Portable surgical robot

Abstract

The invention relates to a portable surgical robot which comprises a mechanical arm, the mechanical arm is connected to a mechanical arm base through a mounting base, the mechanical arm comprises an X shaft, a Y shaft, a Z shaft and a tail end instrument, the X shaft comprises at least one X-shaft adjusting mechanism, the Y shaft comprises at least one Y-shaft adjusting mechanism, the Z shaft comprises at least one Z-shaft adjusting mechanism, and the tail end instrument is arranged on the X-shaft adjusting mechanism. The end instrument is used for controlling the operation angle of the end device of the portable surgical robot, the end instrument comprises at least one rotation adjusting mechanism, the portable surgical robot further comprises a navigation device and a main control device, and the mechanical arm and the navigation device are connected with the main control device. According to the technical scheme, a traditional mechanical arm can be replaced by the X axis, the Y axis, the Z axis, the first freedom degree and the second freedom degree to adjust and control the tail end device.

Description

Technical Field

[0001] This 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, which increases the difficulty of the surgery to a certain extent and the risk of surgical mistakes is high. To solve the current difficulties of orthopedic surgeries in the current market, a large number of orthopedic assisted surgical robots have emerged. 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. Therefore, a more convenient and low-cost adjustment device is needed to replace the traditional robotic arm for adjusting the spatial position of the operating arm. Summary of the Invention

[0004] In order to be able to replace the traditional robotic arm and control the spatial orientation and surgical angle of the end device of the portable surgical robot from multiple directions, this application provides a portable surgical robot.

[0005] The portable surgical robot provided by this application adopts the following technical solutions:

[0006] A portable surgical robot includes a robotic arm. The robotic arm is connected to a robotic arm base through a mounting seat. The robotic arm includes an X-axis, a Y-axis, a Z-axis, and an end instrument. 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 end instrument is used to control the surgical angle of the end device of the portable surgical robot. The end instrument includes at least one rotation adjustment mechanism. The portable surgical robot also includes a navigation device and a main control device. The robotic arm and the navigation device are connected to the main control device.

[0007] By adopting the above technical solutions, the operator can determine the location of the end device through the navigation device. The navigation device transmits the position information of the end device to the main control device. The main control device plans the adjustment path of the adjustment device in combination with the spatial position of the target lesion. The operator controls the X-axis, Y-axis, and Z-axis through the main control device to adjust the spatial position of the end device. Subsequently, the operator can continue to control the end instrument through the main control device to adjust the surgical angle of the end device.

[0008] Optionally, the X-axis includes a second X-axis, the Y-axis includes a second Y-axis, the Z-axis includes a second Z-axis, the first degree of freedom includes a rotating mechanism in a first degree-of-freedom direction, and the second degree of freedom includes a rotating mechanism in a second degree-of-freedom direction.

[0009] By adopting the above technical solution, the operator controls the second X-axis, the second Y-axis, and the second Z-axis through the main control device to simultaneously adjust the end device and accurately adjust it to the final surgical position; subsequently, the operator can continue to control the first degree of freedom and the second degree of freedom through the main control device to accurately adjust the surgical angle of the end device.

[0010] Optionally, the second X-axis includes a first motor, a first lead screw, and a first connecting block. 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 block is threadedly connected to the first lead screw. The end device is connected to the first connecting block. Two mutually parallel first slide rails are arranged on the mounting base. The first connecting block is slidably connected to the two first slide rails. The first slide rails are parallel to the X-axis.

[0011] By adopting the above technical solution, restricting the rotation of the first connecting seat through the first slide rail can improve the stability of the first connecting seat during the adjustment process, thereby ensuring the stability of the end device during the adjustment process, and further realizing the accurate adjustment of the position of the end device in the X-axis direction.

[0012] Optionally, the second Y-axis includes a second motor, a second lead screw, and a second connecting block. The second motor can drive the second lead screw to rotate. The second lead screw is parallel to the Y-axis. The second connecting block is threadedly connected to the second lead screw. The end device is connected to the second connecting block. Two mutually parallel second slide rails are arranged on the first connecting block. The second connecting block is slidably connected to the second slide rails. The second slide rails are parallel to the Y-axis.

[0013] By adopting the above technical solution, restricting the rotation of the second connecting seat through the second slide rail is beneficial to improving the stability of the second connecting seat during the adjustment process, and further realizing the accurate adjustment of the position of the end device in the Y-axis direction.

[0014] Optionally, the second Z-axis includes a third motor, a third lead screw, and a third connecting block. The third motor is connected to the second connecting block 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 block. The third connecting block is threadedly connected to the third lead screw. A third slide rail is arranged on the connecting plate. The third connecting block is slidably connected to the third slide rail. The third slide rail is parallel to the third lead screw.

[0015] By adopting the above technical solution, the rotation of the third connecting seat is restricted by the slide rail three, which 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.

[0016] Optionally, the first degree of freedom includes a module fixing seat, a rotating seat, and a first motor seat. The rotating seat is rotatably connected to the module fixing seat. A first rotating motor is provided on the first motor seat. The first rotating motor is connected with a coupling rod, the coupling rod is connected with a coupling, and the coupling is connected with the rotating seat.

[0017] By adopting the above technical solution, the operator controls the first rotating motor to start through the main control device. The first rotating motor is driven through the coupling rod and the coupling, and drives the rotating seat to rotate, so as to adjust the angle of the end device in the direction of the first degree of freedom.

[0018] Optionally, a first bearing seat is provided on the module fixing seat. The coupling is connected with the first bearing seat, and the first bearing seat is connected with the rotating seat.

[0019] By adopting the above technical solution, the first bearing seat can make the process of the first rotating motor driving the rotating seat to rotate more stable.

[0020] Optionally, the second degree of freedom includes a connecting seat and a second motor seat. The connecting seat is rotatably connected to the rotating seat. The second motor seat is connected to the rotating seat. A second rotating motor is provided on the second motor seat. The second rotating motor is connected with a bevel gear set, and the bevel gear set is connected with the connecting seat. The connecting seat can be connected with the end device.

[0021] By adopting the above technical solution, the operator controls the second rotating motor to start through the main control device. The second rotating motor is driven through the bevel gear set, and drives the connecting seat to rotate through the transmission of the bevel gear set, so as to adjust the angle of the end device in the direction of the second degree of freedom.

[0022] Optionally, a second bearing seat is provided on the rotating seat. The bevel gear set is connected with the second bearing seat, and the second bearing seat is connected with the connecting seat.

[0023] By adopting the above technical solution, the second bearing seat can make the process of the second rotating motor driving the connecting seat to rotate more stable.

[0024] Optionally, mounting side plates are provided on the rotating seat. The connecting seat is rotatably connected to the mounting side plates. A bearing cover is provided on the mounting side plates, and the bearing cover can cover the rotating connection between the connecting seat and the mounting side plates inside.

[0025] By adopting the above technical solution, the installation side plate can improve the stability during the adjustment of the second degree of freedom, and at the same time can also improve the structural reliability of the adjustment device. The bearing cover can cover the rotating connection between the connecting seat and the installation side plate, thereby protecting the rotating connection between the connecting seat and the installation side plate from external forces.

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

[0027] 1. The operator can determine the location of the end device through the navigation device. The navigation device transmits the position information of the end device to the main control device. The main control device 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, second Y-axis, and second Z-axis through the main control device to adjust the end device simultaneously, and accurately adjusts it to the final surgical position; Subsequently, the operator can continue to control the first degree of freedom and the second degree of freedom through the main control device to adjust the surgical angle of the end device, so as to be able to replace the traditional bulky robotic arm to adjust the end device;

[0028] 2. The operator can operate the main control device to simultaneously control the X-axis, Y-axis, Z-axis, the first degree of freedom, and the second degree of freedom to cooperate with each other to adjust and control the end device, which can reduce the adjustment time, improve the adjustment efficiency, and save the doctor's surgical time;

[0029] 3. The installation side plate can improve the stability during the adjustment of the second degree of freedom, and at the same time can also improve the structural reliability of the adjustment device. The bearing cover can cover the rotating connection between the connecting seat and the installation side plate, thereby protecting the rotating connection between the connecting seat and the installation side plate from external forces; BRIEF DESCRIPTION OF THE DRAWINGS

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

[0031] Figure 2 is a schematic structural diagram showing the second X-axis and the second Y-axis of the present application.

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

[0033] Figure 4 is a schematic structural diagram showing the first degree of freedom and the second degree of freedom of the present application.

[0034] Figure 5 is a schematic structural diagram showing the bearing seat of the present application.

[0035] Description of reference numerals: 1. Navigation device; 2. Main control device; 3. First degree of freedom; 31. Module fixing base; 311. First bearing seat; 32. Rotating seat; 321. Second bearing seat; 322. Installation side plate; 323. Bearing cover; 33. First motor base; 331. First rotating motor; 3311. Signal interface 1; 332. Coupling rod; 333. Coupling; 4. Second X-axis; 41. Motor 1; 411. Signal receiving part 1; 42. First lead screw; 43. First connecting block; 44. First slide rail; 5. Second degree of freedom; 51. Connecting seat; 52. Second motor base; 521. Second rotating motor; 5211. Signal interface 2; 522. Bevel gear set; 6. Second Y-axis; 61. Motor 2; 611. Signal receiving part 2; 62. Second lead screw; 63. Second connecting block; 64. Second slide rail; 7. Mounting seat; 8. Second Z-axis; 81. Motor 3; 811. Signal receiving end; 82. Third lead screw; 83. Third connecting block; 84. Connecting plate; 85. Third slide rail. Detailed implementation manners

[0036] The following further elaborates on this application Figures 1-5 in conjunction with the appended drawings.

[0037] An embodiment of this application discloses a portable surgical robot.

[0038] Referring to Figures 1-5 , a portable surgical robot includes a robotic arm. The robotic arm is connected to the portable surgical robot through a mounting seat 7. The robotic arm includes an X-axis, a Y-axis, a Z-axis, and an end effector. The portable surgical robot further includes a navigation device 1 and a main control device 2. An operator can operate the main control device 2 to control the X-axis, Y-axis, Z-axis, and end effector to cooperate with each other to adjust the spatial orientation and surgical angle of the end device of the portable surgical robot.

[0039] As Figure 2 and Figure 3 shown, the X-axis includes a second X-axis 4, the Y-axis includes a second Y-axis 6, the Z-axis includes a second Z-axis 8, and the end effector includes a first degree of freedom 3 and a second degree of freedom 5.

[0040] The second X-axis 4 includes a first lead screw 42, a first motor 41 disposed on the mounting base 7, and a first connection block 43 disposed on the mounting base 7. The output shaft of the first motor 41 is connected to the first lead screw 42 through a coupling 333. The first lead screw 42 is parallel to the X-axis. The end device is connected to the first connection block 43, and the first connection block 43 is threadedly connected to the first lead screw 42. Two mutually parallel first slide rails 44 are provided on the mounting base 7, and the first connection block 43 is slidably connected to the two first slide rails 44. The first slide rails 44 are parallel to the X-axis. A first signal receiving portion 411 is provided on the first motor 41, and the main control device 2 is connected to the first signal receiving portion 411 through an electric wire. An 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 connection block 43 is slidably connected to the two first slide rails 44. Then, the first connection block 43 threadedly connected to the first lead screw 42 moves along the X-axis direction, and the rotation of the first connection block 43 is restricted by the first slide rails 44, which can improve the stability of the first connection block 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.

[0041] The second Y-axis 6 includes a second lead screw 62, a second motor 61 disposed on the first connection block 43, and a second connection block 63 disposed on the first connection block 43. The output shaft of the second motor 61 is connected to the second lead screw 62 through a coupling 333. The end device is connected to the second connection block 63, and the second connection block 63 is threadedly connected to the second lead screw 62. Two mutually parallel second slide rails 64 are provided on the first connection block 43, and the second connection block 63 is slidably connected to the second slide rails 64. The second slide rails 64 are parallel to the Y-axis. A second signal receiving portion 611 is provided on the second motor 61, and the main control device 2 is connected to the second signal receiving portion 611 through an electric wire. An 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 connection block 63 is slidably connected to the two second slide rails 64. Then, the second connection block 63 threadedly connected to the second lead screw 62 moves along the Y-axis direction, and the rotation of the second connection block 63 is restricted by the second slide rails 64, which is beneficial to improving the stability of the second connection block 63 during the adjustment process, and further realizing the precise adjustment of the position of the end device in the Y-axis direction.

[0042] The second Z-axis 8 includes a third lead screw 82 connecting the second connection block 63, a third motor 81, and a third connection block 83. The third motor 81 is connected to the second connection block 63 through a connection plate 84. The output shaft of the third motor 81 is connected to the third lead screw 82 through a coupling 333. The third lead screw 82 can be parallel to the Z-axis. The end device is connected to the third connection block 83. The third connection block 83 is threadedly connected to the third lead screw 82, and the third connection block 83 is restricted from rotating axially around the third lead screw 82. A third slide rail 85 is provided on the connection plate 84, and the third connection block 83 is slidably connected to the third slide rail 85. The third slide rail 85 is parallel to 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 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 connection block 83 is slidably connected to the third slide rail 85. Then, the third connection block 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 connection block 83 during the adjustment process, and further realizing the precise adjustment of the position of the end device in the Z-axis direction.

[0043] Refer to Figure 1 and Figure 4 , the first degree of freedom 3 includes a module fixing seat 31, a rotating seat 32, and a first motor seat 33. The rotating seat 32 is rotatably connected to the module fixing seat 31. A first rotating motor 331 is provided on the first motor seat 33. The first rotating motor 331 is connected with a connecting rod 332. The coupling rod is connected with a coupling 333, and the coupling 333 is connected to the rotating seat 32. A signal interface 3311 is provided on the first rotating motor 331, and the main control device 2 is connected to the signal interface 3311 through an electric wire. The operator controls the first rotating motor 331 to start through the main control device 2. The first rotating motor 331 is driven through the coupling rod and the coupling 333, and then drives the rotating seat 32 to rotate, so as to adjust the surgical angle of the end device in the direction of the first degree of freedom 3.

[0044] A first bearing seat 311 is provided on the module fixing seat 31. The coupling 333 is connected to the first bearing seat 311, and the first bearing seat 311 is connected to the rotating seat 32. The first bearing seat 311 can make the process of the first rotating motor 331 driving the rotating seat 32 to rotate more stable.

[0045] The second degree of freedom 5 includes a connecting seat 51 and a second motor seat 52. The connecting seat 51 is rotatably connected to the rotating seat 32. The second motor seat 52 is connected to the rotating seat 32. A second rotating motor 521 is provided on the second motor seat 52. The second rotating motor 521 is connected with a bevel gear set 522. The bevel gear set 522 is connected to the connecting seat 51. The connecting seat 51 is connected to the end device. A signal interface two is provided on the second rotating motor 521. The main control device 2 is connected to the signal interface 5211 through an electric wire. The operator controls the second rotating motor 521 to start through the main control device 2. The second rotating motor 521 is driven by the bevel gear set 522, and then drives the connecting seat 51 to rotate, so as to adjust the surgical angle of the end device from the direction of the second degree of freedom 5.

[0046] A second bearing seat 321 is provided on the rotating seat 32. The bevel gear set 522 is connected to the second bearing seat 321. The second bearing seat 321 is connected to the connecting seat 51. The second bearing seat 321 can make the process of the second rotating motor 521 driving the connecting seat 51 to rotate more stable.

[0047] As Figure 4 and Figure 5 As shown, an installation side plate 322 is provided on the rotating seat 32. The connecting seat 51 is rotatably connected to the installation side plate 322. A bearing cover 323 is provided on the installation side plate 322. The bearing cover 323 can cover the rotating connection between the connecting seat 51 and the installation side plate 322 inside. By providing the installation side plate 322, the stability in the process of adjusting the second degree of freedom 5 can be improved, and at the same time, the structural reliability of the adjusting device can also be improved, so as to meet the use requirements of orthopedic surgery. The bearing cover 323 can cover the rotating connection between the connecting seat 51 and the installation side plate 322 inside, so as to protect the rotating connection between the connecting seat 51 and the installation side plate 322 from external forces.

[0048] The implementation principle of a portable surgical robot in an embodiment of the present application is as follows: The operator can determine 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. 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 to adjust the end device at the same time, and accurately adjusts it to the final surgical position; Subsequently, the operator can continue to control the first degree of freedom 3 and the second degree of freedom 5 through the main control device 2 to adjust the surgical angle of the end device.

[0049] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited accordingly. 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 a robotic arm which is connected to the robotic arm base through a mounting base (7). The robotic arm includes an X-axis, a Y-axis, a Z-axis and an end effector. 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, and the end effector is used to control the surgical angle of the end device of the portable surgical robot. The end effector includes at least one rotation adjustment mechanism. The portable surgical robot further includes a navigation device (1) and a main control device (2), and the robotic arm and the navigation device (1) are connected to the main control device (2).

2. A portable surgical robot according to claim 1, characterized in that: The X-axis includes a second X-axis (4), the Y-axis includes a second Y-axis (6), the Z-axis includes a second Z-axis (8), and the end effector includes a first degree of freedom (3) and a second degree of freedom (5).

3. The portable surgical robot according to claim 2, wherein: The second X-axis (4) includes a motor one (41), a first lead screw (42) and a first connection block (43). The motor one (41) is fixedly arranged on the mounting base (7), and the motor one (41) can drive the first lead screw (42) to rotate. The first lead screw (42) is parallel to the X-axis. The first connection block (43) is threadedly connected to the first lead screw (42), and the end device is connected to the first connection block (43). Two mutually parallel slide rails one (44) are arranged on the mounting base (7), and the first connection block (43) is slidably connected to the two slide rails one (44), and the slide rails one (44) are parallel to the X-axis.

4. The portable surgical robot according to claim 3, wherein: The second Y-axis (6) includes a motor two (61), a second lead screw (62) and a second connection block (63). The motor two (61) can drive the second lead screw (62) to rotate. The second lead screw (62) is parallel to the Y-axis. The second connection block (63) is threadedly connected to the second lead screw (62), and the end device is connected to the second connection block (63). Two mutually parallel slide rails two (64) are arranged on the first connection block (43), and the second connection block (63) is slidably connected to the slide rails two (64), and the slide rails two (64) are parallel to the Y-axis.

5. The portable surgical robot according to claim 4, characterized in that: The second Z-axis (8) includes a motor three (81), a third lead screw (82) and a third connection block (83). The motor three (81) is connected to the second connection block (63) through a connecting plate (84). The motor three (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 connection block (83). The third connection block (83) is threadedly connected to the third lead screw (82). A slide rail three (85) is arranged on the connecting plate (84), and the third connection block (83) is slidably connected to the slide rail three (85), and the slide rail three (85) is parallel to the third lead screw (82).

6. The portable surgical robot according to claim 2, wherein: The first degree of freedom (3) includes a module fixed seat (31), a rotating seat (32), and a first motor seat (33). The rotating seat (32) is rotatably connected to the module fixed seat (31). A first rotating motor (331) is provided on the first motor seat (33). The first rotating motor (331) is connected to a coupling rod (332). The coupling rod is connected to a coupling (333). The coupling (333) is connected to the rotating seat (32).

7. A portable surgical robot according to claim 6, characterized in that: A first bearing seat (311) is provided on the module fixed seat (31). The coupling (333) is connected to the first bearing seat (311). The first bearing seat (311) is connected to the rotating seat (32).

8. A portable surgical robot according to claim 6, characterized in that: The second degree of freedom (5) includes a connecting seat (51) and a second motor seat (52). The connecting seat (51) is rotatably connected to the rotating seat (32). The second motor seat (52) is connected to the rotating seat (32). A second rotating motor (521) is provided on the second motor seat (52). The second rotating motor (521) is connected to a bevel gear set (522). The bevel gear set (522) is connected to the connecting seat (51). The connecting seat (51) can be connected to an end device.

9. The portable surgical robot according to claim 8, characterized in that: A second bearing seat (321) is provided on the rotating seat (32). The bevel gear set (522) is connected to the second bearing seat (321). The second bearing seat (321) is connected to the connecting seat (51).

10. A portable surgical robot according to claim 8, characterized in that: An installation side plate (322) is provided on the rotating seat (32). The connecting seat (51) is rotatably connected to the installation side plate (322). A bearing cover (323) is provided on the installation side plate (322). The bearing cover (323) can cover the rotating connection between the connecting seat (51) and the installation side plate (322).

Images