A cutting robot

Abstract

The present invention discloses a cutting robot, which relates to the field of medical equipment and comprises: a first connecting member, one end of which is used to be connected to a 3D printed guide plate; a second connecting member, one end of which is connected to the other end of the first connecting member, and the other end of the second connecting member is connected to a scalpel via a third connecting member, and both ends of the three connecting members are hingedly connected; the rotation axes of the three connecting members are parallel to each other; an optical positioning and tracking system, comprising a marking rigid body and a passive marking ball, the marking rigid body is arranged on the 3D printed guide plate, and the passive marking ball is arranged at the end of the scalpel; a control unit, which is connected to the optical positioning and tracking system, and the control unit can send information on the angles of the first connecting member, the second connecting member and the third connecting member according to a cutting instruction; the cutting robot adjusts the three connecting members according to the angle instruction of the control unit, so that the scalpel can reach the specified position, and can also correct the cutting angle of the cutting robot in time to ensure the quality of the cutting operation.

Description

Technical Field

[0001] The present invention belongs to the field of medical equipment, and more specifically, relates to a cutting robot. Background Art

[0002] During total knee replacement surgery, a cutting robot can be used to cut and reshape diseased bone tissue. If an automated cutting robot is used, its positioning must be accurate and free of excessive movement during the cutting process. Failure to promptly correct the robot's position can result in a non-compliant cutting surface, impacting subsequent surgical procedures. Summary of the Invention

[0003] The purpose of the present invention is to address the shortcomings of the existing technology and provide a cutting robot. The cutting robot adjusts the three connecting parts according to the angle instructions of the control unit so that the scalpel can reach the specified position. During the bone tissue cutting process, the end position of the scalpel is monitored by an optical positioning tracking system, and the rotation angle between the three connecting parts is adjusted, which can timely correct the cutting angle of the cutting robot and ensure the quality of the cutting operation.

[0004] In order to achieve the above object, the present invention provides a cutting robot, comprising:

[0005] A first connecting piece, one end of which is used to connect to the 3D printing guide plate;

[0006] a second connecting member, one end of which is connected to the other end of the first connecting member, the other end of which is connected to the scalpel via a third connecting member, and both ends of the first connecting member, the second connecting member, and the third connecting member are hingedly connected;

[0007] The rotation axes of the first connecting member, the second connecting member and the third connecting member are parallel to each other;

[0008] An optical positioning and tracking system includes a marker rigid body and a passive marker ball, wherein the marker rigid body is arranged on the 3D printing guide plate, and the passive marker ball is arranged at the end of the scalpel;

[0009] A control unit is connected to the optical positioning tracking system, and the control unit can issue information about the angles of the first connecting member, the second connecting member and the third connecting member according to a cutting instruction.

[0010] Optionally, a hinge structure connected to the control unit is provided between the second connecting member and the third connecting member, and the hinge structure includes:

[0011] a connecting seat, one end of which is connected to the other end of the second connecting member via a first manually adjustable hinge;

[0012] One end of the second manually adjustable hinge is connected to the other end of the connecting seat, and the other end of the second manually adjustable hinge is connected to one end of the third connecting member.

[0013] Optionally, a third manually adjustable hinge and a fourth manually adjustable hinge are respectively provided between the first connecting member and the second connecting member, and between the third connecting member and the scalpel.

[0014] Optionally, the third connecting member includes a connecting body and a hinge connecting plate, the connecting body is a right-angled triangle structure, one right-angled side of the connecting body is connected to the second manually adjustable hinge, the other right-angled side of the connecting body and the hinge connecting plate are an integrally formed structure and the two are perpendicular to each other, the hinge connecting plate and one end of the fourth manually adjustable hinge are fit together and connected, and the other end of the fourth manually adjustable hinge is arranged at one end close to the connecting body.

[0015] Optionally, the rotation axis of the fourth manually adjustable hinge is in the same plane as the connecting body.

[0016] Optionally, the fourth manually adjustable hinge is connected to the scalpel via a fourth connecting piece, the fourth connecting piece is cylindrical, and the fourth connecting piece is sleeved on the middle part of the scalpel.

[0017] Optionally, the first manually adjustable hinge, the second manually adjustable hinge and the third manually adjustable hinge have the same structure, and output ends are provided on both sides.

[0018] Optionally, an output end is provided on one side of the fourth manually adjustable hinge.

[0019] Optionally, the first manually adjustable hinge, the second manually adjustable hinge, the third manually adjustable hinge and the fourth manually adjustable hinge are respectively provided with rubber sleeves, the rubber sleeves are provided on both sides of the hinge rotating part, and the rubber sleeves cooperate with the hinge rotating part.

[0020] Optionally, a plurality of weight-reducing holes are provided on the second connecting member.

[0021] The present invention provides a cutting robot, which has the following beneficial effects: the cutting robot can accurately detect the end position of the scalpel through an optical positioning and tracking system, and can provide the angle information between the three connecting parts after the control unit receives the doctor's cutting position instruction, so that the positions of the three connecting parts can be adjusted by manually adjusting the hinges, and the end position of the scalpel can be determined by the optical positioning and tracking system. In addition, when the optical positioning and tracking system detects that the cutting position deviates during the process of the scalpel cutting bone tissue, the manual adjustment hinge can be adjusted in time to ensure the accuracy of the cutting plane and the quality of the cutting operation.

[0022] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0024] Figure 1 A schematic structural diagram of a cutting robot according to an embodiment of the present invention is shown.

[0025] Description of reference numerals:

[0026] 1. First connecting member; 2. Second connecting member; 3. Third connecting member; 4. 3D printing guide; 5. Scalpel; 6. Connecting seat; 7. First manually adjustable hinge; 8. Third manually adjustable hinge; 9. Fourth manually adjustable hinge; 10. Connecting body; 11. Hinge connecting plate; 12. Fourth connecting member. DETAILED DESCRIPTION

[0027] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. Instead, these embodiments are provided to make the present invention more thorough and complete and to fully convey the scope of the present invention to those skilled in the art.

[0028] The present invention provides a cutting robot, comprising:

[0029] A first connecting piece, one end of which is used to connect to the 3D printing guide plate;

[0030] a second connecting member, one end of which is connected to the other end of the first connecting member, the other end of which is connected to the scalpel via a third connecting member, and both ends of the first connecting member, the second connecting member and the third connecting member are hingedly connected;

[0031] The rotation axes of the first connecting member, the second connecting member and the third connecting member are parallel to each other;

[0032] An optical positioning and tracking system includes a marker rigid body and a passive marker ball. The marker rigid body is set on the 3D printed guide plate, and the passive marker ball is set on the end of the scalpel.

[0033] The control unit is connected to the optical positioning tracking system, and the control unit can send information about the angles of the first connecting member, the second connecting member and the third connecting member according to the cutting instruction.

[0034] Specifically, the cutting robot uses three connecting parts to fix the scalpel on the 3D printed guide plate, and the three connecting parts are connected by hinges. When the control unit receives the doctor's cutting instruction, it can calculate the setting angle value between each connecting part and manually set the cutting robot. The optical positioning and tracking system can confirm the end position of the scalpel; during the process of the scalpel cutting bone tissue, the optical positioning and tracking system monitors the end position of the scalpel in real time. When the cutting position deviates, it sends an instruction to the control unit, so that the angle between the connecting parts can be manually adjusted to ensure the end cutting accuracy of the scalpel.

[0035] Optionally, a hinge structure connected to the control unit is provided between the second connecting member and the third connecting member, and the hinge structure includes:

[0036] a connecting seat, one end of which is connected to the other end of the second connecting member via a first manually adjustable hinge;

[0037] One end of the second manually adjustable hinge is connected to the other end of the connecting seat, and the other end of the second manually adjustable hinge is connected to one end of the third connecting member.

[0038] Specifically, the hinge structure located between the second connecting member and the third connecting member includes a first manually adjustable hinge and a second manually adjustable hinge. The two manually adjustable hinges are respectively arranged at both ends of the connecting seat, so that the two manually adjustable hinges can be rotated respectively relative to the hinge structure. This can improve the movement efficiency of the scalpel and enable the cutting robot to form more cutting postures, which is convenient for doctors to observe the operation and leave space for other auxiliary equipment.

[0039] Optionally, a third manually adjustable hinge and a fourth manually adjustable hinge are respectively provided between the first connecting member and the second connecting member, and between the third connecting member and the scalpel.

[0040] Specifically, the first connecting member and the 3D printed guide plate can be used as a whole, and then hingedly connected to the second connecting member. The third manually adjustable hinge can satisfy the rotation of the second connecting member to any angle, and can improve the movement stability of the scalpel; a fourth manually adjustable hinge is used between the third connecting member and the scalpel. When the scalpel moves circumferentially, there is no need for the second and third connecting members to rotate and adjust. Only the angle of the fourth manually adjustable hinge needs to be adjusted to achieve the movement requirements, shorten the control adjustment time, and minimize the number of moving parts; when the control unit analyzes and calculates the doctor's instructions, it will be compared with the actual surgical position and the cutting robot's The spatial model with matching position is imported into the control unit, and then the lengths of the three connecting parts of the cutting robot, the position of the 3D printed guide plate and the plane position of the cut bone tissue are input into the spatial model. Then, according to the cutting instructions, the rotation angles between the various connecting parts are calculated. When the optical positioning and tracking system finds the scalpel position deviation during the cutting process, it starts to adjust from the fourth manual adjustment hinge. If one hinge can satisfy the scalpel position correction after adjustment, there is no need to adjust the other three hinges. If it cannot be corrected, the third manual adjustment hinge, the second manual adjustment hinge and the first manual adjustment hinge are adjusted in turn until the scalpel position returns to the correct position.

[0041] Optionally, the third connecting member includes a connecting body and a hinge connecting plate, the connecting body is a right-angled triangle structure, one right-angled side of the connecting body is connected to the second manually adjustable hinge, the other right-angled side of the connecting body and the hinge connecting plate are an integrally formed structure and the two are perpendicular to each other, the hinge connecting plate and one end of the fourth manually adjustable hinge are fit together and connected, and the other end of the fourth manually adjustable hinge is arranged at one end close to the connecting body.

[0042] Specifically, the third connecting member, as the connecting member closest to the scalpel, needs to ensure the connection strength and movement stability of the scalpel. A right-angled triangle-shaped connecting body is provided in the third connecting member to be connected with the second manually adjustable hinge, and a hollow structure is provided in the middle of the connecting body. In this way, the weight of the third connecting member can be reduced as much as possible while reducing the overall strength, and the length of one right-angled side of the connecting body is set to be the same as the length of the connecting plate of the second manually adjustable hinge, thereby increasing the connection area between the third connecting member and the hinge structure; the top of the other right-angled side of the connecting body is integrally formed with the hinge connecting plate, and the U-shaped groove of the hinge connecting plate is used to place the fourth manually adjustable hinge, and the bottom of the hinge connecting plate is used to support the fourth manually adjustable hinge, and the output end of the fourth manually adjustable hinge is also provided on the side, extending from the side wall of the hinge connecting plate to be connected to the scalpel, and the axis of the output shaft of the fourth manually adjustable hinge is parallel to the side plane of the connecting body, so that the fourth manually adjustable hinge can drive the scalpel to rotate more stably.

[0043] Optionally, the rotation axis of the fourth manually adjustable hinge is in the same plane as the connecting body.

[0044] Specifically, when the axis of the rotation shaft of the fourth manually adjustable hinge is coplanar with the central plane of the connecting body, the rotation center of gravity of the scalpel will completely fall on the connecting body, and the scalpel will move more accurately and stably.

[0045] Optionally, the fourth manually adjustable hinge is connected to the scalpel via a fourth connecting piece, the fourth connecting piece is cylindrical, and the fourth connecting piece is sleeved on the middle part of the scalpel.

[0046] Specifically, the movable end of the fourth manually adjustable hinge is provided with a fourth connecting piece, and the fourth connecting piece is sleeved on the middle part of the scalpel. In this way, during the movement of the scalpel, the number of adjustments of the manually adjustable hinge is minimized. If it can be adjusted through the connection structure between the fourth connecting piece and the scalpel, the manual adjustable hinge does not need to be adjusted. In this way, the adjustment of the scalpel is more convenient and the operation efficiency is higher.

[0047] Optionally, the first manually adjustable hinge, the second manually adjustable hinge and the third manually adjustable hinge have the same structure, and output ends are provided on both sides.

[0048] Optionally, an output end is provided on one side of the fourth manually adjustable hinge.

[0049] Specifically, the first, second and third manually adjustable hinges are connected to the second connecting member and the third connecting member through output ends extending from both sides. The locking structure on the output end can tighten the second connecting member and the third connecting member through both sides, so that the connection strength and stability are higher; due to the connection position relationship between the fourth manually adjustable hinge and the scalpel, the fourth manually adjustable hinge is set as a single-sided output end, which is more reasonable and more convenient to adjust.

[0050] Optionally, the first manually adjustable hinge, the second manually adjustable hinge, the third manually adjustable hinge and the fourth manually adjustable hinge are respectively provided with rubber sleeves, which are provided on both sides of the hinge rotating part and cooperate with the hinge rotating part.

[0051] Specifically, after adjusting the angle setting information given by the control unit, the various connecting parts are adjusted, and the manually adjustable hinge is clamped and fixed from both sides by the rubber sleeve, so that the rubber sleeve can fit tightly on both sides of the hinge rotating part, ensuring that the manually adjustable hinge will not loosen and ensuring the stability of the scalpel adjustment position.

[0052] Optionally, a plurality of weight-reducing holes are provided on the second connecting member.

[0053] Specifically, in order to achieve a lightweight design and simple and beautiful appearance, the first connecting member, the second connecting member and the third connecting member are respectively hollowed out to reduce weight, reducing the torque requirements for the four manually adjustable hinges, enabling the scalpel to be moved more quickly and accurately for operation, and ensuring the stability of the scalpel during the cutting process.

[0054] Example

[0055] like Figure 1 As shown, the present invention provides a cutting robot, comprising:

[0056] A first connecting member 1, one end of which is used to connect to the 3D printing guide plate 4;

[0057] One end of the second connecting member 2 is connected to the other end of the first connecting member 1, and the other end of the second connecting member 2 is connected to the scalpel 5 through the third connecting member 3. Both ends of the first connecting member 1, the second connecting member 2 and the third connecting member 3 are hingedly connected;

[0058] The rotation axes of the first connecting member 1, the second connecting member 2 and the third connecting member 3 are parallel to each other;

[0059] The optical positioning and tracking system includes a marker rigid body and a passive marker ball. The marker rigid body is set on the 3D printing guide plate 4, and the passive marker ball is set at the end of the scalpel 5.

[0060] The control unit is connected to the optical positioning tracking system. The control unit can send information about the angles of the first connecting member 1, the second connecting member 2 and the third connecting member 3 according to the cutting instruction.

[0061] In this embodiment, a hinge structure connected to the control unit is provided between the second connecting member 2 and the third connecting member 3. The hinge structure includes:

[0062] A connecting base 6, one end of which is connected to the other end of the second connecting member 2 via a first manually adjustable hinge 7;

[0063] One end of the second manually adjustable hinge is connected to the other end of the connecting seat 6 , and the other end of the second manually adjustable hinge is connected to one end of the third connecting member 3 .

[0064] In this embodiment, a third manually adjustable hinge 8 and a fourth manually adjustable hinge 9 are respectively provided between the first connecting member 1 and the second connecting member 2 and between the third connecting member 3 and the scalpel 4 .

[0065] In this embodiment, the third connecting member 3 includes a connecting body 10 and a hinge connecting plate 11. The connecting body 10 is a right-angled triangle structure. One right-angled side of the connecting body 10 is connected to the second manually adjustable hinge. The other right-angled side of the connecting body 10 and the hinge connecting plate 11 are an integrally formed structure and the two are perpendicular to each other. The hinge connecting plate 11 and one end of the fourth manually adjustable hinge 9 are fit together and connected, and the other end of the fourth manually adjustable hinge 9 is arranged at an end close to the connecting body 10.

[0066] In this embodiment, the rotation axis of the fourth manually adjustable hinge 9 and the connecting body 10 are in the same plane.

[0067] In this embodiment, the fourth manually adjustable hinge 9 is connected to the scalpel 4 via a fourth connecting member 12 . The fourth connecting member 12 is cylindrical and sleeved on the middle portion of the scalpel 4 .

[0068] In this embodiment, the first manually adjustable hinge 7 , the second manually adjustable hinge and the third manually adjustable hinge 8 have the same structure, and output ends are provided on both sides.

[0069] In this embodiment, an output end is provided on one side of the fourth manually adjustable hinge 9 .

[0070] In this embodiment, rubber sleeves are respectively provided on the first manually adjustable hinge 7, the second manually adjustable hinge, the third manually adjustable hinge 8 and the fourth manually adjustable hinge 9. The rubber sleeves are provided on both sides of the hinge rotating part, and the rubber sleeves cooperate with the hinge rotating part.

[0071] In this embodiment, a plurality of weight-reducing holes are formed on the second connecting member 2 .

[0072] In summary, the cutting robot is respectively provided with manually adjustable hinges between the first connecting part 1, the second connecting part 2, and the third connecting part 3. When the control unit calculates the rotation angle between each connecting part according to the doctor's instructions, the manually adjustable hinges can be adjusted respectively. After each adjustment, the rubber sleeve is tightened and fixed. Finally, the optical positioning and tracking system is used to confirm whether the position of the end of the scalpel is in place; when the scalpel cuts the bone tissue, the optical positioning and tracking system monitors the position of the scalpel 5 in real time. When the position of the scalpel is offset, the control unit issues an instruction, so that the angles of the fourth manually adjustable hinge 9, the third manually adjustable hinge 8, the second manually adjustable hinge and the first manually adjustable hinge 7 can be adjusted in turn until the scalpel 5 returns to the correct position, thereby ensuring the cutting accuracy of the cutting robot.

[0073] While various embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A cutting robot, characterized in that: include: A first connecting piece, one end of which is used to connect to the 3D printing guide plate; a second connecting member, one end of which is connected to the other end of the first connecting member, the other end of which is connected to the scalpel via a third connecting member, and both ends of the first connecting member, the second connecting member, and the third connecting member are hingedly connected; The rotation axes of the first connecting member, the second connecting member and the third connecting member are parallel to each other; An optical positioning and tracking system, comprising a marker rigid body and a passive marker ball, wherein the marker rigid body is disposed on the 3D printing guide plate, and the passive marker ball is disposed at the end of the scalpel; a control unit connected to the optical positioning tracking system, wherein the control unit can issue information about angles between the first connecting member, the second connecting member, and the third connecting member according to a cutting instruction; A hinge structure connected to the control unit is provided between the second connecting member and the third connecting member, and the hinge structure includes: a connecting seat, one end of which is connected to one end of the second connecting member via a first manually adjustable hinge; a second manually adjustable hinge, one end of which is connected to the other end of the connecting base, and the other end of the second manually adjustable hinge is connected to one end of the third connecting member; A third manually adjustable hinge and a fourth manually adjustable hinge are respectively provided between the first connecting member and the second connecting member and between the third connecting member and the scalpel.

2. The cutting robot according to claim 1, characterized in that: The third connecting member includes a connecting body and a hinge connecting plate. The connecting body is a right-angled triangle structure. One right-angled side of the connecting body is connected to the second manually adjustable hinge. The other right-angled side of the connecting body and the hinge connecting plate are an integrally formed structure and the two are perpendicular to each other. The hinge connecting plate and one end of the fourth manually adjustable hinge are fitted and connected to each other, and the other end of the fourth manually adjustable hinge is arranged at an end close to the connecting body.

3. The cutting robot according to claim 2, characterized in that: The rotation axis of the fourth manually adjustable hinge is in the same plane as the connecting body.

4. The cutting robot according to claim 3, characterized in that: The fourth manually adjustable hinge is connected to the scalpel via a fourth connecting piece. The fourth connecting piece is cylindrical and sleeved on the middle part of the scalpel.

5. The cutting robot according to claim 2, characterized in that: The first manually adjustable hinge, the second manually adjustable hinge and the third manually adjustable hinge have the same structure, and output ends are provided on both sides.

6. The cutting robot according to claim 5, characterized in that: An output end is provided on one side of the fourth manually adjustable hinge.

7. The cutting robot according to claim 6, characterized in that: The first manually adjustable hinge, the second manually adjustable hinge, the third manually adjustable hinge and the fourth manually adjustable hinge are respectively provided with rubber sleeves, the rubber sleeves are provided on both sides of the hinge rotating part, and the rubber sleeves cooperate with the hinge rotating part.

8. The cutting robot according to claim 1, characterized in that: The second connecting member is provided with a plurality of weight-reducing holes.

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