End effector, robot, and control method for a robot

Abstract

The application discloses an end execution device, a robot and a control method of the robot. The end execution device comprises an execution assembly and a locking assembly. The execution assembly comprises a driving mechanism and a bone power tool. The locking assembly comprises a mounting body, a locking part and a locking part. The mounting body is connected with the driving mechanism and can reciprocatingly rise and fall along a first direction under the driving of the driving mechanism. The locking part has a first state of locking the bone power tool to the mounting body and a second state of unlocking to separate from the mounting body. The locking part is arranged on the mounting body and can drive the locking part to switch between the first state and the second state. The application solves the problem that the bone power tool is separated from the end execution device after the connecting piece is opened by mistake in the prior art.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to an end effector, a robot, and a method for controlling the robot. Background Technology

[0002] Currently, robotic arms are equipped with end effectors, and bone-powered tools such as puncture needles are mounted at the front end of the end effector. The bone-powered tools and the end effector are typically connected by hinges, snap-fit ​​devices, or other connectors. The movement of the robotic arm is controlled to guide and position the bone-powered tools such as puncture needles.

[0003] However, there is a risk that the hinges and latches may be accidentally opened if they are accidentally touched, which could cause the bone-powered tool to accidentally detach from the end effector, posing a significant safety hazard. Summary of the Invention

[0004] The main objective of this application is to provide an end effector, a robot, and a robot control method to solve the problem mentioned in the background art where the bone-powered tool detaches from the end effector when the connector is accidentally opened.

[0005] According to one aspect of this application, an end effector is provided, comprising: The execution component includes a drive mechanism and a bone power tool; A locking assembly includes a mounting body, a locking component, and a locking component. The mounting body is connected to the drive mechanism and can reciprocate up and down in a first direction under the drive of the drive mechanism. The locking component has a first state of locking the bone power tool to be connected to the mounting body and a second state of unlocking to be separated from the mounting body. The locking component is disposed on the mounting body and can drive the locking component to switch between the first state and the second state.

[0006] Furthermore, the locking component includes: A locking body, which is connected to the mounting body; A stop structure is provided between the locking body and the locking component. The locking body uses the stop structure to stop the locking component in the first state or release it to a state that can be switched from the first state to the second state.

[0007] Furthermore, the stop structure includes: A first groove is provided on the side of the locking component near the locking body; The protrusion is disposed on the side of the locking body near the first groove. The protrusion has a first position where it is at least partially embedded in the first groove and a second position where it is moved away from the first groove under the action of the locking body.

[0008] Furthermore, the locking body includes a first column segment and a second column segment arranged coaxially, the cross-sectional dimension of the first column segment is larger than the cross-sectional dimension of the second column segment, the protrusion is the first column segment, and the first groove is adapted to the first column segment and extends along the axial direction of the first column segment. A limiting structure is provided between the locking body and the mounting body, and the limiting structure is used to restrict the first column segment to the first position and the second position.

[0009] Furthermore, the locking component includes: A locking ring, which is rotatably connected to one side of the mounting body; The locking body includes a pressing block and an elastic element. The pressing block is installed on one side of the locking ring through a guide structure and can move along a second direction under the guidance of the guide structure to engage with or separate from the locking ring. The elastic element is telescopically disposed between the guide structure and the pressing block. The elastic element is used to press the pressing block against the position where it engages with the locking ring. The first groove is disposed on the side of the pressing block near the first column section.

[0010] Furthermore, the limiting structure includes: A limiting hole is provided through the mounting body along a first direction and located on the side of the locking body away from the locking ring. The limiting hole includes a first hole segment and a second hole segment. The diameter of the first hole segment is larger than the diameter of the second hole segment and is located on opposite sides of the second hole segment along its own axial direction. The second hole segment is adapted to the first column segment. A communication port is provided on the side of the second hole segment near the locking body. When the pressing block is in the position of engaging with the locking ring, the first groove is located at the communication port and communicates with the communication port. The limiting block includes at least two blocks, which are adapted to the first hole segment. At least one limiting block is disposed on the side of the first column segment away from the second column segment, and at least the other limiting block is disposed on the side of the second column segment away from the first column segment.

[0011] Furthermore, a second groove is provided on the side of the mounting body near the bone power tool, and the second groove extends along a second direction and penetrates the mounting body. The locking body is installed in the second groove, and the locking ring is located at the opening of the second groove. The guide structure includes: A guide block, wherein the guide block is disposed on the mounting body and extends along a first direction into the second groove; A strip-shaped hole is disposed within the pressing block, the length of the strip-shaped hole extends along a second direction, the guide block passes through the strip-shaped hole, and the elastic element is located within the strip-shaped hole and abuts against the guide block and the inner wall surface of the strip-shaped hole away from the guide block.

[0012] Furthermore, the drive mechanism includes: The mounting base extends along a first direction and is provided with a third groove; A guide post, the length of which extends along the first direction and passes through the third groove, the mounting body extends into the third groove and is connected to the guide post, and the mounting body slides relative to the guide post along the first direction; The driving component includes a driving element and a transmission element. The driving element is disposed on the mounting base, and the transmission element is connected to the driving element in a transmission manner. The driving element drives the transmission element to move the mounting body reciprocally up and down in a first direction.

[0013] Furthermore, along the first direction, the projected outer contour of the locking component falls into the third groove.

[0014] On the other hand, this application also provides a robot, the robot comprising: robotic arm; A positioning system, which is mounted on the robotic arm; The end effector is mounted on the positioning system and can reciprocate along a second direction and a third direction under the drive of the positioning system.

[0015] On the other hand, this application also provides a robot control method, including: The robot controls the robotic arm to move the bone-powered tool on the end effector to the cutting starting position of the posterior cervical spinal canal; The robot controls the robotic arm to drive the bone power tool to cut the posterior cervical spinal canal along a predetermined cutting path, which includes multiple path points. Before the robot switches from the current path point to the next path point to cut based on the cutting path, it determines the first motion amount that the positioning system drives the bone-powered tool to move along the second direction and the second motion amount that the drive mechanism drives the bone-powered tool to move along the third direction, based on the first position information of the current path point and the second position information of the position of the blade of the bone-powered tool. Based on the first motion amount and the second motion amount, the positioning system and the drive mechanism are controlled to drive the blade to the next path point.

[0016] Furthermore, the positioning system is equipped with a force sensor, and the robot control method further includes: The robot detects the reaction force exerted by the posterior cervical spinal canal on the bone-powered tool during the cutting process using a force sensor, and controls the bone-powered tool to stop moving when the magnitude of the reaction force exceeds a warning value.

[0017] Furthermore, during the process of controlling the robotic arm to drive the bone-powered tool to cut the posterior cervical spinal canal along a predetermined cutting path, the robot control method also includes: The robot acquires the initial position information and current position information of the vertebral body currently being cut in the posterior cervical spinal canal, as detected by the vertebral body detector. The initial position information is the position information of the vertebral body before it is cut, and the current position information is the position information of the vertebral body during the cutting process. The robot determines a first position offset of the vertebra based on the initial position information and the current position information, and adjusts the position parameters of the path point where the bone dynamic tool is currently located based on the first position offset.

[0018] Furthermore, the robot control method also includes: The robot acquires the third and fourth position information of the vertebral body of the posterior cervical spinal canal during the respiratory cycle as the object to which the posterior cervical spinal canal belongs breathes. The respiratory cycle is from the beginning of inhalation to the end of exhalation. The third position information is the position information of the vertebral body detected at the end of inhalation, and the fourth position information is the position information of the vertebral body detected at the end of exhalation. The robot obtains a second position offset based on the third position information and the fourth position information, and obtains an average offset based on the second position offset and the frequency of the breathing cycle within a predetermined time period, so as to correct the position parameters of the next path point based on the average offset.

[0019] Furthermore, in the process of determining the positional offset of the vertebra based on the initial position information and the current position information, the robot control method further includes: The robot acquires a three-dimensional image of the posterior spinal canal of the cervical spine, establishes a coordinate system based on the three-dimensional image, acquires the coordinates of the initial position information and the coordinates of the current position information through a vertebral body detector, obtains the vector data of the position offset by calculating the difference between the coordinates of the initial position information and the coordinates of the current position information, and corrects the position parameters of the path point where the bone dynamic tool is currently located based on the vector data. When the vector data of the position offset is greater than a preset value, at least one path point is added between the current path point and the next path point of the bone power tool, and the bone power tool is controlled to cut from the current path point to the added path point.

[0020] In this application, a locking component is provided on the mounting body. This locking component can drive a tightening component to lock the bone power tool to the mounting body. Even if the operator accidentally touches the tightening component, the locking component keeps it in its first state, preventing accidental opening and ensuring the bone power tool is stably locked to the mounting body. The locking component effectively prevents accidental opening after accidental contact and also prevents the bone power tool from accidentally detaching from the mounting body, greatly enhancing the stability of the connection between the bone power tool and the end effector. The locking component can also drive the tightening component to unlock the bone power tool and separate it from the mounting body, facilitating the operator's removal and replacement of the bone power tool. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the end effector disclosed in this application; Figure 2 This is a schematic diagram of the structure of the execution component disclosed in this application; Figure 3 A schematic diagram of the locking assembly disclosed in this application (I); Figure 4 This is a schematic diagram (II) of the locking assembly disclosed in this application. Figure 5 This is a cross-sectional view of the locking assembly disclosed in this application; Figure 6 This is a schematic diagram of the stop structure disclosed in this application; Figure 7This is a schematic diagram of the locking component disclosed in this application; Figure 8 This is a structural schematic diagram of the locking body disclosed in this application; Figure 9 This is a cross-sectional view of the installation body disclosed in this application; Figure 10 The displacement curve of the robotic arm (I); Figure 11 The displacement curve of the robotic arm (II).

[0022] The above figures include the following reference numerals: 10. Actuating component; 100. End effector; 11. Drive mechanism; 111. Mounting base; 1111. Third groove; 112. Guide post; 113. Drive component; 114. Transmission component; 12. Bone power tool; 20. Locking assembly; 21. Mounting body; 211. Fourth groove; 212. Second groove; 213. Dovetail groove; 22. Locking component; 221. Locking ring; 2211. Snap-fit ​​part; 22111. Barb; 222. Locking body ; 2221, Pressing block; 22211, Fastening part; 22211a, Snapping surface; 22211b, Sliding guide slope; 2222, Elastic element; 2231, Guide block; 2232, Strip hole; 23, Locking component; 231, Locking body; 2311, First column section; 2312, Second column section; 2321, First groove; 241, Limiting hole; 2411, First hole section; 2412, Second hole section; 2413, Connecting port; 242, Limiting block. Detailed Implementation

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0025] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0026] See Figures 1 to 11 This application provides an end effector 100. The end effector 100 includes an actuation component 10 and a locking component 20. The actuation component 10 includes a drive mechanism 11 and a bone-powered tool 12. The locking component 20 includes a mounting body 21, a locking member 22, and a locking member 23. The mounting body 21 is connected to the drive mechanism 11 and can move along a first direction (e.g., under the drive mechanism 11) driven by the drive mechanism 11. Figure 2 (In the direction indicated by the middle arrow X) it reciprocates up and down. The locking component 22 has a first state in which the bone power tool 12 is locked to be connected to the mounting body 21, and a second state in which it is unlocked to be separated from the mounting body 21. The locking component 23 is disposed on the mounting body 21 and can drive the locking component 22 to switch between the first state and the second state.

[0027] In this embodiment, by providing a locking component 23 on the mounting body 21, the locking component 23 can drive the locking component 22 to lock the bone power tool 12 to the mounting body 21. Even if the operator accidentally touches the locking component 22, the locking component 22 will not be accidentally opened. The locking component 23 can keep the locking component 22 in the first state, ensuring that the bone power tool 12 can be stably locked on the mounting body 21. The locking component 23 can effectively prevent the locking component 22 from being accidentally opened after being touched, and can effectively prevent the bone power tool 12 from accidentally detaching from the mounting body 21, greatly enhancing the stability of the connection between the bone power tool 12 and the end effector 100. The locking component 23 can also drive the locking component 22 to unlock the bone power tool 12 to separate it from the mounting body 21, making it convenient for the operator to remove the bone power tool 12 and replace it.

[0028] Furthermore, the locking component 23 includes a locking body 231 and a stop structure. The locking body 231 is connected to the mounting body 21. The stop structure is disposed between the locking body 231 and the locking component 22. The locking body 231 stops the locking component 22 in a first state or releases it to a state that can be switched from the first state to the second state through the stop structure. When the locking component 22 is in the first state, the stop structure can limit the locking component 22, ensuring that the locking component 22 can remain in the first state even when subjected to external force, ensuring that the locking component 22 can stably and reliably lock the bone power tool 12 onto the mounting body 21. Specifically, after the locking component 22 is accidentally activated, the stop structure stops the locking component 22 in the first state, and the locking component 22 will not be accidentally opened after being activated, and the bone power tool 12 can still be stably connected to the mounting body 21. When the operator needs to remove or replace the bone power tool 12, the stop structure releases the locking component 22, and the locking component 22 unlocks the bone power tool 12 to separate it from the mounting body 21.

[0029] Furthermore, such as Figures 5 to 7 As shown, the stop structure includes a first groove 2321 and a protrusion. The first groove 2321 is located on the side of the locking member 22 near the locking body 231. The protrusion is located on the side of the locking body 231 near the first groove 2321. The protrusion has the ability to move to a first position, at least partially embedded in the first groove 2321, and a second position, away from the first groove 2321, under the action of the locking body 231. After the operator installs the bone power tool 12 and connects it to the mounting body 21, the operator moves the locking body 231 so that the locking body 231 drives the protrusion to the first position. At this time, the protrusion is at least partially embedded in the first groove 2321, and the protrusion prevents the locking member 22 from switching from the first state to the second state. Even if the locking member 22 is accidentally touched, the locking member 22 will not open unexpectedly, ensuring the stability of the bone power tool 12. When removing or replacing the bone power tool 12, the operator moves the locking body 231 so that the locking body 231 moves the protrusion to the second position. The protrusion moves away from the first groove 2321, and the protrusion no longer obstructs the locking component 22 from switching from the first state to the second state. The locking component 22 can then move smoothly and unlock the bone power tool 12 to separate it from the mounting body 21.

[0030] Furthermore, such as Figure 8As shown, the locking body 231 includes a first column segment 2311 and a second column segment 2312 coaxially arranged. The cross-sectional dimension of the first column segment 2311 is larger than that of the second column segment 2312. The protrusion is the first column segment 2311, and the first groove 2321 is adapted to the first column segment 2311 and extends along the axial direction of the first column segment 2311. When the locking body 231 moves along the axial direction of the first column segment 2311, and the first column segment 2311 moves to at least partially embedded in the first groove 2321, the first column segment 2311 is in contact with the inner wall surface of the first groove 2321. The first groove 2321 limits the locking component 22, and the locking component 22 cannot move relative to the first column segment 2311. This ensures that the locking component 22 will not move even if accidentally touched, thus preventing the bone power tool 12 from detaching from the mounting body 21, greatly guaranteeing the reliability of the bone power tool 12. The locking body 231 moves axially along the first column segment 2311. Since the cross-sectional dimension of the second column segment 2312 is smaller than that of the first column segment 2311, when the first column segment 2311 moves away from the first groove 2321, the second column segment 2312 is located outside the first groove 2321 and will not interfere with the first groove 2321. The locking component 22 can unlock the bone power tool 12 to separate it from the mounting body 21 under external force. The first column segment 2311 and the second column segment 2312 are coaxially arranged, which facilitates the processing and manufacturing of the locking body 231 and reduces the installation space occupied by the locking body 231, thus improving the structural compactness of the locking assembly 20. A limiting structure is provided between the locking body 231 and the mounting body 21 to restrict the first column segment 2311 to a first position and a second position. The limiting structure ensures that the first column segment 2311 can accurately switch between the first position and the second position. When the limiting structure confines the first column segment 2311 to the first position, the first column segment 2311 can accurately engage with the first groove 2321 to prevent the locking component 22 from being opened. When the limiting structure confines the first column segment 2311 to the second position, the first column segment 2311 can be completely moved away from the first groove 2321 without interfering with it, ensuring that the locking assembly 20 can smoothly unlock the bone power tool 12 to separate it from the mounting body 21.

[0031] Furthermore, such as Figures 2 to 6 As shown, the locking component 22 includes a locking ring 221 and a locking body 222. The locking ring 221 is rotatably connected to one side of the mounting body 21. The locking body 222 includes a pressing block 2221 and an elastic element 2222. The pressing block 2221 is mounted to one side of the locking ring 221 via a guide structure and can move along a second direction (e.g., under the guidance of the guide structure) under the guidance of the guide structure. Figure 3The pressure block 2221 moves (in the direction indicated by the middle arrow Y) to engage or disengage from the locking ring 221. An elastic element 2222 is telescopically disposed between the guide structure and the pressing block 2221. The elastic element 2222 is used to press the pressing block 2221 against the locking ring 221. A first groove 2321 is disposed on the side of the pressing block 2221 near the first column section 2311. A fourth groove 211 is provided through the mounting body 21 along the first direction. The locking ring 221 has an arc-shaped structure; one end of the locking ring 221 is hinged to the mounting body 21, and the other end can rotate around the hinge point between the locking ring 221 and the mounting body 21 to engage or disengage from the pressing block 2221. When the locking element engages with the pressing block 2221, the fourth groove 211 and the locking ring 221 form a mounting hole, in which the bone power tool 12 is installed. When the locking ring 221 engages with the pressing block 2221, the bone power tool 12 is locked and confined within the mounting hole by the locking ring 221. To unlock the bone power tool 12, the operator applies force to the pressing block 2221 along the second direction. Guided by the guide structure, the pressing block 2221 moves along the second direction and separates from the locking ring 221. The locking ring 221 can rotate to avoid the opening of the fourth groove 211, allowing the operator to remove the installed bone power tool 12. The first groove 2321 is located on the side of the pressing block 2221 near the first column section 2311. The first column section 2311 engages with the first groove 2321 to prevent the pressing block 2221 from moving along the second direction, thereby confining the locking component 22 to the first state. Even if the pressing block 2221 is accidentally activated, the pressing block 2221 cannot move in the second direction, effectively preventing the locking ring 221 from separating from the pressing block 2221 due to accidental activation of the pressing block 2221.

[0032] The elastic element 2222 ensures that the pressing block 2221 and the locking ring 221 abut against each other, ensuring that the locking ring 221 can reliably lock the bone power tool 12 into the mounting hole. The elastic element 2222 also has a reset function; when the external force on the pressing block 2221 disappears, the elastic element 2222 drives the pressing block 2221 to reset. In this embodiment, the elastic element 2222 adopts a spring, elastic sleeve, elastic pad, etc., but is not limited to these.

[0033] Specifically, a fastening part 22211 is provided on the side of the pressing block 2221 near the locking ring 221, and a fastening engagement part 2211 that mates with the fastening part 22211 is provided on the end of the locking ring 2211 away from the mounting body 21. A barb 22111 is provided at the end of the fastening engagement part 22111. The fastening part 222111 is provided with a snap-fit ​​surface 22211a and a sliding guide slope 22211b, and the barb 22111 slides along the sliding guide slope 22211b to snap into the snap-fit ​​surface 22211a.

[0034] Furthermore, the limiting structure includes a limiting hole 241 and a limiting block 242. The limiting hole 241 is disposed through the mounting body 21 along a first direction and is located on the side of the locking body 222 away from the locking ring 221. The limiting hole 241 includes a first hole segment 2411 and a second hole segment 2412. The diameter of the first hole segment 2411 is larger than the diameter of the second hole segment 2412 and is located on opposite sides of the second hole segment 2412 along its own axial direction. The second hole segment 2412 is adapted to the first column segment 2311. A connecting port 2413 is provided on the side of the second hole segment 2412 near the locking body 222. When the pressing block 2221 is in the position of engaging with the locking ring 221, the first groove 2321 is located at the connecting port 2413 and communicates with the connecting port 2413. The limiting block 242 includes at least two blocks, which are adapted to the first hole segment 2411. At least one limiting block 242 is located on the side of the first column segment 2311 away from the second column segment 2312, and at least the other limiting block 242 is located on the side of the second column segment 2312 away from the first column segment 2311. The two limiting blocks 242 are located in the two first hole segments 2411 respectively. This bidirectional limiting can constrain the locking body 231 from different directions, ensuring that the locking body 231 always moves along an accurate path during axial movement. This allows the first column segment 2311 to be accurately positioned in the first position when entering the second hole segment 2412, and in the second position when moving away from the second hole segment 2412, ensuring that the position of the first column segment 2311 can be accurately positioned. Furthermore, the operator only needs to move the limiting block 242 to abut against the end face of the first hole segment 2411 to ensure that the first column segment 2311 is in the first or second position, simplifying the operator's operation steps. Specifically, in this embodiment, when the first column segment 2311 is in the first position, the limiting block 242 away from the first column segment 2311 protrudes from the mounting body; when the first column segment 2311 is in the second position, the limiting block 242 away from the first column segment 2311 is located inside the first hole segment 2411, and the limiting block 242 away from the first column segment 2311 protrudes from the mounting body. The operator can adjust the position of the first column segment 2311 by pressing the limiting block 242, thereby locking the locking component 22 in the first state or unlocking it in the second state.

[0035] Furthermore, such as Figure 9As shown, a second groove 212 is provided on the side of the mounting body 21 near the bone power tool 12. The second groove 212 extends along a second direction and penetrates the mounting body 21. The locking body 222 is installed in the second groove 212, and the locking ring 221 is located at the opening of the second groove 212. The guiding structure includes a guide block 2231 and a strip hole 2232. The guide block 2231 is disposed on the mounting body 21 and extends along a first direction into the second groove 212. The strip hole 2232 is disposed in the pressing block 2221, and the length of the strip hole 2232 extends along a second direction. The guide block 2231 passes through the strip hole 2232, and the elastic element 2222 is located in the strip hole 2232 and abuts against the guide block 2231 and the inner wall surface of the strip hole 2232 away from the guide block 2231. When the pressing block 2221 moves along the second direction under the action of external force, the elastic element 2222 is compressed, and the inner wall surface of the strip hole 2232 that abuts against the elastic element 2222 moves towards the guide block 2231, thereby moving the pressing block 2221 along the second direction to separate the fastening part 22211 from the fastening mating part 2211. After the external force on the pressing block 2221 disappears, the elastic element 2222 applies a force away from the guide block 2231 to the inner wall surface of the strip hole 2232, and the pressing block 2221 moves away from the guide block 2231. The strip hole 2232 is provided on the pressing block 2221, making full use of the space in the second groove 212, making the structure of the locking component 22 more compact, and helping to reduce the space occupied by the locking component 22. The guide block 2231 passes through the strip hole 2232 of the pressing block 2221, providing precise guidance for the movement of the pressing block 2221. The pressing block 2221 can only move along the second direction defined by the strip hole 2232, ensuring the stability of the pressing block 2221 during movement. Specifically, along the first direction, a first through hole is provided through the side wall of the second groove 212, and a second through hole is provided through the end of the locking ring 221. The hinge passes through both the first and second through holes.

[0036] Along the second direction, at least a portion of the pressing block 2221 near the elastic member 2222 is located outside the second groove 212. This arrangement facilitates the operator in applying pressing force to the pressing block 2221.

[0037] Further, the drive mechanism 11 includes a mounting base 111, a guide post 112, and a drive component. The mounting base 111 extends along a first direction and has a third groove 1111. The guide post 112 extends along the first direction and passes through the third groove 1111. The mounting body 21 extends into the third groove 1111 and is connected to the guide post 112. The mounting body 21 can slide relative to the guide post 112 along the first direction. The drive component includes a drive member 113 and a transmission member 114. The drive member 113 is disposed on the mounting base 111, and the transmission member 114 is connected to the drive member 113. The drive member 113 can drive the transmission member 114 to move the mounting body 21 back and forth along the first direction. A dovetail groove 213 is provided on the side of the mounting body 21 away from the second groove 212. The guide post 112 passes through the dovetail groove 213 to connect the mounting body 21 to the guide post 112. The mounting body 21 can slide relative to the guide post 112 along a first direction. The guide post 112 provides a clear guide for the mounting body 21, restricting it to sliding only along the first direction and ensuring its stability. The drive component 113 can be a motor. In some embodiments, the drive component 113 can be installed inside the housing of the mounting base 11, ensuring stable operation without being jammed or contaminated by external impurities, and maintaining an aesthetically pleasing appearance. The drive component 113 is shown in dashed lines in the figure. The transmission component 114, driven by the motor, drives the mounting body 21 to reciprocate up and down along the first direction. The guide post 112 also has a certain anti-rotation function, preventing the mounting body 21 from rotating. The mounting body 21 is located within the third groove 1111, which also effectively prevents the operator from accidentally touching the locking component 23.

[0038] Furthermore, along the first direction, the projected outer contour of the locking member 23 falls into the third groove 1111. The locking member 23, located within the third groove 1111 along the first direction, effectively prevents the operator from accidentally touching the locking member 23, thus reducing the reliability of the locking member 22 when locking the bone-powered tool 12. The locking member 23 reliably confines the locking member 22 to the first state, further preventing the bone-powered tool 12 from disengaging from the locking member 22 and ensuring high stability of the bone-powered tool 12.

[0039] On the other hand, this application also provides a robot, which includes a robotic arm, a positioning system, and the aforementioned end effector 100. The positioning system is mounted on the robotic arm. The end effector is mounted on the positioning system and can reciprocate along a second direction and a third direction (the third direction being perpendicular to the first and second directions) under the drive of the positioning system. The positioning system can achieve high-precision positioning, ensuring that the robot has high accuracy. This robot includes all the technical effects of the aforementioned end effector. Since the technical effects of the end effector 100 have been described in detail above, they will not be repeated here.

[0040] On the other hand, this application also provides a robot control method. The robot control method includes: The robot-controlled robotic arm moves the bone-powered tool 12 on the end effector to the starting position for cutting the posterior cervical spinal canal. The robot-controlled robotic arm drives the bone-powered tool 12 to cut the posterior cervical spinal canal along a pre-determined cutting path, which includes multiple path points. Before switching from the current path point to the next, the robot determines the first motion amount of the positioning system driving the bone-powered tool 12 in a second direction and the second motion amount of the drive mechanism driving the bone-powered tool 12 in a third direction, based on the first position information of the current path point and the second position information of the blade position of the bone-powered tool 12. The robot then controls the positioning system and drive mechanism to move the blade to the next path point based on the first and second motion amounts. The robotic arm can accurately place the bone-powered tool 12 at the starting point of the cut, providing a foundation for subsequent precise cutting. The pre-planned cutting path can be customized according to the specific anatomy and needs of the patient's cervical spine, ensuring the cutting process meets expectations and improving accuracy and controllability. During the process of the robot cutting from its current position to the next path point using a robotic arm, the robot can accurately calculate the first and second motion quantities required by the bone-powered tool 12, ensuring higher accuracy in the cutting path. The entire cutting process is executed by the robot according to a set program and precise calculations. Compared with traditional manual operation, this greatly reduces operational errors caused by human factors, improves the level of intelligence, reduces learning difficulty, and increases efficiency. The robot uses force sensors to detect when the reaction force exceeds the warning value and controls the bone-powered tool 12 to stop moving, effectively preventing over-cutting caused by continued operation and avoiding irreversible damage to surrounding nerves and blood vessels. The force sensors add a safety barrier, enabling real-time monitoring and rapid response, greatly reducing operational problems caused by abnormal forces and ensuring patient safety. The interval between multiple path points can be set between 0.5mm and 1mm.

[0041] The positioning system incorporates force sensors, and the robot's control method includes: the robot uses force sensors to detect the reaction force exerted by the posterior cervical spinal canal on the bone-powered tool 12 during the cutting process, and controls the bone-powered tool 12 to stop moving when the magnitude of the reaction force exceeds a warning value. During the cutting process, the force sensors continuously monitor the reaction force, helping to maintain the stability of the cutting force. When the reaction force is too large, the cutter head stops moving, avoiding changes in cutting depth or angle caused by uneven local force, ensuring that the cutting of the posterior cervical spinal canal proceeds uniformly along the predetermined path and depth, thereby improving cutting accuracy. Furthermore, the bone-powered tool 12 can only perform the next cutting operation when the reaction force detected by the force sensor is zero or less than a certain value at the end of the cutting process.

[0042] In the process of controlling the robotic arm to drive the bone-powered tool 12 to cut the posterior cervical spinal canal along a predetermined cutting path, the robot control method further includes: acquiring the initial position information and current position information of the vertebral body currently being cut in the posterior cervical spinal canal, detected by the vertebral body detector. The initial position information is the position information of the vertebral body before cutting, and the current position information is the position information of the vertebral body during cutting. Based on the initial position information and the current position information, the robot determines the first position offset of the vertebral body, and adjusts the position parameters of the path point where the bone-powered tool 12 is currently located based on the first position offset. Specifically, in a three-dimensional Cartesian coordinate system, the coordinates of the initial position information are O (x0, y0, z0), and the coordinates of the current position information are P (x1, y1, z1), and the first position offset is obtained as a vector. (This vector represents the distance between coordinate O and coordinate P), based on the vector. Adjust the final position movement vector of the next path point For example, if the detection shows that the vertebral body has moved 3mm downwards in the Y direction, meaning the final position of the next path point has decreased by 3mm relative to its initial position, the robot should control the cutter head to move downwards by 3mm based on the adjusted path point position information, thereby ensuring precise cutting.

[0043] During the vertebral body cutting process, after the vertebral body shifts position due to the force of the cutting head, the robot adjusts the cutting head position by a first position offset to ensure cutting accuracy. The cutting head can effectively compensate for positional errors caused by various factors, allowing the bone-powered tool 12 to always follow the dynamic changes of the vertebral body, maintaining high-precision cutting and thus better achieving the expected results. This application enables the cutting operation to always accurately match the actual position of the vertebral body, avoiding cutting deviations caused by changes in the vertebral body position, ensuring that the cutting head follows a predetermined precise path, and improving accuracy.

[0044] The robot control method further includes: acquiring third and fourth position information of the vertebral bodies detected in the posterior cervical spinal canal during the respiratory cycle as the patient breathes. The respiratory cycle is from the start of inhalation to the end of exhalation. The third position information is the position of the vertebral body detected at the end of inhalation, and the fourth position information is the position of the vertebral body detected at the end of exhalation. The robot obtains a second position offset based on the third and fourth position information, and obtains an average offset based on the second position offset and the frequency of respiratory cycles within a predetermined time period, so as to correct the position parameters of the next path point based on the average offset. For example, if the average offset of the patient during breathing is x1, and the parameter of the initial position information of the next path point is x0, then the parameter of the final position information of the next path point is x0+x1. The robot should then control the blade to move upward to the position x0+x1 based on the corrected position information of the path point.

[0045] Human respiration causes minute displacement of the vertebrae. To ensure accurate cutting, compensation and correction are needed to account for this vertebral displacement. Before cutting, a respiratory detector can be installed on the patient's back to obtain the second position displacement of the vertebrae within one respiratory cycle. Within a predetermined duration, the patient has n respiratory cycles, and the second position displacements within these n cycles are m1, m2, m3…m… n Therefore, the average offset is (m1+m2+m3……m n The frequency of a respiratory cycle refers to the number of respiratory cycles within a predetermined duration. During respiration, the vertebral position continuously changes. By monitoring the respiratory cycle in real time and calculating the average offset, the cutting path can be dynamically adjusted according to the respiratory state, ensuring precise cutting operations. Simultaneously, by combining respiratory correction with the cutter head position, intelligent adjustments to the operation are achieved, reducing operational difficulty.

[0046] The robot control method, in determining the vertebral body position offset based on initial and current position information, further includes: acquiring a three-dimensional image of the posterior cervical spinal canal using the robot; establishing a coordinate system based on the three-dimensional image; acquiring the coordinates of the initial and current positions using a vertebral body detector; obtaining vector data of the position offset by calculating the difference between the initial and current position coordinates; and correcting the position parameters of the current path point of the bone dynamic tool 12 based on the vector data. Specifically, when the vector data of the position offset exceeds a preset value, at least one path point is added between the current path point and the next path point of the bone dynamic tool 12, and the bone dynamic tool 12 is controlled to cut from the current path point to the added path point. Using this method, the robot can accurately quantify vertebral body position changes, making the grasp of vertebral body position changes more accurate and providing a reliable basis for subsequent precise adjustment of the bone dynamic tool 12 path, effectively improving the cutting accuracy. Correcting the position parameters of the current path point of the bone dynamic tool 12 based on vector data allows for real-time and precise adaptation to vertebral body position changes. The position of the vertebral body changes are complex and variable. This dynamic adjustment based on precise quantitative data ensures that the bone-powered tool 12 always cuts along the most suitable path, further improving cutting accuracy and reducing errors. When the vector data of the position offset is greater than the preset value, and the cutter head cannot immediately change position significantly according to the new offset, a path point is added to drive the cutter head from the current position to the new path point, ensuring that the cutter head can smoothly and gradually correct itself to the correct cutting position. Specifically, the robot obtains the displacement curve of the robotic arm during the cutting process, which can be seen in [reference needed]. Figure 10 As shown. When the vector data of the position offset is large, the robot adds new path points and calculates the corrected displacement curve of the robotic arm, which can be seen in the figure. Figure 11 As shown, Figure 11Point A in the figure represents the moment when the offset was detected, and point B represents the displacement point of the robotic arm after correction. This application ensures that the robotic arm can move and adjust the position of the cutter head relatively smoothly. The displacement data of the mechanical wall over time is used to generate a smooth curve using the B-Spline algorithm, ensuring that the robotic arm moves along a smooth path. A vertebral detector is installed on each vertebra in the posterior cervical spinal canal to ensure that the robot can obtain the position information of each vertebra, facilitating the robot's calculation and adjustment of the cutter head position. For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used here to describe the spatial positional relationship between a device or feature as shown in the figure and other devices or features. It should be understood that spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device as described in the figure. For example, if the device in the figure is inverted, a device described as "above" or "on top of" other devices or structures will later be positioned as "below" or "under" other devices or structures. Therefore, the exemplary term "above" can include both "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein shall be interpreted accordingly.

[0047] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0048] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An end effector, characterized in that, include: The execution component (10) includes a drive mechanism (11) and a bone power tool (12). The locking assembly (20) includes an installation body (21), a locking component (22), and a locking component (23). The installation body (21) is connected to the drive mechanism (11) and can reciprocate up and down in a first direction under the drive of the drive mechanism (11). The locking component (22) has a first state of locking the bone power tool (12) to be connected to the installation body (21) and a second state of unlocking to be separated from the installation body (21). The locking component (23) is disposed on the installation body (21) and can drive the locking component (22) to switch between the first state and the second state.

2. The end effector according to claim 1, characterized in that, The locking component (23) includes: Locking body (231), the locking body (231) is connected to the mounting body (21); A stop structure is provided between the locking body (231) and the locking component (22). The locking body (231) stops the locking component (22) in the first state or releases it to the second state through the stop structure.

3. The end effector according to claim 2, characterized in that, The stop structure includes: The first groove (2321) is provided on the side of the locking member (22) near the locking body (231); The protrusion is disposed on the side of the locking body (231) near the first groove (2321). The protrusion has a first position where it is at least partially embedded in the first groove (2321) under the action of the locking body (231) and a second position where it is moved away from the first groove (2321).

4. The end effector according to claim 3, characterized in that, The locking body (231) includes a first column segment (2311) and a second column segment (2312) arranged coaxially. The cross-sectional dimension of the first column segment (2311) is larger than that of the second column segment (2312). The protrusion is the first column segment (2311). The first groove (2321) is adapted to the first column segment (2311) and extends along the axial direction of the first column segment (2311). A limiting structure is provided between the locking body (231) and the mounting body (21), and the limiting structure is used to restrict the first column segment (2311) to the first position and the second position.

5. The end effector according to claim 4, characterized in that, The locking component (22) includes: A locking ring (221) is rotatably connected to one side of the mounting body (21); The locking body (222) includes a pressing block (2221) and an elastic element (2222). The pressing block (2221) is installed on one side of the locking ring (221) through a guide structure and can move along a second direction under the guidance of the guide structure to engage with or separate from the locking ring (221). The elastic element (2222) is telescopically disposed between the guide structure and the pressing block (2221) and is used to press the pressing block (2221) against the position where it engages with the locking ring (221).

6. The end effector according to claim 5, characterized in that, The limiting structure includes: A limiting hole (241) is provided through the mounting body (21) along a first direction and located on the side of the locking body (222) away from the locking ring (221). The limiting hole (241) includes a first hole segment (2411) and a second hole segment (2412). The diameter of the first hole segment (2411) is larger than the diameter of the second hole segment (2412) and is located on opposite sides of the second hole segment (2412) along its own axial direction. The second hole segment (2412) is adapted to the first column segment (2311). A connecting port (2413) is provided on the side of the second hole segment (2412) near the locking body (222). When the pressing block (2221) is in the position of engaging with the locking ring (221), the first groove (2321) is located at the connecting port (2413) and communicates with the connecting port (2413). The limiting block (242) includes at least two blocks, which are adapted to the first hole segment (2411). At least one of the limiting blocks (242) is disposed on the side of the first column segment (2311) away from the second column segment (2312), and at least the other limiting block (242) is disposed on the side of the second column segment (2312) away from the first column segment (2311).

7. The end effector according to claim 5, characterized in that, The mounting body (21) has a second groove (212) on the side near the bone power tool (12), and the second groove (212) extends along a second direction and penetrates the mounting body (21). The locking body (222) is installed in the second groove (212), and the locking ring (221) is located at the opening of the second groove (212). The guide structure includes: A guide block (2231) is disposed on the mounting body (21) and extends along a first direction into the second groove (212); A strip hole (2232) is provided in the pressing block (2221), the length of the strip hole (2232) extends along a second direction, the guide block (2231) passes through the strip hole (2232), and the elastic element (2222) is located in the strip hole (2232) and abuts against the guide block (2231) and the inner wall surface of the strip hole (2232) away from the guide block (2231).

8. The end effector according to any one of claims 1 to 7, characterized in that, The drive mechanism (11) includes: Mounting base (111), which extends along a first direction and is provided with a third groove (1111). A guide post (112) extends along the first direction and passes through the third groove (1111). The mounting body (21) extends into the third groove (1111) and is connected to the guide post (112). The mounting body (21) can slide relative to the guide post (112) along the first direction. The driving component includes a driving member (113) and a transmission member (114). The driving member (113) is disposed on the mounting base (111), and the transmission member (114) is connected to the driving member (113). The driving member (113) drives the transmission member (114) to move the mounting body (21) up and down in a first direction.

9. The end effector according to claim 8, characterized in that, Along the first direction, the projected outer contour of the locking member (23) falls into the third groove (1111).

10. A robot, characterized in that, The robot includes: robotic arm; A positioning system, which is mounted on the robotic arm; The end effector (100) according to any one of claims 1 to 9, wherein the end effector (100) is mounted on the positioning system and can reciprocate along a second direction and a third direction under the drive of the positioning system.

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