A modular orthopedic surgical robot and its use method

Abstract

The present invention belongs to the technical field of orthopedic surgical robots, and specifically relates to a modular orthopedic surgical robot and a method for using the same. The present invention includes a trolley; a modular surgical mechanism; a posture separation adjustment mechanism; the posture separation adjustment mechanism includes a vertical adjustment mechanism installed on the trolley, a translation mechanism installed at the output end of the vertical adjustment mechanism, and a posture adjustment mechanism installed at the output end of the translation mechanism; the present invention combines the vertical adjustment mechanism, the translation mechanism, and the posture mechanism, and adopts a completely decoupled adjustment method of the three, so that the robot motion output has the completely separated characteristics of position adjustment and posture adjustment, and realizes minimally invasive and precise operation in the patient's surgical implementation area during the collaboration between the robot and the doctor. At the same time, the translation mechanism adopts a pentagonal rotation pair, which makes the translation mechanism have high rigidity and high precision, thereby ensuring the high adaptability, load-bearing ratio and motion accuracy of the robot body structure, and better adapting to the orthopedic surgical environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of bone surgical robots, and in particular relates to a modular orthopedic surgical robot and a method for using the same. Background Art

[0002] Due to the intertwined influence of multiple factors such as economic and social development, the aging population, and the ever-expanding scale of transportation, the incidence of orthopedic diseases has increased year by year, becoming a common and frequently occurring disease that affects human life. Orthopedic surgical robots adopt precise surgical concepts and technical means, combined with the latest biomedical engineering research results, to achieve precise surgical operations with minimal damage through accurate, safe, and stable operations. Specifically, the connected end-effector surgical instruments are used to assist doctors in performing orthopedic surgeries on the spine, joints, and trauma. By actively or flexibly adjusting the robot's motion state to adjust the position of the end-effector surgical instruments, auxiliary operations such as positioning, bone drilling, and osteotomy can be achieved in orthopedic surgery.

[0003] However, current orthopedic surgical robots are limited by hospital procurement costs and operating room space. They suffer from narrow indications, low load capacity, and lack of intuitive operation for doctors. For example, the orthopedic surgical robot described in patent CN112971988A uses a quick-release mechanism to lock or replace a bone oscillating saw to perform knee replacements, but is only suitable for knee surgery. For example, the orthopedic surgical robot described in patent CN114869474A achieves stable support through casters and a foot structure mounted on the trolley floor. However, it uses an industrial collaborative robotic arm, a tandem type with a low load capacity. Therefore, when a certain load is exceeded during the task, the end-point motion accuracy cannot be guaranteed. For example, the orthopedic surgical robot described in patent CN113876425A can replace different surgical instruments, but the collaborative robotic arm uses a tandem structure. During operation, the doctor is easily restricted by the robotic arm's workspace and joint singularities, making it difficult to simultaneously ensure smooth position and posture during the dragging process. This increases the complexity of the operation and reduces the user experience. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects of narrow indications and low load-bearing ratio in the prior art, and to provide a modular orthopedic surgical robot and its use method that can ensure a high load-bearing ratio while still maintaining high rigidity and motion accuracy.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a modular orthopedic surgical robot, comprising:

[0006] Trolley;

[0007] Modular surgical mechanism, integrating several different surgical modules;

[0008] a posture separation adjustment mechanism, mounted on the trolley, for adjusting the position and posture deviation of the modular surgical mechanism;

[0009] The posture separation adjustment mechanism includes a vertical adjustment mechanism installed on the trolley, a translation mechanism installed at the output end of the vertical adjustment mechanism, and a posture adjustment mechanism installed at the output end of the translation mechanism; wherein,

[0010] The translation mechanism comprises:

[0011] A mounting base, fixedly arranged at the output end of the vertical adjustment mechanism;

[0012] sequentially rotating the connected first translation arm, second translation arm, third translation arm, and fourth translation arm; and

[0013] a first translation motor and a second translation motor mounted on the mounting base; wherein an end of the first translation arm remote from the second translation arm is coaxially arranged with an output shaft of the first translation motor, and an end of the fourth translation arm remote from the third translation arm is coaxially arranged with the output shaft of the second translation motor;

[0014] The mounting base, the first translation arm, the second translation arm, the third translation arm and the fourth translation arm are arranged to form a pentagonal rotation pair on a horizontal plane. When the first translation motor and / or the second translation motor rotates, the pentagonal rotation pair is driven to translate on the plane.

[0015] Specifically, the posture adjustment mechanism includes: a static platform, a dynamic platform, two groups of posture adjustment mechanical arms and a group of fixed arms arranged between the static platform and the dynamic platform, and a quick-release device installed on the lower end surface of the dynamic platform; wherein,

[0016] The static platform is connected to the junction of the second translation arm and the third translation arm, and the quick-release device is connected to the modular surgical mechanism; the angle between two adjacent posture adjustment robotic arms and / or the fixed arms is 120°. When the two groups of posture adjustment robotic arms receive motion instructions, they drive the moving platform to rotate around a rotation diameter, and the rotation diameter passes through the installation center point of the fixed arm and the moving platform.

[0017] Specifically, the posture adjustment robot arm includes a micro servo push rod, and both ends of the micro servo push rod are rotatably mounted on the static platform and the dynamic platform respectively through Hooke's joints;

[0018] The fixed arm comprises a fixed rod, one end of which is fixedly mounted on the static platform, and the other end of which is rotatably mounted on the dynamic platform via a Hooke's hinge.

[0019] Specifically, the posture adjustment mechanism further includes a tracking module, and the tracking module includes a tracking bracket installed on the static platform and a tracer installed on the tracking bracket.

[0020] Specifically, the modular surgical mechanism includes at least one of a bone grinding module, a bone oscillating saw module, a bone drill module, a bone milling module, an osteotomy guide module, a bone drilling catheter module, and an ultrasound acquisition module.

[0021] Specifically, the second translation arm and the third translation arm are both equipped with manual translation handles for manually adjusting the shape of the translation mechanism.

[0022] Specifically, the trolley includes:

[0023] a frame for mounting the vertical adjustment mechanism;

[0024] A display screen, mounted on the translation mechanism, for displaying intraoperative navigation information and real-time doctor-robot-patient data;

[0025] Universal casters, mounted on the frame, for moving the entire robot;

[0026] The control unit is installed inside the frame and is used to control the movement of each mechanism in real time.

[0027] Specifically, the vertical adjustment mechanism includes:

[0028] The servo three-section column 311 has a fixed end fixedly mounted on the frame of the trolley;

[0029] The column protection shell 312 is sleeved on the outer side of the servo three-section column 311 and fixedly mounted on the lower end surface of the mounting base.

[0030] A method for using a modular orthopedic surgical robot comprises the following steps:

[0031] S1. Select a modular surgical mechanism, that is, select the corresponding modular surgical mechanism according to the patient's needs;

[0032] S2. Planning the movement trajectory of the modular surgical mechanism, that is, calculating the posture adjustment scheme of the vertical adjustment mechanism, translation mechanism, and posture adjustment mechanism based on the current posture and positioning of the surgical module, and planning the movement trajectory of the surgical module;

[0033] S3. Modular surgical posture adjustment mechanism, that is, according to the trajectory planning control vertical adjustment mechanism, translation mechanism, posture adjustment mechanism adjustment;

[0034] S4. Tracking the real-time position of the modular surgical mechanism, that is, using a tracer to track the modular surgical mechanism in real time during the operation;

[0035] S5. Registering the modular surgical mechanism, ie, registering the modular surgical mechanism by the registration compensation unit according to the tracking data in step S3;

[0036] S6. Complete the surgical operation of the modular surgical mechanism.

[0037] Specifically, in the step S2 , when planning the trajectory of the surgical module, a control method is adopted in which the translation mechanism and the posture adjustment mechanism are completely decoupled, so that the position adjustment and posture adjustment of the modular surgical mechanism are separated.

[0038] The beneficial effects of the modular orthopedic surgical robot of the present invention are:

[0039] This invention combines vertical adjustment, translation, and posture mechanisms, employing a fully decoupled adjustment method. This allows the robot's motion output to completely separate position and posture adjustments, resulting in excellent intuitive operation and a comfortable dragging experience. This allows for minimally invasive and precise manipulation of the patient's surgical area during collaboration between the robot and the surgeon. The translation mechanism also utilizes a pentagonal revolute pair, resulting in high rigidity and precision. This ensures the robot's structural adaptability, load-to-weight ratio, and motion accuracy, making it more adaptable to orthopedic surgical environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Figure 1 is a three-dimensional diagram of the modular orthopedic surgical robot of the present invention;

[0042] Figure 2 It is a structural schematic diagram of the translation mechanism and posture mechanism of the modular orthopedic surgical robot of the present invention;

[0043] Figure 3 is an exploded view of the mounting base portion of the translation mechanism of the present invention;

[0044] Figure 4 It is an exploded view of the first translation arm and the first translation motor mounting portion of the translation mechanism of the present invention;

[0045] Figure 5 is an exploded view of the mounting portion of the first translation arm and the second translation arm of the present invention;

[0046] Figure 6 is an exploded view of the mounting portion of the second translation arm and the third translation arm of the present invention;

[0047] Figure 7 It is a structural schematic diagram of the posture adjustment mechanism of the present invention;

[0048] Figure 8 It is a structural schematic diagram of the trolley of the present invention;

[0049] Figure 9 It is a structural schematic diagram of a surgical module corresponding to the modular surgical mechanism of the present invention;

[0050] Figure 10 It is a flow chart of the method of using the present invention.

[0051] Figure 11 It is an exploded view of the posture adjustment mechanism of the present invention.

[0052] In the figure: 1. trolley, 11. rack, 12. display screen, 13. universal casters, 14. control unit, 15. foot, 16. trolley shell, 17. display screen bracket, 2. modular surgical mechanism, 21. bone grinding module, 22. bone swing saw module, 23. bone drill module, 24. bone milling module, 25. osteotomy guide module, 26. bone drilling catheter module, 27. ultrasound acquisition module, 3. posture separation adjustment mechanism, 31. vertical adjustment mechanism, 311. servo three-section column, 312. column protection shell, 32. translation mechanism, 321. mounting base, 322. first translation arm, 3221. first support rod, 32 22. First joint connecting axis, 3224. First bearing, 323. Second translation arm, 3231. Second support rod, 3232. Second joint connecting axis, 3234. Second bearing, 324. Third translation arm, 3241. Third support rod, 3242. Transfer rod, 325. Fourth translation arm, 326. First translation motor, 327. Second translation motor, 328. Manual translation handle, 33. Posture adjustment mechanism, 331. Static platform, 332. Moving platform, 333. Posture adjustment robot arm, 334. Fixed arm, 335. Quick release device, 336. Tracking module, 337. Third drive unit, 4. Alignment compensation unit. DETAILED DESCRIPTION

[0053] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0054] like Figures 1-9 A specific embodiment of a modular orthopedic surgical robot of the present invention is shown, comprising a trolley 1, a modular surgical mechanism 2, and a posture separation adjustment mechanism 3. In this embodiment, the modular surgical mechanism 2 integrates several different surgical modules; the posture separation adjustment mechanism 3 is installed on the trolley 1, and is used to adjust the position and posture offset of the modular surgical mechanism 2; the posture separation adjustment mechanism 3 comprises a vertical adjustment mechanism 31 installed on the trolley 1, a translation mechanism 32 installed at the output end of the vertical adjustment mechanism 31, and a posture adjustment mechanism 33 installed at the output end of the translation mechanism 32.

[0055] like Figures 2 to 6 As shown, the translation mechanism 32 in this embodiment includes: a mounting base 321, which is fixedly arranged at the output end of the vertical adjustment mechanism 31, and is connected to a first translation arm 322, a second translation arm 323, a third translation arm 324, and a fourth translation arm 325 in sequence; and a first translation motor 326 and a second translation motor 327 mounted on the mounting base 321; wherein, the end of the first translation arm 322 away from the second translation arm 323 is coaxially arranged with the output shaft of the first translation motor 326, and the end of the fourth translation arm 325 away from the third translation arm 324 is coaxially arranged with the output shaft of the second translation motor 327. It should be further explained that, in this embodiment, the mounting base 321, the first translation arm 322, the second translation arm 323, the third translation arm 324 and the fourth translation arm 325 are arranged on a horizontal plane to form a pentagonal rotation pair. When the first translation motor 326 and / or the second translation motor 327 rotate, the pentagonal rotation pair is driven to translate on the plane.

[0056] It should be noted that the translation mechanism 324 is a planar five-rotation pair composed of four translation arms and the mounting base 321 master / slave arms and the master / slave arm joint connections all have the same or symmetrical structure, which can realize displacement movement in the plane, that is, drive the modular surgical mechanism 2 to move on the horizontal plane. In order to reduce the weight of the mechanism and improve the rigidity of the mechanism, the four support rods are all made of lightweight materials (such as 7075 aluminum, etc.), and the protective shells are all made of lightweight materials (such as ABS, etc.), and the four support rods all adopt a right-angle cross-section structure.

[0057] As attached Figure 2 and Figure 5 As shown, in this embodiment, the first, second, third, and fourth translation arms 322, 323, 324, and 325 each include a support rod for rotational support, an upper protective shell, and a lower protective shell surrounding the support rods. The power output ends of the first and second translation motors 326, 327 of the translation mechanism 32 are connected to the first and fourth support rods 3221 and 3225, and the protective shells covering the support rods, via power output flanges. The ends of the lower protective shells of the first and / or fourth support rods 3221 and 3227 are bolted to the first step of the power output flanges, simultaneously covering the first and second translation motors 326, 327, and the wiring troughs. The ends of the first and / or fourth support rods 3221 and 3227 are bolted to the second step of the power output flanges, while their sides are bolted to the lower protective shells of the first and / or fourth support rods 3221 and 3227. The upper protective shell of the first support rod 3221 and / or the fourth support rod is fixedly connected to the upper side of the first support rod 3221 and / or the fourth support rod through bolts, thereby covering the first support rod 3221 and / or the fourth support rod.

[0058] As attached Figure 2 and Figure 5 As shown, the first translation arm 322 and the second translation arm 323 are rotatably mounted so that relative passive rotation is achieved through the first joint connecting shaft 3222, the first bearing 3224, and the shaft retaining spring. The upper portion of the first joint connecting shaft 3222 is fixed to the first support rod 3221 corresponding to the first translation arm 322 via a threaded connection, while the lower portion is supported by the end of the lower protective shell of the first support rod 3221. The inner sides of the two first bearings 3224 engage with the first joint connecting shaft 3222, and the outer sides engage with the two bearing seats at the end of the second support rod 3231. Axial position is achieved by the shaft shoulder of the first joint connecting shaft 3222 and the shaft retaining spring provided on the first joint connecting shaft 3222. A wiring groove is opened between the two bearing seats at the end of the second support rod 3231. The first joint connecting shaft 3222 is a hollow shaft, and a wiring groove is correspondingly opened on the side of the wiring groove facing the second support rod 3231, so as to facilitate the wiring of the electrical wiring harness from the posture adjustment mechanism 33 to pass through and pass out through the end of the lower protective shell of the first support rod 3221.

[0059] In this embodiment, handles of the translation mechanism 32 are provided on the outer sides of the second translation arm 323 and the third translation arm 324 for manually adjusting the shape of the translation mechanism 32 and facilitating the doctor to drag the robot and adjust its position.

[0060] In this embodiment, a registration compensation unit 4 is provided at the rotation connection between the second translation arm 323 and the third translation arm 324. The registration compensation unit 4 includes a compensation drive motor installed on the second translation arm 323 to compensate for the axial follow-up rotation caused by the end movement of the translation mechanism 32 in real time. Figure 6 As shown, the second translation arm 323 and the third translation arm 324 achieve relative passive rotation via a transfer rod 3242, a second joint connecting shaft 3232, and a second bearing 3234. The transfer rod 3242 and the third translation arm 324 are fastened together by bolts. The lower outer ring of the second joint connecting shaft 3232 is fastened together with the transfer rod 3242, and the lower inner ring is fastened together with bolts to the compensation drive motor. The purpose of providing the compensation drive motor in this embodiment is to compensate for the axial follow-up rotation caused by the end motion of the translation mechanism 32 in real time, thereby strictly separating the positional motion of the translation mechanism 32 from that of the posture adjustment mechanism 33.

[0061] Specifically, the inner sides of the two second bearings 3234 cooperate with the second joint connecting shaft 3232, and the outer sides cooperate with the two bearing seats at the ends of the second support rod 3231, and axial limitation is achieved through the shaft shoulder of the second joint connecting shaft 3232 and the servo motor of the compensation drive motor. The corresponding positions of the second joint connecting shaft 3232 and the adapter rod 3242 are both provided with wiring grooves to facilitate the routing of the electrical wiring harness from the posture adjustment mechanism 33. The upper protective shell of the third translation arm 324 and the lower protective shell of the third translation arm 324 are fixed to the third support rod 3241 through threaded connection to achieve the covering of the third support rod 3241, the adapter rod 3242, and the compensation drive motor.

[0062] Reference Figure 7 and Figure 11 As shown, as an embodiment, the posture adjustment mechanism 33 includes: a static platform 331, a dynamic platform 332, two groups of posture adjustment robotic arms 333 and a group of fixed arms 334 arranged between the static platform 331 and the dynamic platform 332, and a quick-release device 335 installed on the lower end surface of the dynamic platform 332; wherein, the static platform 331 is connected to the junction of the second translation arm 323 and the third translation arm 324, and the quick-release device 335 is connected to the modular surgical mechanism 2; the angle between two adjacent posture adjustment robotic arms 333 and / or fixed arms 334 is 120°, and when the two groups of posture adjustment robotic arms 333 receive a motion instruction, they drive the dynamic platform 332 to rotate around the rotation diameter, and the rotation diameter passes through the installation center point of the fixed arm 334 and the dynamic platform 332.

[0063] It should be further explained that the quick-release device 335 in this embodiment includes a tool end provided on the lower end surface of the moving platform 332 and a mating end installed in cooperation with the tool end, and the mating end is fixedly installed on the modular surgical mechanism 2, wherein the modular surgical mechanism 2 includes at least one of a bone grinding module 21, a bone oscillating saw module 22, a bone drill module 23, a bone milling module 24, an osteotomy guide module 25, a bone drilling catheter module 26, and an ultrasonic acquisition module 27, that is, the mating end of the quick-release device 335 is installed on the corresponding bone grinding module 21 and / or bone oscillating saw module 22 and / or bone drill module 23 and / or bone milling module 24 and / or osteotomy guide module 25 and / or bone drilling catheter module 26 and / or ultrasonic acquisition module 27.

[0064] As an embodiment, the attitude adjustment robot arm 333 includes a micro servo push rod, and both ends of the micro servo push rod are rotatably mounted with the static platform 331 and the dynamic platform 332 respectively through Hooke's hinges; the Hooke's hinge includes a static platform 331 Hooke's hinge and a first dynamic platform 332 Hooke's hinge, one end of the static platform 331 Hooke's hinge is fastened to the static platform 331 through a nut, and the other end is connected to the upper part of the micro servo push rod through a threaded hole, and the lower part of the micro servo push rod is connected to the first dynamic platform 332 Hooke's hinge through a thread, and the first dynamic platform 332 Hooke's hinge is fixed to the corresponding bearing inner ring through a bearing retaining ring and a washer nut, and the corresponding bearing inner ring cooperates with the dynamic platform 332, so that the first dynamic platform 332 Hooke's hinge can rotate around its own axis, which can be equivalent to a ball pair (S), thereby forming a UPS pole.

[0065] The fixed arm 334 includes a fixed rod, one end of which is fixedly mounted on the static platform 331, and the other end of the fixed rod is rotatably mounted on the moving platform 332 through a Hooke's hinge. One end of the fixed rod is fastened to the static platform 331 through a nut, and the other side is connected to the upper part of the Hooke's hinge (U) of the second moving platform 332 through a thread. The lower part of the Hooke's hinge (U) of the second moving platform 332 is matched with the moving platform 332 through a nut, thereby forming a U rod.

[0066] The static platform 331 and dynamic platform 332 of the posture adjustment mechanism 33 are connected at a 120° angle by two UPS rods and a U rod, enabling two-degree-of-freedom posture adjustment. A hole is opened in the center of the dynamic platform 332, and the perimeter of the hole is bolted to the third drive unit 337. The output shaft of the third drive unit is secured to the first step of the force sensor adapter flange via a jackscrew, enabling rotation of the modular surgical mechanism. The upper portion of the six-axis force sensor is secured to the second step of the force sensor adapter flange via internal bolts. The upper portion of the tool end of the quick-release device 335 is threadedly connected to the bottom of the six-axis force sensor, and the mating end of the quick-release device 335 is threadedly connected to the modular surgical mechanism 2. The tool end and mating end of the quick-release device 335 together form the quick-release device 335, allowing for rapid manual disassembly and replacement of the modular surgical mechanism 2. The posture adjustment mechanism 33 also includes a tracking module 336, which comprises a tracking bracket 3361 mounted on the static platform 331 and a tracer mounted on the tracking bracket 3361.

[0067] like Figure 8 As shown, the trolley 1 in this embodiment includes a frame 11 for mounting a vertical adjustment mechanism 31;

[0068] Display screen 12, mounted on translation mechanism 32, for displaying intraoperative navigation information and real-time doctor-robot-patient data;

[0069] Universal casters 13, mounted on the frame 11, for movement of the entire robot;

[0070] The control unit 14 is installed inside the frame 11 and is used to control the movement of each mechanism in real time.

[0071] The trolley 1 in this embodiment also includes feet 15 for fixing and supporting the robot, a trolley 1 support seat mounted on the frame 11, a mounting panel, side handles, a trolley housing 16, a rear handle, and a status indicator light. In this embodiment, the universal casters 13 are four universal casters 13 with brakes, and two feet 15 are fixed to the trolley 1 support seat, which includes a steel support seat and an ABS surface cover, and are used together to withstand the static and dynamic workload of the robot. The frame 11 is constructed of angle steel and is fixed to the trolley 1 support seat by bolts. The mounting panel is convenient for arranging various electrical control hardware, which is fixed to the frame 11 by bolts to jointly maintain the structural stability of the trolley 1. The trolley housing 16 is internally provided with a slot and a limit step, which is connected to the trolley 1 support seat and the frame 11 by bolts. The bottom of the lifting column is connected to the trolley 1 support base and the frame 11 by bolts, and the side is restrained by the sleeve in the frame 11 to restrain its posture deviation caused by potential force overturning. The display is installed on the mounting base 321 through the display bracket 17. The bottom of the display bracket 17 is connected to the base by bolts. The upper part of the display bracket 17 is fixed with a display. The display is used to display intraoperative navigation information and the real-time status of the doctor-robot-patient. The status indicator light receives instructions from the main control system and provides the doctor with key information such as the robot's operating status and operation mode. The side handle and the rear handle are respectively fixed to the frame 11 and the trolley shell 16, which is convenient for the doctor to adjust the robot to a suitable position next to the bed from multiple directions.

[0072] The vertical adjustment mechanism 31 comprises a three-section servo column 311 and a column protective housing 312. The fixed end of the three-section servo column 311 is fixedly mounted on the frame 11 of the trolley 1. The column protective housing 312 is sleeved around the outside of the three-section servo column 311 and fixedly mounted to the lower end surface of the mounting base 321. The lifting column protective housing 312 is secured to the mounting base 321 on both sides by upper bolts. The annular protrusion at the bottom of the mounting base 321 engages with the annular groove at the top of the lifting column protective housing 312, allowing the lifting column protective housing 312 to rise and fall synchronously with the three-section servo column 311.

[0073] The modular surgical mechanism 2 can be various types of special instruments for orthopedic surgery, including but not limited to a bone grinding module 21, a bone saw module 22, a bone drill module 23, a bone milling module 24, an osteotomy guide module 25, a bone drilling catheter module 26, and an ultrasonic acquisition module 27. The present invention combines a vertical adjustment mechanism 31, a translation mechanism 32, and a posture mechanism, and adopts a completely decoupled adjustment method of the three, so that the robot's motion output has the characteristics of completely separated position adjustment and posture adjustment, with excellent intuitive operation and drag experience, realizing minimally invasive and precise operation in the patient's surgical area during the collaboration between the robot and the doctor. The translation mechanism 32 adopts a pentagonal rotation pair, which has the advantages of high rigidity and high precision. A large number of lightweight materials (such as ABS, 7075 aluminum, etc.) are used for parts, and their structural parameters are obtained through optimized design, so that the robot body structure has high adaptability, load-to-weight ratio, and motion accuracy, which can better adapt to the orthopedic surgical environment.

[0074] The modular orthopedic surgical robot of the present invention realizes the replacement of surgical instruments through the quick-release device 335 installed on the output end of the posture mechanism and the modular surgical mechanism 2, which cooperate with each other. The modular design can meet the usage requirements of different orthopedic surgeries and adapt to the operating space requirements of different orthopedic surgical procedures.

[0075] Based on the above-mentioned method of using the modular orthopedic surgical robot, such as Figure 10 As shown, the following steps are included:

[0076] S1. Select the corresponding modular surgical mechanism 2 according to the patient's needs;

[0077] S2. The trajectory of the modular surgical mechanism 2 is planned, that is, based on the current position and positioning of the surgical module, the vertical adjustment mechanism 31, the translation mechanism 32, and the posture adjustment mechanism 33 are calculated to plan the movement trajectory of the surgical module;

[0078] S3. The posture adjustment of the modular surgical mechanism 2 is performed by adjusting the vertical adjustment mechanism 31, the translation mechanism 32, and the posture adjustment mechanism 33 according to the trajectory planning control;

[0079] S4. Tracking the real-time posture of the modular surgical mechanism 2, that is, using a tracer to track the modular surgical mechanism 2 in real time during the operation.

[0080] S5. Register the modular surgical mechanism 2, that is, register the modular surgical mechanism 2 by the registration compensation unit 4 according to the tracking data in step S3;

[0081] S6. Complete the surgical operation of the modular surgical mechanism 2.

[0082] Among them, in step S2, when planning the trajectory of the surgical module, a control method of completely decoupling the translation mechanism 32 and the posture adjustment mechanism 33 is adopted, so that the position adjustment and posture adjustment of the modular surgical mechanism 2 are separated.

[0083] The modular orthopedic surgical robot of this invention utilizes a quick-release mechanism 335 to facilitate the replacement of surgical instruments, adapting to the space requirements of different orthopedic surgical procedures. It also boasts the advantages of a parallel configuration, such as high rigidity and precision. Components utilize a large number of lightweight materials, such as ABS and 7075 aluminum, and their structural parameters have been optimized, resulting in a high degree of adaptability, load-to-weight ratio, and motion accuracy for the robot's structure, making it ideal for orthopedic surgical environments. The robot's design fully decouples the translation mechanism 32 from the posture adjustment mechanism 33, resulting in a position-separated motion output, offering excellent intuitive operation and a comfortable dragging experience.

[0084] The specific application usage process is as follows:

[0085] After the orthopedic surgical robot is positioned appropriately next to the operating table, the brake pedal of the universal caster 13 with a brake is pressed to lock the four casters. The foot 15 is lowered to the supporting ground. The trolley 1 is supported stably by the two feet and four casters in the surgical position. The power is then turned on to start the orthopedic surgical robot.

[0086] During the registration stage, the doctor holds the handle of the robot ultrasound acquisition module 27 and collects ultrasound images of the surgical area in the robot's soft dragging mode, and then realizes intraoperative navigation through existing medical preoperative processing methods.

[0087] During the positioning stage, the existing medical preoperative processing methods are used to plan the trajectory of the current position of the robot osteotomy guide module 25 and the bone drilling catheter module 26 relative to the drilling channel or osteotomy plane where the patient's surgical area is located. Then, with the help of the parallel robot inverse kinematics analysis, the position adjustment plan of the translation mechanism 32 and the posture adjustment mechanism 33 is obtained. Finally, the driving unit is used to drive the osteotomy guide module 25 and the bone drilling catheter module 26 along the motion trajectory to the top of the surgical area for positioning.

[0088] During the execution phase, the doctor holds the handle of the robot bone grinding module 21 or the bone oscillating saw module 22 or the bone drill module 23 or the bone milling module 24 and performs the corresponding surgical operation in the robot's soft dragging mode.

[0089] It should be further explained that, in this embodiment, a registration compensation unit 4 is provided at the rotation connection between the second translation arm and the third translation arm 324. The registration compensation unit 4 includes a compensation drive motor installed at the end of the second translation arm 323. The output direction of the compensation drive motor is in the vertical direction, driving the modular surgical mechanism 2 to rotate along the vertical axis. During the positioning stage, the robot can provide precise position tracking control. During the registration and execution stage, the robot can cooperate with the doctor to filter out the doctor's hand shaking, and at the same time limit the operating range to a safe and controllable range, so as to achieve efficient modular integration and application for different orthopedic surgical scenarios.

[0090] It should be understood that the specific embodiments described above are only used to explain the present invention and are not intended to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the scope of protection of the present invention.

Claims

1. A modular orthopedic surgical robot, characterized in that: include: Trolley (1); A modular surgical mechanism (2) integrating several different surgical modules; A posture separation adjustment mechanism (3) is mounted on the trolley (1) and is used to adjust the position and posture deviation of the modular surgical mechanism (2); The posture separation adjustment mechanism (3) comprises a vertical adjustment mechanism (31) mounted on the trolley (1), a translation mechanism (32) mounted at the output end of the vertical adjustment mechanism (31), and a posture adjustment mechanism (33) mounted at the output end of the translation mechanism (32); wherein, The translation mechanism (32) comprises: A mounting base (321) fixedly disposed at the output end of the vertical adjustment mechanism (31); The first translation arm (322), the second translation arm (323), the third translation arm (324), and the fourth translation arm (325) are rotated in sequence; and A first translation motor (326) and a second translation motor (327) are mounted on the mounting base (321); wherein the end of the first translation arm (322) away from the second translation arm (323) is coaxially arranged with the output shaft of the first translation motor (326), and the end of the fourth translation arm (325) away from the third translation arm (324) is coaxially arranged with the output shaft of the second translation motor (327); The mounting base (321), the first translation arm (322), the second translation arm (323), the third translation arm (324) and the fourth translation arm (325) are arranged on a horizontal plane to form a pentagonal rotation pair. When the first translation motor (326) and / or the second translation motor (327) rotate, the pentagonal rotation pair is driven to translate on the plane.

2. A modular orthopedic surgical robot according to claim 1, characterized in that: The posture adjustment mechanism (33) comprises: a static platform (331), a dynamic platform (332), two groups of posture adjustment mechanical arms (333) and a group of fixed arms (334) arranged between the static platform (331) and the dynamic platform (332), and a quick-release device (335) installed on the lower end surface of the dynamic platform (332); wherein, The static platform (331) is connected to the junction of the second translation arm (323) and the third translation arm (324), and the quick-release device (335) is connected to the modular surgical mechanism (2); the angle between two adjacent posture adjustment robotic arms (333) and / or the fixed arms (334) is 120 degrees, and when the two groups of posture adjustment robotic arms (333) receive a motion instruction, they drive the moving platform (332) to rotate around a rotation diameter, and the rotation diameter passes through the installation center point of the fixed arm (334) and the moving platform (332).

3. The modular orthopedic surgical robot according to claim 2, characterized in that: The posture adjustment robot arm (333) comprises a micro servo push rod, and both ends of the micro servo push rod are rotatably mounted on the static platform (331) and the dynamic platform (332) respectively through Hooke's hinges; The fixed arm (334) comprises a fixed rod, one end of which is fixedly mounted on the static platform (331), and the other end of which is rotatably mounted on the dynamic platform (332) via a Hooke's hinge.

4. The modular orthopedic surgical robot according to claim 2, characterized in that: The posture adjustment mechanism (33) further comprises a tracking module (336), wherein the tracking module (336) comprises a tracking bracket mounted on the static platform (331) and a tracer mounted on the tracking bracket.

5. The modular orthopedic surgical robot according to claim 1, characterized in that: The modular surgical mechanism (2) comprises at least one of a bone grinding module (21), a bone swing saw module (22), a bone drill module (23), a bone milling module (24), an osteotomy guide module (25), a bone drilling catheter module (26), and an ultrasound acquisition module (27).

6. The modular orthopedic surgical robot according to claim 1, characterized in that: The second translation arm (323) and the third translation arm (324) are both equipped with manual translation handles (328) for manually adjusting the shape of the translation mechanism (32).

7. The modular orthopedic surgical robot according to claim 1, characterized in that: The trolley (1) comprises: A frame (11) for mounting the vertical adjustment mechanism (31); A display screen (12) is mounted on the translation mechanism (32) and is used to display intraoperative navigation information and real-time doctor-robot-patient data; Universal casters (13), mounted on the frame (11), for movement of the entire robot; A control unit (14) is installed inside the frame (11) and is used to control the movement of each mechanism in real time.

8. The modular orthopedic surgical robot according to claim 6, characterized in that: The vertical adjustment mechanism (31) comprises: A servo three-section column (311), the fixed end of which is fixedly mounted on the frame (11) of the trolley (1); The column protection shell (312) is sleeved on the outside of the servo three-section column (311) and fixedly mounted on the lower end surface of the mounting base (321).

9. A modular orthopedic surgical robot according to any one of claims 1 to 8, characterized in that: The method for using the modular orthopedic surgical robot comprises the following steps: S1. Select the corresponding modular surgical mechanism according to the patient's needs (2); S2. Planning the trajectory of the modular surgical mechanism (2), that is, calculating and obtaining the posture adjustment scheme of the vertical adjustment mechanism (31), the translation mechanism (32), and the posture adjustment mechanism (33) based on the current posture and positioning of the surgical module, and planning the movement trajectory of the surgical module; S3. The position adjustment of the modular surgical mechanism (2), that is, the vertical adjustment mechanism (31), the translation mechanism (32), and the posture adjustment mechanism (33) are adjusted according to the trajectory planning; S4. Tracking the real-time position of the modular surgical mechanism (2), that is, tracking the modular surgical mechanism (2) in real time during the surgical process; S5. Registering the modular surgical mechanism (2), that is, registering the modular surgical mechanism (2) through the registration compensation unit (4) according to the tracking data in step S3; S6. Complete the surgical operation of the modular surgical mechanism (2).

10. The modular orthopedic surgical robot according to claim 9, characterized in that: In the step S2 of trajectory planning for the surgical module, a control method is adopted in which the translation mechanism (32) and the posture adjustment mechanism (33) are completely decoupled, so that the position adjustment and posture adjustment of the modular surgical mechanism (2) are separated.

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