End mechanism, medical robot and surgical navigation system

Abstract

The embodiment of the present application provides a terminal mechanism, a medical robot and a surgical navigation system. The terminal mechanism provided in the embodiment of the present application includes a shell, which is provided with a guide channel and a sliding guide groove; a connecting assembly is used to connect the shell to a driving device, and the connecting assembly includes a first connecting member and a second connecting member, the first connecting member includes a first sliding guide structure, a first connecting structure and a first transmission structure, the first sliding guide structure is connected to the sliding guide groove, and the first transmission structure is connected to the driving device; the sliding guide groove allows the first sliding guide structure to slide along the axial direction of the shell; the second connecting member includes a second connecting structure and a second transmission structure, the second connecting structure is connected to the shell, and the second transmission structure is connected to the driving device; an adapter component is detachably arranged in the guide channel. The terminal mechanism provided in the embodiment of the present application is accurate in operation and quick in installation.

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 technical problems, the present application provides a terminal mechanism, a medical robot and a surgical navigation system, so that users can support surgical operations conveniently and accurately.

[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 and a sliding guide groove;

[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 sliding guide structure, a first connecting structure and a first transmission structure, the first sliding guide structure is connected to the sliding guide groove, the housing can move relative to the first rotation axis and the second rotation axis of the first connecting member, 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 sliding guide groove allows the first sliding guide structure to slide therein 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 housing, the second transmission structure is connected to the driving device, the housing can move relative to a third rotation axis and a fourth rotation axis of the second connecting member, and the third rotation axis and the fourth rotation axis are perpendicular to each other;

[0011] The adapter component is detachably arranged on the guide channel.

[0012] According to the terminal mechanism provided by some of the aforementioned embodiments, the second connecting member further includes:

[0013] A second sliding guide structure, wherein the second connection structure is connected to the housing via the second sliding guide structure, and the sliding guide groove allows the second sliding guide structure to slide therein along the axial direction of the housing.

[0014] 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 first fixing member, and temporary fixing of one of the first sliding guide structure and the second sliding guide structure to the shell is achieved through the first fixing member.

[0015] According to the end mechanism provided by some of the aforementioned embodiments, the sliding guide groove and the first sliding guide structure are connected in a slidable and rotatable manner, the sliding guide groove is a cylindrical groove, and the first sliding guide structure is a spherical object.

[0016] According to the terminal mechanism provided by some of the aforementioned embodiments, the sliding guide groove and the first sliding guide structure are slidingly connected, and the first sliding guide structure and the first transmission structure are rotationally connected.

[0017] According to the terminal mechanism provided by some of the aforementioned embodiments, the connecting assembly is releasably connected to the shell.

[0018] According to the terminal mechanism provided by some of the aforementioned embodiments, the shell is provided with a first fixing groove, the first fixing groove is located on a side of the shell close to the second connecting member, and the first fixing groove is used to fix the second connecting structure.

[0019] According to some of the aforementioned embodiments, the terminal mechanism further includes:

[0020] The mounting groove is located on a side wall of the shell near one end of the first fixing groove. The mounting groove is connected to the first fixing groove. The second connecting structure slides to the first fixing groove through the mounting groove.

[0021] According to the terminal mechanism provided by some of the aforementioned embodiments, the second connecting structure is an elastic component, and the second connecting structure is releasably engaged with the first fixing groove.

[0022] According to the terminal mechanism provided by some of the aforementioned embodiments, the second connection structure is a detachable component, and the second connection structure includes a detachable main body and a fixing part, and the main body and the fixing part are fixed by bolts.

[0023] According to the terminal mechanism provided by some of the aforementioned embodiments, the adapter component is provided with a through hole.

[0024] Optionally, the adapter component has a through hole with an adjustable inner diameter.

[0025] Optionally, the plurality of adapter components have different inner diameters, and the plurality of adapter components form a set of adapter components.

[0026] According to the terminal mechanism provided by some of the aforementioned embodiments, an orientation groove is further provided on the shell, the orientation groove is communicated with the guide channel, and an orientation pin is further provided on the adapter component, the orientation pin is engaged with the orientation groove.

[0027] According to the terminal mechanism provided by some of the aforementioned embodiments, the guide channel is a semi-closed structure, and the adapter component includes a detachable first adapter portion and a second adapter portion.

[0028] According to some of the aforementioned embodiments, the terminal mechanism further includes:

[0029] The positioning component comprises a bracket and a positioning marker located on the bracket.

[0030] According to the terminal mechanism provided by some of the aforementioned embodiments, the bracket includes a first frame body and a second frame body, and the first frame body and the second frame body are arranged opposite to each other on two sides of the terminal mechanism in a radial direction.

[0031] 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.

[0032] An embodiment of the second aspect of the present application provides a medical robot, including the end mechanism described in some of the aforementioned embodiments, and the medical robot includes a first driving arm for driving the first connecting member and a second driving arm for driving the second connecting member.

[0033] 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.

[0034] An embodiment of the third aspect of the present application provides a surgical navigation system, characterized in that it includes the medical robot and tracking device described in some of the aforementioned embodiments, and the tracking device assists the medical robot in guiding the surgical path by tracking and positioning components.

[0035] The terminal mechanism provided in the embodiment of the present application can slide relative to the shell through the first sliding guide structure, and the second connecting member is relatively fixedly connected to the preset position of the shell, and the multiple motion axes are arranged to realize the rotation and movement capabilities of the shell in multiple degrees of freedom. The driving device can accurately adjust the posture and position of the shell through the terminal mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] 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.

[0037] Figure 1 A schematic diagram of the structure of an end mechanism provided for some embodiments of the present application.

[0038] Figure 2 for Figure 1 Cross-sectional view of the mid-end mechanism along line AA.

[0039] Figure 3 It is a cross-sectional view of the end mechanism in some other embodiments.

[0040] Figure 4 An exploded diagram of an end mechanism provided for some embodiments of the present application.

[0041] Figure 5 A schematic diagram of another terminal mechanism structure provided for some embodiments of the present application.

[0042] Figure 6 A schematic diagram of the structure of a medical robot provided for some embodiments of the present application.

[0043] Reference numerals

[0044] End mechanism-10;

[0045] Housing-100; sliding guide groove-110; limiting portion-111; orientation groove-120; guide channel-130; first fixing groove-140; mounting groove-150; second fixing member-160;

[0046] Connecting assembly 200; first connecting member 210; first sliding guide structure 211; first connecting structure 212; first transmission structure 213; second connecting member 220; second sliding guide structure 221; second connecting structure 222; main body 222a; fixing part 222b; second transmission structure 223;

[0047] Positioning assembly-300; bracket-310; first frame-311; second bracket-312; positioning marker-320.

[0048] Adaptation component-400; orientation pin-410; first adaption part-420; second adaption part-430;

[0049] Medical robot-20; driving device-30; first driving arm-31; second driving arm-32;

[0050] The first rotation axis is a; the second rotation axis is b; the third rotation axis is c; the fourth rotation axis is d.

[0051] 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

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] It is understandable that in this article, common connection methods and devices such as "bearings", "bearing shells", "sleeves", and "bushings" 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.

[0060] 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 the terminal structure of some typical medical robots, in order to improve the transmission accuracy of the terminal mechanism, a relatively complex transmission structure is set, and the installation, disinfection and learning thresholds are high. Some medical robots are relatively simple to operate, but their operating accuracy cannot meet the operational requirements of neurosurgery.

[0061] For some patients with cerebral hemorrhage and other conditions that require interventional treatment as soon as possible to relieve symptoms, convenient and fast preparation of surgical instruments can support the timely implementation of surgery and have a greater impact on the patient's prognosis. If the surgery can be performed on the patient conveniently and quickly, it can greatly improve the treatment effect on the patient and improve the patient's postoperative rehabilitation level and quality of life.

[0062] In this context, the applicant provides a terminal mechanism with a simple and accurate transmission structure, wherein the housing is connected by a first connecting member so that the housing has a definite motion reference point relative to the driving device. The housing is connected by a second connecting member, driving the housing to rotate / rotate around the motion reference point so as to have a definite motion axis relative to the driving device. By fitting the position information of the motion reference point and the motion axis, the terminal mechanism can accurately drive the surgical instrument disposed in the guide channel to move through the driving device.

[0063] 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 Cross-sectional view of the mid-end mechanism along line AA.

[0064] like Figure 1 and Figure 2 As shown, an embodiment of the present application provides an end mechanism 10. The end mechanism 10 includes a housing 100, a connecting assembly 200 and an adapting component 400. The housing 100 is provided with a guide channel 130 and a sliding guide groove 110.

[0065] The connecting assembly 200 is used to connect the housing 100 to the driving device. The connecting assembly 200 includes a first connecting member 210 and a second connecting member 220. The first connecting member 210 includes a first sliding guide structure 211, a first connecting structure 212 and a first transmission structure 213, the first transmission structure 213 is connected to the driving device, and the sliding guide groove 110 and the first connecting member 210 are slidably and rotatably connected. The second connecting member 220 includes a second connecting structure 222 and a second transmission structure 223, the second connecting structure 222 is connected to the housing 100, the second transmission structure 223 is connected to the driving device, and the housing 100 is rotatably connected to the second connecting structure 222.

[0066] The adapter component 400 is detachably disposed in the guide channel 130 .

[0067] The connecting assembly 200 is used to connect the driving device to drive the housing 100 to move. The guide channel 130 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, biopsy needles, and deep electrodes.

[0068] In some optional embodiments, the first connecting member 210 includes a first rotation axis a and a second rotation axis b that are perpendicular to each other, and the second connecting member 220 includes a third rotation axis c and a fourth rotation axis d that are perpendicular to each other.

[0069] The connecting assembly 200 can drive the housing 100 to move in multiple directions. These movements include that the first connecting member 210 can drive the housing 100 to move relative to the first rotation axis a of the first sliding guide structure 211 and the second rotation axis b of the first transmission structure 213. The housing 100 can rotate and move around the first sliding guide structure 211 through the sliding guide groove 110. It can be understood that the rotation here includes the rotation of the housing 100 relative to the first rotation axis a and the rotation of the housing 100 relative to the second rotation axis b, and these two rotations can be performed simultaneously. The housing 100 can also slide relative to the first sliding guide structure 211 in the axial direction of the sliding guide groove 110 by means of the sliding guide groove 110. The slidable setting of the housing 100 enables the housing 100 to have an adjustable connection position with the first connecting member 210 in its axial direction. It can be understood that the position of the first rotation axis a relative to the first sliding guide structure 211 is fixed. Preferably, the first rotation axis a always remains perpendicular to the axial direction of the sliding guide groove 110. However, when the first sliding guide structure 211 moves and rotates, the position and direction of the first rotation axis a will change with the posture and position changes of the first sliding guide structure 211.

[0070] Relative to the second connecting member 220, the housing 100 can move relative to the third rotation axis c of the second connecting structure 222 of the second connecting member 220 and the fourth rotation axis d of the second transmission structure 223. For example, the housing 100 can rotate relative to the third rotation axis c, and such rotation can be understood as the "pitch" and "tilt" of the housing 100. The second connecting structure 222 can move relative to the fourth rotation axis d of the second transmission structure 223, and the second connecting structure 222 and the second transmission structure 223 can be two components that are integrally formed or connected. For example, when the second connecting structure 222 and the second transmission structure 223 are integrally formed, the second connecting structure 222 can move relative to the fourth rotation axis d of the second transmission structure 223, which can be understood as the second connecting structure 222 and the second transmission structure 223 simultaneously rotating relative to the driving device along the fourth rotation axis d of the second transmission structure 223. When the second connecting structure 222 and the second transmission structure 223 are configured as two connected components, the movement of the second connecting structure 222 relative to the fourth rotation axis d of the second transmission structure 223 can be understood as the second connecting structure 222 rotates relative to the second transmission structure 223 along the fourth rotation axis d, and the second transmission structure 223 is fixed relative to the driving device.

[0071] The first connecting member 210 and the second connecting member 220 are driven by the driving device, and the housing 100 is driven to move in multiple degrees of freedom through the aforementioned multiple rotation axis settings, so that the housing 100 can have posture and position changes relative to the driving device.

[0072] The first sliding guide structure 211 can slide relative to the housing 100, the second connecting member 220 is relatively fixedly connected to the preset position of the housing 100, and the multiple movement axes are arranged to realize the rotation and movement capabilities of the housing 100 in multiple degrees of freedom. The driving device can accurately adjust the posture and position of the housing 100 through the terminal mechanism 10.

[0073] In some optional embodiments, the first rotation axis a and the second rotation axis b are perpendicular to each other, the third rotation axis c and the fourth rotation axis d are perpendicular to each other, and the first rotation axis a and the third rotation axis c are parallel.

[0074] In some optional embodiments, the guide channel 130 and the sliding guide groove 110 are both extended along the long axis direction of the housing 100. In the long axis direction of the housing 100, the axes of the guide channel 130 and the sliding guide groove 110 are parallel. The parallel arrangement of the axes of the guide channel 130 and the sliding guide groove 110 is conducive to accurately driving the surgical instrument placed in the guide channel 130.

[0075] In some optional embodiments, the sliding guide groove 110 and the first sliding guide structure 211 are connected in a slidable and rotatable manner, the sliding guide groove 110 is a cylindrical groove, and the first sliding guide structure 211 is a spherical object, for example, a ball head.

[0076] In this embodiment, the first sliding guide structure 211 can slide and rotate relative to the housing 100 through the spherical first sliding guide structure 211 and the cylindrical sliding guide groove 110. The sliding guide groove 110 is a semi-enclosed structure, and the sliding guide groove 110 is relatively provided with limiting portions 111 in the radial direction. A gap is provided between the two relatively provided limiting portions 111, and the sliding guide groove 110 can communicate with the outside of the housing 100 through the gap between the limiting portions 111. The first sliding guide structure 211 can be connected to the first connecting structure 212 outside the housing 100 by means of the gap between the limiting portions 111.

[0077] In some optional embodiments, the first connecting structure 212 and the first transmission structure 213 are an integral structure or a fixed connection, that is, the first transmission structure 213 substantially covers the first connecting structure 212 and the first transmission structure 213, or the first connecting structure 212 substantially covers the first connecting structure 212 and the first transmission structure 213.

[0078] Figure 2 for Figure 1 A cross-sectional view of the middle end mechanism 10 along line AA.

[0079] like Figure 2As shown, in some optional embodiments, the housing 100 is provided with a first fixing groove 140, and the first fixing groove 140 is located on the housing 100 for connecting the second connecting structure 222. The second connecting structure 222 is clamped in two first fixing grooves 140 disposed opposite to each other, so that the housing 100 can rotate along the first fixing groove 140 and be stably and accurately connected with the second connecting structure 222.

[0080] In some optional embodiments, the housing 100 is further provided with a mounting groove 150. The mounting groove 150 is located on one end of the side wall of the housing 100 close to the first fixing groove 140, and the mounting groove 150 extends from one end surface of the housing 100 to the first fixing groove 140 and is connected to the first fixing groove 140. The mounting groove 150 has a groove depth that gradually decreases on the path extending from the end surface of the housing 100 to the first fixing groove 140, and the second connecting structure 222 can slide to the first fixing groove 140 through the mounting groove 150.

[0081] In some optional embodiments, the second connection structure 222 is an elastic component, and the second connection structure 222 can be released by the mounting groove 150 and connected to the first fixing groove 140. By setting the mounting groove 150 with a gradually decreasing depth, the second connection structure 222 can be deformed gradually during the process of sliding from the mounting groove 150 to the first fixing groove 140 through the transition of the mounting groove 140, thereby avoiding the second connection structure 222 from being greatly deformed in a short time and causing structural damage. The mounting groove 150 can also play a guiding role during the process of the second connection structure 222 being installed in the first fixing groove 140, thereby realizing the rapid installation of the second connection structure 222.

[0082] In some optional embodiments, the second connection structure 222 is formed by connecting a detachable main body 221a and a fixing part 222b. The main body 222a and the fixing part 222b are clamped in the second first fixing groove 140 after being locked by a locking component. Further, the locking component can be a screw or a nut, and the locking component is used to tightly fix the main body 222a and the fixing part 222b together. The locking component can provide a better connection accuracy for the first connection structure 212 while facilitating the disassembly and installation of the first connection structure 212.

[0083] In some optional embodiments, the sliding guide groove 110 is a cylindrical groove body, and the first sliding guide structure 211 is a spherical object to match it. The sliding guide groove 110 is arranged in the housing 100, and at least part of the sliding guide groove 110 is connected to the outside of the housing 100 on one side of the housing 100. The sliding guide groove 110 is a semi-closed structure, and the projection of the sliding guide groove 110 in the axial direction of the housing 100 has a "C"-shaped profile. In such a structure, the "C"-shaped opening part is the gap between the two limiting parts 111, and the sliding guide groove 110 is connected to the outside of the housing through the gap between the two limiting parts 111. The two opposite limiting parts 111 can limit the spherical first sliding guide structure 211 in the sliding guide groove 110 to prevent the first sliding guide structure 211 from escaping from the radial direction of the first sliding guide structure 211.

[0084] In this embodiment, the housing 100 can slide and rotate through the spherical first sliding guide structure 211 and the cylindrical sliding guide groove 110 .

[0085] In some other embodiments, the structures of the first sliding guide structure 211 and the sliding guide groove 110 may be inconsistent but compatible. For example, the sliding guide groove 110 may be a cylindrical groove, and the first sliding guide structure 211 may be a non-spherical shape with equal width characteristics such as a Lello triangle.

[0086] In some optional embodiments, the sliding guide groove 110 is a groove body similar to a rectangular parallelepiped structure, and the first sliding guide structure 211 is a rectangular parallelepiped or a cube to match it. The first sliding guide structure 211 is clearance-matched with the sliding guide groove 110, and the first sliding guide structure 211 and the sliding guide groove 110 are tightly connected, and the two can be slidably arranged. The structure of the rectangular parallelepiped or the cube is conducive to increasing the contact area between the first sliding guide structure 211 and the sliding guide groove 110, and improving the connection accuracy and movement accuracy of the two. However, the present application is not limited to this. The above embodiments are only some examples. This embodiment aims to achieve that the first sliding guide structure 211 and the sliding guide groove 110 can slide relative to each other while being tightly matched. Without affecting the above intention, some first sliding guide structures 211 are spherical, and the sliding guide groove 110 is a rectangular parallelepiped. Replacement and reorganization of similar technical solutions are also allowed.

[0087] In some optional embodiments, a limiting device may also be provided at the opening of the sliding guide groove 110 at one axial end. After the first sliding guide structure 211 is installed in the sliding guide groove 110, the limiting device is installed to prevent the first sliding guide structure 211 from escaping from the opening. When disassembly is required, the limiting device is first removed to separate the first sliding guide structure 211 from the sliding guide groove 110.

[0088] For example, the limiting device can be configured as a top cover, and the setting of the top cover is conducive to limiting the first sliding guide structure 211 in the sliding guide groove 110. During the installation process of the terminal mechanism 10, the first sliding guide structure 211 is slid into the sliding guide groove 110 and the first sliding guide structure 211 is temporarily limited in the sliding guide groove 110 by the top cover, which can reduce the risk of the first sliding guide structure 211 falling off and being lost during the installation process. In application scenarios such as surgical operations, fewer risks of parts falling off can efficiently support the normal progress of the operation. On the one hand, it reduces the harm to the patient caused by parts falling into the patient's surgical area, and on the other hand, it prevents parts from falling and affecting the surgical process and other surgical equipment.

[0089] In some optional embodiments, the sliding guide groove 110 permanently limits the first sliding guide structure 211 in the sliding guide groove 110. By connecting the first transmission structure 213 and the second transmission structure 223 to the drive device, the installation of the terminal mechanism 10 and the drive device can be quickly realized, eliminating the installation steps of the shell 10 and the connecting component 200, and improving the convenience of use of the terminal mechanism 10. The second connecting member 220 has a structure and installation design similar to the first connecting member 210. In some medical scenarios, the integrated structure of the terminal mechanism 10 is conducive to the sterilization and preservation of the terminal mechanism 10, and can reduce the risk of contamination of the terminal mechanism 10 during installation. Such a structure can also provide support and guarantee for the sterile environment in the medical process. For example, the terminal structure can be put into use after the connecting component 200 is connected to the drive device through the sterile cover at the connection position of the drive device, and a long installation and splicing process of the terminal mechanism 10 is not required.

[0090] In some optional embodiments, a bearing or a bushing may be further provided between the first sliding guide structure 211 and the sliding guide groove 110. The provision of the bearing or bushing can reduce the gap between the first sliding guide structure 211 and the first section structure, thereby improving the sliding convenience of the first sliding guide structure 211 and reducing the sliding wear between the first section and the first sliding guide structure 211.

[0091] Figure 3 It is a cross-sectional view of the end mechanism in some other embodiments.

[0092] like Figure 3As shown, in some optional embodiments, the sliding guide groove 110 is set to penetrate the housing 100 in the axial direction, and the sliding guide groove 110 connects the two ends of the housing 100 in the axial direction. The connecting assembly 200 can slide in from one end of the housing 100 and slide out from the other end through the sliding guide groove 110. The sliding guide groove 110 connects the two ends of the housing 100 in the axial direction, which is conducive to the rapid installation of the terminal mechanism 10 and the drive device, can greatly reduce the preparation time of the surgical instrument, and is conducive to the timely treatment of the patient. In some of the aforementioned embodiments, the sliding guide groove 110 is set to penetrate the housing 100 in the axial direction, and the second connecting member 220 has the same structure as the first connecting member 210. In other words, the terminal mechanism 10 is provided with two first connecting members 210. For example, the second connecting member 220 includes a second sliding guide structure 221, a second connecting structure 222, and a second transmission structure 223 connected to each other. The second connecting member 220 having the same structure as the first connecting member 210 is conducive to reducing the difficulty of assembling the components of the terminal mechanism 10 , and can also improve the convenience of installing the terminal mechanism 10 when the terminal mechanism 10 is installed.

[0093] It can be understood that the end mechanism 10 is provided with a first fixing member, and the first fixing member is used to temporarily fix any one of the first sliding guide structure 211 and the second sliding guide structure 221 to the sliding guide groove 110, so that it has a fixed position relative to the sliding guide groove 110. The setting of the first fixing member enables one of the first connecting member 210 and the second connecting member 220 to be temporarily fixed relative to the sliding guide groove 110, and the other is movably arranged relative to the sliding guide groove 110. In this embodiment, the first fixing member is used to fix the first sliding guide structure 211 or the second sliding guide structure 221 to any position in the sliding guide groove 110, so that the housing 100 has an adjustable installation position relative to the driving device.

[0094] Figure 4 An exploded diagram of an end mechanism provided for some embodiments of the present application.

[0095] like Figure 4As shown, in some optional embodiments, the terminal mechanism 10 is also provided with an adapter component 400, which is arranged in the guide channel 130. The adapter component 400 is used to fix the surgical instrument and is provided with a through hole 440. The surgical instrument passes through the through hole 440 to be oriented and positioned. The adapter component 400 can be a set of outer diameters that match the inner diameter of the guide channel 130, but has a variety of inner diameter specifications. The adapter component 400 can provide the user with a variety of through holes 440 with different inner diameters so that the guide channel 130 can be used to fix a variety of surgical instruments with different outer diameters, so that the terminal mechanism 10 has better adaptability and richer application scenarios. The adapter component 400 can also be configured to have an adjustable inner diameter function through a limiting portion such as a gear or a hinge. The adapter component 400 with an adjustable inner diameter can replace the kit and reduce the number of parts.

[0096] In some optional embodiments, the housing 10 is provided with an orientation slot 120 communicating with the guide channel 130, and the adapter 400 is provided with an orientation pin 410. The adapter 400 is engaged with the orientation slot 120 through the orientation pin 410, so that the adapter 400 can have a fixed installation direction relative to the housing 100.

[0097] In this embodiment, the orientation slot 120 is disposed in the housing 100, adjacent to and connected to the guide channel 130, and the orientation pin 410 of the adapter 400 is protrudingly disposed, both of which extend along the axial direction of the housing 100. The orientation slot 120 and the orientation pin 410 are disposed to prevent the adapter 400 from rotating.

[0098] In some optional embodiments, the adapter component 400 may also be provided with quick-release structures such as buckles and snaps to facilitate connection with the guide channel 130 .

[0099] In some optional embodiments, the adapter component 400 is an elastic component, and the adapter component 400 is inserted into the guide channel 130 through elastic deformation and can be locked with the guide channel 130 through its own stress.

[0100] In some optional embodiments, the adapting component 400 is attached with a damping structure or an elastic component, and the adapting component 400 is fixed with the guide channel 130 through the damping structure or the elastic component. For example, a damping sheet or a rubber pad is pasted on the interface between the adapting component 400 and the guide channel 130.

[0101] In some optional embodiments, a plurality of orientation slots 120 are provided in the guide channel 130 , and the adapter component 400 can selectively engage the orientation pin 410 in any orientation slot 120 , so that the surgical instrument still has a selectable installation direction after being installed on the adapter component 400 .

[0102] In some optional embodiments, a plurality of orientation slots 120 are provided in the guide slot, a plurality of orientation pins 410 are provided on the adapter component 400, and the plurality of orientation slots 120 and the plurality of orientation pins 410 are engaged with each other, so that the surgical instrument has a plurality of selectable installation directions.

[0103] It is understandable that in the aforementioned method of fixing the adapter component 400 by engaging the orientation groove 120 and the orientation pin 410, the positions of the orientation groove 120 and the orientation pin 410 can be replaced. For example, the orientation groove 120 can be set in the adapter component 400, and the orientation pin 410 can be set in the guide channel 130. The orientation groove 120 and the orientation pin 410 are set to prevent the adapter component 400 from rotating.

[0104] Figure 5 A schematic diagram of another terminal mechanism structure provided for some embodiments of the present application.

[0105] like Figure 5 As shown, in some optional embodiments, the housing 100 is provided with a fixing hole connected to the guide channel 130, and the fixing hole is arranged along the radial direction of the housing 100. The housing 100 is also provided with a second fixing member 160 matching the fixing hole, and the connection stability between the adapter component 400 and the guide channel 130 can be improved by passing the second fixing member 160 through the fixing hole to abut against the adapter component 400. The second fixing member 160 can prevent the adapter component 400 from being loosened or rotated from the guide channel 130. For example, the second fixing member 160 can be a screw.

[0106] In some optional embodiments, the guide channel 130 is a semi-enclosed structure, and the housing 100 is provided with an opening communicating with the outside on the side wall adjacent to the guide channel 130, so that the guide channel 120 is communicated with the outside. The adapter component 400 includes a detachable first adapter portion 420 and a second adapter portion 430. The first adapter portion 420 and the second adapter portion 430 can be symmetrically arranged about the axial center of the guide channel 130.

[0107] In this embodiment, the configuration in which the adapter component 400 is spliced ​​by the first adapter part 420 and the second adapter part 430 is convenient for the installation and removal of the terminal mechanism 10 during surgery. For example, the surgical instrument in the guide channel 130 is an electrode. After the electrode is implanted in the patient's body and reaches the specified position, the terminal mechanism 10 needs to be removed to facilitate subsequent surgical steps. The first adapter part 420 and the second adapter part 430 are taken out of the guide channel 130 respectively, and the adapter component 400 is removed. Then the terminal mechanism 10 is withdrawn, and the electrode can be separated from the opening of the terminal mechanism 10, thereby releasing the connection between the adapter component 400 and the electrode. Such a configuration is convenient for the terminal mechanism 10 to cooperate with a variety of surgical instruments and surgical steps.

[0108] In some optional embodiments, the terminal mechanism 10 is further 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 bracket 310 includes a first frame 311 and a second frame 312. The first frame 311 and the second frame 312 are disposed opposite to each other on both sides of the terminal mechanism 10 in the radial direction.

[0109] 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 can be used to verify the accuracy of the position information. In 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 guarantee for the accurate and safe implementation of the operation. The positioning marker can also be a composite positioning marker 320 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.

[0110] In this embodiment, the positioning assembly 300 is used to position the medical instruments in the housing 100 and the guide channel 130. A plurality of positioning markers 320 can be attached to the bracket 310 and attached to the housing 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.

[0111] 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.

[0112] Figure 6 A schematic diagram of the structure of a medical robot provided for some embodiments of the present application.

[0113] like Figure 6 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.

[0114] 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 213, and the second driving arm 32 is connected to the second transmission structure 223. 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.

[0115] 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, wherein 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.

[0116] 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.

[0117] 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 in which the medical robot 20 cooperates with 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.

[0118] 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.

[0119] 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 and a sliding guide groove; A connecting assembly, used to connect the housing to a driving device, the connecting assembly comprising a first connecting member and a second connecting member, the connecting assembly being releasably connected to the housing; The first connecting member includes a first sliding guide structure, a first connecting structure and a first transmission structure, the first sliding guide structure is connected to the sliding guide groove, the housing can move relative to the first rotation axis and the second rotation axis of the first connecting member, and 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 sliding guide groove allows the first sliding guide structure to slide therein along the axial direction of the housing, the sliding guide groove is a cylindrical groove, and the first sliding guide structure is a spherical object; The second connecting member includes a second connecting structure and a second transmission structure, the second connecting structure is connected to the housing, the second transmission structure is connected to the driving device, the housing can move relative to a third rotation axis and a fourth rotation axis of the second connecting member, and the third rotation axis and the fourth rotation axis are perpendicular to each other; The adapter component is detachably arranged on the guide channel.

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 housing via the second sliding guide structure, and the sliding guide groove allows the second sliding guide structure to slide therein along the axial direction of the housing.

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 first fixing member, and the first fixing member is used to temporarily fix one of the first sliding guide structure and the second sliding guide structure to the shell.

4. The end mechanism according to claim 1, characterized in that: The sliding guide groove and the first sliding guide structure are slidably connected, and the first sliding guide structure and the first transmission structure are rotationally connected.

5. The end mechanism according to claim 1, characterized in that: The shell is provided with a first fixing groove, the first fixing groove is located at one end of the shell close to the second connecting member, and the first fixing groove is used to fix the second connecting structure.

6. The end mechanism according to claim 1, characterized in that: The adapter component is provided with a through hole.

7. The end mechanism according to claim 1, characterized in that: The guide channel is a semi-enclosed structure, and the adapter component includes a detachable first adapter portion and a second adapter portion.

8. 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.

9. The end mechanism according to claim 8, characterized in that: The bracket includes a first frame body and a second frame body, wherein the first frame body and the second frame body are arranged opposite to each other on two sides of the terminal mechanism in a radial direction.

10. A medical robot, characterized in that: Comprising the end mechanism as described in any one of claims 1 to 9, 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.

11. A surgical navigation system, characterized in that: Comprising the medical robot as described in claim 10.

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