Parallel surgical robot

Abstract

The invention discloses a parallel surgical robot, and relates to the field of robots, and the parallel surgical robot comprises an upper base, which is uniformly provided with three first connecting parts along the peripheral direction of the outer side; three first connecting parts are evenly arranged on the upper base in the circumferential direction of the upper base, three second connecting parts are evenly arranged on the lower base in the circumferential direction of the outer side, the upper base and the lower base are concentrically arranged, the first connecting parts and the second connecting parts are arranged in a staggered mode, and the distance between each first connecting part and the adjacent second connecting part is the same; the six linear driving units are evenly arranged on the periphery of the upper base, and the two ends of each linear driving unit are connected with one first connecting part and one second connecting part correspondingly; the two joint bearings are respectively arranged at the central positions of the upper base and the lower base; the guide structure sequentially penetrates through the two knuckle bearings; the parallel surgical robot can reduce the load of the holding arm, so that the effect of improving the load at the tail end of the holding arm is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of robots, and more specifically, relates to a parallel surgical robot. Background Art

[0002] The existing parallel robots of our company have the problem of small working space and difficult calculation. There is an angle between the nail placement direction and the overall configuration, which will cause the structure to be subjected to lateral force, which is the weakest direction of the linear motion unit (the lateral load capacity is about 1 / 4 of the axial load capacity), making the overall load parameters of the robot low, and exceeding the load capacity will lead to a reduction in the life of the robot. Also because of the angle between the nail placement direction and the overall configuration, operators with insufficient experience or weak spatial imagination cannot grasp the effective working space for precise positioning. Even if there is a coarse positioning auxiliary screen, due to the complex interaction rules, the operator will still spend a lot of energy in the coarse adjustment stage, reducing the user experience.

[0003] The existing parallel robot can complete the core function of guide pin implantation in orthopedic surgery with its high load and precision. However, the current design has certain limitations. In order to improve the user experience of the parallel robot, the following three points are the main optimization directions for improving product performance.

[0004] 1. Due to its configuration limitations, the active working space in actual applications is relatively small, and during surgery, doctors need to manually operate for a long time to perform rough positioning and aiming before they can enter the active working space.

[0005] 2. In the current design, there is an assembly angle between the range of motion of the robot body and the end tool. When performing the nail placement action, the force direction of the robot is mainly lateral force, and lateral force is the worst force state for parallel robots, which can easily cause linear motion unit failure or reduce life.

[0006] 3. In the current design, according to the assembly position relationship between the end tool and the robot body, the motion range of the robot body needs to be converted into the motion range of the end tool, and the user then "hooks" the target screw according to the motion range of the end tool. Complex spatial imagination is required to complete the rough positioning work, so convenient and efficient interaction methods have also become the main difficulty in product optimization. Summary of the invention

[0007] The purpose of the present invention is to provide a parallel surgical robot to address the deficiencies in the prior art. The parallel surgical robot can not only take advantage of high load, but also make up for the problems of small working space, difficult coarse adjustment and poor stress state of the parallel robot, and can realize the precise nail placement function under navigation guidance.

[0008] In order to achieve the above object, the present invention provides a parallel surgical robot, comprising:

[0009] The upper base has three first connection parts evenly arranged along the outer circumferential direction;

[0010] The lower base is evenly provided with three second connection parts along the outer circumferential direction, the upper base and the lower base are concentrically arranged, the first connection parts and the second connection parts are staggered, and the distance between each first connection part and the adjacent second connection part is the same;

[0011] Six linear drive units are evenly arranged on the outer circumference of the upper base, and two ends of each of the linear drive units are respectively connected to one of the first connecting parts and one of the second connecting parts;

[0012] Two spherical bearings are respectively arranged at the center of the upper base and the lower base;

[0013] The guide structure sequentially passes through the two spherical bearings.

[0014] Optionally, the upper base includes a first circular surface, the first connecting portion is connected to the outer circumference of the first circular surface, the lower base includes a second circular surface, the second connecting portion is connected to the outer circumference of the second circular surface, and the radial dimensions of the upper base and the second circular surface are the same.

[0015] Optionally, the first circular surface and the second circular surface are evenly provided with the same number of hollow holes.

[0016] Optionally, the linear drive unit comprises:

[0017] An upper kinematic pair connected to the upper base;

[0018] A lower end kinematic pair connected to the lower base;

[0019] The intermediate driving pair is arranged between the upper end motion pair and the lower end motion pair.

[0020] Optionally, the upper end kinematic pair and the lower end kinematic pair are ball joints or Hooke's joints.

[0021] Optionally, the driving pair is a hydraulic cylinder, a pneumatic cylinder or an electric cylinder.

[0022] Optionally, the guide structure passes through the joint bearing of the lower base, and one end of the guide structure is connected to the joint bearing of the upper base.

[0023] Optionally, a needle placement hole is provided on a side of the upper base away from the lower base, and the needle placement hole is arranged in an extension direction of the guide structure.

[0024] Optionally, the other end of the guide structure is used to connect with the end of the holding arm.

[0025] The present invention provides a parallel surgical robot, which has the following beneficial effects:

[0026] 1. The working space of the parallel surgical robot is adjustable. When the lower base is used as a fixed reference, the movable range of the upper base, the guide structure and the lower joint bearing can form a triangular area, and the guide structure of the robot part extending below the lower base can also form a triangular area with the lower joint bearing when moving. The upper and lower triangles are similar triangles. When the distance between the upper and lower bases changes but the length of the guide structure remains unchanged, the upper triangle will decrease and the lower triangle will increase. Correspondingly, the working space of the parallel surgical robot will also increase. Therefore, the working space size of the parallel surgical robot can be more controllable than the original structure, and the support is more stable. In this way, by using the principle of similar triangles, the working space can be enlarged or reduced by adjusting the distance between the upper and lower bases, and adjusted as needed;

[0027] 2. When the parallel surgical robot is performing nail placement, the force direction is mainly from the upper base to the lower base, and the force on the driving pair is mainly the push and pull force along the installation direction. Compared with the original driving pair mainly receiving lateral force, its load capacity can be greatly improved and its service life can be prolonged;

[0028] 3. A hollow ring structure consistent with the working space is set around the joint bearings of the upper and lower bases in the parallel surgical robot, which can achieve a similar "sight" effect. When performing coarse positioning, the hollow rings of the upper and lower bases are directly covered with the target positioning area to ensure that the target is within the active working space of the parallel robot. In this way, the parallel surgical robot does not need to perform the original spatial position conversion link during the coarse positioning stage, which can make the coarse positioning operation more intuitive and visual.

[0029] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0031] Figure 1 A connection diagram of an existing parallel robot is shown.

[0032] Figure 2 A schematic structural diagram of a parallel surgical robot according to an embodiment of the present invention is shown.

[0033] Figure 3 A schematic diagram of the state of a parallel surgical robot performing coarse positioning and aiming according to an embodiment of the present invention is shown.

[0034] Figure 4 Shows Figure 3 Top view of the .

[0035] Figure 5 Shows Figure 3 Stereoscopic diagram.

[0036] Description of reference numerals:

[0037] 1. Upper base; 2. Lower base; 3. First connecting part; 4. Second connecting part; 5. Joint bearing; 6. Guide structure; 7. First circular surface; 8. Second circular surface; 9. Hollow hole; 10. Upper end kinematic pair; 11. Lower end kinematic pair; 12. Intermediate driving pair; 13. Pinhole. DETAILED DESCRIPTION

[0038] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0039] The present invention provides a parallel surgical robot, comprising:

[0040] The upper base has three first connection parts evenly arranged along the outer circumferential direction;

[0041] The lower base is evenly provided with three second connection parts along the outer circumferential direction, the upper base and the lower base are concentrically arranged, the first connection parts and the second connection parts are staggered, and the distance between each first connection part and the adjacent second connection part is the same;

[0042] Six linear drive units are evenly arranged on the outer circumference of the upper base, and two ends of each linear drive unit are respectively connected to a first connection part and a second connection part;

[0043] Two spherical bearings are respectively arranged at the center of the upper base and the lower base;

[0044] The guide structure passes through the two spherical bearings in sequence.

[0045] Specifically, the parallel surgical robot is a parallel robot with structural changes based on the existing parallel robot. Three connecting parts are alternately arranged on the upper and lower bases, and the first connecting part and the second connecting part are sequentially connected in series through a linear drive unit, forming three V-shaped interconnected layouts on the periphery of the parallel surgical robot. In addition, articulated bearings are respectively arranged at the center positions of the upper and lower bases, and the two articulated bearings are connected in series through a guide structure. In this way, when the needle is placed, each linear drive unit is telescopically adjusted to make the upper base move relative to the lower base. Since the guide structure always supports the center of the upper base, the lateral force on the linear drive unit can be reduced.

[0046] Optionally, the upper base includes a first circular surface, the first connecting portion is connected to the outer circumference of the first circular surface, the lower base includes a second circular surface, the second connecting portion is connected to the outer circumference of the second circular surface, and the radial dimensions of the upper base and the second circular surface are the same.

[0047] Optionally, the first circular surface and the second circular surface are evenly provided with the same number of hollow holes.

[0048] Specifically, the area of ​​the upper base is smaller than that of the lower base, and the areas of the second circular surfaces of the upper base and the lower base are the same, so that the linear drive unit moves closer to the guide structure from bottom to top, and when the upper and lower bases are arranged parallel to each other, the six linear drive units are tightened inward and support the upper base, and each linear drive unit is subjected to the same force; hollow holes are also arranged on the first circular surface and the second circular surface. When the hollow holes on the two circular surfaces correspond to each other, they can play a role similar to a "sight" to achieve rough positioning.

[0049] Optionally, the linear drive unit comprises:

[0050] The upper kinematic pair is connected to the upper base;

[0051] The lower end kinematic pair is connected to the lower base;

[0052] The intermediate driving pair is arranged between the upper end motion pair and the lower end motion pair.

[0053] Optionally, the upper end kinematic pair and the lower end kinematic pair are spherical joints or Hooke's joints.

[0054] Optionally, the driving pair is a hydraulic cylinder, a pneumatic cylinder or an electric cylinder.

[0055] Specifically, a plurality of linear drive units are arranged between the upper and lower bases, the linear drive units are hingedly connected to the upper and lower bases, and the two ends of the middle drive pair are also hingedly connected to the motion pairs at the upper and lower ends. Under the telescopic drive of the drive pair, the upper base can be driven to deflect at a certain angle.

[0056] Optionally, the guide structure passes through the joint bearing of the lower base, and one end of the guide structure is connected to the joint bearing of the upper base.

[0057] Specifically, the guide structure and the joint bearing are through-connected. When the upper base moves relative to the lower base, the guide structure moves with the center of the lower base as the hinge point, and the end of the guide structure moves with the upper base. In this way, the guide structure can provide supporting force and connecting force to the center of the upper base, share the force of the peripheral linear drive unit, extend the service life of the linear drive unit, and make the upper base more controllable during movement.

[0058] In one embodiment, connecting rods with equal diameters may be used as guide structures.

[0059] Optionally, a needle placement hole is provided on a side of the upper base away from the lower base, and the needle placement hole is arranged in the extension direction of the guide structure.

[0060] Optionally, the other end of the guide structure is used to connect with the end of the holding arm.

[0061] Specifically, when the guide needle is implanted, it needs to be roughly positioned first. The guide needle is set on the extension line of the guide structure. When the upper and lower bases are aligned through the hollow hole, it indicates that the upper and lower bases are in parallel with each other, and the lower base is fixedly connected to the holding arm, so that the guide needle can complete the rough positioning and aiming.

[0062] Example

[0063] like Figures 2 to 5 As shown, the present invention provides a parallel surgical robot, comprising:

[0064] The upper base 1 is evenly provided with three first connection parts 3 along the outer circumferential direction;

[0065] The lower base 2 is evenly provided with three second connection parts 4 along the outer circumferential direction, the upper base 1 and the lower base 2 are concentrically arranged, the first connection parts 3 and the second connection parts 4 are staggered, and the distance between each first connection part 3 and the adjacent second connection part 4 is the same;

[0066] Six linear drive units are evenly arranged on the outer periphery of the upper base 1, and two ends of each linear drive unit are respectively connected to a first connection part 3 and a second connection part 4;

[0067] Two spherical bearings 5 ​​are respectively arranged at the center of the upper base 1 and the lower base 2;

[0068] The guide structure 6 passes through the two spherical bearings 5 ​​in sequence.

[0069] In this embodiment, the upper base 1 includes a first circular surface 7, the first connecting portion 3 is connected to the outer periphery of the first circular surface 7, the lower base 2 includes a second circular surface 8, the second connecting portion 4 is connected to the outer periphery of the second circular surface 8, and the radial dimensions of the upper base 1 and the second circular surface 8 are the same.

[0070] In this embodiment, the first circular surface 7 and the second circular surface 8 are evenly provided with the same number of hollow holes 9 .

[0071] In this embodiment, the linear drive unit includes:

[0072] The upper end kinematic pair 10 is connected to the upper base 1;

[0073] The lower end kinematic pair 11 is connected to the lower base 2;

[0074] The intermediate driving pair 12 is arranged between the upper end motion pair 10 and the lower end motion pair 11 .

[0075] In this embodiment, the upper end kinematic joint 10 and the lower end kinematic joint 11 are ball joints or Hooke's joints.

[0076] In this embodiment, the intermediate driving pair 12 is a hydraulic cylinder, a pneumatic cylinder or an electric cylinder.

[0077] In this embodiment, the guide structure 6 passes through the spherical bearing 5 of the lower base, and one end of the guide structure 6 is connected to the spherical bearing 5 of the upper base 1 .

[0078] In this embodiment, a needle placement hole 13 is provided on a side of the upper base 1 away from the lower base 2 , and the needle placement hole 13 is provided in the extension direction of the guide structure 6 .

[0079] In this embodiment, the other end of the guide structure 6 is used to connect with the end of the holding arm.

[0080] In summary, during the use of the parallel surgical robot, the direction of nail placement is consistent with the central axis of the overall structure of the robot, and the movement axis of the upper base 1 overlaps with the axis of the guide structure 6. On the one hand, the stress state of the existing configuration can be changed from lateral stress to axial stress, and the load capacity and service life of the whole machine can be greatly improved after optimizing the stress state; on the other hand, the movement direction of the guide structure 6 is consistent with the overall structure, and there is no need to perform spatial transformation of the workspace. In addition, the operator no longer needs to use an auxiliary screen or other interactive design. The boundary of the active precise positioning space is designed to be consistent with the middle ring boundary design of the upper and lower bases. The operator only needs to cover the target area with the hollow holes 9 of the upper and lower bases to complete the rough adjustment work, which greatly improves the convenience of use. The end force arm of the holding arm is also changed from the superposition of the length of all parts in the configuration of the existing parallel robot to the radius of the overall configuration of the parallel surgical robot of this application, which can achieve the effect of reducing the force arm and improving the load capacity of the end of the holding arm. At the same time, in future designs, there is no need to worry about the influence of the robot axis direction tool or part stacking on the force arm, which improves the degree of freedom of design.

[0081] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A parallel surgical robot, characterized in that: include: The upper base has three first connection parts evenly arranged along the outer circumferential direction; The lower base is evenly provided with three second connection parts along the outer circumferential direction, the upper base and the lower base are concentrically arranged, the first connection parts and the second connection parts are staggered, and the distance between each first connection part and the adjacent second connection part is the same; Six linear drive units are evenly arranged on the outer circumference of the upper base, and two ends of each of the linear drive units are respectively connected to one of the first connecting parts and one of the second connecting parts; Two spherical bearings are respectively arranged at the center of the upper base and the lower base; The guide structure sequentially passes through the two spherical bearings.

2. The parallel surgical robot according to claim 1, characterized in that: The upper base includes a first circular surface, the first connecting portion is connected to the outer circumference of the first circular surface, the lower base includes a second circular surface, the second connecting portion is connected to the outer circumference of the second circular surface, and the radial dimensions of the upper base and the second circular surface are the same.

3. The parallel surgical robot according to claim 2, characterized in that: The first circular surface and the second circular surface are evenly provided with the same number of hollow holes.

4. The parallel surgical robot according to claim 1, characterized in that: The linear drive unit comprises: An upper kinematic pair connected to the upper base; A lower end kinematic pair connected to the lower base; The intermediate driving pair is arranged between the upper end motion pair and the lower end motion pair.

5. The parallel surgical robot according to claim 4, characterized in that: The upper end kinematic pair and the lower end kinematic pair are ball joints or Hooke's joints.

6. The parallel surgical robot according to claim 4, characterized in that: The driving pair is a hydraulic cylinder, a pneumatic cylinder or an electric cylinder.

7. The parallel surgical robot according to claim 1, characterized in that: The guide structure passes through the joint bearing of the lower base, and one end of the guide structure is connected to the joint bearing of the upper base.

8. The parallel surgical robot according to claim 7, characterized in that: A needle placement hole is provided on a side of the upper base away from the lower base, and the needle placement hole is arranged in the extension direction of the guide structure.

9. The parallel surgical robot according to claim 7, characterized in that: The other end of the guide structure is used to connect with the end of the holding arm.

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