the modular surgical mechanism 2; the posture separation adjustment mechanism 3 comprises a vertical adjustment mechanism 31 installed on the trolley 1, a translation mechanism 32 installed at the output end of the vertical adjustment mechanism 31, and a posture adjustment mechanism 33 installed at the output end of the translation mechanism 32.

[0055] like Figures 2 to 6 As shown, the translation mechanism 32 in this embodiment includes: a mounting base 321, which is fixedly arranged at the output end of the vertical adjustment mechanism 31, and is connected to a first translation arm 322, a second translation arm 323, a third translation arm 324, and a fourth translation arm 325 which are rotatably connected in sequence; and a first translation motor 326 and a second translation motor 327 mounted on the mounting base 321; wherein, the end of the first translation arm 322 away from the second translation arm 323 is coaxially arranged with the output shaft of the first translation motor 326, and the end of the fourth translation arm 325 away from the third translation arm 324 is coaxially arranged with the output shaft of the second translation motor 327. It should be further explained that, in this embodiment, the mounting base 321, the first translation arm 322, the second translation arm 323, the third translation arm 324 and the fourth translation arm 325 are arranged on a horizontal plane to form a pentagonal rotation pair. When the first translation motor 326 and / or the second translation motor 327 rotate, the pentagonal rotation pair is driven to translate on the plane.

[0056] It should be noted that the translation mechanism 324 is a planar five-rotation pair composed of four translation arms and the mounting base 321, the master / slave arms and the master / slave arm joint connections all have the same or symmetrical structure, which can realize displacement movement in the plane, that is, drive the modular surgical mechanism 2 to move on the horizontal plane. In order to reduce the mass of the mechanism and improve the rigidity of the mechanism, the four support rods are all manufactured with lightweight materials (such as 7075 aluminum, etc.), the protective shells are all manufactured with lightweight materials (such as ABS, etc.), and the four support rods all have a right-angle cross-section structure.

[0057] As attached Figure 2 and Figure 5 As shown, in this embodiment, the first translation arm 322, the second translation arm 323, the third translation arm 324 and the fourth translation arm 325 all include a support rod for rotation support, an upper protective shell and a lower protective shell surrounding the outer side of the support rod, and the power output ends of the first translation motor 326 and the second translation motor 327 of the translation mechanism 32 are connected to the first support rod 3221 and the fourth support rod and the protective shell covering the support rod in the first translation arm 322 and the fourth translation arm 325 through the power output end flange, and the end of the lower protective shell of the first support rod 3221 and / or the fourth support rod is fixedly connected to the first step of the power output end flange by bolts, and at the same time, the first translation motor 326 and the second translation motor 327 and the wiring groove are covered. The end of the first support rod 3221 and / or the fourth support rod is fixedly connected to the second step of the power output end flange by bolts, and at the same time, its side is fixedly connected to the lower protective shell of the first support rod 3221 and / or the fourth support rod by bolts. The upper protective shell of the first support rod 3221 and / or the fourth support rod is fixedly connected to the upper side of the first support rod 3221 and / or the fourth support rod through bolts, so as to cover the first support rod 3221 and / or the fourth support rod.

[0058] As attached Figure 2 and Figure 5 As shown, the first translation arm 322 and the second translation arm 323 are rotatably mounted, and relative passive rotation is achieved through the first joint connecting shaft 3222, the first bearing 3224 and the shaft retaining spring. The upper part of the first joint connecting shaft 3222 is fixed to the first support rod 3221 corresponding to the first translation arm 322 through threaded connection, and the lower part is contact supported by the end of the lower protective shell of the first support rod 3221. The inner sides of the two first bearings 3224 cooperate with the first joint connecting shaft 3222, and the outer sides cooperate with the two bearing seats at the end of the second support rod 3231, and the axial limit is achieved through the shaft shoulder of the first joint connecting shaft 3222 and the shaft retaining spring set on the first joint connecting shaft 3222. A wiring groove is opened between the two bearing seats at the end of the second support rod 3231. The first joint connecting shaft 3222 is a hollow shaft, and a wiring groove is correspondingly opened on the side of the wiring groove facing the second support rod 3231, so as to facilitate the wiring of the electrical wiring harness from the posture adjustment mechanism 33 to pass through and pass out through the end of the lower protective shell of the first support rod 3221.

[0059] In this embodiment, handles of the translation mechanism 32 are provided on the outer sides of the second translation arm 323 and the third translation arm 324 for manually adjusting the shape of the translation mechanism 32 and facilitating the doctor to drag the robot and adjust its position.

[0060] In this embodiment, a registration compensation unit 4 is provided at the rotation connection between the second translation arm 323 and the third translation arm 324. The registration compensation unit 4 includes a compensation drive motor installed on the second translation arm 323 to compensate for the axial follow-up rotation caused by the end movement of the translation mechanism 32 in real time. Figure 6 As shown, the second translation arm 323 and the third translation arm 324 realize relative passive rotation through the transfer rod 3242, the second joint connecting shaft 3232, and the second bearing 3234. The transfer rod 3242 and the third translation arm 324 are fixedly connected by bolts, the lower outer ring of the second joint connecting shaft 3232 is fixedly connected to the transfer rod 3242 by bolts, and the lower inner ring is fixedly connected to the compensation drive motor by bolts. The purpose of providing the compensation drive motor in this embodiment is to compensate for the axial follow-up rotation caused by the end motion of the translation mechanism 32 in real time, so that the position motion of the translation mechanism 32 and the posture adjustment mechanism 33 are strictly separated.

[0061] Specifically, the inner sides of the two second bearings 3234 cooperate with the second joint connecting shaft 3232, and the outer sides cooperate with the two bearing seats at the ends of the second support rod 3231, and the axial limit is achieved through the shaft shoulder of the second joint connecting shaft 3232 and the servo motor of the compensation drive motor. The corresponding positions of the second joint connecting shaft 3232 and the transfer rod 3242 are provided with wiring grooves to facilitate the wiring of the electrical wiring harness from the posture adjustment mechanism 33. The upper protective shell of the third translation arm 324 and the lower protective shell of the third translation arm 324 are fixed to the third support rod 3241 through threaded connection to achieve the covering of the third support rod 3241, the transfer rod 3242, and the compensation drive motor.

[0062] Reference Figure 7 and Fig.11 As shown, as an embodiment, the posture adjustment mechanism 33 includes: a static platform 331, a dynamic platform 332, two groups of posture adjustment robotic arms 333 and a group of fixed arms 334 arranged between the static platform 331 and the dynamic platform 332, and a quick-release device 335 installed on the lower end surface of the dynamic platform 332; wherein, the static platform 331 is connected to the junction of the second translation arm 323 and the third translation arm 324, and the quick-release device 335 is connected to the modular surgical mechanism 2; the angle between two adjacent posture adjustment robotic arms 333 and / or fixed arms 334 is 120°, and when the two groups of posture adjustment robotic arms 333 receive a motion instruction, they drive the dynamic platform 332 to rotate around a rotation diameter, and the rotation diameter passes through the installation center point of the fixed arm 334 and the dynamic platform 332.

[0063] It should be further explained that the quick-release device 335 in this embodiment includes a tool end provided on the lower end surface of the moving platform 332 and a mating end installed in cooperation with the tool end, and the mating end is fixedly installed on the modular surgical mechanism 2, wherein the modular surgical mechanism 2 includes at least one of a bone grinding module 21, a bone oscillating saw module 22, a bone drill module 23, a bone milling module 24, an osteotomy guide module 25, a bone drilling catheter module 26, and an ultrasonic acquisition module 27, that is, the mating end of the quick-release device 335 is installed on the corresponding bone grinding module 21 and / or the bone oscillating saw module 22 and / or the bone drill module 23 and / or the bone milling module 24 and / or the osteotomy guide module 25 and / or the bone drilling catheter module 26 and / or the ultrasonic acquisition module 27.

[0064] As an implementation mode, the attitude adjustment robot arm 333 includes a micro servo push rod, and both ends of the micro servo push rod are rotatably mounted with the static platform 331 and the dynamic platform 332 respectively through Hooke's hinges; the Hooke's hinge includes a static platform 331 Hooke's hinge and a first dynamic platform 332 Hooke's hinge, one end of the static platform 331 Hooke's hinge is fastened to the static platform 331 through a nut, and the other end is connected to the upper part of the micro servo push rod through a threaded hole, and the lower part of the micro servo push rod is connected to the first dynamic platform 332 Hooke's hinge through a thread, and the first dynamic platform 332 Hooke's hinge is fixed to the corresponding bearing inner ring through a bearing retaining ring and a washer nut, and the corresponding bearing inner ring cooperates with the dynamic platform 332, so that the first dynamic platform 332 Hooke's hinge can rotate around its own axis, which can be equivalent to a ball pair (S), thereby forming a UPS pole.

[0065] The fixed arm 334 includes a fixed rod, one end of which is fixedly installed on the static platform 331, and the other end of the fixed rod is rotatably installed on the dynamic platform 332 through a Hooke's hinge. One end of the fixed rod is fastened to the static platform 331 through a nut, and the other side is connected to the upper part of the Hooke's hinge (U) of the second dynamic platform 332 through a thread. The lower part of the Hooke's hinge (U) of the second dynamic platform 332 cooperates with the dynamic platform 332 through a nut, thereby forming a U rod.

[0066] The static platform 331 and the dynamic platform 332 of the posture adjustment mechanism 33 are connected at an angle of 120° through two UPS rods and a U rod to achieve two-degree-of-freedom posture adjustment. A hole is opened in the middle of the dynamic platform 332, and the third drive unit 337 is connected to the periphery of the hole by bolts. The output shaft of the third drive unit is fixedly connected to the first step of the force sensor adapter flange by a top screw to realize the rotation of the modular surgical mechanism. The upper part of the six-dimensional force sensor is fixedly connected to the second step of the force sensor adapter flange by built-in bolts, the upper part of the tool end of the quick-release device 335 is connected to the bottom of the six-dimensional force sensor by threads, and the matching end of the quick-release device 335 is connected to the modular surgical mechanism 2 by threads. The tool end of the quick-release device 335 and the matching end of the quick-release device 335 together form a quick-release device 335, which can be manually quickly disassembled and replaced. At the same time, the posture adjustment mechanism 33 also includes a tracking module 336, and the tracking module 336 includes a tracking bracket 3361 installed on the static platform 331 and a tracer installed on the tracking bracket 3361.

[0067] like Figure 8 As shown, the trolley 1 in this embodiment includes a frame 11 for mounting a vertical adjustment mechanism 31;

[0068] A display screen 12, mounted on the translation mechanism 32, for displaying intraoperative navigation information and real-time data of the doctor, robot and patient;

[0069] Universal casters 13, mounted on the frame 11, for movement of the entire robot;

[0070] The control unit 14 is installed inside the frame 11 and is used to control the movement of each mechanism in real time.

[0071] The trolley 1 in this embodiment also includes a foot 15 for fixing and supporting the robot, a trolley 1 support seat installed on the frame 11, a mounting panel, a side handle, a trolley shell 16, a rear handle and a status indicator light. In this embodiment, the universal casters 13 are four universal casters 13 with brakes, and two foot 15 and the trolley 1 support seat include a steel support seat and an ABS surface cover fixed by bolts, which are used together to bear the static and dynamic workload of the robot. The frame 11 is built with angle steel and fixed to the trolley 1 support seat by bolts. The mounting panel is convenient for arranging various electrical control hardware, which is fixed to the frame 11 by bolts to jointly maintain the structural stability of the trolley 1. The trolley shell 16 is provided with a card slot and a limit step inside, which is connected to the trolley 1 support seat and the frame 11 by bolts. The bottom of the lifting column is connected to the trolley 1 support base and the frame 11 by bolts, and the side is restrained by the sleeve in the frame 11 to constrain the posture deviation caused by potential force overturning. The display is installed on the mounting base 321 through the display bracket 17. The bottom of the display bracket 17 is connected to the base by bolts. The upper part of the display bracket 17 is fixedly connected to a display, which is used to display intraoperative navigation information and the real-time status of the doctor-robot-patient. The status indicator light receives instructions from the main control system and provides the doctor with key information such as the robot's operating status and operation mode. The side handle and the rear handle are respectively fixedly connected to the frame 11 and the trolley shell 16, so that the doctor can adjust the robot to a suitable position next to the bed from multiple directions.

[0072] The vertical adjustment mechanism 31 includes a servo three-section column 311 and a column protection shell 312. The fixed end of the servo three-section column 311 is fixedly mounted on the frame 11 of the trolley 1. The column protection shell 312 is sleeved on the outside of the servo three-section column 311 and fixedly mounted on the lower end surface of the mounting base 321. The lifting column protection shell 312 is fixed to the mounting base 321 by upper bolts on both sides. The bottom annular protrusion of the mounting base 321 is engaged with the annular groove on the upper part of the lifting column protection shell 312, so that the lifting column protection shell 312 can move synchronously with the servo three-section column 311.

[0073] The modular surgical mechanism 2 can be various types of special instruments for orthopedic surgery, including but not limited to bone grinding module 21, bone swing saw module 22, bone drill module 23, bone milling module 24, osteotomy guide module 25, bone drilling catheter module 26, and ultrasonic acquisition module 27. The present invention combines the vertical adjustment mechanism 31, the translation mechanism 32 and the posture mechanism, and adopts a completely decoupled adjustment method of the three, so that the robot motion output has the completely separated characteristics of position adjustment and posture adjustment, and has excellent operation intuitiveness and drag experience, so as to realize the minimally invasive and precise operation of the patient's surgical implementation area in the collaboration between the robot and the doctor. The translation mechanism 32 adopts a pentagonal rotation pair, which has the advantages of high rigidity and high precision. A large number of lightweight materials (such as ABS, 7075 aluminum, etc.) are used for parts, and its structural parameters are obtained through optimized design, so that the robot body structure has high adaptability, load-to-weight ratio and motion accuracy, which can better adapt to the orthopedic surgical environment.

[0074] The modular orthopedic surgical robot of the present invention realizes the replacement of surgical instruments through the quick-release device 335 installed on the output end of the posture mechanism and the modular surgical mechanism 2, which cooperate with each other. The modular design can meet the use requirements of different orthopedic surgeries and adapt to the operating space requirements of different orthopedic surgical procedures.

[0075] Based on the above-mentioned method of using the modular orthopedic surgical robot, Fig.10 As shown, the following steps are included:

[0076] S1. Select the corresponding modular surgical mechanism according to the patient's needs 2;

[0077] S2. Perform trajectory planning for the modular surgical mechanism 2, that is, calculate and obtain the posture adjustment scheme of the vertical adjustment mechanism 31, the translation mechanism 32, and the posture adjustment mechanism 33 according to the current posture and positioning of the surgical module, and plan the movement trajectory of the surgical module;

[0078] S3. The posture adjustment of the modular surgical mechanism 2, that is, the vertical adjustment mechanism 31, the translation mechanism 32, and the posture adjustment mechanism 33 are adjusted according to the trajectory planning control;

[0079] S4. Tracking the real-time position and posture of the modular surgical mechanism 2, that is, using a tracer to track the modular surgical mechanism 2 in real time during the operation.

[0080] S5. Registering the modular surgical mechanism 2, that is, registering the modular surgical mechanism 2 through the registration compensation unit 4 according to the tracking data in step S3;

[0081] S6. Complete the surgical operation of the modular surgical mechanism 2.

[0082] Among them, in step S2, when planning the trajectory of the surgical module, a control method of completely decoupling the translation mechanism 32 and the posture adjustment mechanism 33 is adopted, so that the position adjustment and posture adjustment of the modular surgical mechanism 2 are separated.

[0083] The modular orthopedic surgical robot of the present invention realizes the replacement of surgical instruments through the quick-release device 335, which can adapt to the operating space requirements of different orthopedic surgical procedures. At the same time, it has the advantages of high rigidity and high precision of the parallel configuration. A large number of parts use lightweight materials such as ABS, 7075 aluminum, etc. Its structural parameters are obtained through optimized design, so that the robot body structure has higher adaptability, load-to-weight ratio and motion accuracy, which can better adapt to the orthopedic surgical environment. The robot design adopts a completely decoupled method of the translation mechanism 32 and the posture adjustment mechanism 33, so that the robot motion output has the characteristics of posture separation, and has excellent intuitive operation and dragging experience.

[0084] A specific application usage process is as follows:

[0085] After the orthopedic surgical robot is pushed to a suitable position beside the operating table, the brake pedal of the universal caster 13 with brake is stepped on to lock the four casters, and the foot 15 is lowered to the supporting ground. The trolley 1 is stably supported at the operating position under the support of the two supporting feet and the four casters. Then the power is turned on to start the orthopedic surgical robot.

[0086] During the registration stage, the doctor holds the handle of the robot ultrasound acquisition module 27 and acquires ultrasound images of the surgical area in the robot's soft dragging mode, thereby achieving intraoperative navigation through existing medical preoperative processing methods.

[0087] During the positioning stage, the existing medical preoperative processing methods are used to plan the trajectory of the current position of the robot osteotomy guide module 25 and the bone drilling catheter module 26 relative to the drilling channel or osteotomy plane where the patient's surgical area is located. Then, with the help of inverse kinematics analysis of the parallel robot, the position adjustment plan of the translation mechanism 32 and the posture adjustment mechanism 33 is obtained. Finally, the driving unit is used to drive the osteotomy guide module 25 and the bone drilling catheter module 26 along the motion trajectory to the top of the surgical area for positioning.

[0088] During the execution phase, the doctor holds the handle of the robot bone grinding module 21, the bone oscillating saw module 22, the bone drill module 23 or the bone milling module 24 and performs corresponding surgical operations in the robot's smooth dragging mode.

[0089] It should be further explained that, in the present embodiment, a registration compensation unit 4 is provided at the rotation connection between the second translation arm and the third translation arm 324. The registration compensation unit 4 includes a compensation drive motor installed at the end of the second translation arm 323. The output direction of the compensation drive motor is in the vertical direction, which drives the modular surgical mechanism 2 to rotate along the vertical axis. In the positioning stage, the robot can provide precise position tracking control. In the registration and execution stage, the robot can cooperate with the doctor to filter out the doctor's hand shaking, and at the same time limit the operation range to a safe and controllable range, so as to achieve efficient modular integration and application for different orthopedic surgical scenarios.

[0090] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A modular orthopedic surgical robot, characterized in that: include: Trolley (1); A modular surgical mechanism (2) integrating a number of different surgical modules; A position and posture separation adjustment mechanism (3) installed on the trolley (1) and used for adjusting the position and posture deviation of the modular surgical mechanism (2); The posture separation adjustment mechanism (3) comprises a vertical adjustment mechanism (31) installed on the trolley (1), a translation mechanism (32) installed at the output end of the vertical adjustment mechanism (31), and a posture adjustment mechanism (33) installed at the output end of the translation mechanism (32); wherein: The translation mechanism (32) comprises: A mounting base (321) fixedly disposed at an output end of the vertical adjustment mechanism (31); The first translation arm (322), the second translation arm (323), the third translation arm (324), and the fourth translation arm (325) are sequentially rotated and connected; and A first translation motor (326) and a second translation motor (327) are mounted on the mounting base (321); wherein an end of the first translation arm (322) away from the second translation arm (323) is coaxially arranged with an output shaft of the first translation motor (326), and an end of the fourth translation arm (325) away from the third translation arm (324) is coaxially arranged with an output shaft of the second translation motor (327); The mounting base (321), the first translation arm (322), the second translation arm (323), the third translation arm (324) and the fourth translation arm (325) are arranged on a horizontal plane to form a pentagonal rotation pair. When the first translation motor (326) and / or the second translation motor (327) rotate, the pentagonal rotation pair is driven to translate on the plane.

2. A modular orthopedic surgical robot according to claim 1, characterized in that: The posture adjustment mechanism (33) comprises: a static platform (331), a dynamic platform (332), two groups of posture adjustment mechanical arms (333) and a group of fixed arms (334) arranged between the static platform (331) and the dynamic platform (332), and a quick-release device (335) installed on the lower end surface of the dynamic platform (332); wherein: The static platform (331) is connected to the junction of the second translation arm (323) and the third translation arm (324), and the quick-release device (335) is connected to the modular surgical mechanism (2); the angle between two adjacent posture adjustment robotic arms (333) and / or the fixed arms (334) is 120°, and when the two groups of posture adjustment robotic arms (333) receive a motion instruction, they drive the moving platform (332) to rotate around a rotation diameter, and the rotation diameter passes through the installation center point of the fixed arm (334) and the moving platform (332).

3. A modular orthopedic surgical robot according to claim 2, characterized in that: The posture adjustment mechanical arm (333) comprises a micro servo push rod, and both ends of the micro servo push rod are rotatably mounted on the static platform (331) and the dynamic platform (332) respectively through Hooke's joints; The fixed arm (334) comprises a fixed rod, one end of which is fixedly mounted on the static platform (331), and the other end of which is rotatably mounted on the dynamic platform (332) via a Hooke's joint.

4. The modular orthopedic surgical robot according to claim 2, characterized in that: The posture adjustment mechanism (33) further comprises a tracking module (336), wherein the tracking module (336) comprises a tracking bracket mounted on the static platform (331) and a tracer mounted on the tracking bracket.

5. The modular orthopedic surgical robot according to claim 1, characterized in that: The modular surgical mechanism (2) comprises at least one of a bone grinding module (21), a bone swing saw module (22), a bone drill module (23), a bone milling module (24), an osteotomy guide module (25), a bone drilling catheter module (26), and an ultrasound acquisition module (27).

6. The modular orthopedic surgical robot according to claim 1, characterized in that: The second translation arm (323) and the third translation arm (324) are both equipped with a manual translation handle (328) for manually adjusting the shape of the translation mechanism (32).

7. The modular orthopedic surgical robot according to claim 1, characterized in that: The trolley (1) comprises: A frame (11) for mounting the vertical adjustment mechanism (31); A display screen (12), mounted on the translation mechanism (32), for displaying intraoperative navigation information and real-time doctor-robot-patient data; Universal casters (13), mounted on the frame (11), for movement of the entire robot; A control unit (14) is installed inside the frame (11) and is used to control the movement of each mechanism in real time.

8. The modular orthopedic surgical robot according to claim 6, characterized in that: The vertical adjustment mechanism (31) comprises: A servo three-section column 311, the fixed end of which is fixedly mounted on the frame (11) of the trolley (1); The column protection shell 312 is sleeved on the outer side of the servo three-section column 311 and fixedly mounted on the lower end surface of the mounting base (321).

9. A method for using a modular orthopedic surgical robot according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Select the corresponding modular surgical mechanism according to the patient's needs (2); S2. Planning the trajectory of the modular surgical mechanism (2), that is, calculating and obtaining the posture adjustment scheme of the vertical adjustment mechanism (31), the translation mechanism (32), and the posture adjustment mechanism (33) according to the current posture and position of the surgical module, and planning the movement trajectory of the surgical module; S3. The posture adjustment of the modular surgical mechanism (2), that is, the vertical adjustment mechanism (31), the translation mechanism (32), and the posture adjustment mechanism (33) are adjusted according to the trajectory planning; S4. Tracking the real-time position of the modular surgical mechanism (2), that is, real-time tracking of the modular surgical mechanism (2) during the surgical procedure; S5. Registering the modular surgical mechanism (2), that is, registering the modular surgical mechanism (2) through the registration compensation unit (4) according to the tracking data in step S3; S6. Complete the surgical operation of the modular surgical mechanism (2).

10. The method for using a modular orthopedic surgical robot according to claim 9, characterized in that: In the step S2, when planning the trajectory of the surgical module, a control method is adopted in which the translation mechanism (32) and the posture adjustment mechanism (33) are completely decoupled, so that the position adjustment and posture adjustment of the modular surgical mechanism (2) are performed separately.

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