A compact orthopedic surgical robot end effector design

Abstract

This invention provides a compact end effector design for an orthopedic surgical robot, relating to the field of orthopedic surgical technology. The design includes a base plate, a first component, a second component, and a positioning post. Both the first and second components are connected to the base plate. The positioning post is used to mount a drill guide rod. The first component includes a first drive mechanism and a first drive plate. The first drive mechanism is connected to the first drive plate and can drive the first drive plate to perform translational motion in a first plane. The first drive plate is rotatably connected to the positioning post. The second component includes a second drive plate, which is rotatably connected to the positioning post. Therefore, the position of the drill guide rod can be easily adjusted and kept stable during orthopedic surgery, meeting the drilling positioning requirements at any angle. This makes operations that rely on physician experience more standardized and accurate, reducing dependence on physician clinical experience and allowing medical personnel to perform drilling operations more efficiently and accurately, thus improving surgical efficiency.

Description

Technical Field

[0001] This invention relates to the field of orthopedic surgery technology, and more particularly to the design of a compact orthopedic surgical robot end effector. Background Technology

[0002] Orthopedics is one of the most common departments in major hospitals. It mainly studies the anatomy, physiology, and pathology of the musculoskeletal system, and uses drugs, surgery, and physical methods to maintain and develop the normal shape and function of this system. When performing surgery on fracture patients, it is often necessary to drill holes and fix the patient's bones. For example, in spinal surgery, pedicle screws are inserted; in shoulder joint surgery, guide pins are inserted; and in elbow replacement surgery, the medullary canal is opened.

[0003] In these orthopedic surgeries, the bone to be treated is fixed in advance, and then the attending physician drills holes in the bone. This traditional approach places high demands on the attending physician's clinical surgical experience and physical strength, and is inefficient, lacking in precision and stability, which is detrimental to the patient's postoperative recovery and prone to postoperative complications.

[0004] To overcome the aforementioned shortcomings, drilling positioning devices have been introduced into existing orthopedic surgeries to position the drill bit. However, existing drilling positioning devices have limited fixed dimensions and relatively simple functions. In actual operation, they cannot be adjusted in a timely manner according to the patient's surgical position, and they are difficult to meet the needs of drilling positioning at arbitrary angles, ultimately affecting the surgical outcome. Summary of the Invention

[0005] This invention provides a compact end effector design for an orthopedic surgical robot, which addresses the shortcomings of existing drilling positioning devices that cannot adjust their size and position in a timely manner according to the patient's surgical position, and that are difficult to meet the requirements for drilling positioning at any angle.

[0006] This invention provides a compact end effector design for an orthopedic surgical robot, comprising: a base plate, a first component, a second component, and a positioning post. Both the first and second components are connected to the base plate. The positioning post has a through-hole in the axial direction for placing a drill guide rod.

[0007] The first component includes a first driving mechanism and a first driving plate. The first driving mechanism is connected to the first driving plate and can drive the first driving plate to perform translational movement in a first plane. The first driving plate is rotatably connected to the positioning post. The positioning post can rotate relative to the first driving plate around a first rotation axis and a second rotation axis. The first rotation axis and the second rotation axis are perpendicular to each other.

[0008] The second component includes a second drive plate, which is rotatably connected to the positioning post. The positioning post is rotatable relative to the second drive plate about a third rotation axis and a fourth rotation axis, which are perpendicular to each other.

[0009] According to the present invention, the end effector design of a compact orthopedic surgical robot includes a second drive mechanism connected to a second drive plate. The second drive mechanism is capable of driving the second drive plate to perform translational motion in a second plane, which is parallel to the first plane.

[0010] According to the present invention, a compact orthopedic surgical robot end effector design is provided, wherein the first component and the second component have the same structure and are respectively arranged in a mirror symmetrical manner on both sides of the substrate.

[0011] According to the present invention, a compact orthopedic surgical robot end effector design includes a first drive mechanism comprising a lateral movement unit and a longitudinal movement unit connected to each other. The lateral movement unit is connected to the base plate and is capable of driving the longitudinal movement unit to move along the X direction. The first drive plate is connected to the longitudinal movement unit and is capable of driving the first drive plate to move along the Y direction. The X direction and the Y direction are perpendicular to each other.

[0012] According to the present invention, a compact orthopedic surgical robot end effector design is provided, wherein the lateral movement unit includes: a first drive member disposed on the substrate, the output end of the first drive member being connected to the longitudinal movement unit, and the first drive member being capable of driving the longitudinal movement unit to move along the X direction.

[0013] According to the present invention, a compact orthopedic surgical robot end effector design includes a lateral movement unit further comprising: a first linear slide rail and a first slider. The first linear slide rail is disposed on the base plate, and the track direction of the first linear slide rail is parallel to the X direction. The first slider is slidably disposed on the first linear slide rail, and the longitudinal movement unit is connected to the first slider.

[0014] According to the present invention, a compact end effector design for an orthopedic surgical robot includes a longitudinal movement unit comprising a mounting plate and a second drive member. The mounting plate is fixedly connected to the transverse movement unit, the second drive member is disposed on the mounting plate, and the output end of the second drive member is connected to the first drive plate. The second drive member is capable of driving the first drive plate to move along the Y direction.

[0015] According to the present invention, a compact orthopedic surgical robot end effector design includes a longitudinal movement unit further comprising: a second linear slide rail and a second slider. The second linear slide rail is disposed on the mounting plate, and the track direction of the second linear slide rail is parallel to the Y direction. The second slider is slidably disposed on the second linear slide rail, and the first drive plate is connected to the second slider.

[0016] According to a compact orthopedic surgical robot end effector design provided by the present invention, the first component further includes a first connecting mechanism, wherein the first drive plate is connected to the positioning post via the first connecting mechanism, wherein...

[0017] The first connecting mechanism includes: a first connecting member and a second connecting member. The first connecting member is rotatably connected to the first driving plate and is rotatable relative to the first driving plate about the first rotating axis. The first connecting member is rotatably connected to the second connecting member and is rotatable relative to the first connecting member about the second rotating axis. The second connecting member is fixedly connected to the upper cylinder, and the upper cylinder is connected to the positioning post.

[0018] According to the present invention, a compact orthopedic surgical robot end effector design includes a first drive plate comprising a horizontal plate and a vertical plate connected to each other, the horizontal plate extending along the X direction, the vertical plate extending perpendicularly to the first plane toward the second component, and a first connector rotatably connected to the vertical plate.

[0019] The compact orthopedic surgical robot end effector design provided by this invention includes a base plate, a first component, a second component, and a positioning post. Both the first and second components are rotatably connected to the positioning post, which can mount a drill guide rod. The first component can drive a first drive mechanism to perform translational motion in a first plane, thereby adjusting the position and angle of the drill guide rod. This allows for convenient adjustment and stability of the drill guide rod's position and angle during orthopedic surgery, meeting the requirements for drilling positioning at any angle. It makes operations that rely on physician experience more standardized and accurate, reducing dependence on clinical experience and enabling medical personnel to perform drilling operations more efficiently and accurately without frequent adjustments to the drilling position, thus improving surgical efficiency. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the design of a compact orthopedic surgical robot end effector according to one embodiment of the present invention;

[0022] Figure 2 yes Figure 1 A schematic diagram of the lateral movement mechanism in the first component of the end effector shown in the diagram;

[0023] Figure 3 yes Figure 1 A schematic diagram of the longitudinal movement mechanism in the first component of the end effector shown in the diagram;

[0024] Figure 4 yes Figure 1 The diagram shows the structure of the positioning column in the end effector.

[0025] Figure label:

[0026] 1. First component; 11. First drive mechanism; 12. First drive plate; 13. Lateral movement unit; 131. First drive component; 132. First U-shaped seat; 133. First linear slide rail; 134. First slider; 14. Longitudinal movement unit; 141. Mounting plate; 142. Second drive component; 143. Second U-shaped seat; 144. Second linear slide rail; 145. Second slider; 15. First connecting mechanism; 151. First connector; 152. Second connector; 153. Upper cylinder; 154. Marking plate; 2. Second component; 2. Second drive mechanism; 21. Second drive mechanism; 22. Second drive plate; 25. Second connecting mechanism; 251. First rotating component; 252. Second rotating component; 253. Lower cylinder; 3. Positioning post; 4. Base plate; 51. Front plate; 52. Rear plate; 53. U-shaped side plate; 54. Bottom plate; 6. Drill bit guide rod; 61. Cover plate. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0028] According to one embodiment of the present invention, a compact end effector design for an orthopedic surgical robot is provided. In orthopedic surgery, this end effector can be connected to a robotic arm and its position and angle can be easily adjusted according to the drilling location, meeting the drilling positioning requirements at any angle. It can achieve precise guidance of the bone drill tool, reducing the operational difficulty of the surgery. The following is combined with… Figures 1 to 4The design of the compact orthopedic surgical robot end effector in this embodiment is further described in the illustration.

[0029] Specifically, such as Figure 1 As shown, the end effector in this embodiment includes: a base plate 4, a first component 1, a second component 2, and a positioning post 3. The first component 1 and the second component 2 are both connected to the base plate 4. The positioning post 3 is provided with a mounting hole that extends through the axial direction. The mounting hole is used to place the drill bit guide rod 6.

[0030] The base plate 4 is used to connect to the robotic arm and can move with the robotic arm to achieve position adjustment of the entire end effector. For example, the base plate 4 can be fixedly connected to a flange, which can be connected to the robotic arm by bolts. The base plate 4 can be regarded as a support element of the end effector.

[0031] The first component 1 includes a first drive mechanism 11 and a first drive plate 12. The first drive mechanism 11 is connected to the first drive plate 12 and can drive the first drive plate 12 to perform translational motion in a first plane. The first drive plate 12 is rotatably connected to a positioning post 3. The positioning post 3 can rotate relative to the first drive plate 12 around a first rotation axis and a second rotation axis. The first rotation axis and the second rotation axis are perpendicular to each other.

[0032] It is understood that the first driving mechanism 11 can be fixedly connected to the base plate 4, and the first driving mechanism 11, the first driving plate 12, and the positioning post 3 are connected in sequence, wherein the first driving plate 12 and the positioning post 3 are rotatably connected. The first driving mechanism 11 can drive the first driving plate 12 to translate in the first plane, thereby controlling the movement of the positioning post 3 under the drive of the first driving mechanism 11.

[0033] The second component 2 includes a second drive plate 22, which is rotatably connected to a positioning post 3. The positioning post 3 is able to rotate relative to the second drive plate 22 around a third rotation axis and a fourth rotation axis, which are perpendicular to each other.

[0034] It is understood that the second drive plate 22 can be directly or indirectly connected to the base plate 4, and the second drive plate 22 and the positioning post 3 are rotatably connected. Thus, during the process of the first drive mechanism 11 driving the positioning post 3 to move through the first drive plate 12, it can be ensured that the drill guide rod 6 installed in the positioning post 3 can arbitrarily change its angle and position.

[0035] In this embodiment, such as Figure 4As shown, the positioning post 3 is generally constructed as a columnar structure with a through-hole extending along the axial direction. Correspondingly, the drill bit guide rod 6 is generally constructed as a rod-shaped structure with a through-hole extending along the axial direction for guiding the movement of the drill bit. The positioning post 3 is connected to both the first drive plate 12 and the second drive plate 22, and the positioning post 3 can rotate relative to the first drive plate 12 and the second drive plate 22, respectively. When it is necessary to adjust the position and angle of the drill bit guide rod 6, the first drive mechanism 11 can drive the first drive plate 12 to move, causing the first drive plate 12 to move relative to the second drive plate 22. At this time, the position and angle of the positioning post 3 will change based on the movement of the first drive plate 12, and correspondingly, the drill bit guide rod 6 installed in the positioning post 3 can also move synchronously.

[0036] It is understood that there are two connection points between the two drive plates and the positioning post 3. When one of the connection points moves relative to the other connection point, the position and angle of the positioning post 3 will also change. Thus, the position and angle of the drill bit guide rod 6 installed in the positioning post 3 can be adjusted arbitrarily.

[0037] In practical applications, when it is necessary to use the end effector in this embodiment to drill holes in a patient's bone, the bone to be treated can be fixed in advance, and the drilling operation can be planned, for example, by determining the entry point and entry angle. Then, the end effector is connected to the robotic arm, and the end effector is moved to the predetermined position under the control of the robotic arm according to the entry point and entry angle.

[0038] When further precise adjustments to the drill bit's position and direction are needed, the first drive mechanism 11 can be used to move the first drive plate 12, thereby moving the positioning pin 3. This adjusts the position of the drill bit guide rod 6 until the guide hole of the drill bit guide rod 6 meets the positional requirements of the nail insertion point and angle. Finally, after the drill bit guide rod 6 is adjusted to its correct position, the drill bit can be inserted into the guide hole of the drill bit guide rod 6, and medical personnel can then perform the drilling operation.

[0039] Because the positions of the robotic arm and end effector are fixed, the staff only needs to use the guide hole of the drill bit guide rod 6 to perform the drilling operation. There is no need to frequently redetermine the nail entry point and the nail entry angle. While ensuring surgical accuracy, it has sufficient stability, which can improve surgical efficiency and reduce the workload of medical staff.

[0040] Therefore, the end effector in this embodiment can conveniently and arbitrarily adjust the position of the drill guide rod 6 and keep it stable during orthopedic surgery, allowing medical staff to perform drilling operations more efficiently and accurately without the need for frequent adjustments to the drilling position, thus improving surgical efficiency.

[0041] It is understood that in this embodiment, the drill bit guide rod 6 is detachably installed in the mounting hole of the positioning post 3. During the operation, when it is necessary to change to a drill bit of a different diameter, an appropriate drill bit guide rod 6 can be selected according to the diameter of the drill bit, and then the selected drill bit guide rod 6 can be installed in the mounting hole of the positioning post 3. That is to say, drill bit guide rods 6 with different inner diameters can be replaced in the positioning post 3 at any time according to the needs of drill bit use.

[0042] Furthermore, in order to adjust the position of the drill bit guide rod 6 over a wider range, in this embodiment, the second component 2 also includes a second drive mechanism 21. The second drive mechanism 21 is connected to the second drive plate 22. The second drive mechanism 21 can drive the second drive plate 22 to perform translational movement in a second plane, which is parallel to the first plane.

[0043] For example, the second drive mechanism 21 can be connected to the substrate 4. In this case, the second drive plate 22 is indirectly connected to the substrate 4 via the second drive mechanism 21. Under the drive of the second drive mechanism 21, the second drive plate 22 can perform translational movement in the second plane. Since the second plane is parallel to the first plane, that is, the second drive plate 22 and the first drive plate 12 can move in two mutually parallel planes respectively. Thus, under the joint drive of the second drive plate 22 and the first drive plate 12, the drill guide rod 6 can be adjusted in position and angle more arbitrarily.

[0044] In practical applications, when it is necessary to drill holes in a patient's bone using the end effector described in this embodiment, the end effector can first be moved to a predetermined position using a robotic arm. Then, the position of the end effector is not changed; that is, the position of the end effector's base plate 4 is locked in three-dimensional space. Next, the position of the drill guide rod 6 is determined based on the insertion point and insertion angle. Since both the first drive plate 12 and the second drive plate 22 are movable, the two connection points between these two drive plates and the positioning post 3 can also be easily changed in space. Thus, under the combined action of the first drive mechanism 11 and the second drive mechanism 21, the position of the drill guide rod 6 can be easily adjusted without changing the position of the end effector's base plate 4.

[0045] In another embodiment, the second drive plate 22 can be fixedly connected to the base plate 4. In practical applications, after the robotic arm drives the end effector to move to a predetermined position, the connection point between the second drive plate 22 and the positioning post 3 will be determined in three-dimensional space, for example, this connection point is point P. During the process of driving the first drive plate 12 to move by means of the first drive mechanism 11, the connection point between the first drive plate 12 and the positioning post 3 will change, and the drill bit guide rod 6 will change its position and angle with point P as the fixed point.

[0046] In the above embodiment, after the position of the base plate 4 of the end effector is determined, the connection point between the second drive plate 22 and the positioning post 3 will be determined in three-dimensional space. All position adjustments of the drill bit guide rod 6 will be based on the connection point. At this time, if the connection point cannot meet the position requirements of the nail entry point and the nail entry angle, it is necessary to use a robotic arm to adjust the position of the end effector.

[0047] Furthermore, in this embodiment, since the first driving mechanism 11 and the second driving mechanism 21 can drive the first driving plate 12 and the second driving plate 22 to move respectively, in order to facilitate the adjustment of the positional change between the first driving plate 12 and the second driving plate 22, the first component 1 and the second component 2 have the same structure. For example, the first driving mechanism 11 and the second driving mechanism 21 have the same structure, and the way the first driving mechanism 11 drives the first driving plate 12 to move is the same as the way the second driving mechanism 21 drives the second driving plate 22 to move.

[0048] Preferably, the first component 1 and the second component 2 can be arranged in a mirror-symmetrical manner on both sides of the substrate 4. For example, as shown in... Figure 1 As shown, the first component 1 and the second component 2 can be arranged symmetrically on both sides of the substrate 4 with a mirror image plane parallel to the first plane. This mirror-symmetrical arrangement makes the entire end effector structure more compact and helps to ensure sufficient distance between the two connection points of the first drive plate 12 and the second drive plate 22 and the positioning post 3, which can better support the positioning post 3 and more accurately adjust the position and angle of the drill bit guide rod 6.

[0049] Of course, in other embodiments, depending on the design requirements of the structure, the first component 1 and the second component 2 can also be arranged in other ways, such as by stacking them.

[0050] In this embodiment, the first component 1 and the second component 2 have identical and mirror-like structures. For the sake of simplicity, the following description will only take the first component 1 as an example.

[0051] like Figure 1 As shown, in the first component 1 of this embodiment, the first driving mechanism 11 includes a transverse moving unit 13 and a longitudinal moving unit 14 connected to each other. The transverse moving unit 13 is connected to the substrate 4 and can drive the longitudinal moving unit 14 to move along the X direction. The first driving plate 12 is connected to the longitudinal moving unit 14 and can drive the first driving plate 12 to move along the Y direction. The X direction and the Y direction are perpendicular to each other.

[0052] For example, in the first driving mechanism 11, one end of the lateral moving unit 13 is fixedly connected to the substrate 4. The lateral moving unit 13, the longitudinal moving unit 14, and the first driving plate 12 are connected in sequence. The lateral moving unit 13 can drive the longitudinal moving unit 14 and the first driving plate 12 to move together along the X direction. At the same time, the longitudinal moving unit 14 can drive the first driving plate 12 to move along the Y direction. Thus, the first driving mechanism 11 can drive the first driving plate 12 to move along the X direction by means of the lateral moving unit 13, and can drive the first driving plate 12 to move along the Y direction by means of the longitudinal moving unit 14. It can be understood that the plane formed by the X and Y directions is parallel to the first plane, so the first driving plate 12 can perform translational motion within the first plane.

[0053] In this embodiment, such as Figure 1 and Figure 2 As shown, the lateral movement unit 13 includes a first driving member 131, which is disposed on the substrate 4. The output end of the first driving member 131 is connected to the longitudinal movement unit 14, and the first driving member 131 can drive the longitudinal movement unit 14 to move along the X direction.

[0054] For example, the first drive unit 131 can be a linear servo, which can be fixedly mounted on the base plate 4 via bolts or other structures. The output end of the first drive unit 131 is connected to the longitudinal movement unit 14 and can move along the X direction. Thus, the lateral movement unit 13 can drive the longitudinal movement unit 14 to move along the X direction.

[0055] As a fixing method, the lateral moving unit 13 may also include a first U-shaped seat 132, and the first driving member 131 may be disposed in the U-shaped opening of the first U-shaped seat 132. The first U-shaped seat 132 may be fixed to the surface of the substrate 4 by means of bolts, thereby fixing the first driving member 131.

[0056] Furthermore, in order to provide more precise guidance and more stable support for the movement of the longitudinal moving unit 14, such as Figure 2 As shown, the lateral movement unit 13 in this embodiment further includes: a first linear slide rail 133 and a first slider 134. The first linear slide rail 133 is disposed on the base plate 4, and the track direction of the first linear slide rail 133 is parallel to the X direction. The first slider 134 is slidably disposed on the first linear slide rail 133, and the longitudinal movement unit 14 is connected to the first slider 134.

[0057] It is understood that, in this embodiment, since the first slider 134 can move along the first linear slide rail 133 in the X direction, the longitudinal moving unit 14 can move accurately in the X direction under this sliding restriction. Simultaneously, the connection between the first slider 134 and the first linear slide rail 133 can also provide stable support for the movement of the longitudinal moving unit 14.

[0058] As one implementation, the first linear slide rail 133 is provided with slots extending in the X direction on both sides in the Y direction, and the first slider 134 is provided with blocks on both sides that can be locked in the slots. By means of the locking between the slots and the blocks, the first slider 134 can be prevented from falling off the first linear slide rail 133, thereby providing support for the longitudinal moving unit 14.

[0059] Optionally, there can be multiple first linear slide rails 133, which can be arranged in parallel on the base plate 4. Each first linear slide rail 133 is provided with a first slider 134 connected to the longitudinal moving unit 14. Thus, by means of the interlocking between multiple slots and blocks, the longitudinal moving unit 14 can avoid uneven force and positional deviation during movement, so as to provide more sufficient support and guidance for the movement of the longitudinal moving unit 14.

[0060] In one embodiment, the first linear slide rail 133 is provided with a plurality of through holes arranged at intervals along the X direction, and the substrate 4 is provided with threaded holes corresponding to the positions. After the screw passes through the through holes of the first linear slide rail 133 and is threadedly connected to the threaded holes on the substrate 4, the first linear slide rail 133 can be fixed.

[0061] Furthermore, such as Figure 1 and Figure 3 As shown, the longitudinal moving unit 14 includes: a mounting plate 141 and a second driving member 142. The mounting plate 141 is fixedly connected to the transverse moving unit 13. The second driving member 142 is disposed on the mounting plate 141. The output end of the second driving member 142 is connected to the first driving plate 12. The second driving member 142 can drive the first driving plate 12 to move along the Y direction.

[0062] For example, the mounting plate 141 can be fixedly connected to the first slider 134 in the lateral movement unit 13 via bolts or other structures. The second drive unit 142 can be a linear servo, which is fixedly mounted on the mounting plate 141. The output end of the second drive unit 142 is connected to the first drive plate 12 and can move along the Y direction. Thus, the longitudinal movement unit 14 can drive the first drive plate 12 to move along the Y direction.

[0063] Optionally, the first slider 134 and the second drive member 142 can be respectively disposed on both sides of the mounting plate 141.

[0064] As a fixing method, the longitudinal moving unit 14 may also include a second U-shaped seat 143, and the second driving member 142 may be disposed in the U-shaped opening of the second U-shaped seat 143. The second U-shaped seat 143 may be fixed to the surface of the mounting plate 141 by means of bolts, thereby fixing the second driving member 142.

[0065] Furthermore, in order to provide more precise guidance and more stable support for the movement of the first drive plate 12, such as Figure 3 As shown, the longitudinal moving unit 14 in this embodiment further includes: a second linear slide rail 144 and a second slider 145. The second linear slide rail 144 is disposed on the mounting plate 141, and the track direction of the second linear slide rail 144 is parallel to the Y direction. The second slider 145 is slidably disposed on the second linear slide rail 144. The first drive plate 12 is connected to the second slider 145.

[0066] It is understood that, in this embodiment, since the second slider 145 can move along the Y direction on the second linear slide rail 144, the second drive plate 22 can move accurately along the Y direction under this sliding constraint. Simultaneously, the connection between the second slider 145 and the second linear slide rail 144 can also provide stable support for the movement of the first drive plate 12.

[0067] As one implementation, the second linear slide rail 144 is provided with slots extending in the Y direction on both sides in the X direction, and the second slider 145 is provided with blocks on both sides that can be locked in the slots. By means of the locking between the slots and the blocks, the second slider 145 can be prevented from falling off the second linear slide rail 144, thereby providing support for the second drive plate 22.

[0068] Optionally, there can be multiple second linear slide rails 144, which can be arranged in parallel at intervals on the mounting plate 141. Each second linear slide rail 144 is provided with a second slider 145 connected to the first drive plate 12. Thus, by means of the interlocking between multiple slots and blocks, the first drive plate 12 can be prevented from shifting its position due to uneven force during movement, so as to provide more sufficient support and guidance for the movement of the first drive plate 12.

[0069] In one embodiment, the second linear slide rail 144 is provided with a plurality of through holes arranged at intervals along the Y direction, and the mounting plate 141 is provided with threaded holes corresponding to the positions. After the screw passes through the through holes of the second linear slide rail 144 and is threadedly connected to the threaded holes on the mounting plate 141, the second linear slide rail 144 can be fixed.

[0070] It is understood that the first component 1 and the second component 2 have the same structure, and the first component 1 and the second component 2 can be connected to the two sides of the base plate 4 respectively. The flexible movement of the drill bit guide rod 6 can be achieved through the symmetrical double slide rail structure of the first component 1 and the second component 2. The driving components of the first component 1 and the second component 2 can be driven by micro linear servo drivers, which can ultimately convert the rotational motion of the drill bit guide rod 6 into linear motion, thereby improving the adjustment accuracy.

[0071] Furthermore, such as Figure 1 As shown, the first component 1 also includes a first connecting mechanism 15. The first drive plate 12 is connected to the positioning post 3 via the first connecting mechanism 15. The first connecting mechanism 15 enables a rotational connection between the first drive plate 12 and the positioning post 3.

[0072] Specifically, such as Figure 4 As shown in the figure, the first connecting mechanism 15 includes: a first connecting member 151 and a second connecting member 152. The first connecting member 151 is rotatably connected to the first drive plate 12 and can rotate relative to the first drive plate 12 about a first rotation axis. The first connecting member 151 is rotatably connected to the second connecting member 152 and can rotate relative to the first connecting member 151 about a second rotation axis. The second connecting member 152 is fixedly connected to the positioning post 3.

[0073] During the process of the first drive mechanism 11 driving the first drive plate 12 to move, it can ensure that the positioning column 3 rotates relative to the first drive plate 12 around the first rotation axis and the second rotation axis, thereby realizing the adjustment of the position and angle of the drill bit guide rod 6.

[0074] like Figure 4 As shown, the positioning post 3 is fixedly connected to the side of the second connector 152 away from the first connector 151. The mounting hole in the positioning post 3 can be a circular through hole, and the drill bit guide rod 6 can be adapted to be inserted into the mounting hole in the positioning post 3.

[0075] Preferably, the second connector 152 and the positioning post 3 are integrally formed.

[0076] In order to effectively fix the drill bit guide rod 6, such as Figure 4 As shown, a cover plate 61 is provided at the top of the drill bit guide rod 6. The cover plate 61 can be fixedly connected to the positioning post 3 by screws. Therefore, during the drilling operation, the drill bit guide rod 6 can be prevented from loosening, thereby avoiding changes in the drilling position.

[0077] Similarly, the second component 2 may also include a second connecting mechanism 25, through which the second drive plate 22 is connected to the positioning post 3, enabling a rotational connection between the second drive plate 22 and the positioning post 3. Moreover, the structure of the second connecting mechanism 25 is substantially the same as that of the first connecting mechanism 15.

[0078] Specifically, such as Figure 4 As shown, the second connecting mechanism 25 includes a first rotating member 251, a second rotating member 252, and a lower cylinder 253. The first rotating member 251 is rotatably connected to the second drive plate 22 and can rotate relative to the second drive plate 22 about a third rotation axis. The first rotating member 251 is rotatably connected to the second rotating member 252 and can rotate relative to the first rotating member 251 about a fourth rotation axis. The second rotating member 252 is fixedly connected to the lower cylinder 253, which has a circular through hole. The positioning pin 3 is slidably inserted into the circular through hole of the lower cylinder 253. Thus, when the first component 1 and the second component 2 work together to adjust the position of the drill bit guide rod 6, the positioning pin 3 can slide in the lower cylinder 253, ensuring that the positioning pin 3 can move to the required position, thereby ultimately adjusting the position of the drill bit guide rod 6.

[0079] Optionally, an identification plate 154 can be fixedly installed on the upper outer side of the positioning post 3. A marker or similar object such as an aruco marker can be attached to the identification plate 154. The position of the positioning post 3 can be determined by the marker during the movement of the end effector.

[0080] As one implementation method, an upper cylinder 153 is fixedly installed on the upper part of the positioning post 3. The upper cylinder 153 and the lower cylinder 253 have roughly the same structure. The difference is that the upper cylinder 153 is fixedly connected to the positioning post 3. For example, the upper cylinder 153 and the positioning post 3 are integrally formed, while the lower cylinder 253 is sleeved on the outside of the positioning post 3.

[0081] The second connector 152 and the label plate 154 can be fixedly connected to the opposite sides of the upper cylinder 153, respectively.

[0082] Optionally, such as Figure 4 As shown, the first drive plate 12 is generally L-shaped, which includes a horizontal plate and a vertical plate connected to each other. The horizontal plate extends along the X direction, and the vertical plate extends perpendicular to the first plane toward the second component 2. The first connector 151 is rotatably connected to the vertical plate.

[0083] Correspondingly, the second drive plate 22 is also roughly L-shaped, which also includes horizontal and vertical plates connected to each other. At this time, an accommodating area is formed between the horizontal plate of the first drive plate 12 and the horizontal plate of the second drive plate 22. The horizontal and vertical moving units of the first component 1 and the second component 2 can be set in the accommodating area. Through reasonable layout and full utilization of space, the structure of the whole device can be made more compact for easy storage.

[0084] In addition, to effectively protect the first component 1 and the second component 2, the end effector also includes a housing, such as... Figure 1 As shown, the housing includes a front plate 51, a rear plate 52, a U-shaped side plate 53, and a bottom plate 54. The front plate 51 and the rear plate 52 are located at the two ends of the first component 1 and the second component 2 in the X direction, respectively. The U-shaped side plate 53 and the bottom plate 54 are arranged around the periphery of the first component 1 and the second component 2 and are located between the front plate 51 and the rear plate 52. The U-shaped side plate 53, the bottom plate 54, and the rear plate 52 form a semi-enclosed space. The first drive plate 12 and the second drive plate 22 are partially located in the semi-enclosed space and extend from the direction of the front plate 51. The positioning post 3 is located on the outside of the front plate 51. Thus, under the cooperative drive of the drive mechanism in the first component 1 and the second component 2, the drill bit guide rod 6 installed in the positioning post 3 can be precisely adjusted in various positions and angles.

[0085] Optionally, the rear plate 52 is connected to the flange on the base plate 4 by means of bolts or other structures. The front plate 51, rear plate 52, U-shaped side plate 53 and bottom plate 54 can also be connected by bolts.

[0086] Therefore, the compact orthopedic surgical robot end effector design in this embodiment has the following advantages:

[0087] The compact orthopedic surgical robot end effector design in this embodiment includes a base plate, a first component, a second component, and a positioning post. Both the first and second components are rotatably connected to the positioning post, which mounts a drill guide rod. The first component, through a first drive mechanism, performs a translational motion within a first plane, thereby adjusting the position and angle of the drill guide rod. This allows for convenient adjustment and stability of the drill guide rod's position during orthopedic surgery, meeting the requirements for drilling at any angle. It makes operations that rely heavily on physician experience more standardized and accurate, reducing dependence on clinical experience and enabling medical personnel to perform drilling operations more efficiently and accurately without frequent adjustments to the drilling position, thus improving surgical efficiency.

[0088] The compact end effector design of the orthopedic surgical robot in this embodiment aligns with the future development trend of orthopedic surgery and has broad application prospects in orthopedic outpatient clinics of hospitals.

[0089] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A compact end effector design for an orthopedic surgical robot, characterized in that, include: The system comprises a base plate, a first component, a second component, and a positioning post. The first and second components are both connected to the base plate. The positioning post has a through-hole extending in the axial direction for placing a drill bit guide rod. The first component includes a first driving mechanism and a first driving plate. The first driving mechanism is connected to the first driving plate and can drive the first driving plate to perform translational movement in a first plane. The first driving plate is rotatably connected to the positioning post. The positioning post can rotate relative to the first driving plate around a first rotation axis and a second rotation axis. The first rotation axis and the second rotation axis are perpendicular to each other. The second component includes a second drive plate, which is rotatably connected to the positioning post. The positioning post is rotatable relative to the second drive plate about a third rotation axis and a fourth rotation axis, which are perpendicular to each other. The second component further includes a second drive mechanism, which is connected to the second drive plate. The second drive mechanism is capable of driving the second drive plate to perform translational motion in a second plane, which is parallel to the first plane. The first component and the second component have the same structure and are arranged in a mirror image symmetrically on both sides of the substrate; The first driving mechanism includes a lateral moving unit and a longitudinal moving unit connected to each other. The lateral moving unit is connected to the substrate and can drive the longitudinal moving unit to move along the X direction. The first driving plate is connected to the longitudinal moving unit and can drive the first driving plate to move along the Y direction. The X direction and the Y direction are perpendicular to each other.

2. The design of the end effector for the compact orthopedic surgical robot according to claim 1, characterized in that, The lateral movement unit includes: a first driving member disposed on the substrate, the output end of the first driving member being connected to the longitudinal movement unit, and the first driving member being capable of driving the longitudinal movement unit to move along the X direction.

3. The compact orthopedic surgical robot end effector design according to claim 2, characterized in that, The lateral movement unit further includes: a first linear slide rail and a first slider. The first linear slide rail is disposed on the base plate, and the track direction of the first linear slide rail is parallel to the X direction. The first slider is slidably disposed on the first linear slide rail, and the longitudinal movement unit is connected to the first slider.

4. The design of the end effector for the compact orthopedic surgical robot according to claim 1, characterized in that, The longitudinal moving unit includes a mounting plate and a second driving member. The mounting plate is fixedly connected to the transverse moving unit. The second driving member is disposed on the mounting plate. The output end of the second driving member is connected to the first driving plate. The second driving member can drive the first driving plate to move along the Y direction.

5. The compact orthopedic surgical robot end effector design according to claim 4, characterized in that, The longitudinal movement unit further includes: a second linear slide rail and a second slider. The second linear slide rail is disposed on the mounting plate, and the track direction of the second linear slide rail is parallel to the Y direction. The second slider is slidably disposed on the second linear slide rail, and the first drive plate is connected to the second slider.

6. The design of the end effector for a compact orthopedic surgical robot according to claim 1, characterized in that, The first component further includes a first connecting mechanism, through which the first drive plate is connected to the positioning post, wherein... The first connecting mechanism includes: a first connecting member and a second connecting member. The first connecting member is rotatably connected to the first driving plate and is rotatable relative to the first driving plate about the first rotation axis. The first connecting member is rotatably connected to the second connecting member and is rotatable relative to the first connecting member about the second rotation axis. The second connecting member is fixedly connected to the positioning post.

7. The compact orthopedic surgical robot end effector design according to claim 6, characterized in that, The first drive plate includes a horizontal plate and a vertical plate connected to each other. The horizontal plate extends along the X direction, and the vertical plate extends perpendicular to the first plane toward the second component. The first connector is rotatably connected to the vertical plate.

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