Control device of cutting robot

Abstract

The present invention discloses a control device for a cutting robot, which relates to the field of surgical robot auxiliary equipment, comprising: 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 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; the rotation angles between the first connecting member, the second connecting member, the third connecting member and the scalpel are controlled by a control unit; the control device can enable the scalpel to move on the same plane on the 3D printed guide plate through the hinged connection of the first connecting member, the second connecting member and the third connecting member, thereby solving the problem that it is difficult for doctors to control the cutting plane.

Description

Technical Field

[0001] The present invention belongs to the field of surgical robot auxiliary equipment, and more specifically, relates to a control device for a cutting robot. Background Art

[0002] During total knee replacement surgery, in order to remove diseased bone tissue and match the remaining bone tissue to the size and shape of the artificial joint, the doctor needs to use a special oscillating saw for bone cutting to perform cutting and shaping. The final shape of the distal femur and proximal tibia is composed of planes at different positions and angles. Therefore, all bone cutting actions can be divided into two types: one is to determine the position and angle of the bone cutting plane; the other is to use an oscillating saw to cut a planar gap with controllable boundaries within the plane. The work of determining the bone cutting plane is completed by a personalized guide plate, and it is necessary to assist in cutting out a plane with controllable boundaries based on the guide plate. Therefore, a device that can accurately control the cutting robot to perform bone cutting actions is required. Summary of the Invention

[0003] The purpose of the present invention is to address the shortcomings of the existing technology and provide a control device for a cutting robot. The control device is connected by a first connecting member, a second connecting member and a third connecting member, which can enable the scalpel to always move on the same plane on the 3D printed guide plate, thereby solving the problem that it is difficult for doctors to control the cutting plane.

[0004] In order to achieve the above object, the present invention provides a control device for 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] The rotation angles among the first connecting member, the second connecting member, the third connecting member and the scalpel are controlled by a control unit.

[0009] 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:

[0010] A connecting base, one end of which is provided with a first rotating motor, wherein an output end of the first rotating motor is connected to the other end of the second connecting member;

[0011] The second rotating motor is arranged at the other end of the connecting seat, and the output end of the second rotating motor is connected to one end of the third connecting member.

[0012] Optionally, the first rotating motor is a dual-axis rotating motor, the other end of the second connecting member is U-shaped, and the two output ends of the first rotating motor are respectively connected to the side of the other end of the second connecting member.

[0013] Optionally, the second rotating motor is a dual-axis rotating motor, and a U-shaped connecting frame is provided between the hinged structure and the third connecting member, the sides of the U-shaped connecting frame are respectively connected to the two output ends of the second rotating motor, and the bottom of the U-shaped connecting frame is connected to one end of the third connecting member.

[0014] Optionally, a single-axis servo connected to the control unit is provided between the first connecting member and the second connecting member, and between the third connecting member and the scalpel, respectively.

[0015] Optionally, the third connecting member includes a connecting body and a servo connecting plate, the connecting body is a right-angled triangle structure, one right-angled side of the connecting body is connected to the U-shaped connecting frame, the other right-angled side of the connecting body and the servo connecting plate are an integrally formed structure and the two are perpendicular to each other, the servo connecting plate and the single-axis servo are fitly connected to each other, and the output end of the single-axis servo is arranged at one end close to the connecting body.

[0016] Optionally, the axis of the output end of the single-axis servo is in the same plane as the connecting body.

[0017] Optionally, the single-axis servo is connected to the scalpel via a fourth connecting member, the fourth connecting member is cylindrical, and the fourth connecting member is sleeved on the middle part of the scalpel.

[0018] Optionally, the first connecting member and the 3D printing guide plate are connected via a quick-release pin, and one end of the first connecting member is connected to the midpoint of the 3D printing guide plate.

[0019] Optionally, a plurality of weight-reducing holes are provided on the second connecting member.

[0020] The present invention provides a control device for a cutting robot, which has the beneficial effects of: the control device of the cutting robot adopts single-axis servos for the first connecting member and the second connecting member and the third connecting member and the scalpel, and two rotating motors are arranged between the second connecting member and the third connecting member, and are controlled by a control unit, so that the movement area of ​​the scalpel can cover the entire preset cutting area, and ensure that the scalpel always moves on the same plane, achieving high-precision rotation, and reducing the space occupied by the control device.

[0021] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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.

[0023] Figure 1 A schematic structural diagram of a control device for a cutting robot according to an embodiment of the present invention is shown.

[0024] Description of reference numerals:

[0025] 1. First connecting member; 2. Second connecting member; 3. Third connecting member; 4. 3D printing guide; 5. Scalpel; 6. Connecting seat; 7. First rotating motor; 8. Quick release pin; 9. U-shaped connecting frame; 10. Single-axis servo; 11. Connecting body; 12. Servo connecting plate; 13. Fourth connecting member. DETAILED DESCRIPTION

[0026] 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.

[0027] The present invention provides a control device for a cutting robot, comprising:

[0028] A first connecting piece, one end of which is used to connect to the 3D printing guide plate;

[0029] 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;

[0030] The rotation axes of the first connecting member, the second connecting member and the third connecting member are parallel to each other;

[0031] The rotation angles among the first connecting member, the second connecting member, the third connecting member and the scalpel are controlled by a control unit.

[0032] Specifically, the control device of the cutting robot is set between the 3D printed guide plate and the scalpel. Through three mutually hinged connecting parts and a control unit, the movement of the scalpel can be kept on the same plane. The control unit can accurately control the rotation angle of the connecting parts, so that the scalpel can reach any position in the preset cutting area to meet the cutting requirements.

[0033] 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:

[0034] A connecting seat, one end of which is provided with a first rotating motor, and an output end of the first rotating motor is connected to the other end of the second connecting member;

[0035] The second rotating motor is arranged at the other end of the connecting seat, and the output end of the second rotating motor is connected to one end of the third connecting member.

[0036] Specifically, the transmission part located between the second connecting member and the third connecting member is a hinged structure, which includes a first rotating motor, a second rotating motor and a connecting seat. The two rotating motors are respectively arranged at both ends of the connecting seat, so that the second connecting member and the third connecting member can rotate respectively relative to the hinged structure, which can improve the movement efficiency of the scalpel.

[0037] Optionally, the first rotating motor is a dual-axis rotating motor, the other end of the second connecting member is U-shaped, and the two output ends of the first rotating motor are respectively connected to the side of the other end of the second connecting member.

[0038] Specifically, the first rotating motor is a dual-axis rotating motor, and the connecting parts of the second connecting member are located on both sides of the first rotating motor. In this way, when the first rotating motor realizes the relative rotation of the second connecting member and the hinge structure, the rotation action is relatively stable, and the second connecting member will not deviate along the axis of rotation relative to the hinge structure, thereby ensuring that the scalpel can always move on the same plane.

[0039] Optionally, the second rotating motor is a dual-axis rotating motor, and a U-shaped connecting frame is provided between the hinged structure and the third connecting member, the sides of the U-shaped connecting frame are respectively connected to the two output ends of the second rotating motor, and the bottom of the U-shaped connecting frame is connected to one end of the third connecting member.

[0040] Specifically, the second rotating motor also adopts a dual-axis rotating motor, which realizes the rotation effect of the two axes of the dual-axis servo between the second connecting member and the third connecting member, so that the force on the motor rotating shaft is more uniform, thereby improving the service life of the control device.

[0041] Optionally, a single-axis servo connected to the control unit is provided between the first connecting member and the second connecting member, and between the third connecting member and the scalpel, respectively.

[0042] Specifically, the first connecting member and the 3D printing guide plate can be integrated as a whole and then hingedly connected to the second connecting member. The single-axis servo can satisfy the rotation of the second connecting member to any angle and can improve the movement stability of the scalpel. A single-axis servo 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. It is only necessary to adjust the angle of this single-axis servo through the control unit to achieve the movement requirements, shorten the control adjustment time, minimize the number of moving parts, and ensure the accuracy of the scalpel.

[0043] In one embodiment, the first rotating motor, the second rotating motor and the single-axis servo all use servos with a UART serial bus, which can control the rotation of the servo with high precision while preventing serial port waste and reducing the size of the mechanism.

[0044] Optionally, the third connecting member includes a connecting body and a servo connecting plate, the connecting body is a right-angled triangle structure, one right-angled side of the connecting body is connected to the U-shaped connecting frame, the other right-angled side of the connecting body and the servo connecting plate are an integrally formed structure and the two are perpendicular to each other, the servo connecting plate and the single-axis servo are fitted and connected to each other, and the output end of the single-axis servo is arranged at one end close to the connecting body.

[0045] 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 and a U-shaped servo connecting plate are provided in the third connecting member, 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 bottom length of the U-shaped connecting frame, 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 servo connecting plate, and the U-shaped groove of the servo connecting plate is used to place a single-axis servo, and the bottom of the servo connecting plate is used to support the single-axis servo, and the output end of the single-axis servo is also provided on both sides of the single-axis servo, extending from the two side walls of the servo connecting plate, and the output shaft of the single-axis servo is provided on the side close to the connecting body, so that the single-axis servo can drive the scalpel to rotate more stably.

[0046] Optionally, the axis of the output end of the single-axis servo is in the same plane as the connecting body.

[0047] Specifically, when the axis of the rotation shaft of the single-axis servo is coplanar with the central plane of the connecting body, the rotation center of gravity of the scalpel will fall completely on the connecting body, and the scalpel will move more accurately and stably.

[0048] Optionally, the single-axis servo is connected to the scalpel via a fourth connecting member, the fourth connecting member is cylindrical, and the fourth connecting member is sleeved on the middle part of the scalpel.

[0049] Specifically, the output end of the single-axis servo is provided with a fourth connecting piece, and the fourth connecting piece is sleeved on the middle part of the scalpel. In this way, when the control device drives the scalpel to move, it can ensure that the rotation angle and moving distance of the scalpel are achieved through the control signal sent by the control unit, and the control of the scalpel is more precise.

[0050] Optionally, the first connecting member and the 3D printing guide plate are connected via a quick-release pin, and one end of the first connecting member is connected to the midpoint of the 3D printing guide plate.

[0051] Optionally, a plurality of weight-reducing holes are provided on the second connecting member.

[0052] 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 hinge structure and the single-axis servo, which can move the scalpel more quickly and accurately for operation, and ensure that the movement of the scalpel can remain on the same plane, solving the problem of doctors having difficulty controlling the cutting plane.

[0053] Example

[0054] like Figure 1 As shown, the present invention provides a control device for a cutting robot, comprising:

[0055] A first connecting member 1, one end of which is used to connect to the 3D printing guide plate 4;

[0056] 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;

[0057] 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;

[0058] The rotation angles among the first connecting member 1 , the second connecting member 2 , the third connecting member 3 and the scalpel 5 are controlled by a control unit.

[0059] 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:

[0060] The connecting base 6 has a first rotating motor 7 at one end, and the output end of the first rotating motor 7 is connected to the other end of the second connecting member 2;

[0061] The second rotating motor is arranged at the other end of the connecting seat 6 , and the output end of the second rotating motor is connected to one end of the third connecting member 3 .

[0062] In this embodiment, the first rotating motor 7 is a dual-axis rotating motor, the other end of the second connecting member 2 is U-shaped, and the two output ends of the first rotating motor 7 are respectively connected to the side of the other end of the second connecting member 2.

[0063] In this embodiment, the second rotating motor is a dual-axis rotating motor, and a U-shaped connecting frame 9 is arranged between the hinged structure and the third connecting member 3. The sides of the U-shaped connecting frame 9 are respectively connected to the two output ends of the second rotating motor, and the bottom of the U-shaped connecting frame 9 is connected to one end of the third connecting member 3.

[0064] In this embodiment, a single-axis steering gear 10 connected to the control unit is provided between the first connecting member 1 and the second connecting member 2 and between the third connecting member 3 and the scalpel 5 .

[0065] In this embodiment, the third connector 3 includes a connecting body 11 and a servo connection plate 12. The connecting body 11 is a right-angled triangle structure. One right-angled side of the connecting body 11 is connected to the U-shaped connecting frame 9. The other right-angled side of the connecting body 11 and the servo connection plate 12 are integrally formed and perpendicular to each other. The servo connection plate 12 is closely connected to the single-axis servo 10, and the output end of the single-axis servo 10 is arranged at the end closest to the connecting body 11.

[0066] In this embodiment, the axis of the output end of the single-axis servo 10 and the connecting body 11 are in the same plane.

[0067] In this embodiment, the single-axis servo 10 is connected to the scalpel 5 via a fourth connecting member 13 . The fourth connecting member 13 is cylindrical and sleeved on the middle portion of the scalpel 5 .

[0068] In this embodiment, the first connecting member 1 and the 3D printing guide plate 4 are connected via a quick-release pin 8 , and one end of the first connecting member 1 is connected to the midpoint of the 3D printing guide plate 4 .

[0069] In this embodiment, a plurality of weight-reducing holes are formed on the second connecting member 2 .

[0070] In summary, the cutting robot's control device was tested for maintaining planar motion. The 3D-printed guide plate 4 was secured in a bench vise, the first connector 1 was connected to the 3D-printed guide plate 4 via a quick-release pin 8, and a dynamometer was used to apply force in the vertical direction. When the dynamometer reading was 0.5 kg, the scalpel 5 had a Z-axis deviation of 5 mm; when the dynamometer reading was 1 kg, the scalpel 5 had a Z-axis deviation of 8 mm. Because the maximum vertical force in actual surgery would not exceed the force applied in this test, and the maximum scalpel deflection in this test was less than the guide plate gap width, it can be verified that the scalpel movement connected by the control device is well-planar, meeting cutting requirements.

[0071] 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 control device for 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; The rotation angles between the first connecting member, the second connecting member, the third connecting member and the scalpel are controlled by a control unit; 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 base, one end of which is provided with a first rotating motor, wherein an output end of the first rotating motor is connected to the other end of the second connecting member; a second rotating motor, disposed at the other end of the connecting base, wherein an output end of the second rotating motor is connected to one end of the third connecting member; A single-axis servo connected to the control unit is provided between the first connecting member and the second connecting member, and between the third connecting member and the scalpel; The axis of the output end of the single-axis servo is in the same plane as the connecting body; The first connecting member and the 3D printing guide plate are connected via a quick-release pin, and one end of the first connecting member is connected to the midpoint of the 3D printing guide plate.

2. The control device of the cutting robot according to claim 1, characterized in that: The first rotating motor is a dual-axis rotating motor, the other end of the second connecting member is U-shaped, and the two output ends of the first rotating motor are respectively connected to the side of the other end of the second connecting member.

3. The control device of the cutting robot according to claim 2, characterized in that: The second rotating motor is a dual-axis rotating motor. A U-shaped connecting frame is provided between the hinged structure and the third connecting member. The sides of the U-shaped connecting frame are respectively connected to the two output ends of the second rotating motor, and the bottom of the U-shaped connecting frame is connected to one end of the third connecting member.

4. The control device for a cutting robot according to claim 3, wherein: The third connecting member also includes a steering gear connecting plate. The connecting body is a right-angled triangle structure. One right-angled side of the connecting body is connected to the U-shaped connecting frame. The other right-angled side of the connecting body and the steering gear connecting plate are an integrally formed structure and are perpendicular to each other. The steering gear connecting plate and the single-axis steering gear are mutually fitted and connected, and the output end of the single-axis steering gear is arranged at an end close to the connecting body.

5. The control device for a cutting robot according to claim 4, characterized in that: The single-axis steering gear 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.

6. The control device for a cutting robot according to claim 1, wherein: The second connecting member is provided with a plurality of weight-reducing holes.

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