Portable surgical robot

Abstract

The invention relates to a portable surgical robot which comprises an X shaft, a Y shaft, a Z shaft, a navigation device and a main control device, the X shaft, the Y shaft and the Z shaft are connected to a mechanical arm base through a mounting base, the X shaft, the Y shaft and the Z shaft are matched with one another to control the spatial orientation of a tail end device of the portable surgical robot, the X shaft comprises at least one adjusting mechanism parallel to the X shaft, and the main control device is connected with the navigation device. The Y shaft comprises at least one adjusting mechanism parallel to the Y shaft, the Z shaft comprises at least one adjusting mechanism parallel to the Z shaft, and the main control device is connected with the X shaft, the Y shaft and the Z shaft. 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. 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 process, which increases the difficulty of the surgery to a certain extent and the risk of surgical mistakes is high. To solve the difficulties of current 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 used to adjust 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.

[0005] A portable surgical robot provided by the present application adopts the following technical solutions:

[0006] A portable surgical robot includes an X-axis, a Y-axis, a Z-axis, a navigation device, and a main control device. The X-axis, Y-axis, and Z-axis are connected to the robotic arm base 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. The X-axis includes at least one adjustment mechanism parallel to the X-axis, the Y-axis includes at least one adjustment mechanism parallel to the Y-axis, the Z-axis includes at least one adjustment mechanism parallel to the Z-axis, and the main control device is connected to the X-axis, Y-axis, and Z-axis.

[0007] By adopting the above technical solutions, an operator can control the spatial orientation of the end device of the portable surgical robot through the cooperation of the X-axis, Y-axis, and Z-axis.

[0008] Optionally, the X-axis includes a first X-axis and a second X-axis. The first X-axis includes a support, a plurality of sliders, and fixing members. The mounting seat is connected to the support, the sliders are connected to the support, and the fixing members include a plurality of rods parallel to the X-axis direction and a plurality of fixing blocks. The sliders are slidably connected to the rods.

[0009] By adopting the above technical solution, the operator can apply a force to the slider to make the slider slide on the rod. Also, since the end device is connected to the X-axis through the mounting base, the operator can thus roughly adjust the position of the end device in the X direction.

[0010] Optionally, the support includes a base and a plurality of brackets, and the plurality of brackets are movably connected to the base.

[0011] By adopting the above technical solution, it is convenient for the operator to store the support.

[0012] Optionally, the second X-axis includes a first motor, a first lead screw, and a first connecting seat. The first motor is fixedly arranged on the mounting base. The first motor can drive the first lead screw to rotate. The first lead screw is parallel to the X-axis. The first connecting seat is threadedly connected to the first lead screw. The end device is connected to the first connecting seat. A plurality of mutually parallel slide rails I are arranged on the mounting base. The first connecting seat is slidably connected to two slide rails I, and the slide rails I are parallel to the X-axis.

[0013] By adopting the above technical solution, by restricting the rotation of the first connecting seat through the slide rail I, the stability of the first connecting seat during the adjustment process can be improved, thereby ensuring the stability of the end device during the adjustment process, and then realizing the precise adjustment of the position of the end device in the X-axis direction.

[0014] Optionally, the Y-axis includes a first Y-axis and a second Y-axis. The first Y-axis includes a plurality of connecting pieces arranged on the base and a plurality of sliding pieces slidably connected to the connecting pieces. The axes of the plurality of connecting pieces are all parallel to the Y-axis, and the plurality of sliding pieces are all connected to the brackets.

[0015] By adopting the above technical solution, the operator can directly apply a force to the sliding piece to make the sliding piece slide within the connecting piece, and roughly adjust the position of the end device in the Y-axis direction.

[0016] Optionally, the sliding piece includes a sliding portion and a connecting portion. The sliding portion is slidably connected to the connecting piece, and the plurality of brackets are rotatably connected to the connecting portion.

[0017] By adopting the above technical solution, it is convenient for the operator to repair, replace, or store a single bracket.

[0018] Optionally, a locking hole penetrating the connecting piece is formed in the connecting piece, and a bolt can pass through the locking hole to abut against the sliding portion.

[0019] By adopting the above technical solution, after the adjustment is completed, the operator can thread the bolt into the connecting piece and rotate the bolt until the bolt abuts against the sliding portion, thereby completing the locking of the sliding piece.

[0020] Optionally, the second Y-axis includes a second motor, a second lead screw, and a second connecting seat. The second motor can drive the second lead screw to rotate. The second lead screw is parallel to the Y-axis. The second connecting seat is threadedly connected to the second lead screw. The end device is connected to the second connecting seat. A plurality of mutually parallel slide rails two are provided on the first connecting seat. The second connecting seat is slidably connected to the slide rails two. The slide rails two are parallel to the Y-axis.

[0021] By adopting the above technical solution, restricting the rotation of the second connecting seat through the slide rails two is beneficial to improving the stability of the second connecting seat during the adjustment process, and further realizing the precise adjustment of the position of the end device in the Y-axis direction.

[0022] Optionally, the Z-axis includes a first Z-axis and a second Z-axis. The first Z-axis includes a locking seat provided on the slider. A locking ring is provided on the locking seat. A plurality of the brackets are parallel to the Z-axis. A plurality of the brackets can coaxially pass through the locking ring. The locking ring can lock the brackets through bolts.

[0023] By adopting the above technical solution, the operator can manually coaxially pass the bracket through the locking ring and move the bracket along the Z-axis direction within the locking ring to adjust the position of the end device in the Z-axis direction.

[0024] Optionally, the second Z-axis includes a third motor, a third lead screw, and a third connecting seat. The third motor is connected to the second connecting seat through a connecting plate. The third motor can drive the third lead screw to rotate. 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. A slide rail three is provided on the connecting plate. The third connecting seat is slidably connected to the slide rail three. The slide rail three is parallel to the third lead screw.

[0025] By adopting the above technical solution, restricting the rotation of the third connecting seat through the slide rail three is beneficial to improving the stability of the third connecting seat during the adjustment process, and further realizing the precise adjustment of the position of the end device in the Z-axis direction.

[0026] In summary, the present application includes at least one of the following beneficial technical effects:

[0027] 1. It can replace the traditional robotic arm to achieve precise adjustment of the end device in the X-axis, Y-axis, and Z-axis directions;

[0028] 2. It has a clear adjustment space range, a clear adjustment path, and will not interfere with the doctor's surgical process;

[0029] 3. The production cost is much lower than that of the traditional multi-axis robotic arm, which is beneficial to reducing the procurement cost for the hospital and the surgical cost for the patient; Description of the Drawings

[0030] Figure 1 It is a schematic structural diagram showing the overall structure of this application.

[0031] Figure 2 It is a schematic structural diagram showing the Y-axis of this application.

[0032] Figure 3 It is a schematic structural diagram showing the Z-axis of this application.

[0033] Explanation of 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. First signal receiving part; 42. First lead screw; 43. First connecting seat; 44. First slide rail; 5. First Y-axis; 51. Connecting member; 511. Locking hole; 52. Sliding member; 521. Sliding part; 522. Connecting part; 6. Second Y-axis; 61. Second motor; 611. Second signal receiving part; 62. Second lead screw; 63. Second connecting seat; 64. Second slide rail; 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. Third slide rail; 85. Connecting plate; 9. Mounting seat. Detailed implementation manners

[0034] The following further elaborates on this application in conjunction with the attached Figures 1-3 for a more detailed description.

[0035] The embodiment of this application discloses a portable surgical robot.

[0036] Refer to Figures 1-3 , a portable surgical robot 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 and Z-axis are connected to the robotic arm base through a mounting seat 9, and the operator can control the spatial orientation of the end device of the portable surgical robot through the mutual cooperation of the X-axis, Y-axis and Z-axis.

[0037] 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.

[0038] Refer to Figure 1, the first X-axis 3 includes a support 31, four sliders 32 and a fixing member 33. The mounting base 9 is connected to the support 31. The support 31 includes a base 311 and four brackets 312. One ends of the four brackets 312 are all 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 two rods 331 parallel to the X-axis direction and four fixing blocks 332. The slider 32 is slidably connected to the rod 331. An operator can apply a force to the slider 32 to make the slider 32 slide on the rod 331, so that the position of the support 31 can be manually adjusted in the X-axis direction. And because the end device is connected to the X-axis, the operator can roughly adjust the position of the end device in the X direction.

[0039] The bracket 312 is rotatably connected to the base 311. When the support 31 needs to be stored, the operator only needs to rotate the bracket 312 towards the base 311 until the bracket 312 is parallel to the base 311, then the support 31 can be stored; when the support 31 needs to be installed, the operator only needs to rotate the bracket 312 away from the base 311 until the bracket 312 is perpendicular to the base 311, which reduces the labor intensity of the operator and simplifies the installation steps.

[0040] Refer to Figure 2 , the first Y-axis 5 includes four connecting members 51 and four sliding members 52 arranged 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 part 521 and a connecting part 522. The sliding part 521 is slidably connected to the connecting member 51. One end of the bracket 312 is rotatably connected to the connecting part 522. The operator can directly apply a force to the sliding part 521 to make the sliding part 521 slide in the connecting member 51, and roughly adjust the position of the end device in the Y-axis direction.

[0041] A locking hole 511 penetrating through the connecting member 51 is formed on the connecting member 51, and a bolt can pass through the locking hole 511 to abut against the sliding part 521. After the adjustment is completed, the operator can thread the bolt into the connecting member 51 and rotate the bolt until the bolt abuts against the sliding part 521, then the locking of the sliding member 52 can be completed.

[0042] Refer to Figure 3 , the first Z-axis 7 includes a locking seat 71 arranged on the slider 32. A locking ring 72 is arranged on the locking seat 71. The bracket 312 can pass through the locking ring 72 coaxially. The 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. The operator can manually pass the bracket 312 through the locking ring 72 coaxially and move the bracket 312 in the locking ring 72 along the Z-axis direction to adjust the position of the end device in the Z-axis direction.

[0043] 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.

[0044] As Figure 1 shown, the second X-axis 4 includes a first lead screw 42 disposed on the mounting base 9, a first motor 41, and a first connecting seat 43 disposed on the mounting base 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, and the first connecting seat 43 is threadedly connected to the first lead screw 42. Two mutually parallel first slide rails 44 are provided on the mounting base 9. The first connecting seat 43 is slidably connected to the two first slide rails 44, and the first slide rails 44 are parallel to the X-axis. A first signal receiving part 411 is provided on the first motor 41. The main control device 2 is connected to the first signal receiving part 411 through an electric wire. 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 slidably connected to the two first slide rails 44. Then, the first connecting seat 43 threadedly connected to the first lead screw 42 moves along the X-axis direction, and the rotation of the first connecting seat 43 is restricted by the first slide rails 44, which can improve the stability of the first connecting seat 43 during the adjustment process, thereby ensuring the stability of the end device during the adjustment process, and further realizing the precise adjustment of the position of the end device in the X-axis direction.

[0045] As Figure 2 shown, the second Y-axis 6 includes a second lead screw 62 disposed on the first connecting seat 43, a second motor 61, 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. Two mutually parallel second slide rails 64 are provided on the first connecting seat 43. The second connecting seat 63 is slidably connected to the second slide rails 64, and the second slide rails 64 are parallel to the Y-axis. A second signal receiving part 611 is provided on the second motor 61. The main control device 2 is connected to the second signal receiving part 611 through an electric wire. The operator controls the second motor 61 to start through the main control device 2. The second motor 61 drives the first lead screw 42 to rotate. While the second lead screw 62 rotates, the second connecting seat 63 is slidably connected to the two second slide rails 64. Then, the second connecting seat 63 threadedly connected to the second lead screw 62 moves along the Y-axis direction, and the rotation of the second connecting seat 63 is restricted by the second slide rails 64, which is beneficial to improving the stability of the second connecting seat 63 during the adjustment process, and further realizing the precise adjustment of the position of the end device in the Y-axis direction.

[0046] As Figure 3As shown in the figure, the second Z-axis 8 includes a third lead screw 82 connected to the second connecting seat 63, a third motor 81, and a third connecting seat 83. The third motor 81 is connected to the second connecting seat 63 through a connecting plate 85. 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. The third connecting seat 83 is threadedly connected to the third lead screw 82, and the third connecting seat 83 is restricted from rotating around the axis of the third lead screw 82. A third slide rail 84 is provided on the connecting plate 85. The third connecting seat 83 is slidably connected to the third slide rail 84. The third slide rail 84 is parallel to the third lead screw 82. A signal receiving end 811 is provided on the third motor 81. The main control device 2 is connected to the signal receiving part through an electric wire. 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 slidably connected to the third slide rail 84. Then, the third connecting seat 83 threadedly connected to the third lead screw 82 will not rotate during the movement, which is beneficial to improving the stability of the third connecting seat 83 during the adjustment process, and further realizing the precise adjustment of the position of the end device in the Z-axis direction.

[0047] The implementation principle of a portable surgical robot according to an embodiment of the present application is as follows: The operator roughly adjusts 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.

[0048] 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 controls the second X-axis 4, the second Y-axis 6, and the second Z-axis 8 through the main control device 2 at the same time, and precisely adjusts the end device to the final surgical position.

[0049] The above are all preferred embodiments of the present application. 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 should be covered within the protection scope of the present application.

Claims

1. A portable surgical robot, 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 and Z-axis are connected to the robotic arm base 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. The X-axis includes at least one adjustment mechanism parallel to the X-axis, the Y-axis includes at least one adjustment mechanism parallel to the Y-axis, the Z-axis includes at least one adjustment mechanism parallel to the Z-axis, and the main control device (2) is connected to the X-axis, Y-axis and Z-axis.

2. The portable surgical robot according to claim 1, wherein: The X-axis includes a first X-axis (3) and a second X-axis (4). The first X-axis (3) includes a support (31), a plurality of sliders (32) and a fixing member (33). The mounting seat (9) is connected to the support (31), the sliders (32) are connected to the support (31), and the fixing member (33) includes a plurality of rods (331) parallel to the X-axis direction and a plurality of fixing blocks (332). The sliders (32) are slidably connected to the rods (331).

3. The portable surgical robot according to claim 2, wherein: The support (31) includes a base (311) and a plurality of brackets (312). A plurality of the brackets (312) are movably connected to the base (311).

4. A portable surgical robot according to claim 2, wherein: The second X-axis (4) includes a first motor (41), a first lead screw (42) and a first connecting seat (43). The first motor (41) is fixedly arranged on the mounting seat (9). The first motor (41) can drive the first lead screw (42) to rotate. The first lead screw (42) is parallel to the X-axis. The first connecting seat (43) is threadedly connected to the first lead screw (42). The end device is connected to the first connecting seat (43). Two mutually parallel slide rails one (44) are arranged on the mounting seat (9). The first connecting seat (43) is slidably connected to the two slide rails one (44). The slide rails one (44) are parallel to the X-axis.

5. A portable surgical robot according to claim 3, wherein: The Y-axis includes a first Y-axis (5) and a second Y-axis (6). The first Y-axis (5) includes a plurality of connecting members (51) arranged on the base (311) and a plurality of sliding members (52) slidably connected to the connecting members (51). The axes of the plurality of connecting members (51) are all parallel to the Y-axis, and the plurality of sliding members (52) are all connected to the brackets (312).

6. A portable surgical robot according to claim 5, wherein: 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). A plurality of the brackets (312) are rotatably connected to the connecting portion (522).

7. The portable surgical robot according to claim 6, wherein: A locking hole (511) penetrating through the connecting member (51) is formed in the connecting member (51). A bolt can pass through the locking hole (511) to abut against the sliding portion (521).

8. A portable surgical robot according to claim 1, wherein: The second Y-axis (6) includes a second motor (61), a second lead screw (62), and a second connecting seat (63). The second motor (61) can drive the second lead screw (62) to rotate. The second lead screw (62) is parallel to the Y-axis. The second connecting seat (63) is threadedly connected to the second lead screw (62). The end device is connected to the second connecting seat (63). Two mutually parallel slide rails two (64) are provided on the first connecting seat (43). The second connecting seat (63) is slidably connected to the slide rail two (64). The slide rail two (64) is parallel to the Y-axis.

9. The portable surgical robot according to claim 3, characterized in that: The Z-axis includes a first Z-axis (7) and a second Z-axis (8). The first Z-axis (7) includes a locking seat (71) provided on the slider (32). A locking ring (72) is provided on the locking seat (71). A plurality of the brackets (312) are parallel to the Z-axis. A plurality of the brackets (312) can coaxially pass through the locking ring (72). The locking ring (72) can lock the brackets (312) through bolts.

10. A portable surgical robot according to claim 1, wherein: The second Z-axis (8) includes a third motor (81), a third lead screw (82), and a third connecting seat (83). The third motor (81) is connected to the second connecting seat (63) through a connecting plate (85). The third motor (81) can drive the third lead screw (82) to rotate. 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). A slide rail three (84) is provided on the connecting plate (85). The third connecting seat (83) is slidably connected to the slide rail three (84). The slide rail three (84) is parallel to the third lead screw (82).

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