Portable surgical robot end instrument

Abstract

The invention relates to a portable surgical robot end device which comprises a first degree of freedom and a second degree of freedom, the first degree of freedom and the second degree of freedom are matched with each other to control the surgical angle of the portable surgical robot end device, and the first degree of freedom comprises a rotating mechanism in the direction of the first degree of freedom. And the second degree of freedom comprises a rotating mechanism in the direction of the second degree of freedom. By means of the technical scheme, the size and weight of the adjusting device can be reduced, the structural strength is guaranteed, and meanwhile the flexibility and accuracy of the adjusting device are kept.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular, to a portable surgical robot end effector. Background Art

[0002] Robots for assisting surgeries often need to manipulate and adjust the surgical end device through robotic arms. Since surgery is a process that can hardly tolerate errors, the operating arm of the surgical robot should be able to meet all the adjustment requirements during surgery. Therefore, robots for assisting surgeries often use multi-axis operating arms to control the surgical end device.

[0003] In orthopedic surgeries, the connecting and adjusting devices need to withstand large shocks and impacts, and at the same time, good structural strength and extremely high stability need to be ensured. Therefore, multi-axis robotic arms with relatively large volumes are generally used in orthopedic surgeries. However, in the actual application process, large multi-axis robotic arms have huge volumes and weights, which not only occupy too much operating room space but also easily block the doctor's surgical view, bringing inconvenience to the doctor's operation. Summary of the Invention

[0004] In order to reduce the volume and weight of the adjusting device, while ensuring the structural strength and retaining the flexibility and accuracy of the adjusting device, this application provides a portable surgical robot end effector.

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

[0006] A portable surgical robot end effector includes a first degree of freedom and a second degree of freedom. The first degree of freedom and the second degree of freedom cooperate with each other to control the surgical angle of the end device of the portable surgical robot. The first degree of freedom includes a rotating mechanism in the first degree of freedom direction, and the second degree of freedom includes a rotating mechanism in the second degree of freedom direction.

[0007] By adopting the above technical solutions, the operator can install the end device required in the surgery on the end adjusting device of the portable surgical robot, and adjust the end device from two rotational degrees of freedom through the rotating mechanisms provided on the first degree of freedom and the second degree of freedom, so that the end device can be adjusted to an accurate preoperative angle.

[0008] Optionally, the first degree of freedom includes a module fixed seat and a rotating seat, and the rotating seat is rotatably connected to the module fixed seat.

[0009] By adopting the above technical solution, the operator can install the end adjustment device on the portable surgical robot through the module fixing seat, and rotate the connecting end device, and the rotation adjustment of the end device can be realized by rotating the end device.

[0010] Optionally, it further includes a first motor seat, a first rotating motor is arranged 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 a rotating seat.

[0011] By adopting the above technical solution, the first rotating motor can drive the transmission rod in the coupling rod to rotate synchronously; one end of the transmission rod in the coupling rod far from the motor is connected to the coupling, and because the coupling is connected to the rotating seat, the operator can drive the rotating seat to rotate through the first rotating motor.

[0012] Optionally, a first bearing seat is arranged on the module fixing seat, the coupling is connected to the first bearing seat, and the first bearing seat is connected to the rotating seat.

[0013] By adopting the above technical solution, the first bearing seat is fixedly connected to the module fixing seat through bolts, which can improve the stability of the first rotating motor during operation.

[0014] Optionally, the module fixing seat is in a stepped shape, a reinforcing plate is arranged on the module fixing seat, and the reinforcing plate is triangular.

[0015] By adopting the above technical solution, by using the principle that the triangular structure has high strength and high stability, the stability and structural strength of the module fixing seat are improved through the triangular reinforcing plate.

[0016] Optionally, the second degree of freedom includes a connecting seat, and the connecting seat is rotatably connected to the rotating seat.

[0017] By adopting the above technical solution, the operator can connect the end device through the connecting seat. When the operator rotates the connecting seat, the end device can be adjusted in the direction of the second degree of freedom.

[0018] Optionally, the second degree of freedom further includes a second motor seat, the second motor seat is connected to the rotating seat, a second rotating motor is arranged on the second motor seat, the second rotating motor is connected with a bevel gear set, and the bevel gear set is connected to the connecting seat.

[0019] By adopting the above technical solution, when the second rotating motor rotates, it can drive the bevel gear set to rotate, and drive the connecting seat to rotate through the transmission of the bevel gear set.

[0020] Optionally, a second bearing seat is arranged on the rotating seat, the bevel gear set is connected to the second bearing seat, and the second bearing seat is connected to the connecting seat.

[0021] By adopting the above technical solution, the second bearing seat is fixedly connected to the rotating seat through bolts, which can improve the stability of the second rotating motor during operation.

[0022] Optionally, an installation side plate is provided on the rotating seat, and the connecting seat is rotatably connected to the installation side plate.

[0023] By adopting the above technical solution, the installation side plate is parallel to the rotation plane of the second degree of freedom. By providing the installation side plate, the stability during the adjustment of the second degree of freedom can be improved, and at the same time, the structural reliability of the adjustment device can also be improved, thereby meeting the usage requirements of orthopedic surgeries.

[0024] Optionally, a bearing cover is provided on the installation side plate, and the bearing cover can cover the rotating connection between the connecting seat and the installation side plate.

[0025] By adopting the above technical solution, the rotating connection between the connecting seat and the installation side plate is protected from external forces.

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

[0027] 1. By the rotating mechanisms provided in the first degree of freedom and the second degree of freedom, the end device can be flexibly adjusted from two directions of rotational degrees of freedom, so that the end device can be adjusted to an accurate preoperative angle, thereby meeting the usage requirements of doctors;

[0028] 2. While meeting flexibility, the end adjustment device further improves the overall structural strength and stability by providing structures such as a reinforcing plate, a first bearing seat, and a second bearing seat, so as to better adapt to the usage requirements of orthopedic surgeries; BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic structural diagram showing the overall structure of the present application.

[0030] Figure 2 is a schematic structural diagram showing the present application from other angles.

[0031] Description of the reference numerals: 1, the first degree of freedom; 11, the module fixing seat; 111, the first bearing seat; 112, the reinforcing plate; 12, the rotating seat; 2, the second degree of freedom; 21, the connecting seat; 22, the second motor seat; 221, the second rotating motor; 222, the bevel gear set; 3, the first motor seat; 31, the first rotating motor; 32, the coupling rod; 33, the coupling; 4, the second bearing seat; 5, the installation side plate; 51, the bearing cover. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The following is combined with the attached Figure 1-2A further detailed description of the present application is provided below.

[0033] An embodiment of the present application discloses a portable end effector for a surgical robot.

[0034] Referring to Figure 1 and Figure 2 , a portable end effector for a surgical robot includes a first degree of freedom 1 and a second degree of freedom 2. The first degree of freedom 1 includes a rotating mechanism in the direction of the first degree of freedom 1, and the second degree of freedom 2 includes a rotating mechanism in the direction of the second degree of freedom 2. An operator can install and connect the end device required during the operation to the end adjustment device of the portable surgical robot, and adjust the end device from two rotational degrees of freedom directions through the rotating mechanisms provided on the first degree of freedom 1 and the second degree of freedom 2, so that the end device can be adjusted to an accurate preoperative preparation angle.

[0035] The first degree of freedom 1 includes a module fixing base 11, a rotating base 12, and a first motor base 3. Both the first motor base 3 and the module fixing base 11 are fixedly connected to the portable surgical robot by bolts. A first rotating motor 31 is provided on the first motor base 3. The first rotating motor 31 is fixedly installed on the first motor base 3 by bolts. The output shaft of the first rotating motor 31 is connected to a coupling rod 32. The first rotating motor 31 can drive the transmission rod inside the coupling rod 32 to rotate synchronously; the transmission rod inside the coupling rod 32, at the end far from the motor, is connected to a coupling 33. The first rotating motor 31 is connected to the coupling 33 through the coupling rod 32. The end of the coupling 33 far from the coupling rod 32 is connected to a first bearing seat 111. The first bearing seat 111 is fixedly connected to the module fixing base 11 by bolts. The first bearing seat 111 enables the first rotating motor 31 and the first bearing seat 111 to be connected to the rotating base 12. An operator can drive the rotating base 12 to rotate by starting the first rotating motor 31, thereby adjusting the end device of the portable surgical robot from the first degree of freedom 1.

[0036] The module fixing base 11 is in a stepped shape. A reinforcing plate 112 is provided on the stepped surface of the module fixing base 11. The reinforcing plate 112 is in a right triangle shape. Both right-angled sides of the reinforcing plate 112 are fixedly connected to the module fixing base 11 by welding. By using the principle that a triangular structure has high strength and high stability, the stability and structural strength of the module fixing base 11 are improved through the triangular reinforcing plate 112.

[0037] The second degree of freedom 2 includes a connecting seat 21 and a second motor seat 22. The connecting seat 21 can be connected to the end device of the portable surgical robot through bolts. The second motor seat 22 is fixedly connected to the rotating seat 12 through bolts. A second rotating motor 221 is arranged on the second motor seat 22. The output shaft of the second rotating motor 221 is connected with a bevel gear set 222. The second rotating motor 221 can drive the bevel gear set 222 to rotate synchronously. The bevel gear set 222 is connected with a second bearing seat 4. The second bearing seat 4 is fixedly connected to the rotating seat 12 through bolts. The second bearing seat 4 is rotatably connected to the connecting seat 21. Then the second rotating motor 221 can drive the connecting seat 21 to rotate through the transmission of the bevel gear set 222 and the second bearing seat 4, so as to adjust the end device of the portable surgical robot connected to the connecting seat 21 from the second degree of freedom 2.

[0038] An installation side plate 5 is arranged on the rotating seat 12. The installation side plate 5 is fixedly connected to the rotating seat 12 through bolts. The connecting seat 21 is rotatably connected to the installation side plate 5. The installation side plate 5 is parallel to the rotation plane of the second degree of freedom 2. By setting the installation side plate 5, the stability in the process of adjusting the second degree of freedom 2 can be improved, and the structural reliability of the adjusting device can also be improved, so as to meet the use requirements of orthopedic surgery.

[0039] A bearing cover 51 is arranged on the installation side plate 5. The bearing cover 51 is fixedly arranged on the installation side plate 5 through bolts. The bearing cover 51 can cover the rotating connection part between the connecting seat 21 and the installation side plate 5, so as to protect the rotating connection part between the connecting seat 21 and the installation side plate 5 from external forces.

[0040] The implementation principle of the end instrument of the portable surgical robot in the embodiment of the present application is as follows: the operator can install the end device required in the operation on the end adjusting device of the portable surgical robot, and flexibly adjust the end device from two rotational degree-of-freedom directions through the rotating mechanisms arranged on the first degree of freedom 1 and the second degree of freedom 2, so that the end device can be adjusted to an accurate preoperative angle, thus meeting the use requirements of doctors; and while meeting the flexibility, the end adjusting device further improves the overall structural strength and stability by setting structures such as a reinforcing plate 112, a first bearing seat 111 and a second bearing seat 4, so as to better adapt to the use requirements of orthopedic surgery.

[0041] The above are all the preferred embodiments of the present application. 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 end effector for a surgical robot, characterized in that: It includes a first degree of freedom (1) and a second degree of freedom (2). The first degree of freedom (1) and the second degree of freedom (2) cooperate with each other to control the surgical angle of the end device of the portable surgical robot. The first degree of freedom (1) includes a rotating mechanism in the direction of the first degree of freedom (1), and the second degree of freedom (2) includes a rotating mechanism in the direction of the second degree of freedom (2).

2. The portable surgical robot end effector according to claim 1, wherein: The first degree of freedom (1) includes a module fixed seat (11) and a rotating seat (12), and the rotating seat (12) is rotatably connected to the module fixed seat (11).

3. The portable surgical robot end effector according to claim 2, wherein: It further includes a first motor seat (3). A first rotating motor (31) is arranged on the first motor seat (3). The first rotating motor (31) is connected with a coupling rod. The coupling rod (32) is connected with a coupling (33), and the coupling (33) is connected with the rotating seat (12).

4. The portable surgical robot end effector according to claim 3, characterized in that: A first bearing seat (111) is arranged on the module fixed seat (11). The coupling (33) is connected with the first bearing seat (111), and the first bearing seat (111) is connected with the rotating seat (12).

5. The portable surgical robot end effector according to claim 2, wherein: The module fixed seat (11) is in a stepped shape, and a reinforcing plate (112) is arranged on the module fixed seat (11). The reinforcing plate (112) is triangular.

6. The portable surgical robot end effector according to claim 2, wherein: The second degree of freedom (2) includes a connecting seat (21), and the connecting seat (21) is rotatably connected to the rotating seat (12).

7. A portable surgical robot end effector according to claim 6, wherein: The second degree of freedom (2) further includes a second motor seat (22). The second motor seat (22) is connected with the rotating seat (12). A second rotating motor (221) is arranged on the second motor seat (22). The second rotating motor (221) is connected with a bevel gear set (222), and the bevel gear set (222) is connected with the connecting seat (21).

8. A portable surgical robot end effector according to claim 7, characterized in that: A second bearing seat (4) is arranged on the rotating seat (12). The bevel gear set (222) is connected with the second bearing seat (4), and the second bearing seat (4) is connected with the connecting seat (21).

9. A portable surgical robot end effector according to claim 6, wherein: An installation side plate (5) is arranged on the rotating seat (12), and the connecting seat (21) is rotatably connected to the installation side plate (5).

10. The end effector of a portable surgical robot according to claim 9, wherein: A bearing cover (51) is arranged on the installation side plate (5), and the bearing cover (51) can cover the rotating connection part between the connecting seat (21) and the installation side plate (5) inside.

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