Portable surgical robot and control method

Abstract

The invention relates to a portable surgical robot and a control method, the portable surgical robot comprises an X-axis, a Y-axis, a Z-axis, a navigation device and a main control device, the X-axis, the Y-axis, the Z-axis and the navigation device are connected with the main control device, the X-axis comprises at least one X-axis adjusting mechanism, the Y-axis comprises at least one Y-axis adjusting mechanism, the Z-axis comprises at least one Z-axis adjusting mechanism, and the main control device is connected with the navigation device. The portable surgical robot further comprises a tail end device, the tail end device is connected to the X shaft or the Y shaft or the Z shaft through a mounting base, and the X shaft, the Y shaft and the Z shaft are matched with one another to be used for controlling the spatial orientation of the tail end device of the portable surgical robot. By means of the technical scheme, the size of the adjusting device can be reduced, and meanwhile accurate adjustment of the tail end device is achieved in the X-axis direction, the Y-axis direction and the Z-axis direction.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and particularly to a portable surgical robot and a control method therefor. Background Art

[0002] Traditional orthopedic surgeries require doctors to perform manual operations at corresponding positions on the patient's bones. Doctors need rich surgical experience to judge the changes during the surgery, which increases the difficulty of the surgery to a certain extent and the risk of surgical errors is high. To solve the current difficulties of orthopedic surgeries in the current market, a large number of orthopedic assisted surgical robots have emerged, and these orthopedic surgical robots basically use large multi-axis robotic arms for control.

[0003] However, the robotic arm for adjusting the end device of traditional surgical robots is relatively large in volume, which will occupy more operating room space and bring inconvenience to the doctor's surgical process. Moreover, the path of the traditional multi-axis robotic arm is not fixed during the adjustment process, which may interfere with the doctor's surgery and a large adjustment space needs to be reserved. Summary of the Invention

[0004] In order to be able to replace the traditional robotic arm and achieve precise adjustment of the end device in the X-axis, Y-axis, and Z-axis directions, the present application provides a portable surgical robot and a control method therefor.

[0005] The portable surgical robot and control method provided by the present application adopt the following technical solutions:

[0006] A portable surgical robot and a control method therefor, including an X-axis, a Y-axis, a Z-axis, a navigation device, and a main control device. The X-axis, Y-axis, Z-axis, and navigation device are connected to the main control device. The X-axis includes at least one X-axis adjustment mechanism, the Y-axis includes at least one Y-axis adjustment mechanism, the Z-axis includes at least one Z-axis adjustment mechanism. The portable surgical robot further includes an end device, and the end device is connected to the X-axis or Y-axis or Z-axis through a mounting seat. The X-axis, Y-axis, and Z-axis cooperate with each other to control the spatial orientation of the end device of the portable surgical robot.

[0007] By adopting the above technical solutions, an operator can achieve precise adjustment of the end device in the X-axis, Y-axis, and Z-axis directions through the main control device.

[0008] Optionally, an operator can simultaneously control the X-axis, Y-axis, and Z-axis for adjustment through the main control device.

[0009] By adopting the above technical solutions, the end device can be adjusted to the surgical position more quickly, the adjustment time can be reduced, the surgical preparation time can be reduced, and convenience can be provided for doctors.

[0010] Optionally, the X-axis includes a first X-axis and a second X-axis. An operator roughly adjusts the X orientation of the end device through the first X-axis, and precisely adjusts the X orientation of the end device through the second X-axis.

[0011] By adopting the above technical solution, the operator can manually operate the first X-axis in the X-axis direction to adjust the end device to the initial position, and then control the second X-axis through the main control device for precise adjustment, which can reduce the adjustment path of the second X-axis, reduce the adjustment error, and improve the accuracy of the adjustment device.

[0012] Optionally, the first X-axis includes a support, a slider, and a fixing member. The mounting seat is connected to the support, the slider is connected to the support, the fixing member includes at least one rod parallel to the X-axis direction and at least one fixing block, the slider is slidably connected to the rod, and the support includes a base and a bracket.

[0013] By adopting the above technical solution, the operator can apply force to the slider to make the slider slide on the rod, so as to manually adjust the position of the support in the X-axis direction. And because the end device is connected to the X-axis through the mounting seat, the operator can roughly adjust the position of the end device in the X direction.

[0014] Optionally, the second X-axis includes a first lead screw disposed on the mounting seat, a first motor for driving the first lead screw to rotate, and a first connecting seat disposed on the mounting seat. The first lead screw is parallel to the X-axis, the end device is connected to the first connecting seat, the first connecting seat is threadedly connected to the first lead screw, and the first connecting seat is restricted from rotating around the axis of the first lead screw.

[0015] By adopting the above technical solution, the operator controls the first motor to start through the main control device. The first motor drives the first lead screw to rotate, and the first connecting seat threadedly connected to the first lead screw moves along the X-axis direction, so as to precisely adjust the position of the end device in the X-axis direction.

[0016] Optionally, the Y-axis includes a first Y-axis and a second Y-axis. An operator roughly adjusts the Y orientation of the end device through the first Y-axis, and precisely adjusts the Y orientation of the end device through the second Y-axis.

[0017] By adopting the above technical solution, the operator can manually operate the first Y-axis in the Y-axis direction to adjust the end device to the initial position, and then control the second Y-axis through the main control device for precise adjustment, which can reduce the adjustment path of the second Y-axis, reduce the adjustment error, and improve the accuracy of the adjustment device.

[0018] Optionally, the first Y-axis includes a connecting member disposed on the base and a sliding member slidably connected to the connecting member. The axis of the connecting member is parallel to the Y-axis, and the sliding member is connected to the bracket.

[0019] By adopting the above technical solution, an operator can directly apply a force to the sliding member, causing the sliding member to slide within the connecting member, thereby roughly adjusting the position of the end device in the Y-axis direction.

[0020] Optionally, the sliding member includes a sliding portion and a connecting portion. The sliding portion is slidably connected to the connecting member, and the bracket is rotatably connected to the connecting portion.

[0021] By adopting the above technical solution, an operator can directly apply a force to the sliding portion, causing the sliding portion to slide within the connecting member, thereby roughly adjusting the position of the end device in the Y-axis direction.

[0022] Optionally, the second Y-axis includes a second lead screw disposed on the first connecting seat, a second motor for driving the second lead screw to rotate, and a second connecting seat disposed on the first connecting seat. The end device is connected to the second connecting seat, the second connecting seat is threadedly connected to the second lead screw, and the second connecting seat is restricted from rotating about the axis of the second lead screw.

[0023] By adopting the above technical solution, an operator controls the second motor to start through the main control device. The second motor drives the first lead screw to rotate, and the second connecting seat threadedly connected to the second lead screw moves along the Y-axis direction, thereby realizing precise adjustment of the position of the end device in the Y-axis direction.

[0024] Optionally, the Z-axis includes a first Z-axis and a second Z-axis. An operator roughly adjusts the Z orientation of the end device through the first Z-axis, and precisely adjusts the Z orientation of the end device through the second Z-axis.

[0025] By adopting the above technical solution, an operator can manually operate the first Z-axis to adjust the end device to the initial position in the Z-axis direction. Subsequently, the main control device controls the second Z-axis for precise adjustment, which can reduce the adjustment path of the second Z-axis, reduce the adjustment error, and improve the precision of the adjustment device.

[0026] Optionally, the first Z-axis includes a locking seat disposed on the slider. A locking ring is disposed on the locking seat. The bracket is parallel to the Z-axis, and the bracket can pass through the locking ring coaxially. The locking ring can lock the bracket through a bolt.

[0027] By adopting the above technical solution, an operator can manually pass the bracket through the locking ring coaxially and move the bracket along the Z-axis direction within the locking ring, thereby adjusting the position of the end device in the Z-axis direction.

[0028] Optionally, the second Z-axis includes a third lead screw connecting the second connecting seat, a third connecting seat, and a third motor for driving the rotation of the third lead screw. The third lead screw is connected to the second connecting seat through a connecting plate. The third lead screw can be parallel to the Z-axis. The end device is connected to the third connecting seat. The third connecting seat is threadedly connected to the third lead screw, and the third connecting seat is restricted from rotating around the axial direction of the third lead screw.

[0029] By adopting the above technical solution, the operator controls the third motor to start through the main control device. The third motor drives the third lead screw to rotate. The third connecting seat threadedly connected to the third lead screw will not rotate during the movement, so as to realize the precise adjustment of the position of the end device in the Z-axis direction.

[0030] Optionally, it specifically includes the following steps:

[0031] S1: Determine the target lesion of the surgical object according to the CT data of the surgical object, and install the portable surgical robot;

[0032] S2: According to the position of the lesion, preliminarily and roughly adjust the spatial position of the end device from three directions of the X-axis, Y-axis, and Z-axis by manual adjustment;

[0033] S3: Determine the current spatial position of the end device through the navigation device (1) and transmit the relevant data to the main control device (2);

[0034] S4: The main control device (2) receives the information of the current position of the end device and combines the spatial position of the target lesion to navigate the end device;

[0035] S5: Control the X-axis, Y-axis, and Z-axis through the main control device (2) to precisely adjust the end device to the surgical position.

[0036] By adopting the above technical solution, the operator can control the X-axis, Y-axis, and Z-axis through the main control device to precisely adjust the end device instead of the traditional robotic arm.

[0037] In summary, the present application includes at least one of the following beneficial technical effects:

[0038] 1. The operator first determines the target lesion of the surgical object according to the CT data of the surgical object and installs the portable surgical robot. Subsequently, the operator, according to the position of the lesion, makes a rough adjustment of the spatial orientation of the end device through the mutual cooperation between the first X-axis, the first Y-axis, and the first Z-axis, so as to determine the initial position of the end device, reduce the path of precise adjustment, reduce the time required for adjustment, and thus reduce the surgical preparation time, providing convenience for doctors;

[0039] 2. A scanning camera is provided on the navigation device. The operator can scan the position of the end device after rough adjustment through the scanning camera on the navigation device. When the navigation device recognizes the current position of the end device, it transmits the position information of the end device to the main control device; after receiving the current position information of the end device, the main control device plans the adjustment path of the adjustment device in combination with the spatial position of the target lesion; the main control device controls the second X-axis, the second Y-axis and the second Z-axis simultaneously in an electro-signal control manner, and accurately adjusts the end device to the final surgical position, which is beneficial to improving the accuracy of adjustment and thus ensuring the safety of the operation;

[0040] 3. Compared with the traditional multi-axis robotic arm adjustment, the adjustment device using the X-axis, Y-axis, and Z-axis is smaller in volume and lighter in weight, facilitating the doctor to perform surgery in a limited surgical space; Brief Description of the Drawings

[0041] Figure 1 It is a schematic structural diagram showing the overall structure of the present application.

[0042] Figure 2 It is a schematic structural diagram showing the Y-axis of the present application.

[0043] Figure 3 It is a schematic structural diagram showing the Z-axis of the present application.

[0044] Description of the Reference Numerals: 1. Navigation device; 2. Main control device; 3. First X-axis; 31. Support; 311. Base; 312. Bracket; 32. Slide block; 33. Fixing member; 331. Rod; 332. Fixing block; 4. Second X-axis; 41. First motor; 411. Signal receiving part one; 42. First lead screw; 43. First connecting seat; 5. First Y-axis; 51. Connecting member; 52. Sliding member; 521. Sliding part; 522. Connecting part; 6. Second Y-axis; 61. Second motor; 611. Signal receiving part two; 62. Second lead screw; 63. Second connecting seat; 7. First Z-axis; 71. Locking seat; 72. Locking ring; 8. Second Z-axis; 81. Third motor; 811. Signal receiving end; 82. Third lead screw; 83. Third connecting seat; 84. Connecting plate; 9. Mounting seat. Detailed Description of the Embodiment

[0045] The present application will be described in detail with reference to FIGS. 1-3.

[0046] The embodiment of the present application discloses a portable surgical robot and a control method.

[0047] Refer to Figures 1 - 3, A portable surgical robot, including an X-axis, a Y-axis and a Z-axis. The portable surgical robot further includes a navigation device 1 and a main control device 2. The X-axis, Y-axis, Z-axis and the navigation device are connected to the main control device. The end device is connected to the X-axis or Y-axis or Z-axis through a mounting seat 9.

[0048] The X-axis includes a first X-axis 3, the Y-axis includes a first Y-axis 5, and the Z-axis includes a first Z-axis 7.

[0049] Refer to Figure 1 , The first X-axis 3 includes a support 31, a slider 32 and a fixing member 33. The mounting seat 9 is connected to the support 31. The support 31 includes a base 311 and a bracket 312. One end of the bracket 312 is connected to the base 311. The slider 32 is connected to the end of the bracket 312 away from the base 311. The fixing member 33 includes at least one rod 331 parallel to the X-axis direction and at least one fixing block 332. The slider 32 is slidably connected to the rod 331.

[0050] Refer to Figure 2 , The first Y-axis 5 includes a connecting member 51 and a sliding member 52 disposed on the base 311. The axis of the connecting member 51 is parallel to the Y-axis, and the sliding member 52 is connected to the bracket 312. The sliding member 52 includes a sliding portion 521 and a connecting portion 522. The sliding portion 521 is slidably connected to the connecting member 51. One end of the bracket 312 is rotatably connected to the connecting portion 522.

[0051] Refer to Figure 3 , The first Z-axis 7 includes a locking seat 71 disposed on the slider 32. A locking ring 72 is disposed on the locking seat 71. The bracket 312 can pass through the locking ring 72 coaxially. An operator can rotate the bracket 312 to make it parallel to the Z-axis. When the operator adjusts the bracket 312 to the required position, the operator can fix the bracket 312 by tightening the locking ring 72 with a bolt.

[0052] The X-axis further includes a second X-axis 4, the Y-axis further includes a second Y-axis 6, and the Z-axis further includes a second Z-axis 8.

[0053] Refer to Figure 1 , The second X-axis 4 includes a first lead screw 42, a first motor 41 disposed on the mounting seat 9 and a first connecting seat 43 disposed on the mounting seat 9. The output shaft of the first motor 41 is connected to the first lead screw 42 through a coupling. The first lead screw 42 is parallel to the X-axis. The end device is connected to the first connecting seat 43. The first connecting seat 43 is threadedly connected to the first lead screw 42. A signal receiving part one 411 is disposed on the first motor 41. The main control device 2 is connected to the signal receiving part one 411 through an electric wire.

[0054] Refer to Figure 2, the second Y-axis 6 includes a second lead screw 62, a second motor 61 disposed on the first connecting seat 43, and a second connecting seat 63 disposed on the first connecting seat 43. The output shaft of the second motor 61 is connected to the second lead screw 62 through a coupling. The end device is connected to the second connecting seat 63, and the second connecting seat 63 is threadedly connected to the second lead screw 62. A second signal receiving part 611 is provided on the second motor 61, and the main control device 2 is connected to the second signal receiving part 611 through an electric wire.

[0055] As Figure 3 shown, the second Z-axis 8 includes a third lead screw 82, a third motor 81 and a third connecting seat 83 connected to the second connecting seat 63. The third motor 81 is connected to the second connecting seat 63 through a connecting plate 84. The output shaft of the third motor 81 is connected to the third lead screw 82 through a coupling. The third lead screw 82 can be parallel to the Z-axis. The end device is connected to the third connecting seat 83, and the third connecting seat 83 is threadedly connected to the third lead screw 82. The third connecting seat 83 is restricted from rotating around the axis of the third lead screw 82. A signal receiving end 811 is provided on the third motor 81, and the main control device 2 is connected to the signal receiving end 811 through an electric wire.

[0056] The implementation principle of a portable surgical robot according to an embodiment of the present application is as follows: The operator performs a rough adjustment of the spatial orientation of the end device through the mutual cooperation among the first X-axis 3, the first Y-axis 5, and the first Z-axis 7.

[0057] The operator can identify the location of the end device through the navigation device 1; the navigation device 1 transmits the position information of the end device to the main control device 2; after receiving the current position information of the end device, the main control device 2 plans the adjustment path of the adjustment device in combination with the spatial position of the target lesion; the operator simultaneously controls the second X-axis 4, the second Y-axis 6, and the second Z-axis 8 through the main control device 2 to accurately adjust the end device to the final surgical position.

[0058] As Figures 1 - 3 shown, the present application also provides a portable surgical robot and a control method. Based on the above-mentioned portable surgical robot, it includes the following steps:

[0059] S1: Determine the target lesion of the surgical object according to the CT data of the surgical object, and install the portable surgical robot;

[0060] S2: According to the position of the lesion, perform a preliminary rough adjustment of the spatial position of the end device from three directions of the X-axis, Y-axis, and Z-axis through manual adjustment;

[0061] S3: Determine the current spatial position of the end device through the navigation device 1, and transmit the relevant data to the main control device 2;

[0062] S4: The main control device 2 receives the information of the current position of the end device, combines it with the spatial position of the target lesion, and navigates the end device.

[0063] S5: The main control device 2 accurately adjusts the end device to the surgical position.

[0064] In S2, the operator roughly adjusts the spatial orientation of the end device through the first X-axis 3, the first Y-axis 5, and the first Z-axis 7. Due to the sliding connection between the slider 32 and the rod 331, the operator can apply a force to the slider 32 to make the slider 32 slide on the rod 331, so as to manually adjust the position of the support 31 in the X-axis direction. And because the end device is connected to the X-axis through the mounting seat 9, the operator can roughly adjust the position of the end device in the X direction.

[0065] Since the sliding part 521 is slidably connected to the connecting part 51, the operator can directly apply a force to the sliding part 521 to make the sliding part 521 slide within the connecting part 51, so as to roughly adjust the position of the end device in the Y-axis direction.

[0066] The operator can manually insert the bracket 312 coaxially through the locking ring 72 and move the bracket 312 along the Z-axis direction within the locking ring 72, so as to adjust the position of the end device in the Z-axis direction.

[0067] In S5, the operator accurately adjusts the spatial orientation of the end device by simultaneously controlling the second X-axis 4, the second Y-axis 6, and the second Z-axis 8 through the main control device 2. The operator controls the first motor 41 to start through the main control device 2. The first motor 41 drives the first lead screw 42 to rotate. While the first lead screw 42 rotates, the first connecting seat 43 is restricted from rotating around the first lead screw 42. Then the first connecting seat 43 threadedly connected to the first lead screw 42 moves along the X-axis direction, and thus accurately adjusts the position of the end device in the X-axis direction.

[0068] The operator controls the second motor 61 to start through the main control device 2. The second motor 61 drives the second lead screw 62 to rotate. While the second lead screw 62 rotates, the second connecting seat 63 is restricted from rotating around the second lead screw 62. Then the second connecting seat 63 threadedly connected to the second lead screw 62 moves along the Y-axis direction, and thus accurately adjusts the position of the end device in the Y-axis direction.

[0069] The operator controls the third motor 81 to start through the main control device 2. The third motor 81 drives the third lead screw 82 to rotate. While the third lead screw 82 rotates, the third connecting seat 83 is restricted from rotating around the third lead screw 82. Then the third connecting seat 83 threadedly connected to the third lead screw 82 does not rotate during the movement, and thus accurately adjusts the position of the end device in the Z-axis direction.

[0070] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application shall be covered within the protection scope of the present application.

Claims

1. A portable surgical robot and a control method, characterized in that: It includes an X-axis, a Y-axis, a Z-axis, a navigation device (1) and a main control device (2). The X-axis, Y-axis, Z-axis and navigation device (1) are connected to the main control device (2). The X-axis includes at least one X-axis adjustment mechanism. The Y-axis includes at least one Y-axis adjustment mechanism. The Z-axis includes at least one Z-axis adjustment mechanism. The portable surgical robot further includes an end device. The end device is connected to the X-axis or Y-axis or Z-axis through a mounting seat (9). The X-axis, Y-axis and Z-axis cooperate with each other to control the spatial orientation of the end device of the portable surgical robot.

2. The portable surgical robot and control method according to claim 1, wherein: The operator can control the X-axis, Y-axis and Z-axis to make adjustments simultaneously through the main control device (2).

3. A portable surgical robot and control method according to claim 1, characterized in that: The X-axis includes a first X-axis (3) and a second X-axis (4). The operator makes a rough adjustment of the X orientation of the end device through the first X-axis (3), and the operator makes a precise adjustment of the X orientation of the end device through the second X-axis (4).

4. A portable surgical robot and control method according to claim 3, characterized in that: The first X-axis (3) includes a support (31), a slider (32) and a fixing member (33). The mounting seat (9) is connected to the support (31). The slider (32) is connected to the support (31). The fixing member (33) includes at least one rod (331) parallel to the X-axis direction and at least one fixing block (332). The slider (32) is slidably connected to the rod (331). The support (31) includes a base (311) and a bracket (312).

5. A portable surgical robot and control method according to claim 3, characterized in that: The second X-axis (4) includes a first lead screw (42) arranged on the mounting seat (9), a first motor (41) for driving the first lead screw (42) to rotate, and a first connecting seat (43) arranged on the mounting seat (9). The first lead screw (42) is parallel to the X-axis. The end device is connected to the first connecting seat (43). The first connecting seat (43) is threadedly connected to the first lead screw (42), and the first connecting seat (43) is restricted from rotating around the axis of the first lead screw (42).

6. A portable surgical robot and control method according to claim 1, characterized in that: The Y-axis includes a first Y-axis (5) and a second Y-axis (6). The operator makes a rough adjustment of the Y orientation of the end device through the first Y-axis (5), and the operator makes a precise adjustment of the Y orientation of the end device through the second Y-axis (6).

7. A portable surgical robot and control method according to claim 6, characterized in that: The first Y-axis (5) includes a connecting member (51) arranged on the base (311) and a sliding member (52) slidably connected to the connecting member (51). The axis of the connecting member (51) is parallel to the Y-axis, and the sliding member (52) is connected to the bracket (312).

8. A portable surgical robot and control method according to claim 7, characterized in that: The sliding member (52) includes a sliding portion (521) and a connecting portion (522). The sliding portion (521) is slidably connected to the connecting member (51), and the bracket (312) is rotatably connected to the connecting portion (522).

9. A portable surgical robot and control method according to claim 6, characterized in that: The second Y-axis (6) includes a second lead screw (62) disposed on the first connecting seat (43), a second motor (61) for driving the second lead screw (62) to rotate, and a second connecting seat (63) disposed on the first connecting seat (43). The end device is connected to the second connecting seat (63). The second connecting seat (63) is threadedly connected to the second lead screw (62), and the second connecting seat (63) is restricted from rotating axially around the second lead screw (62).

10. A portable surgical robot and control method according to claim 1, characterized in that: The Z-axis includes a first Z-axis (7) and a second Z-axis (8). An operator roughly adjusts the Z orientation of the end device through the first Z-axis (7), and the operator precisely adjusts the Z orientation of the end device through the second Z-axis (8).

11. A portable surgical robot and control method according to claim 10, characterized in that: The first Z-axis (7) includes a locking seat (71) disposed on the slider (32). A locking ring (72) is disposed on the locking seat (71). The bracket (312) is parallel to the Z-axis, and the bracket (312) can pass through the locking ring (72) coaxially. The locking ring (72) can lock the bracket (312) through a bolt.

12. A portable surgical robot and control method according to claim 10, characterized in that: The second Z-axis (8) includes a third lead screw (82) connected to the second connecting seat (63), a third connecting seat (83), and a third motor (81) for driving the third lead screw (82) to rotate. The third lead screw (82) is connected to the second connecting seat (63) through a connecting plate (84). The third lead screw (82) can be parallel to the Z-axis. The end device is connected to the third connecting seat (83). The third connecting seat (83) is threadedly connected to the third lead screw (82), and the third connecting seat (83) is restricted from rotating axially around the third lead screw (82).

13. A portable surgical robot and control method according to claim 1, characterized in that: Specifically, it includes the following steps: S1: Determine the target lesion of the surgical object according to the CT data of the surgical object, and install the portable surgical robot; S2: According to the position of the lesion, initially and roughly adjust the spatial position of the end device from three directions of the X-axis, Y-axis, and Z-axis by manual adjustment; S3: Determine the current spatial position of the end device through the navigation device (1), and transmit the relevant data to the main control device (2); S4: The main control device (2) receives the information of the current position of the end device and combines the spatial position of the target lesion to navigate the end device; S5: Control the X-axis, Y-axis, and Z-axis through the main control device (2) to precisely adjust the end device to the surgical position.

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