Portable multi-legged robot

Abstract

The invention relates to a portable multi-legged robot which comprises a mechanical arm mounting seat, a tail end connecting seat is arranged on the mechanical arm mounting seat, the tail end connecting seat is used for being connected with a tail end executing device for operation, and a fixing mechanism and a supporting mechanism are further arranged on the mechanical arm mounting seat. The fixing mechanism is used for being connected with an operating bed or a human body, the supporting mechanism is used for being connected with the tail end connecting base and the fixing mechanism, the fixing mechanism at least comprises a connecting piece, the supporting mechanism comprises at least one support, and the supports are used for adjusting the position relation between the fixing mechanism and the mechanical arm mounting base. By means of the technical scheme, the production cost of the orthopedic surgery robot can be reduced, and a traditional multi-axis mechanical arm is replaced to conduct multi-angle adjustment on the tail end executing device participating in surgery.

Description

Technical Field

[0001] This application relates to the field of medical devices, and particularly to a portable multi-legged robot. Background Art

[0002] Traditional orthopedic surgeries are large-scale open surgeries with significant trauma. During the operation, doctors often rely on their years of experience, resulting in a high risk of surgery and great uncertainty in the surgical outcome. Also, because traditional orthopedic surgeries have high requirements for doctors, the threshold of orthopedic surgeries is thus raised.

[0003] With the development of technology and continuous progress, many mechanical devices for assisting orthopedic surgeries have emerged on the market, collectively referred to as orthopedic surgical robots. However, most of the existing orthopedic surgical robots on the market use large multi-axis robotic arms as operating devices. Due to the immaturity of domestic technology levels, the flexibility and safety of domestic robotic arms rarely meet the requirements for participating in surgeries. Most of the robotic arms used in surgical robots on the market are imported from abroad, further increasing the production cost of surgical robots and thus raising the usage threshold. Many hospitals with insufficient funds are unable to purchase expensive surgical robots. Summary of the Invention

[0004] To reduce the production cost of orthopedic surgical robots and replace traditional multi-axis robotic arms, this application provides a portable multi-legged robot.

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

[0006] A portable multi-legged robot includes a robotic arm mounting base. A terminal connection seat is provided on the robotic arm mounting base, and the terminal connection seat is used to connect the terminal execution device for surgery. A fixing mechanism and a supporting mechanism are also provided on the robotic arm mounting base. The fixing mechanism is used to connect to the operating table or the human body, and the supporting mechanism is used to connect the terminal connection seat and the fixing mechanism. The fixing mechanism includes at least one connecting member, and the supporting mechanism includes at least one supporting foot, and the supporting foot is used to adjust the positional relationship between the fixing mechanism and the robotic arm mounting base.

[0007] By adopting the above technical solutions, the operator can connect the portable multi-legged robot to the operating table or the human body through the fixing mechanism, support the robotic arm mounting base through the supporting mechanism, and connect the terminal execution device required for surgery through the terminal connection seat to perform the surgery.

[0008] Optionally, the support mechanism includes three support feet, each support foot including a first support portion and a second support portion. The first support portion is rotatably connected to the second support portion. One end of the first support portion away from the second support portion is hinged to the robotic arm mount, and one end of the second support portion away from the first support portion is hinged to the fixing mechanism.

[0009] By adopting the above technical solution, the portable multi-legged robot is supported from three points, which can ensure good stability and thus improve the safety during the operation. The position of the portable multi-legged robot can be adjusted through the rotational relationship between the first support portion and the second support portion, which can improve the flexibility and application range of the portable multi-legged robot, enabling it to be applicable to more usage scenarios.

[0010] Optionally, the second support portion includes two parallel support rods II.

[0011] By adopting the above technical solution, the structural strength and stability of the support foot are further improved by two support rods.

[0012] Optionally, the first support portion includes a support rod I, and the diameter of the support rod I is greater than that of the support rod II.

[0013] By adopting the above technical solution, the structural strength and stability of the support foot are strengthened by thickening the support rod I, simplifying the overall appearance of the support foot, and making the portable multi-legged robot more concise and beautiful.

[0014] Optionally, a protective member is provided on the support foot, and the protective member is used to brake the rotation between the first support portion and the second support portion.

[0015] By adopting the above technical solution, the adjusted first support portion and second support portion are locked using the principle of power-off braking, improving the safety during the adjustment process and the operation process.

[0016] Optionally, the fixing mechanism is used to connect to the human body. The fixing mechanism includes three connecting members, and all three connecting members are movably connected to the support mechanism.

[0017] By adopting the above technical solution, the flexibility and application range of the portable multi-legged robot can be further improved.

[0018] Optionally, the connecting member includes a base, a negative pressure ball, an intermediate suction cup, and an outer suction cup. The base is hinged to the second support portion. The negative pressure ball is threadedly connected to the base. The intermediate suction cup is connected to the base, and the outer suction cup is connected to the intermediate suction cup. Both the intermediate suction cup and the outer suction cup are in communication with the negative pressure ball.

[0019] By adopting the above technical solution, when the operator determines the installation position of the portable multi-legged robot on the human body, the operator can directly hold the negative pressure ball between the outer suction cups abutting against the human body surface, apply force to it to discharge the air in the negative pressure ball, and then stick the outer suction cups tightly to the human body surface. Release the negative pressure ball to suck the air in the outer suction cups, thereby completing the installation work of the portable multi-legged robot.

[0020] Optionally, a plurality of suction cup grooves are formed on the surface of the outer suction cup away from the middle suction cup.

[0021] By adopting the above technical solution, the contact area between the outer suction cup and the human body surface is increased through a large number of suction cup grooves, thereby enhancing the suction force of the connecting piece, and reducing the possibility of the portable multi-legged robot moving during the operation.

[0022] Optionally, a terminal platform is provided on the terminal connecting seat. The terminal platform is rotatably connected to the terminal connecting seat. A fixing ear is provided on the terminal platform, and the fixing ear is connected with an installation cylinder for installing the terminal device.

[0023] By adopting the above technical solution, the operator can also adjust the surgical angle of the terminal device through the rotational relationship between the terminal platform and the terminal connecting seat.

[0024] Optionally, the installation cylinder is rotatably connected to the fixing ear.

[0025] By adopting the above technical solution, the operator can adjust the surgical angle of the terminal device through the rotational relationship between the installation cylinder and the fixing ear.

[0026] Optionally, a braking member is provided on the fixing ear, and the braking member is used to brake the rotation between the installation cylinder and the fixing ear.

[0027] By adopting the above technical solution, the braking member can prevent the terminal device from deviating from the initially set surgical position during the operation, and can improve the safety and reliability of the portable multi-legged robot.

[0028] In summary, the present application includes at least one of the following beneficial technical effects:

[0029] 1. Through the fixing mechanism, the portable multi-legged robot can be directly connected to the human body surface, facilitating the existing navigation device to accurately monitor the change in the position of the surgical terminal device and the human body, and improving the reliability and success rate of the operation;

[0030] 2. Supporting the portable multi-legged robot from three points can ensure good stability, thereby improving the safety during the operation. The position of the portable multi-legged robot can be adjusted through the rotational relationship between the first supporting part and the second supporting part, which can improve the flexibility and application range of the portable multi-legged robot, enabling it to be applicable to more usage scenarios;

[0031] 3. By providing a large number of suction cup grooves, the contact area between the outer suction cup and the human body surface is increased, which can strengthen the connection stability of the fixing mechanism, thereby reducing the possibility of the portable multi-legged robot moving during the operation; Description of the Drawings

[0032] Figure 1 It is a schematic structural diagram showing the overall structure of this application.

[0033] Figure 2 It is a schematic structural diagram showing the position of the suction cup grooves of this application.

[0034] Description of the Reference Numerals: 1. Manipulator Mount; 2. End Connector; 3. Fixing Mechanism; 31. Base; 32. Negative Pressure Ball; 33. Intermediate Suction Cup; 34. Outer Suction Cup; 341. Suction Cup Groove; 4. Support Mechanism; 41. First Support Part; 42. Second Support Part; 43. Protective Part; 5. End Platform; 51. Fixed Ear; 52. Mounting Tube; 53. Brake Part. Detailed Description of the Embodiment

[0035] The following further elaborates on this application in conjunction with the attached Figure 1-2 drawings for a more detailed explanation.

[0036] The embodiment of this application discloses a portable multi-legged robot.

[0037] Referring to Figure 1 and Figure 2 , a portable multi-legged robot includes a manipulator mount 1. A bolt is fixedly connected to the manipulator mount 1 to an end connector 2. An end platform 5 is provided on the end connector 2. The end platform 5 is rotatably connected to the end connector 2. A fixed ear 51 is provided on the end platform 5. The fixed ear 51 is fixedly connected to the end platform 5 by a bolt. The fixed ear 51 is connected to a mounting tube 52 for installing an end device for surgery. The mounting tube 52 is rotatably connected to the fixed ear 51.

[0038] When the operator installs the end device on the mounting cylinder 52, the operator can adjust the surgical angle of the end device through the rotational relationship between the mounting cylinder 52 and the fixed ear 51; the operator can also adjust the surgical angle of the end device from other degrees of freedom directions through the rotational relationship between the end platform 5 and the end connecting seat 2. A braking member 53 is provided on the fixed ear 51. The braking member 53 adopts electromagnetic automatic braking and uses the principle of power-off braking to lock the positional relationship between the adjusted mounting cylinder 52 and the fixed ear 51, which can prevent the end device from deviating from the initially set surgical position during the operation and improve the safety and reliability of the portable multi-legged robot.

[0039] A fixing mechanism 3 and a supporting mechanism 4 are also provided on the robotic arm mounting seat 1. The two ends of the supporting mechanism 4 are respectively connected to the fixing mechanism 3 and the robotic arm mounting seat 1.

[0040] The supporting mechanism 4 includes three supporting feet, which support the portable multi-legged robot from three points, can ensure good stability, and thus improve the safety during the operation. The supporting foot includes a first supporting portion 41 and a second supporting portion 42. The first supporting portion 41 and the second supporting portion 42 are rotatably connected. One end of the first supporting portion 41 away from the second supporting portion 42 is hinged to the robotic arm mounting seat 1, and one end of the second supporting portion 42 away from the first supporting portion 41 is hinged to the fixing mechanism 3. The position of the portable multi-legged robot can be adjusted through the rotational relationship between the first supporting portion 41 and the second supporting portion 42, thereby improving the flexibility and application range of the portable multi-legged robot and making it applicable to more usage scenarios.

[0041] The second supporting portion 42 includes two parallel support rods II, which further improve the structural strength and stability of the supporting foot through the two support rods; the first supporting portion 41 includes a support rod I, and the diameter of the support rod I is greater than the diameter of the support rod II. By thickening the support rod I, the structural strength and stability of the supporting foot are enhanced, the overall appearance of the supporting foot is simplified, making the portable multi-legged robot more concise and beautiful, and at the same time, the production cost is reduced through the simple structure.

[0042] A protection member 43 is provided on the supporting foot. The protection member 43 is used to brake the rotation between the first supporting portion 41 and the second supporting portion 42. The protection member 43 also adopts electromagnetic automatic braking like the braking member 53 and uses the principle of power-off braking to lock the adjusted first supporting portion 41 and the second supporting portion 42.

[0043] The fixing mechanism 3 includes three connecting members, and the three connecting members are all hinged to the supporting mechanism 4, which can further improve the flexibility and application range of the portable multi-legged robot.

[0044] The connecting piece includes a base 31, a negative pressure ball 32, an intermediate suction cup 33 and an outer suction cup 34. The base 31 is hinged to the second support portion 42. The negative pressure ball 32 is threadedly connected to the base 31. The intermediate suction cup 33 is connected to the base 31. The outer suction cup 34 is connected to one side of the intermediate suction cup 33 away from the base 31. Both the intermediate suction cup 33 and the outer suction cup 34 are communicated with the negative pressure ball 32. When the operator determines the installation position of the portable multi-legged robot on the human body, the operator can directly hold the negative pressure ball 32 between the outer suction cup 34 and the human body surface, apply force to discharge the air in the negative pressure ball 32, then press the outer suction cup 34 tightly against the human body surface, and then release the negative pressure ball 32 to suck the air in the outer suction cup 34, thus completing the installation work of the portable multi-legged robot.

[0045] A plurality of suction cup grooves 341 are formed on the surface of the outer suction cup 34 away from the intermediate suction cup 33. By means of a large number of suction cup grooves 341, the contact area between the outer suction cup 34 and the human body surface is increased, so as to enhance the suction force of the connecting piece, thereby reducing the possibility of the portable multi-legged robot moving during the operation.

[0046] The implementation principle of a portable multi-legged robot in an embodiment of the present application is as follows: the portable multi-legged robot can be directly connected to the human body surface through the fixing mechanism 3, so that the existing navigation device can accurately monitor the changes generated by the end device for surgery following the movement of the human body, and the reliability and success rate of the operation can be improved; the portable multi-legged robot is supported by three support legs with simple structures and stable strengths, replacing the traditional large multi-axis robotic arm, and the production cost can be reduced; also, since the first support portion 41 and the second support portion 42 are rotatably connected, the first support portion 41 is hinged to the robotic arm mounting seat 1, the second support portion 42 is hinged to the fixing mechanism 3, and the end platform 5 and the end connecting seat 2 are rotatably connected, the flexibility of the portable multi-legged robot is improved, and the end device for surgery can be adjusted from multiple angles and degrees of freedom, thereby expanding the application range of the portable multi-legged robot; in addition, the overall safety of the portable multi-legged robot is improved by the protection member 43 and the braking member 53.

[0047] The above are all the 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 should be covered within the protection scope of the present application.

Claims

1. A portable multi-legged robot, comprising a robotic arm mounting base (1), wherein a terminal connecting seat (2) is arranged on the robotic arm mounting base (1), and the terminal connecting seat (2) is used for connecting an end effector for surgery, and is characterized in that: The robotic arm mount (1) is further provided with a fixing mechanism (3) and a supporting mechanism (4). The fixing mechanism (3) is used to connect to the operating table or the human body. The supporting mechanism (4) is used to connect the end connecting seat (2) and the fixing mechanism (3). The fixing mechanism (3) includes at least one connecting member. The supporting mechanism (4) includes at least one supporting foot, and the supporting foot is used to adjust the positional relationship between the fixing mechanism (3) and the robotic arm mount (1).

2. The portable multi-legged robot according to claim 1, wherein: The supporting mechanism (4) includes three supporting feet. The supporting foot includes a first supporting portion (41) and a second supporting portion (42). The first supporting portion (41) is rotatably connected to the second supporting portion (42). One end of the first supporting portion (41) away from the first supporting portion (41) is hinged to the robotic arm mount (1), and one end of the second supporting portion (42) away from the first supporting portion (41) is hinged to the fixing mechanism (3).

3. The portable multi-legged robot according to claim 2, characterized in that: The second supporting portion (42) includes two parallel second support rods.

4. The portable multi-legged robot according to claim 3, wherein: The first supporting portion (41) includes a first support rod, and the diameter of the first support rod is greater than the diameter of the second support rod.

5. The portable multi-legged robot according to claim 2, wherein: A protective member (43) is provided on the supporting foot, and the protective member (43) is used to brake the rotation between the first supporting portion (41) and the second supporting portion (42).

6. The portable multi-legged robot according to claim 1, characterized in that: The fixing mechanism (3) is used to connect to the human body. The fixing mechanism (3) includes three connecting members, and the three connecting members are all movably connected to the supporting mechanism (4).

7. A portable multi-legged robot according to claim 6, characterized in that: The connecting member includes a base (31), a negative pressure ball (32), an intermediate suction cup (33) and an outer suction cup (34). The base (31) is hinged to the second supporting portion (42). The negative pressure ball (32) is threadedly connected to the base (31). The intermediate suction cup (33) is connected to the base (31). The outer suction cup is connected to the intermediate suction cup (33). Both the intermediate suction cup (33) and the outer suction cup (34) are communicated with the negative pressure ball (32).

8. A portable multi-legged robot according to claim 7, characterized in that: A plurality of suction cup grooves (341) are formed on the surface of the outer suction cup (34) away from the intermediate suction cup (33).

9. A portable multi-legged robot according to claim 1, characterized in that: An end platform (5) is provided on the end connecting seat (2). The end platform (5) is rotatably connected to the end connecting seat (2). A fixing ear (51) is provided on the end platform (5), and a mounting cylinder (52) for mounting an end device is connected to the fixing ear (51).

10. A portable multi-legged robot according to claim 9, characterized in that: The mounting cylinder (52) is rotatably connected to the fixing ear (51).

11. A portable multi-legged robot according to claim 10, characterized in that: A braking member (53) is provided on the fixing ear (51), and the braking member (53) is used to brake the rotation between the mounting cylinder (52) and the fixing ear (51).

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