Surgical robot system precision detection device

Abstract

The utility model relates to the technical field of robot detection, and discloses a precision detection device for a surgical robot system. The surgical robot system precision detection device comprises a test device base, and a mounting structure is arranged at the top end of the test device base. By arranging the mounting plate, the mounting insert, the mounting groove, the clamping block and the clamping groove, a matched test mold is selected according to the model of a surgical robot to be detected, the test mold is placed on the test device base, the test mold is clamped through the mounting insert and the mounting groove at the bottom end of the mounting plate, and the test mold is clamped and fixed through the movable rod, the clamping block and the clamping groove; if yes, the test mold is rapidly fixed to the test device base, finally, the test device base is fixed to the surgical operation table, at the moment, the test mold simulates the geometrical morphology of the human skeleton through the detection cavity and is used for testing, and meanwhile a test image of the test mold is obtained through medical imaging equipment.

Description

Technical Field

[0001] The utility model relates to the technical field of robot detection, in particular to a precision detection device for a surgical robot system. Background Art

[0002] Intelligent surgical equipment is the core equipment to promote the development and popularization of minimally invasive surgery. Medical robots, as the key research content of cutting-edge technology, are the product of the integration of advanced technologies. Orthopedic surgical robots are a subdivision of medical robots, which can realize more personalized surgical plan design and simulation, and provide surgical positioning accuracy beyond the limit of human hands, thereby greatly facilitating doctors' operations, effectively reducing the risk of complications, improving surgical quality, shortening postoperative recovery period, and reducing medical costs overall. For patients with early to mid-stage hip osteoarthritis, joint replacement surgical robots are often used to assist in the operation. The robot's mechanical arm accurately limits the depth and angle of the joint file to ensure the accuracy and safety of the joint replacement surgery. In order to ensure the smooth and accurate operation of the surgical robot, it is necessary to perform accuracy testing on the surgical robot before and after use.

[0003] The existing device for detecting the system accuracy of surgical robots has a test mold that is replaced according to different surgical robot models in order to meet the system accuracy test of surgical robots of different models. However, the current test mold and base are not easy to install and disassemble, so there is an urgent need for a surgical robot system accuracy detection device. Utility Model Content

[0004] The purpose of the utility model is to provide a surgical robot system accuracy detection device to solve the problem that the existing surgical robot system accuracy detection device proposed in the above background technology has a test mold that is replaced according to different surgical robot models so as to meet the system accuracy test of surgical robots of different models, while the current test mold and base are not convenient for installation and disassembly, and the position tracking structure installed in the test device is not convenient for adjusting the tilt angle according to actual conditions.

[0005] In order to solve the above-mentioned technical problems, the utility model provides the following technical solutions: a surgical robot system precision detection device, comprising a test device base, a mounting structure is arranged at the top of the test device base, and a tracking structure is arranged inside the test device base, a base plate is engaged with the bottom of the test device base, and a test mold is arranged at the top of the mounting structure.

[0006] The mounting structure includes a mounting plate, a mounting plug is connected to the bottom end of the mounting plate, a mounting groove is provided on the inner side of the testing device base, a movable rod is movably provided on the inner side of the mounting plug, a clamping block is fixed on the outer wall of the movable rod, and a vortex spring is connected to the inner wall of the movable rod, a fixing rod is provided on the inner side of the vortex spring, and a clamping groove is provided on one side of the mounting groove.

[0007] The tracking structure includes a bracket, a tracking probe is installed on the top of the bracket, and a sphere is arranged at the bottom of the bracket, a limit frame is arranged on the outside of the sphere, and a spring bar is arranged on one side of the sphere, a threaded rod is fixed on the top of the base plate, a threaded sleeve is sleeved on the outer wall of the threaded rod, and a support block is arranged on the outer wall of the threaded sleeve.

[0008] Preferably, a detection cavity is provided on the inner side of the test mold, mounting seats are provided on both sides of the test device base, and a storage groove matching the movable rod and the card block is provided on the inner side of the mounting plug.

[0009] Preferably, the bottom end of the fixed rod is fixedly connected to the receiving groove, and the movable rod is movably connected to the fixed rod via a vortex spring, and a limiting groove matching the movable rod is provided on the inner side of the mounting plate.

[0010] Preferably, the card block is connected by card engagement with the card slot, and the test mold and the test device base are fixedly installed by means of a mounting plate, a movable rod, the card block and the card slot.

[0011] Preferably, the base plate and the test device base are fixedly installed by means of mounting blocks and bolts, the number of the tracking probes is four, and the two ends of the spring bar are fixedly connected to the bracket and the base plate respectively.

[0012] Preferably, the limiting frame is fixedly connected to the bottom plate, and the limiting frame is sleeved on the outside of the sphere, and the limiting frame is movably connected to the bracket through the sphere.

[0013] Preferably, the number of the threaded rods is four, and the threaded sleeve is movably connected to the threaded rod via threads, and the support block fits with the bottom of the bracket.

[0014] Compared with the prior art, the beneficial effects achieved by the utility model are:

[0015] First, the utility model sets a mounting plate, a mounting plug, a mounting groove, a clamping block and a clamping groove, selects a matching test mold according to the model of the surgical robot to be tested, places the test mold on the base of the test device, engages with the mounting plug and the mounting groove at the bottom of the mounting plate, and engages and fixes with the movable rod, the clamping block and the clamping groove, so that the test mold is quickly fixed on the base of the test device, and finally the base of the test device is fixed on the operating table. At this time, the test mold simulates the geometric morphology of the human skeleton through the detection cavity for testing, and at the same time, a test image of the test mold is obtained by using medical imaging equipment.

[0016] Second, the utility model provides a bracket, a threaded rod, a threaded sleeve, a support block, a spring bar and a sphere. Before the test device base is installed, the inclination angle of the tracking structure is adjusted. The four threaded sleeves can be screwed separately to make them move on the threaded rod, thereby moving up and down to adjust the height. When the threaded sleeve moves up, the corresponding corner of the bracket is tilted upward under the support of the support block. When the threaded sleeve moves up, the corresponding corner of the bracket is tilted downward under the support of the support block. When the bracket is tilted under force, it moves on the limit frame through the sphere at the bottom, and the spring bar at the bottom of the bracket limits the adjusted angle to ensure the stability of the bracket. After the bracket is adjusted and fixed, the bottom plate is fixedly installed with the test device base, and the four tracking probes on the bracket start to run, and the test device is externally connected to an optical tracking device. The optical tracking device detects the position change of the tracking probe. If a position change occurs, a signal is sent to promptly remind the staff and promptly perform maintenance. It is necessary to ensure that the test device base is accurately fixed on the operating table to ensure the accuracy of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the front section structure of the utility model;

[0019] Figure 3 This is a schematic diagram of the installation structure of the utility model;

[0020] Figure 4 This is a schematic diagram of the contraction of the card block of the utility model;

[0021] Figure 5 This is a schematic diagram of the expansion of the card block of the utility model;

[0022] Figure 6 This is a schematic diagram of the card slot of the utility model;

[0023] Figure 7 This is a schematic diagram of the tracking structure of the utility model;

[0024] Figure 8This is a schematic diagram of the bracket of the utility model.

[0025] Among them: 1. Test device base; 2. Test mold; 3. Detection cavity; 4. Mounting structure; 401. Mounting plate; 402. Mounting plug; 403. Mounting slot; 404. Movable rod; 405. Vortex spring; 406. Fixed rod; 407. Block; 408. Slot; 5. Mounting seat; 6. Bottom plate; 7. Tracking structure; 701. Bracket; 702. Tracking probe; 703. Sphere; 704. Limiting frame; 705. Spring bar; 706. Threaded rod; 707. Threaded sleeve; 708. Support block. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] See also Figure 1-Figure 6A surgical robot system precision detection device includes a test device base 1, a mounting structure 4 is provided at the top of the test device base 1, and a tracking structure 7 is provided inside the test device base 1, a bottom plate 6 is engaged at the bottom of the test device base 1, a test mold 2 is provided at the top of the mounting structure 4, the mounting structure 4 includes a mounting plate 401, a mounting plug 402 is connected to the bottom end of the mounting plate 401, a mounting groove 403 is provided on the inner side of the test device base 1, a movable rod 404 is movably provided on the inner side of the mounting plug 402, a block 407 is fixed to the outer wall of the movable rod 404, and a vortex spring is connected to the inner wall of the movable rod 404 405, a fixing rod 406 is arranged on the inner side of the vortex spring 405, a card slot 408 is arranged on one side of the mounting groove 403, a detection cavity 3 is arranged on the inner side of the test mold 2, mounting seats 5 are arranged on both sides of the test device base 1, a storage groove matching the movable rod 404 and the card block 407 is arranged on the inner side of the mounting plug 402, the bottom end of the fixing rod 406 is fixedly connected with the storage groove, and the movable rod 404 is movably connected with the fixing rod 406 through the vortex spring 405, a limiting groove matching the movable rod 404 is arranged on the inner side of the mounting plate 401, the card block 407 is engaged with the card slot 408, and the test mold 2 is connected with the test device The base 1 is fixedly installed by the mounting plate 401, the movable rod 404, the block 407 and the slot 408. First, according to the model of the surgical robot to be tested, a matching test mold 2 is selected, and then the two movable rods 404 are screwed at the same time, so that the movable rod 404 is subjected to force and squeezes the vortex spring 405 to rotate on the fixed rod 406. When the movable rod 404 rotates, the block 407 on the outer wall is driven to rotate and be collected into the storage groove on the inner side of the mounting plug 402. At this time, the test mold 2 is placed on the test device base 1, so that the mounting plug 402 at the bottom of the mounting plate 401 at the bottom of the test mold 2 is inserted into the mounting plug 402 on the test device base 1. After the mounting slot 403 is fully inserted, the movable rod 404 is released, and the movable rod 404 returns to its original position under the rebound of the vortex spring 405, and the clamping block 407 is driven to be inserted into the clamping slot 408 inside the mounting slot 403, and the clamping block 407 is engaged and fixed with the clamping slot 408, thereby fixing the mounting insert 402 and the mounting slot 403, and the test mold 2 is fixed on the test device base 1, and finally the test device base 1 is fixed on the operating table. At this time, the test mold 2 simulates the geometric morphology of the human skeleton through the detection cavity 3 for testing, and at the same time, the test image of the test mold 2 is obtained by using medical imaging equipment.

[0028] See also Figure 7-Figure 8A surgical robot system precision detection device, the tracking structure 7 includes a bracket 701, a tracking probe 702 is installed on the top of the bracket 701, and a sphere 703 is arranged at the bottom of the bracket 701, a limit frame 704 is arranged on the outside of the sphere 703, and a spring bar 705 is arranged on one side of the sphere 703, a threaded rod 706 is fixed on the top of the bottom plate 6, a threaded sleeve 707 is sleeved on the outer wall of the threaded rod 706, and a support block 708 is arranged on the outer wall of the threaded sleeve 707, and the bottom plate 6 and the test device base 1 are connected by an installation The tracking probes 702 are fixed with the mounting block and bolts, the number of which is four, the two ends of the spring strip 705 are fixedly connected to the bracket 701 and the bottom plate 6 respectively, the limit frame 704 is fixedly connected to the bottom plate 6, and the limit frame 704 is sleeved on the outside of the sphere 703, the limit frame 704 and the bracket 701 are movably connected through the sphere 703, the number of the threaded rod 706 is four, and the threaded sleeve 707 is movably connected to the threaded rod 706 through a thread, the support block 708 is fitted with the bottom of the bracket 701, and before the test device base 1 is installed, adjust The inclination angle of the joint tracking structure 7 can be adjusted by screwing four threaded sleeves 707 respectively to make them move on the threaded rod 706, so as to move up and down to adjust the height. When the threaded sleeve 707 moves up, the corresponding corner of the bracket 701 is tilted upward under the support of the support block 708. When the threaded sleeve 707 moves up, the corresponding corner of the bracket 701 is tilted downward under the support of the support block 708. When the bracket 701 is tilted by force, the ball 703 at the bottom moves on the limit frame 704, and the spring bar at the bottom of the bracket 701 705 performs limit protection on the adjusted angle to ensure the stability of the bracket 701. After the bracket 701 is adjusted and fixed, the bottom plate 6 and the test device base 1 are fixedly installed, and the four tracking probes 702 on the bracket 701 start to run, and the test device is externally connected to an optical tracking device. The optical tracking device detects the position change of the tracking probe 702. If the position changes, a signal is sent to promptly remind the staff and perform maintenance in time. The test device base 1 must be accurately fixed on the operating table to ensure the accuracy of the test.

[0029] When in use, first, according to the model of the surgical robot to be tested, a matching test mold 2 is selected, and then the two movable rods 404 are screwed at the same time, so that the movable rod 404 is subjected to force and squeezes the vortex spring 405 to rotate on the fixed rod 406. When the movable rod 404 rotates, it drives the block 407 of the outer wall to rotate and be collected into the storage groove on the inner side of the installation plug 402. At this time, the test mold 2 is placed on the test device base 1, so that the installation plug 402 at the bottom of the installation plate 401 at the bottom of the test mold 2 is inserted into the installation groove 403 on the test device base 1, and is completely inserted. After insertion, release the movable rod 404, and the movable rod 404 returns to its original position under the rebound of the vortex spring 405, and the clamping block 407 is driven to be inserted into the clamping slot 408 inside the installation slot 403, and the clamping block 407 is clamped and fixed with the clamping slot 408, so that the installation plug 402 is fixed with the installation slot 403, and the test mold 2 is fixed on the test device base 1, and finally the test device base 1 is fixed on the operating table. At this time, the test mold 2 simulates the geometric morphology of the human skeleton through the detection cavity 3 for testing, and at the same time, the medical imaging equipment is used to obtain Test image of test mold 2. Before installing the test device base 1, adjust the inclination angle of the tracking structure 7. The four threaded sleeves 707 can be screwed respectively to make them move on the threaded rod 706, so as to move up and down to adjust the height. When the threaded sleeve 707 moves up, the corresponding corner of the bracket 701 is tilted upward under the support of the support block 708. When the threaded sleeve 707 moves up, the corresponding corner of the bracket 701 is tilted downward under the support of the support block 708. When the bracket 701 is tilted by force, the ball 703 at the bottom moves on the limit frame 704. The spring bar 705 at the bottom of the bracket 701 limits the angle after adjustment to ensure the stability of the bracket 701. After the bracket 701 is adjusted and fixed, the bottom plate 6 and the test device base 1 are fixedly installed, and the four tracking probes 702 on the bracket 701 start to run. The test device is externally connected to an optical tracking device. The optical tracking device detects the position change of the tracking probe 702. If a position change occurs, a signal is sent to promptly remind the staff and perform maintenance in time. The test device base 1 must be accurately fixed on the operating table to ensure the accuracy of the test.

[0030] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit thereof, and the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A surgical robot system accuracy detection device, comprising a test device base (1), characterized in that: A mounting structure (4) is disposed at the top of the test device base (1), and a tracking structure (7) is disposed inside the test device base (1); a bottom plate (6) is engaged at the bottom of the test device base (1), and a test mold (2) is disposed at the top of the mounting structure (4); The mounting structure (4) comprises a mounting plate (401), the bottom end of the mounting plate (401) is connected to a mounting plug (402), a mounting groove (403) is provided on the inner side of the testing device base (1), a movable rod (404) is movably provided on the inner side of the mounting plug (402), a clamping block (407) is fixed on the outer wall of the movable rod (404), a vortex spring (405) is connected to the inner wall of the movable rod (404), a fixing rod (406) is provided on the inner side of the vortex spring (405), and a clamping groove (408) is provided on one side of the mounting groove (403); The tracking structure (7) comprises a bracket (701), a tracking probe (702) is mounted on the top of the bracket (701), a sphere (703) is arranged at the bottom of the bracket (701), a limiting frame (704) is arranged on the outside of the sphere (703), and a spring bar (705) is arranged on one side of the sphere (703), a threaded rod (706) is fixed on the top of the base plate (6), a threaded sleeve (707) is sleeved on the outer wall of the threaded rod (706), and a support block (708) is arranged on the outer wall of the threaded sleeve (707).

2. A surgical robot system accuracy detection device according to claim 1, characterized in that: A detection cavity (3) is provided on the inner side of the test mold (2), mounting seats (5) are provided on both sides of the test device base (1), and a storage groove matching the movable rod (404) and the clamping block (407) is provided on the inner side of the mounting plug (402).

3. The surgical robot system accuracy detection device according to claim 1, characterized in that: The bottom end of the fixed rod (406) is fixedly connected to the storage slot, and the movable rod (404) is movably connected to the fixed rod (406) via a vortex spring (405), and a limiting groove matching the movable rod (404) is provided on the inner side of the mounting plate (401).

4. The surgical robot system accuracy detection device according to claim 1, characterized in that: The clamping block (407) is clamped and connected with the clamping slot (408), and the test mold (2) and the test device base (1) are fixedly mounted via the mounting plate (401), the movable rod (404), the clamping block (407) and the clamping slot (408).

5. The surgical robot system accuracy detection device according to claim 1, characterized in that: The base plate (6) and the test device base (1) are fixedly mounted via mounting blocks and bolts. The number of the tracking probes (702) is four, and the two ends of the spring bar (705) are fixedly connected to the bracket (701) and the base plate (6) respectively.

6. The surgical robot system accuracy detection device according to claim 1, characterized in that: The limiting frame (704) is fixedly connected to the bottom plate (6), and the limiting frame (704) is sleeved on the outside of the sphere (703). The limiting frame (704) and the bracket (701) are movably connected via the sphere (703).

7. The surgical robot system accuracy detection device according to claim 1, characterized in that: The number of the threaded rods (706) is four, and the threaded sleeve (707) is movably connected to the threaded rod (706) via threads, and the support block (708) is in contact with the bottom of the bracket (701).

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