End mechanism, medical robot and surgical navigation system

Abstract

The embodiments of the present application provide a terminal mechanism, a medical robot and a surgical navigation system. The terminal mechanism provided in the embodiments of the present application includes a shell, which is provided with a guide channel; the connecting assembly includes a first connecting member and a second connecting member, the first connecting member includes a first connecting structure, a first transmission structure and a first sliding guide structure, the first sliding guide structure can move relative to the first rotation axis of the first connecting structure, and the first connecting structure can move relative to the second rotation axis of the first transmission structure, the first sliding guide structure allows the shell to slide axially along the shell in the first sliding guide structure; the second connecting member includes a second connecting structure and a second transmission structure, the shell can move relative to the third rotation axis of the second connecting structure, and the second connecting structure can move relative to the fourth rotation axis of the second transmission structure. The terminal mechanism provided in the embodiments of the present application is easy to install and can accurately drive the shell to move.

Description

Technical Field

[0001] The present application relates to the field of medical machinery technology, and in particular to an end mechanism, a medical robot and a surgical navigation system. Background Art

[0002] Medical robots have the mechanical characteristics of being able to work stably and continuously for a long time. The characteristics of their mechanical structure give them a great advantage over human hands in some specific surgical operations and related activities. The installation convenience and operating accuracy of some typical medical robots do not meet the needs of surgical operations.

[0003] The application of medical robots in surgical operations is not only affected by their precision performance, but also by their ease of operation. If medical robots can provide support for surgical operations with low learning costs and high ease of use, it will greatly reduce the threshold for the use of medical robots and improve the practicality of medical robots. The end mechanism is generally used as the operating end of the medical robot, and its performance has a great impact on the precision and ease of use of the medical robot.

[0004] The preceding description is intended to provide general background information and does not necessarily constitute prior art. Summary of the invention

[0005] In response to the above-mentioned technical problems, the present application provides a terminal mechanism, a medical robot and a surgical navigation system that can conveniently and accurately support surgical operations.

[0006] In order to solve the above technical problems, an embodiment of the first aspect of the present application provides an end mechanism, including:

[0007] The housing is provided with a guide channel;

[0008] A connecting assembly is used to connect the housing to a driving device, the connecting assembly comprising a first connecting member and a second connecting member,

[0009] The first connecting member includes a first connecting structure, a first transmission structure and a first sliding guide structure, the first connecting structure is connected to the housing through the first sliding guide structure, the first sliding guide structure can move relative to a first rotation axis of the first connecting structure, and the first connecting structure can move relative to a second rotation axis of the first transmission structure, the first transmission structure is connected to the driving device; the first rotation axis and the second rotation axis are perpendicular to each other, and the first sliding guide structure allows the housing to slide in the first sliding guide structure along the axial direction of the housing;

[0010] The second connecting member includes a second connecting structure and a second transmission structure, the second connecting structure is connected to the shell, the second transmission structure is connected to the driving device, the shell can move relative to the third rotation axis of the second connecting structure, and the second connecting structure can move relative to the fourth rotation axis of the second transmission structure, and the third rotation axis and the fourth rotation axis are perpendicular to each other.

[0011] According to the terminal mechanism provided by some of the aforementioned embodiments, the second connecting member further includes:

[0012] A second sliding guide structure, wherein the second connection structure is connected to the shell via the second sliding guide structure, and the second sliding guide structure allows the shell to slide in the second sliding guide structure along the axial direction of the shell.

[0013] According to the end mechanism provided by some of the aforementioned embodiments, at least one of the first sliding guide structure and the second sliding guide structure is provided with a fixing groove, and a fastener can be used through the fixing groove to temporarily fix one of the first sliding guide structure and the second sliding guide structure to the shell.

[0014] According to the terminal mechanism provided by some of the aforementioned embodiments, a receiving portion is provided at a preset position of the shell, and the second connecting member is connected to the receiving portion.

[0015] According to the terminal mechanism provided by some of the aforementioned embodiments, the first connecting structure can be releasably clamped on the first sliding guide structure, and the second connecting structure can be releasably clamped on the receiving portion.

[0016] According to the terminal mechanism provided by some of the aforementioned embodiments, the first connection structure includes a detachable main body portion and a fixing portion, and the main body portion and the fixing portion are fixed by bolts.

[0017] According to the terminal mechanism provided by some of the aforementioned embodiments, a first protrusion is provided on the surface of the first sliding guide structure, and the first connecting structure is connected to the first protrusion.

[0018] According to the terminal mechanism provided by some of the aforementioned embodiments, the receiving portion is provided with a second protruding portion, and the second connecting structure is connected to the second protruding portion.

[0019] According to the terminal mechanism provided by some of the aforementioned embodiments, the first connecting structure and / or the second connecting structure is connected to the housing via a bearing or a bushing.

[0020] According to some of the aforementioned embodiments, the terminal mechanism further includes:

[0021] The positioning component comprises a bracket and a positioning marker located on the bracket.

[0022] According to the end mechanism provided by some of the aforementioned embodiments, the bracket is detachably connected to the end mechanism, the positioning marker is detachably connected to the bracket, and at least three non-collinear positioning markers are arranged on the bracket.

[0023] An embodiment of the second aspect of the present application provides a medical robot, including an end mechanism as provided in some of the aforementioned embodiments, the medical robot including a first driving arm for driving the first connecting member and a second driving arm for driving the second connecting member.

[0024] According to the medical robot provided by some of the aforementioned embodiments, the first driving arm can move in a first plane, the second driving arm can move in a second plane, and the first plane and the second plane are parallel.

[0025] An embodiment of the third aspect of the present application provides a surgical navigation system, comprising a medical robot and a tracking device as provided in some of the aforementioned embodiments, wherein the tracking device assists the medical robot in guiding the surgical path by tracking and positioning components.

[0026] The terminal mechanism provided in the embodiment of the present application realizes the movement of the shell relative to the first rotation axis through the first sliding guide structure, realizes the movement of the shell relative to the second rotation axis through the first transmission structure; realizes the movement of the shell relative to the third rotation axis through the second connection structure, and realizes the movement of the shell relative to the fourth rotation axis through the second transmission structure. The driving device can drive the shell to move relative to the above-mentioned multiple rotation axes through the connection assembly to adjust the posture and position of the shell, realizes the precise movement of the terminal mechanism in multiple degrees of freedom, and facilitates the installation and disassembly of the terminal mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor.

[0028] Figure 1 A schematic structural diagram of an end mechanism provided for some embodiments of the present application.

[0029] Figure 2 for Figure 1 A cross-sectional schematic diagram of an end mechanism shown in FIG.

[0030] Figure 3 for Figure 1 A schematic diagram of the receiving portion structure of an end mechanism is shown in FIG.

[0031] Figure 4 A schematic diagram of another terminal mechanism structure provided for some embodiments of the present application.

[0032] Figure 5 A schematic diagram of another terminal mechanism structure provided for some embodiments of the present application.

[0033] Figure 6 A schematic diagram of another terminal mechanism structure provided for some embodiments of the present application.

[0034] Figure 7 A schematic diagram of the structure of an end mechanism provided for some other embodiments of the present application.

[0035] Figure 8 A schematic diagram of the structure of a medical robot provided for some embodiments of the present application.

[0036] Fig. 9 A schematic diagram of the structure of another medical robot provided for some embodiments of the present application.

[0037] Reference numerals

[0038] End mechanism-10;

[0039] Housing-100; first section-110; receiving portion-111; second section-120; guide channel-130;

[0040] Connecting assembly-200; first connecting member-210; first connecting structure-211; first transmission structure-212; first sliding guide structure-213;

[0041] Second connecting member 220; second connecting structure 221; main body 221a; fixing part 221b; second transmission structure 222; second sliding guide structure 223;

[0042] Linear bearing-230;

[0043] First fixing groove-240; second fixing groove-241; third fixing groove-242; fourth fixing groove-243;

[0044] First protrusion-261; second protrusion-262;

[0045] First bolt-270; second bolt-271; orientation surface-272;

[0046] Positioning assembly-300; bracket-310; light-emitting body-320.

[0047] Medical robot-20; driving device-30; first driving arm-31; second driving arm-32;

[0048] The first rotation axis is a; the second rotation axis is b; the third rotation axis is c; the fourth rotation axis is d.

[0049] The realization of the purpose, functional features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. The above-mentioned drawings have shown clear embodiments of this application, which will be described in more detail later. These drawings and textual descriptions are not intended to limit the scope of the concept of this application in any way, but to illustrate the concept of this application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0050] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0051] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0052] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising", "including" indicate the existence of features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0053] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0054] It should be noted that, in this article, step codes such as XX, XX, etc. are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the order. Technical personnel in this field may execute XX first and then XX, etc. during specific implementation, but these should all be within the scope of protection of this application.

[0055] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0056] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0057] It is understandable that in this article, common connection methods and devices such as "bearings", "bearing shells", "bushings", and "shaft sleeves" will not be listed one by one, and do not constitute substantial structural limitations. When implementing them, technicians in this field may adjust and replace these aforementioned mechanical functional components based on actual needs, and they are not used to limit this application. However, these technical solutions inspired by this application and replaced by mechanical functional components in this field should be within the scope of protection of this application.

[0058] In some surgical operations, especially neurosurgery or cranial surgery, how to accurately and conveniently locate the lesion area and perform precise medical operations on the lesion area is the main existing technical problem. Since the surgical area of ​​neurosurgery is usually located in the head or directly inside the skull, in order to reduce the negative impact of the operation on the patient, medical devices often need to pass through the skin, skull, dura mater, arachnoid mater, pia mater and other head tissues in turn during the operation, and bypass the nerves and blood vessels in these head tissues as much as possible. After the skull is opened, problems such as brain drift caused by cerebrospinal fluid loss must be faced. Therefore, the precise operation and precise positioning of medical devices before and during the operation can provide important support and guarantee for the success of the operation. In some typical medical robot terminal structures, in order to improve the transmission accuracy of the terminal mechanism, a relatively complex transmission structure is set, and the installation, disinfection, and use learning threshold are high. Some medical robots are relatively simple to operate, but their operating accuracy cannot meet the operational requirements of neurosurgery. In this context, the applicant provides a terminal mechanism with a simple and precise transmission structure that is easy to install, disinfect and operate.

[0059] Figure 1 A schematic diagram of the structure of an end mechanism provided for some embodiments of the present application. Figure 2 for Figure 1 A cross-sectional schematic diagram of an end mechanism shown in FIG.

[0060] like Figure 1 and Figure 2As shown, an embodiment of the present application provides an end mechanism 10, including a shell 100, the shell 100 includes a first section 110 and a second section 120 in its axial direction, and the shell 100 is provided with a guide channel 130. It can be understood that the shell 100 is divided into the first section 110 and the second section 120 only to describe the positional relationship of the components of the end mechanism 10, and does not mean a limitation on the actual structure of the shell 100. The positions of the first section 100 and the second section 120 on the shell 10 can be swapped or overlapped in some cases. The division of the first section 110 and the second section 120 also only represents the initial connection position of the connecting assembly 200 and the shell 100, and some components in the connecting assembly 200 can move back and forth between the first section 100 and the second section 120.

[0061] In this embodiment, the connection assembly 200 includes a first connection member 210 and a second connection member 220 , which are respectively connected to the first section 110 and the second section 120 so that the driving device can accurately operate the housing 100 by connecting to different areas of the housing 100 .

[0062] The connecting assembly 200 is used to connect the housing 100 to a driving device (not shown in the figure). The connecting assembly 200 includes a first connecting member 210 and a second connecting member 220. The first connecting member 210 includes a first connecting structure 211, a first transmission structure 212 and a first sliding guide structure 213. The first sliding guide structure 213 is sleeved on the housing 100 and allows the housing 100 to slide along the axial direction of the housing 100 in the first sliding guide structure 213. The first connecting structure 211 is slidably connected to the housing 100 through the first sliding guide structure 213. The first sliding guide structure 213 can move relative to the first rotation axis a of the first connecting structure 211. The movement here includes movement and rotation. On the one hand, the first sliding guide structure 213 can rotate along the first rotation axis a to drive the housing 100 to have changes in posture such as pitch and tilt. On the other hand, when the first connecting structure 211 moves, the first connecting structure 211 will drive the first sliding guide structure 213 to move, so that the housing 100 can follow the first sliding guide structure 213 to move relative to the first rotation axis a. It is understandable that the position of the first rotation axis a relative to the first connection structure 211 is fixed, but when the first connection structure 211 moves and rotates, the first rotation axis a will change along with the posture and position of the first connection structure 211 .

[0063] The first transmission structure 212 is used to connect with the driving device. The first connection structure 211 can move relative to the second rotation axis b of the first transmission structure 212, and the first connection structure 211 and the first transmission structure 212 can be integrally formed or split structures. For example, when the first connection structure 211 and the first transmission structure 212 are integrally formed, the movement of the first connection structure 211 relative to the second rotation axis b of the first transmission structure 212 can be understood as the first connection structure 211 and the first transmission structure 212 simultaneously rotate around the second rotation axis b of the first transmission structure 212 relative to the driving device. When the first connection structure 211 and the first transmission structure 212 are configured as two split components, the movement of the first connection structure 212 relative to the second rotation axis b can be understood as the first connection structure 211 rotates relative to the first transmission structure 212 around the second rotation axis b, and the first transmission structure 212 is fixed relative to the driving device. The movement of the first sliding guide structure 213 relative to the first rotation axis a of the first connection structure 211 and the movement of the first connection structure 211 relative to the second rotation axis b of the first transmission structure 212 can be superimposed. When the first transmission structure 212 drives the first sliding guide structure 213 to move through the first connection structure 211, the superimposed movement effect of the first transmission structure 212, the first connection structure 211, and the first sliding guide structure 213 is characterized by various postures and position changes such as tilting, pitching, rotating, and moving of the housing 100.

[0064] The second connecting member 200 includes a second connecting structure 221 and a second transmission structure 222. The structure of the second connecting member 220 can be similar to that of the first connecting member 210, and the connection method of the second connecting member 220 to the housing 100 can also be similar to the connection method of the first connecting member 210 to the housing 100. In some optional embodiments, the structure of the second connecting member 220 and the first connecting member 210 and the connection method to the housing 100 can be exactly the same. As an example, the second connecting structure 221 is connected to the housing 100, and the second transmission structure 222 is used to connect to the driving device. The housing 100 can move relative to the third rotation axis c of the second connecting structure 221, and the second connecting structure 221 can move relative to the fourth rotation axis d of the second transmission structure 222. For example, the first rotation axis a and the second rotation axis b are perpendicular to each other, and the third rotation axis c and the fourth rotation axis d are perpendicular to each other.

[0065] In this embodiment, the first connecting member 210 can slide relative to the housing 100, and the second connecting member 220 is relatively fixedly connected to the housing 100 at a preset position, and the housing 100 is provided with multiple movement axes, so that the housing 100 can rotate and move in multiple degrees of freedom. The driving device can accurately adjust the posture and position of the housing 100 through the terminal mechanism 10 to control the guide channel 130.

[0066] In this embodiment, the housing 100 is provided with a guide channel 130, which can be used to accommodate and fix elongated surgical instruments and surgical related instruments. For example, the guide channel 130 can be used to accommodate one or more instruments such as optical fibers, sampling tubes, and laser emitting devices.

[0067] In some optional embodiments, the guide channel 130 may be equipped with an adapter component, which is provided with a through hole, through which the surgical instrument passes to be oriented and positioned, and a set of adapter components with an outer diameter matching the inner diameter of the guide channel 130, but with through holes of various inner diameter specifications, may form a kit. The adapter component may provide the user with through holes of various different inner diameters for fixing various surgical instruments with different outer diameters, such as optical fibers, sampling tubes, and laser emitting devices, so that the terminal mechanism 10 has better adaptability and richer application scenarios.

[0068] In some optional embodiments, when the first connecting member 210 and the second connecting member 220 are both perpendicular to the housing 100, the two are parallel and the housing 100 is perpendicular to the operation interface, the first connecting member 210 and the second connecting member 220 make the same movement to drive the housing 100 to make a horizontal displacement movement. The first connecting member 210 and the second connecting member 220 make inconsistent movements to drive the housing 100 to rotate and move through multiple rotation axes to adjust the posture and position of the housing 100. The posture change may include one or more rotations and movements in multiple degrees of freedom such as tilt and pitch. As an example, the first connecting member 210 and the second connecting member 220 move in two parallel planes. The movement of the first connecting member 210 and the second connecting member 220 will cause the distance between the two to change, and such a change in the distance will cause the second connecting member 220 to pull the housing 100 to move relative to the first sliding guide structure 213.

[0069] In some optional embodiments, the housing 100 may be a tubular structure having a guide channel 130, which may be used to fix a slender medical device. The housing 100 may be configured as a tubular body having one or more structures such as a cylindrical shape, a rectangular shape, etc., as long as the structure can be compatible with the structure of the first connector 210 and the second connector 220.

[0070] In this embodiment, the cylindrical external structure of the housing 10 is beneficial to reducing the difficulty of processing and improving the structural accuracy. The rectangular external structure is beneficial to improving the space utilization rate and facilitating the storage of the terminal mechanism 10. The cylindrical external structure has a good structural strength. The shape of the external structure of the housing 100 can be selected according to actual needs. In some cases, it is also allowed that the first section 110 and the second section 120 of the housing 100 have different external structures.

[0071] In some optional embodiments, the first connector 210 is slidably connected to the second section 110. A first sliding guide structure 213 is connected between the first connector 210 and the housing 100. The first sliding guide structure 213 can be a closed continuous ring, or a C-shaped structure that can be snapped onto the outer diameter of the first section 110. The first sliding guide structure 213 can have a variety of structures, as long as the first sliding guide structure 213 is compatible with the first section 110 and the first connector 210.

[0072] Figure 3 for Figure 1 A schematic diagram of the receiving portion structure of an end mechanism is shown in FIG.

[0073] like Figure 3 As shown, in some optional embodiments, the housing 100 is provided with a receiving portion 111, and the receiving portion 111 is located in the second section 120 of the housing 100. The receiving portion 111 is provided with a third fixing groove 242 recessed from its surface into the housing, and the first connecting structure 211 is clamped in two third fixing grooves 242 disposed opposite to each other, so that the housing 100 can rotate along the axis of the third fixing groove 242, and the axis of the third fixing groove 242 coincides with the third rotation axis c.

[0074] In some optional embodiments, the connection assembly 200 is releasably connected to the housing 100. In this embodiment, the connection assembly 200 that can be releasably connected to the housing 100 can facilitate the installation and removal of the end mechanism 10, and can be easily assembled with other surgical related equipment.

[0075] In some optional embodiments, the axes of the third fixing groove 242 and the fourth fixing groove 243 are arranged perpendicular to the axial direction of the shell 100. Such a setting is beneficial to improving the accuracy of the shell 100 during movement and rotation, and is beneficial to the end mechanism 10 to adjust the posture and position of the shell 100.

[0076] In some optional embodiments, the housing 100 is provided with a hollow portion, which is extended along the end surface of one end to the other end in the axial direction of the housing 100. The provision of the hollow portion can reduce the weight of the housing 100 while providing a limiting function for the aforementioned adapter component, so that the housing 100 can at least control the installation direction of the surgical instrument in the guide channel 130 as much as possible through the adapter component and prevent the surgical instrument in the guide channel 130 from rotating during the installation process and the operation process.

[0077] In some optional embodiments, the shell 100 is arrayed with a plurality of hollow portions, which can expose the guide channel 130 to the user's field of vision, making it easier for the user to observe the situation inside the guide channel 130. The hollow portions can also facilitate the heat dissipation of components inside the guide channel 130. The provision of the hollow portions can also reduce the weight of the shell 100, which is beneficial to reducing the power requirements of the drive device and improving the motion accuracy of the terminal mechanism 10.

[0078] Figure 4 A schematic diagram of another terminal mechanism structure provided for some embodiments of the present application.

[0079] like Figure 4 As shown, in some optional embodiments, the first connecting member 210 and the second connecting member 220 can be configured as the same or similar structures. The second connecting member 220 is slidably connected to the second section 120. A second sliding guide structure 223 is connected between the second connecting member 220 and the housing 100. The second sliding guide structure 223 can be a closed structure or a semi-open structure that can be buckled and snapped on the outer diameter of the second section 120, such as a closed continuous ring, or a C-shaped structure. The structure of the second sliding guide structure 223 can be various, as long as the second sliding guide structure 223 structure is compatible with the second section 120 and the second connecting member 220. It can be understood that the first sliding guide structure 213 is detachably connected to the first section 110, and its disassembly method can make it completely disassembled into two parts, or it can be disassembled until the first section 110 can be released. The first sliding guide structure 213 can be provided with a second fixing groove 240 that is compatible with the first section 110 to improve the operating accuracy of the terminal mechanism 10.

[0080] In this embodiment, the second sliding guide structure 223 is provided to facilitate adjustment of the position of the housing 100 relative to the connecting assembly 200. At least one of the first sliding guide structure 213 and the second sliding guide structure 223 is provided with a fixing groove, and a first bolt 270 can be used to achieve a temporary fixed position relationship between either of the two and the housing 100. In this embodiment, the first bolt 270 passes through the sliding guide structure and abuts against the housing 100 to achieve the fixing of the first sliding guide structure 213 or the second sliding guide structure 223 to the housing 100.

[0081] In some optional embodiments, the fixing groove includes a first fixing groove 240 penetrating from the first sliding guide structure 213 toward the shell 100 , and a second fixing groove 241 penetrating from the second sliding guide structure 223 toward the surface of the shell 100 .

[0082] In this embodiment, the first fixing groove 240 and the second fixing groove 241 are provided with a first bolt 270 so that the first sliding guide structure 213 and / or the second sliding guide structure 223 and the housing 100 have a relatively fixed position relationship within a certain period of time.

[0083] In some optional embodiments, the configurations of the first connecting member 210 and the second connecting member 220 are similarly arranged. Taking the first connecting member 210 as an example, the connection end of the first connecting member 210 and the first sliding guide structure 213 is configured as a first connecting structure 211. The first connecting structure 211 is formed by connecting a detachable main body 221a and a fixing part 221b. The main body 221a and the fixing part 221b are clamped in two fourth fixing grooves 243 on the first sliding guide structure 213 after being locked by locking components on both sides of the radial direction of the first section 110.

[0084] In this embodiment, the locking component can be a screw or a nut, and the locking component is used to tightly fix the main body 221a and the fixing portion 221b together. The locking component can facilitate the disassembly and installation of the first connecting structure 211 while providing better connection accuracy for the first connecting structure 211.

[0085] In some optional embodiments, the first connecting structure 211 is connected to the first transmission structure 212 on the side opposite to the housing 100, and the first transmission structure 212 extends along the opposite side of the opening direction of the first connecting structure 211. There are many ways to achieve the movement of the first connecting structure 211 relative to the second rotation axis b of the first transmission structure 212. For example, the first connecting structure 211 can be rotatably connected to the first transmission structure 212 through a bearing. For example, the first connecting structure 211 can also be integrally formed with the first transmission structure 212, and the first transmission structure 212 is connected to the drive device through a bearing. Both of the above-mentioned two connection methods can achieve the rotation of the first connecting structure 211 relative to the second rotation axis b of the first transmission structure 212. In some embodiments, the extension direction of the first connecting structure 211 is the same as the extension direction of the first transmission structure 212, and both intersect with the second rotation axis b.

[0086] In this embodiment, the first transmission structure 212 and the first connection structure 211 or the first transmission structure 212 and the driving device can be connected through a bearing to improve the transmission accuracy of the terminal mechanism 10. In order to improve the convenience of connecting the first transmission structure 212 with the first connection structure 211 or with the driving device (not shown in the figure), the first connection structure 211 can be provided with a slot for fixing the first transmission structure 212 so that the first transmission structure 212 and the first connection structure 211 can be pluggable. In this embodiment, the extension direction of the first connection structure 211 and the extension direction of the first transmission structure 212 both intersect with the second rotation axis b, which is conducive to improving the motion accuracy of the terminal mechanism 10 and facilitating the accurate measurement and planning of the motion trajectory of the terminal mechanism 10.

[0087] In some optional embodiments, the first rotation axis a is perpendicular to the second rotation axis b, the third rotation axis c is perpendicular to the fourth rotation axis d, and the first rotation axis a is arranged in parallel with the third rotation axis c. It can be understood that the movement of the first connecting structure 211 relative to the first transmission structure 212 and the drive device is similar to the movement of the second connecting structure 221 relative to the second transmission structure 222 and the drive device. Since the first connecting member 210 and the second connecting member 220 have different spatial positions, they rotate synchronously along different axes. In this embodiment, the arrangement of multiple motion axes perpendicular to each other is conducive to improving the motion accuracy of the terminal mechanism 10, and is conducive to the accurate measurement and planning of the motion trajectory of the terminal mechanism 10.

[0088] Figure 5 A schematic diagram of another terminal mechanism structure provided for some embodiments of the present application.

[0089] like Figure 5 As shown, in some optional embodiments, the second connecting member 220 is connected to the second section 120 through the receiving portion 111. For example, the receiving portion 111 protrudes from the surface of the housing 100, and the receiving portion 111 is provided with a bearing or a bearing groove that matches the second connecting member 220. For another example, the receiving portion 111 is provided with a fixing rod protruding from its surface, and the second connecting member 220 is provided with a bearing groove that matches the fixing rod. The fixing rod is extended along the radial direction of the housing 100 so that the second connecting member 220 connected to the fixing rod can avoid the movement path of the housing 100. The bearing groove is provided in the receiving portion 111 or the second connecting member 220 according to actual needs. The receiving portion 111 can be formed in the body of the housing 100, or it can be an independent component that is clamped to the housing 100. In this embodiment, the second connecting member 220 and the second section 120 can be connected through a connecting structure such as a bearing, a bushing, and a bearing shell, and the connecting ends of the two can also be exchanged and selected according to actual needs. The connecting structure such as a bearing and a bushing is conducive to improving the motion accuracy of the terminal mechanism 10.

[0090] In some optional embodiments, the first sliding guide structure 213 is formed with a first protrusion 261, and the first sliding guide structure 213 is connected to the first connecting structure 211 through the first protrusion 261. The setting of the first protrusion 261 makes the first rotation axis a not intersect with the shell 100. When the first connecting component 211 drives the shell 100 to move, the shell 100 can have a larger range of motion.

[0091] In some optional embodiments, the receiving portion 111 is further formed with a second protrusion 262, and the receiving portion 111 is connected to the second connection structure 221 via the second protrusion 262. The second protrusion 262 has similar functions and effects to the first protrusion 261, and both can be selected according to actual needs.

[0092] In some optional embodiments, a second bolt 271 is provided in the gap between the first protrusion 261 and the first connecting member 210. A second bolt 271 may also be provided in the gap between the second protrusion 262 and the second connecting member 220. For example, the second bolt 271 is located in the preset channel of the first connecting structure 211 before the first protrusion 261 and the first connecting member 210 are installed. After the first protrusion 261 and the first connecting member 210 are installed, the second bolt 271 is limited in the gap between the first protrusion 261 and the first connecting member 210. Before the first connecting member 210 and the first protrusion 261 are disconnected, the first connecting member 210 and the second connecting member 220 prevent the second bolt 271 from coming out of the aforementioned gap. Similarly, another second bolt 271 is located in the preset channel of the second connecting structure 221 before the second protrusion 262 and the second connecting structure 221 are installed. After the second protrusion 262 and the second connecting member 220 are installed, the second bolt 271 is limited in the gap between the second protrusion 262 and the second connecting member 220. Before the second protrusion 262 and the second connecting member 220 are released from the connection relationship, the second protrusion 262 and the second connecting member 220 prevent the second bolt 271 from escaping from the aforementioned gap.

[0093] In this embodiment, the second bolt 271 can improve the connection stability and connection accuracy between the first connection structure 211 and the first connection member 210, and can also improve the connection stability and connection accuracy between the second connection structure 221 and the second connection member 220. Limiting the second bolt 271 to the aforementioned gap is conducive to reducing the possibility of parts of the terminal mechanism 10 falling off. In application scenarios such as surgical operations, fewer risks of parts falling off can stably support the normal operation of the operation, on the one hand reducing the harm caused by parts falling into the patient's surgical area to the patient, and on the other hand preventing parts from falling and affecting the surgical process and other surgical equipment.

[0094] In some optional embodiments, the first connection structure 211 is connected to the first transmission structure 212 via a quick release structure, or the first connection structure 211 is connected to the first sliding guide structure 213 via a quick release structure. The quick release structure in this embodiment can provide a limiting support force through components such as springs, or can be configured as an elastic component to lock and limit through its own deformation.

[0095] In some optional embodiments, the first connection structure 211 and the first transmission structure 212 are connected in position by matching parts. For example, a directional surface 272 is provided on the opposite side of the first connection structure 211 and the first transmission structure 212. One part of the directional surface 272 is located at the end surface of the first connection structure 211 opposite to the first transmission structure 212, and the other part is located at the end surface of the first transmission structure 212 corresponding to the first connection structure 211, and the two are arranged oppositely. In the process of gradually tightening the second bolt 271, the two parts of the directional surface 272 gradually approach and engage with each other to limit. The directional surface 272 can prevent the second bolt 271 from driving the first transmission structure 212 to rotate during the tightening process. The toothed meshing structure that the directional surface 272 can have can realize the tight connection of parts while ensuring the rotation function. There are many connection structures that can make the directional surface 272 bite, mesh, etc. tightly connected and provide a limiting function. The above description is only used as an example and does not represent a limitation on the structure of the directional surface 272.

[0096] In some optional embodiments, a sterile cover is also provided, and the sterile cover is used to provide support for aseptic surgery. Optionally, the sterile cover can be located between two end surfaces opposite to the directional surface 272. For example, the second bolt 271 can pierce the sterile cover and fix and seal the connection interface between the sterile cover and the terminal mechanism 10 through the directional surface 272. In some other embodiments, the sterile cover can also be set at the connection between the connecting assembly 200 and the driving device.

[0097] In some optional embodiments, a bearing or a bushing may be further provided between the first sliding guide structure 213 and the first section 110 of the housing 100. In this embodiment, the bearing may be understood as a bushing with a ball. As an example, the bearing here may be a linear bearing 230, and the provision of the linear bearing 230 can improve the convenience of sliding of the first sliding guide structure 213 while reducing the structural gap between the first sliding guide structure 213 and the first section 110, and reduce the sliding friction and wear between the first section 110 and the first sliding guide structure 213.

[0098] In some optional embodiments, the aforementioned first bolt 270 can also be used to fix the bearing or bushing disposed between the first sliding guide structure 213 and the second sliding guide structure 223 and the housing 100. Such a configuration can reduce the sliding clearance between the first sliding guide structure 213 and the second sliding guide structure 223 and the housing 100, thereby reducing the error. It is understandable that when the first bolt 270 is used to fix the bearing or bushing, the first sliding guide structure 213 and the second sliding guide structure 223 are provided with a through hole adapted to the first bolt 270, so that the first bolt 270 can pass through the first sliding guide structure 213 or the second sliding guide structure 223 to abut against the bearing or bushing.

[0099] In some other embodiments, the aforementioned first bolt 270 can also be used to temporarily fix any one of the first sliding guide structure 213 and the second sliding guide structure 223 to the housing 100. Taking the first sliding guide structure 213 as an example, the first sliding guide structure 213 is provided with a through hole, and the first bolt 270 passes through the through hole and abuts against the housing 100 so that the first sliding guide structure 213 can be temporarily fixed to the housing 100. It can be understood that the first bolt 270 and the through hole are provided with matching locking structures such as threads.

[0100] In some other embodiments, when a bearing or a bushing is provided between the first sliding guide structure 213 and the housing 100, the structure of the bearing and the bushing has a structural change adapted to the first bolt 270. Taking the bushing as an example, the bushing is also provided with a through hole, which is adapted to the through hole provided in the first sliding guide structure 213, and the first bolt 270 can pass through the through hole of the first sliding guide structure 213 and the bushing to abut against the housing 100. In this embodiment, the aperture of the through hole provided in the bushing is greater than or equal to the aperture of the through hole of the first sliding guide structure 213, so that the first bolt 270 can pass through and realize the fixation of the first sliding guide structure 213 and the housing 100.

[0101] Figure 6 A schematic diagram of another terminal mechanism structure provided for some embodiments of the present application.

[0102] like Figure 6As shown, in some optional embodiments, the first connecting member 210 and the second connecting member 220 are respectively connected to the two sides of the shell 100 in the radial direction, and the connection positions of the two can be interchanged. Taking the state of the end mechanism 10 in the figure as an example, at the same time, the shell 100 and the connecting assembly 200 have the following positional relationship. In the direction of the second rotation axis b, the shell 100 and the orthographic projections of the first connecting member 210 and the second connecting member 220 do not overlap. In this embodiment, when the first connecting member 210 and the second connecting member 220 drive the shell 100 to move along the first rotation axis a and the third rotation axis c, the shell 100 will not be limited by the connecting assembly 200, and the shell 100 can have a larger range of motion.

[0103] In this embodiment, the first connector 210 and the second connector 220 are connected to the housing 100 in this manner so that the connection assembly 200 can avoid the movement path of the housing 100, prevent the connection assembly 200 from blocking the movement path of the housing 100, and increase the movement range of the housing 100. However, the present application is not limited thereto, and in some optional embodiments, the first connector 210 and the second connector 220 can be connected to the same side of the housing 100 in the radial direction.

[0104] In some optional embodiments, the first sliding guide structure 213 and the second sliding guide structure 223 are provided with extension portions, and the extension portions are extended radially along the shell 100 on the first sliding guide structure 213 and the second sliding guide structure 223, and the ends of the extension portions are provided with bearings for connecting to the first connecting structure 211 and the second connecting structure 221 or connecting rods for fixing the bearings.

[0105] In this embodiment, the extension part can extend the length of the first sliding guide structure 213 and the second sliding guide structure 223 in the direction of the first rotation axis a and the second rotation axis c. The extension part can provide more sufficient connection space for the first connecting structure 211 and the first sliding guide structure 213, and facilitate the first connecting structure 221 and the first sliding guide structure 213 to establish high-precision connection and transmission through components such as bearings or bushings. The setting of the extension part can achieve high-precision connection and transmission between the housing 100 and the connecting assembly 200 while avoiding the movement path of the housing 100.

[0106] Figure 7 A schematic diagram of the structure of an end mechanism provided for some other embodiments of the present application.

[0107] like Figure 7As shown, in some optional embodiments, the end mechanism 10 is also connected to a positioning assembly 300. The positioning assembly 300 includes a bracket 310 and a positioning marker 320 located on the bracket 310. The positioning marker 320 can be a combination of one or more of a light emitter, a reflector, a corner point, an electromagnetic sensor, and an X-ray marker, and is used in conjunction with a surgical navigation system having a corresponding positioning device. For example, a light emitter can be used in combination with an electromagnetic sensor, that is, a group of light emitters and electromagnetic sensors can be set on the positioning bracket 210, so that when the light signal emitted by the light emitter is blocked, the positioning device can determine the position of the end mechanism 10 through the electromagnetic sensor. Not limited to this, the light emitter can also be used to provide accurate position information of the end mechanism 10 when the electromagnetic sensor is subject to electromagnetic interference. In some other embodiments, the reflector and the corner point can also constitute a set of positioning markers 320. One of the light emitter and the corner point can be used to provide position information, and the other is used to verify the accuracy of the position information. Under such a matching combination, the user can choose to interrupt the operation and calibrate in time when the accuracy of the position information is in doubt or exceeds the preset error range, which reduces the risk of the operation and can provide guarantees for the accurate and safe implementation of the operation. The positioning marker can also be a composite positioning marker with multiple functions, for example, it can be imaged in X-ray / CT and its position can be identified by an infrared tracking device, or it can be imaged in MRI and identified by an infrared tracking device. In this case, the positioning marker can be used as an intermediary to complete the spatial position conversion between the X-ray image / CT image coordinate system and other coordinate systems, such as the conversion with the infrared tracking device coordinate system.

[0108] In this embodiment, the positioning assembly 300 is used to position the medical instruments in the shell 100 and the guide channel 130. A plurality of positioning markers 320 can be attached to the bracket 310 and attached to the shell 100 through the bracket 310. For example, in a surgical navigation system, after completing registration (establishing a correspondence between the medical image space coordinate system and the real space coordinate system, thereby mapping the surgical path planned by the doctor in the image space to the real space), under the guidance of a tracking device (such as an infrared tracking device), the positioning assembly 300 can provide the precise spatial position of the guide channel 130 and its central axis, and complete closed-loop feedback control through the driving device of the medical robot of the present invention, and continuously adjust, thereby completing the precise spatial positioning and angle adjustment of the surgical instrument.

[0109] In some optional embodiments, in order to enable the end mechanism 10 to be attached to other medical devices such as the positioning assembly 300 to achieve more functions, the housing 100 is provided with a fixing hole. The fixing hole can be located on the side of the housing 100 opposite to the connecting assembly 200 to facilitate the attachment of other devices to the end mechanism 10. The fixing hole can be a combination of one or more commonly used fixing components in the art, such as threads and bearings.

[0110] Figure 8 A schematic diagram of the structure of a medical robot provided for some embodiments of the present application. Fig. 9 A schematic diagram of the structure of another medical robot provided for some embodiments of the present application.

[0111] like Figure 8 and Fig. 9 As shown, the embodiment of the present application further provides a medical robot 20, and the medical robot 20 includes the end mechanism 10 provided by any of the aforementioned embodiments. In this embodiment, the medical robot 20 is provided with a driving device 30 to drive the end mechanism 10 to work. The medical robot 20 provided in this embodiment can have a simple structure, easy installation, and high-precision end mechanism 10, which can provide support for more complex surgical operations.

[0112] In this embodiment, the driving device 30 includes a first driving arm 31 and a second driving arm 32. The first driving arm 31 is connected to the first transmission structure 212, and the second driving arm 32 is connected to the second transmission structure 222. The first driving arm 31 and the second driving arm 32 are controlled by the driving device 30 and can move in at least two different planes. For example, the first driving arm 31 and the second driving arm 32 move in two parallel planes respectively, and adjust the posture and position of the housing 100 through the connecting assembly 200.

[0113] The present application also provides a surgical navigation system, which includes the medical robot 20 and a tracking device provided in some of the aforementioned embodiments. The tracking device assists the medical robot in guiding the surgical path by tracking the positioning component. The surgical navigation system provided in this embodiment can have a medical robot 20 with a simple structure, easy installation, and high precision, and can provide support for more complex surgical operations.

[0114] In some optional embodiments, the end mechanism 10, the medical robot 20, and various components in the surgical navigation system are configured as magnetic resonance compatible materials. Such a configuration enables the aforementioned component-level devices to be used in conjunction with various other medical devices or methods such as nuclear magnetic resonance imaging (MRI) and electronic computed tomography (CT) during the surgical process.

[0115] In some optional embodiments, the medical robot 20 can be connected and fixed to a hospital bed, wall, etc. through a fixed connection device (such as a universal arm, a bracket, an arc frame, or a multi-degree-of-freedom mechanical connection structure, etc.), and the structure that cooperates with the medical robot 20 and the fixed connection device is arranged at the geometric center below the shell, which reduces the strength and force requirements of the fixed connection device and increases stability.

[0116] In this embodiment, the medical robot 20 can be directly connected to the fixed connection device, or it can be provided with a transfer component. The transfer component can be pre-installed on the medical robot 20. The transfer component is provided with a quick interface so that the medical robot 20 can be conveniently and quickly installed on the fixed connection device.

[0117] The above are merely exemplary embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A terminal mechanism, characterized in that: include: The housing is provided with a guide channel; A connecting assembly is used to connect the housing to a driving device, the connecting assembly comprising a first connecting member and a second connecting member, The first connecting member includes a first connecting structure, a first transmission structure and a first sliding guide structure, the first connecting structure is connected to the housing through the first sliding guide structure, the first sliding guide structure can move relative to a first rotation axis of the first connecting structure, and the first connecting structure can move relative to a second rotation axis of the first transmission structure, the first transmission structure is connected to the driving device; the first rotation axis and the second rotation axis are perpendicular to each other, the first sliding guide structure allows the housing to slide in the first sliding guide structure along the axial direction of the housing, and a bearing or a bushing is provided between the first sliding guide structure and the housing; The second connecting member includes a second connecting structure and a second transmission structure, the second connecting structure is connected to the shell, the second transmission structure is connected to the driving device, the shell can move relative to the third rotation axis of the second connecting structure, and the second connecting structure can move relative to the fourth rotation axis of the second transmission structure, and the third rotation axis and the fourth rotation axis are perpendicular to each other.

2. The end mechanism according to claim 1, characterized in that: The second connecting member further comprises: A second sliding guide structure, wherein the second connection structure is connected to the shell via the second sliding guide structure, and the second sliding guide structure allows the shell to slide in the second sliding guide structure along the axial direction of the shell.

3. The end mechanism according to claim 2, characterized in that: At least one of the first sliding guide structure and the second sliding guide structure is provided with a fixing groove, and one of the first sliding guide structure and the second sliding guide structure is temporarily fixed to the shell by a fastener.

4. The end mechanism according to claim 1, characterized in that: A receiving portion is provided at a preset position of the housing, and the second connecting member is connected to the receiving portion.

5. The end mechanism according to claim 4, characterized in that: The first connecting structure can be releasably clamped on the first sliding guide structure, and the second connecting structure can be releasably clamped on the receiving portion.

6. The end mechanism according to claim 5, characterized in that: The first connection structure includes a detachable main body and a fixing part, and the main body and the fixing part are fixed by bolts.

7. The end mechanism according to claim 4, characterized in that: The first sliding guide structure is provided with a first protruding portion, and the first connecting structure is connected to the first protruding portion.

8. The end mechanism according to claim 4, characterized in that: The receiving portion is provided with a second protruding portion, and the second connecting structure is connected to the second protruding portion.

9. The end mechanism according to claim 2, characterized in that: The first connection structure and / or the second connection structure are connected to the housing via a bearing or a bushing.

10. The end mechanism according to claim 1, characterized in that: Also includes: The positioning component comprises a bracket and a positioning marker located on the bracket.

11. The end mechanism according to claim 10, characterized in that: The support is detachably connected to the end mechanism, the positioning marker is detachably connected to the support, and at least three non-collinear positioning markers are arranged on the support.

12. A medical robot, characterized in that: Comprising the end mechanism according to any one of claims 1 to 11, the medical robot comprises a first driving arm for driving the first connecting member and a second driving arm for driving the second connecting member.

13. The medical robot according to claim 12, characterized in that: The first driving arm can move in a first plane, and the second driving arm can move in a second plane, and the first plane is parallel to the second plane.

14. A surgical navigation system, characterized in that: Comprising a medical robot and a tracking device as described in claim 12 or 13.

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