A surgical robot

Abstract

The present invention relates to a surgical robot, including a robotic arm (1). The front end of the robotic arm (1) has a flange (11). It is characterized in that it further includes a front-end instrument (2) and an adapter device (3) that connects the robotic arm (2) and the front-end instrument (2) and is located between the robotic arm (1) and the front-end instrument (2); the front-end instrument (2) includes a front-end grasping device (21) and a connecting device (22) connected to the front-end grasping device (21), and a storage chip (23) is provided in the connecting device (22). The surgical robot of the present invention can solve the problems of parameter change and complex selection during the replacement of the front-end instrument, and at the same time can solve the problems of large error and difficult-to-guarantee assembly accuracy in the prior art when replacing the front-end instrument.

Description

Technical Field

[0001] The present invention relates to a surgical robot. Background Art

[0002] In recent years, orthopedic surgical robots have been developed both at home and abroad. The robot uses various different technical means such as intraoperative X-ray fluoroscopy, intraoperative or preoperative CT images, and optical binocular tracking systems to obtain the three-dimensional pose information of the patient and complete the navigation and positioning functions. It has outstanding advantages such as accurate positioning, minimally invasive, short operation time, simple operation, and easy to master.

[0003] However, at present, most of the front-end instruments of orthopedic surgical robots have only one, which is fixedly installed on the flange at the end of the robotic arm. A set of parameters for the instrument is recorded in the upper computer of the robotic arm. If the instrument is changed, the corresponding parameters also need to be changed. When there are multiple instruments, parameter replacement is very troublesome, and even the wrong parameters may be selected, affecting the normal use of the surgical robot and bringing risks to the operation. On the other hand, when multiple front-end instruments are required for the operation, the replacement operation of multiple front-end instruments is relatively cumbersome and complex, and assembly error problems are likely to occur, which will also have a certain impact on the operation. Summary of the Invention

[0004] The purpose of the present invention is to solve the above problems and provide a surgical robot that can replace the front-end instrument and solve the problems of complex parameter change and selection during the replacement of the front-end instrument in the prior art.

[0005] Another purpose of the present invention is to solve the problems of large error and difficult to guarantee the assembly accuracy during the replacement of the front-end instrument in the prior art.

[0006] To achieve the above object of the present invention, the present invention provides a surgical robot, including a robotic arm with a flange at the front end, and further including a transfer device connecting the robotic arm and the front-end instrument, which is located between the front-end instrument and the robotic arm;

[0007] The front-end instrument includes a front-end holding device and a connecting device connected to the front-end holding device, and a storage chip is provided in the connecting device.

[0008] According to one aspect of the present invention, a connecting member is fixedly installed on the connecting device. Along the direction from the connecting device to the transfer device, the connecting member sequentially includes a first part and a second part;

[0009] The diameter of the first part is smaller than the diameter of the second part.

[0010] According to one aspect of the present invention, the connecting device includes a first connecting part connected to the holding device and a second connecting part connected to the transfer device;

[0011] The storage chip is located in the first connection part, and the connecting piece is mounted on the second connection part.

[0012] According to one aspect of the present invention, the adapter device includes a first adapter part and a second adapter part that are connected to each other. The first adapter part is connected to the connecting device, and the second adapter part is connected to the robotic arm.

[0013] Moreover, the first adapter part and the second adapter part are rotatably connected, and the first adapter part can rotate relative to the second adapter part along a direction perpendicular to the central axis of the second adapter part.

[0014] According to one aspect of the present invention, the adapter device is provided with a mounting hole penetrating through the first adapter part and the second adapter part, and the connecting piece extends into the mounting hole.

[0015] The first adapter part is further provided with a locking groove connected to the mounting hole.

[0016] The locking groove cooperates with the first part of the connecting piece.

[0017] According to one aspect of the present invention, the adapter device is provided with a mounting hole penetrating through the first adapter part and the second adapter part, and the connecting piece extends into the mounting hole.

[0018] The first adapter part is further provided with a locking groove connected to the mounting hole.

[0019] The locking groove cooperates with the first part of the connecting piece.

[0020] According to one aspect of the present invention, the second adapter part is further provided with a limiting hole communicating with the mounting hole, and a limiting bolt is installed in the limiting hole and abuts against the second part of the connecting piece.

[0021] According to one aspect of the present invention, one end of the second part away from the first connection part is provided with a conical structure.

[0022] According to one aspect of the present invention, the surgical robot further includes an insulating flange, and the insulating flange is located between the flange of the robotic arm and the adapter device.

[0023] The second adapter part and the insulating flange are correspondingly provided with second mounting holes, the insulating flange and the flange are correspondingly provided with third mounting holes, and the second adapter part and the insulating flange, the insulating flange and the flange are respectively fixedly connected by screws.

[0024] The surgical robot of the present invention adopts a front-end instrument with a storage chip, which can read and write data and record parameters such as the use time and number of times of the front-end instrument. When the front-end instrument is installed and connected to the mechanical arm, the mechanical arm host computer can automatically read the data of the storage chip in the front-end instrument to complete the parameter configuration. In this way, the parameter configuration is simple, convenient, and error-free.

[0025] The surgical robot of the present invention can replace a variety of different front-end instruments to perform different functions, meet the needs of different surgeries, and expand the surgical adaptability of the robot. The storage chip in the front-end instrument can record the number of uses and usage time, and remind the user to perform maintenance or calibration after a certain number of times, so as to avoid errors caused by the loss of the front-end instrument affecting the normal use of the surgical robot. The storage chip can also record the model, parameters, all motion states and errors (such as self-collision, etc.) of the robot arm, which is convenient for the subsequent maintenance and optimization of the robot arm.

[0026] The surgical robot of the present invention first extends the connector into the mounting hole, and then rotates the first adapter part. At this time, the locking groove on the first adapter part rotates and can cooperate with the first part of the connector to achieve locking of the connector, thereby preventing the connector from moving, thereby ensuring the position accuracy of the connection between the front-end instrument 2 and the robot arm 1. On the other hand, since the diameter of the first part of the connector is smaller than the diameter of the second part, when the locking groove locks the first part, the second part can also play a limiting role in the horizontal direction, further ensuring the connection accuracy.

[0027] The surgical robot of the present invention is connected to a transfer device on the robotic arm, and the transfer device is configured to include a first transfer part and a second transfer part. The connection between the front-end instrument and the robotic arm is achieved by extending the connecting piece into the mounting hole and then rotating the first transfer part to lock and position the connecting piece using the locking groove. This can ensure that the replacement operation for different front-end instruments is convenient and quick. At the same time, compared with the screw connection method in the prior art, it can ensure the consistency of repeated installation of the front-end instrument, ensure the connection accuracy, and avoid the adverse effects of large assembly errors on surgical operations.

[0028] In the surgical robot of the present invention, the connecting piece on the front instrument extends into the mounting hole, and the second part of the connecting piece extends out of the mounting hole. At this time, a limiting bolt can be installed in the limiting hole to abut against the second part of the connecting piece, thereby further limiting the connecting piece, ensuring positioning accuracy, and ensuring stability during use. According to one embodiment of the present invention, the end of the second part of the connecting piece of the present invention away from the first part, that is, the end abutting against the limiting bolt, is configured as a conical structure, so that the limiting bolt conflicts with the conical surface, further improving the structural stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematically showing the composition structure diagram of a surgical robot according to an embodiment of the present invention;

[0030] Figure 2 Schematically showing the general assembly diagram of a surgical robot according to an embodiment of the present invention;

[0031] Figure 3 Schematically showing the structural diagram of a front - end instrument according to an embodiment of the present invention;

[0032] Figure 4 Schematically showing the structural diagram of an adapter device according to an embodiment of the present invention;

[0033] Figure 5 Schematically showing the structural diagram of a second limit hole according to an embodiment of the present invention;

[0034] Figure 6 Schematically showing the assembly diagram of an adapter device and a mechanism according to an embodiment of the present invention. Specific embodiments

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0036] When describing the embodiments of the present invention, the orientation or positional relationships expressed by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" are based on the orientation or positional relationships shown in the relevant drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting the present invention.

[0037] The present invention will be described in detail below in conjunction with the drawings and specific embodiments. The embodiments cannot be elaborated one by one here, but the embodiments of the present invention are not limited to the following embodiments.

[0038] Combined with Figure 1 and Figure 2 As shown, the surgical robot of the present invention includes a robotic arm 1, a front - end instrument 2, and an adapter device 3. The robotic arm 1 has a flange 11. The adapter device 3 is located between the front - end instrument 2 and the robotic arm 1 and is used to connect the front - end instrument 2 and the robotic arm 1.

[0039] Referring toFigures 1 - 4 As shown, the front end instrument 2 of the present invention includes a front end holding device 21 and a connecting device 22 connected to the front end holding device 21, and a storage chip 23 is provided in the connecting device 22.

[0040] The surgical robot of the present invention adopts a front-end instrument 2 provided with a storage chip 23, which can read and write data and record parameters such as the use time and number of times of the front-end instrument. When the front-end instrument 2 is connected and installed with the mechanical arm 1, the upper computer of the mechanical arm 1 can automatically read the data of the storage chip 23 in the front-end instrument 2 to complete the parameter configuration. In this way, the parameter configuration is simple, convenient, and error-free.

[0041] Combination Figures 1 - 3 As shown, a connector 24 is fixedly mounted on the connecting device 22 of the present invention, and the front-end instrument 2 is detachably connected to the adapter 3 via the connector 24. The surgical robot of the present invention can replace different front-end instruments 2 as needed. The specific operation is to separate the front-end instrument 2 from the adapter 3 via the connection 24, replace the next required front-end instrument 2, and connect the connector 24 of the next required front-end instrument 2 to the adapter 3. Of course, according to the concept of the present invention, the front-end instrument can also be connected to multiple operating instruments. For example, a tool disk is connected to the front-end instrument channel, and different operating instruments such as puncture needles and scalpels are arranged on the tool disk to meet the needs of different surgeries.

[0042] In the present invention, along the direction from the connecting device 22 to the adapter 3, the connecting member 24 includes a first portion 241 and a second portion 242 in sequence. According to one embodiment of the present invention, the first portion 241 and the second portion 242 are both cylindrical structures, and the diameter of the first portion 241 is smaller than the diameter of the second portion 242.

[0043] According to the concept of the present invention, the connection device 22 of the present invention can be set to be an integrally formed structure with the front end holding device 21, or can be fixedly connected to the front end holding device 21 through a mechanical structure. Similarly, according to an embodiment of the present invention, the connection device 22 can also be set to include a first connection part 221 connected to the front end holding device 21 and a second connection part 222 connected to the adapter 3, the first connection part 221 and the front end holding device 21 are an integrally formed structure, the storage chip 23 is arranged in the first connection part 221, and the connection member 24 is arranged on the second connection part 222.

[0044] Combination Figures 1 - 6 As shown, according to one embodiment of the present invention, the adapter device 3 of the present invention includes a first adapter part 31 and a second adapter part 32 connected in sequence, the first adapter part 31 is connected to the connecting device 2, and the second adapter part 32 is connected to the robot arm 1.

[0045] In this embodiment, the first adapter portion 31 and the second adapter portion 32 are set to have the same shape and an overall disc-shaped structure. The first adapter portion 31 and the second adapter portion 32 are rotatably connected. Specifically, the first adapter portion 31 is set to be rotatable along a direction perpendicular to the central axis of the second adapter portion 32. Taking Figure 1 as an example, the first adapter portion 31 and the second adapter portion 32 are vertically arranged, and the first adapter portion 31 can reciprocally rotate a certain angle along the vertical direction relative to the second adapter portion 32.

[0046] Combined with Figure 1 , Figure 4 and Figure 6 shown, the adapter device 3 of the present invention is provided with a mounting hole 33, and the mounting hole 33 penetrates through the first adapter portion 31 and the second adapter portion 32. When the front-end instrument 2 is connected to the adapter device 3, the connecting member 24 on the connecting device 22 of the front-end instrument 2 extends into the mounting hole 33. The first connecting portion 31 of the adapter device 3 is further provided with a locking groove 311 connected to the mounting hole 33, and the locking groove 311 is adapted to the first portion 241 of the connecting member 24.

[0047] For the surgical robot of the present invention, the connection process between the front-end instrument 2 and the adapter device 3 is as follows. First, the connecting member 24 is extended into the mounting hole 33, and then the first adapter portion 31 is rotated. At this time, the locking groove 311 on the first adapter portion 31 rotates along with it, and then can cooperate with the first portion 241 of the connecting member 24 to realize the locking of the connecting member 24, thereby preventing the connecting member 24 from moving around, and further ensuring the position accuracy of the connection between the front-end instrument 2 and the robotic arm 1. On the other hand, since the diameter of the first portion 241 of the connecting member 24 is smaller than the diameter of the second portion 242, when the locking groove 311 locks the first portion 241, the second portion 242 can also play a limiting role in the horizontal direction, further ensuring the connection accuracy.

[0048] For the surgical robot of the present invention, the adapter device 3 is connected to the robotic arm 1, and the adapter device 3 is set to include a first adapter portion 31 and a second adapter portion 32. By extending the connecting member 24 into the mounting hole 33 and then rotating the first adapter portion 31 to lock and position the connecting member 24 by using the locking groove 311, the connection between the front-end instrument 2 and the robotic arm 1 is realized. The operation is convenient and it is convenient for high-temperature medical disinfection of the front-end instrument. At the same time, it can ensure that for different front-end instruments 2, the replacement operation is convenient and fast. At the same time, compared with the screw connection and other methods in the prior art, it can ensure the consistency of repeated installation of the front-end instrument 2, ensure the connection accuracy, and avoid adverse effects on the surgical operation caused by large assembly errors.

[0049] As Figure 4As shown, a limiting groove 312 is further provided on the first adapter part 31 of the adapter device 3 of the present invention, and a limiting member 321 is provided on the second adapter part 32 and extends into the limiting groove 312 to play a role in rotation limiting of the first adapter part 31.

[0050] Combined Figure 1 、 Figure 2 and Figure 5 As shown, according to an embodiment of the present invention, a limiting hole 322 is further provided on the second adapter part 32 of the present invention. The limiting hole 322 communicates with the mounting hole 33, and a limiting bolt 323 is installed in the limiting hole 322.

[0051] Specifically, the connecting member 24 on the front-end instrument 2 extends into the mounting hole 33, and the second part 242 of the connecting member 24 extends out of the mounting hole 33. At this time, a limiting bolt 323 can be installed in the limiting hole 322 to abut against the second part 242 of the connecting member 24, so as to further limit the connecting member 24, ensure the positioning accuracy, and at the same time ensure the stability during use.

[0052] On the other hand, the surgical robot can replace or simultaneously install a variety of different front-end instruments 2 to complete different functions. According to an embodiment of the present invention, an anesthetic puncture needle, a scalpel and a sleeve can be simultaneously installed to meet the needs of different surgeries and expand the surgical adaptation types of the robot. The storage chip 23 in the front-end instrument 2 can record the usage times and usage time. When a certain number of times is reached, the user is reminded to perform maintenance or calibration to avoid affecting the normal use of the surgical robot due to errors caused by the wear of the front-end instrument 23. The storage chip 23 can also record the model, parameters, all motion states and errors (such as self-collision, etc.) of the robotic arm 1, which is convenient for the subsequent maintenance and optimization of the robotic arm 1.

[0053] According to an embodiment of the present invention, one end of the second part 242 of the connecting member 24 of the present invention away from the first part 241, that is, the end abutting against the limiting bolt 323, is set as a conical structure, so that the limiting bolt 323 abuts against the conical surface, further improving the structural stability.

[0054] According to the concept of the present invention, the second adapter part 32 of the adapter device 3 of the present invention can be fixedly connected to the flange 11 of the robotic arm 1 by bolts. Of course, according to the concept of the present invention, other connection structures can also be provided between the second adapter part 32 of the adapter device 3 and the robotic arm. For example, according to an embodiment of the present invention, an insulating flange 4 is provided between the second adapter part 32 and the robotic arm 1 to play an electrical insulation role in isolating the robotic arm 1 and the instrument.

[0055] The above is only one embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A surgical robot, comprising a robotic arm (1), the front end of the robotic arm (1) having a flange (11), characterized in that, it further comprises a front-end instrument (2), and a transfer device (3) located between the robotic arm (1) and the front-end instrument (2) for connecting the robotic arm (1) and the front-end instrument (2); the front-end instrument (2) comprises a front-end gripping device (21) and a connecting device (22) connected to the front-end gripping device (21), and a storage chip (23) for completing the parameter configuration of the robotic arm (1) is provided in the connecting device (22); a connecting member (24) is fixedly installed on the connecting device (22), and along the direction from the connecting device (22) to the transfer device (3), the connecting member (24) sequentially comprises a first part (241) and a second part (242); the diameter of the first part (241) is smaller than the diameter of the second part (242); the transfer device (3) comprises a first transfer part (31) and a second transfer part (32) connected to each other, the first transfer part (31) is connected to the connecting device (22), and the second transfer part (32) is connected to the robotic arm (1); and the first transfer part (31) and the second transfer part (32) are rotatably connected, and the first transfer part (31) can rotate relative to the second transfer part (32) along a direction perpendicular to the central axis of the second transfer part (32); an installation hole (33) passing through the first transfer part (31) and the second transfer part (32) is provided on the transfer device (3), and the connecting member (24) extends into the installation hole (33); the first transfer part (31) further has a locking groove (311) connected to the installation hole (33); the locking groove (311) cooperates with the first part (241) of the connecting member (24).

2. The surgical robot according to claim 1, characterized in that, the connecting device (22) comprises a first connecting part (221) connected to the gripping device (21) and a second connecting part (222) connected to the transfer device (3); the storage chip (23) is located in the first connecting part (221), and the connecting member (24) is installed on the second connecting part (222).

3. The surgical robot according to claim 1, characterized in that, a limiting groove (312) is further provided on the first transfer part (31), and a limiting member (321) on the second transfer part (32) extends into the limiting groove (312).

4. The surgical robot according to claim 1 or 3, characterized in that, a limiting hole (322) communicating with the installation hole (33) is further provided on the second transfer part (32), and a limiting bolt (323) is installed in the limiting hole (322) and abuts against the second part (242) of the connecting member (24).

5. The surgical robot according to claim 4, characterized in that, An end of the second part (242) away from the first part (241) is configured as a tapered structure.

6. The surgical robot according to claim 1, It is characterized in that The surgical robot further comprises an insulating flange (4), wherein the insulating flange (4) is located between the flange (11) of the robotic arm (1) and the adapter device (3); The second transition portion (32) and the insulating flange (4) are respectively provided with second mounting holes, and the insulating flange (4) and the flange (11) are respectively provided with third mounting holes. The second transition portion (32) and the insulating flange (4), and the insulating flange (4) and the flange (11) are respectively fixedly connected by screws.

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