Portable surgical robot end instrument

Abstract

The utility model 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] The present application relates to the field of medical devices, and in particular to a portable surgical robot end instrument. Background Art

[0002] Robots used to assist surgery often need to use robotic arms to control and adjust the surgical end devices. Since surgery is a work process that can hardly allow for errors, the operating arm of the surgical robot must be able to meet all adjustment requirements during the operation. Therefore, robots used to assist surgery often use multi-axis operating arms to control the surgical end devices.

[0003] Orthopedic surgery requires that the connection and adjustment devices can withstand large shocks and impacts, and at the same time, they need to ensure good structural strength and extremely high stability. Therefore, large multi-axis robotic arms are generally used in orthopedic surgery. However, in actual application, large multi-axis robotic arms are huge in size and weight, which not only takes up too much space in the operating room, but also easily blocks the doctor's surgical vision, causing inconvenience to the doctor's operation. Utility Model Content

[0004] In order to reduce the volume and weight of the adjustment device and ensure the structural strength while retaining the flexibility and precision of the adjustment device, the present application provides a portable surgical robot end instrument.

[0005] The portable surgical robot end device provided in this application adopts the following technical solution:

[0006] A portable surgical robot end instrument 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 portable surgical robot end device. The first degree of freedom includes a rotation mechanism in the direction of the first degree of freedom, and the second degree of freedom includes a rotation mechanism in the direction of the second degree of freedom.

[0007] By adopting the above technical solution, the operator can install the end device to be used in the operation on the end adjustment device of the portable surgical robot, and adjust the end device in two rotational freedom directions through the rotation mechanism set 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 fixing seat and a rotating seat, and the rotating seat is rotatably connected to the module fixing 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 realize the rotation adjustment of the end device by rotating the connected end device.

[0010] Optionally, it further includes a first motor base, on which a first rotating motor is disposed, the first rotating motor is connected to a coupling rod, the coupling rod is connected to a coupling, and the coupling is connected to the rotating base.

[0011] By adopting the above technical solution, the first rotating motor can drive the transmission rod in the coupling rod to rotate synchronously; the end of the transmission rod in the coupling rod away 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 provided 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 by 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 provided on the module fixing seat, and the reinforcing plate is in a triangular shape.

[0015] By adopting the above technical solution and utilizing the principle that the triangular structure has high strength and high stability, the stability and structural strength of the module fixing seat are improved by using the triangular reinforcement 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, and 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 also 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 to a bevel gear set, and the bevel gear set is connected to the connecting seat.

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

[0020] Optionally, a second bearing seat is provided 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 by bolts, which can improve the stability of the second rotating motor during operation.

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

[0023] By adopting the above technical solution, the mounting side plate is parallel to the rotation plane of the second degree of freedom. By setting the mounting side plate, the stability during the adjustment of the second degree of freedom can be improved, and the structural reliability of the adjustment device can also be improved, thereby meeting the use requirements of orthopedic surgery.

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

[0025] By adopting the above technical solution, the rotation connection between the connecting seat and the mounting side plate is protected from the influence of external forces.

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

[0027] 1. The end device can be flexibly adjusted in two rotational freedom directions through the rotation 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 to meet the doctor's use needs;

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

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

[0030] Figure 2 It is a schematic diagram of the structure shown from other angles of this application.

[0031] Explanation of the accompanying drawings: 1. First degree of freedom; 11. Module fixing seat; 111. First bearing seat; 112. Reinforcing plate; 12. Rotating seat; 2. Second degree of freedom; 21. Connecting seat; 22. Second motor seat; 221. Second rotating motor; 222. Bevel gear set; 3. First motor seat; 31. First rotating motor; 32. Coupling rod; 33. Coupling; 4. Second bearing seat; 5. Mounting side plate; 51. Bearing cover. DETAILED DESCRIPTION

[0032] The following is combined with Figure 1-2This application is described in further detail.

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

[0034] Reference Figure 1 and Figure 2 A portable surgical robot end device includes a first degree of freedom 1 and a second degree of freedom 2, wherein the first degree of freedom 1 includes a rotation mechanism in the direction of the first degree of freedom 1, and the second degree of freedom 2 includes a rotation mechanism in the direction of the second degree of freedom 2. An operator can install and connect the end device to be used in the operation to the end adjustment device of the portable surgical robot, and adjust the end device in two rotational degrees of freedom directions through the rotation 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 seat 11, a rotating seat 12 and a first motor seat 3. The first motor seat 3 and the module fixing seat 11 are both fixedly connected to the portable surgical robot by bolts. A first rotating motor 31 is arranged on the first motor seat 3. The first rotating motor 31 is fixedly installed on the first motor seat 3 by bolts. The output shaft of the first rotating motor 31 is connected to the coupling rod 32. The first rotating motor 31 can drive the transmission rod in the coupling rod 32 to rotate synchronously; the transmission rod in the coupling rod 32 is connected to the coupling 33 at one end away from the motor. The first rotating motor 31 is connected to the coupling 33 through the coupling rod 32. The coupling 33 is connected to the first bearing seat 111 at one end away from the coupling rod 32. The first bearing seat 111 is fixedly connected to the module fixing seat 11 by bolts. The first bearing seat 111 is connected to the first rotating motor 31 through the coupling 33, and the first bearing seat 111 is connected to the rotating seat 12. The operator can start the first rotating motor 31 to drive the rotating seat 12 to rotate, thereby adjusting the end device of the portable surgical robot from the first degree of freedom 1.

[0036] The module fixing seat 11 is in a stepped shape, and a reinforcing plate 112 is provided on the stepped surface of the module fixing seat 11. The reinforcing plate 112 is in a right-angled triangle shape, and the two right-angled sides of the reinforcing plate 112 are fixedly connected to the module fixing seat 11 by welding. The triangular reinforcing plate 112 improves the stability and structural strength of the module fixing seat 11 by utilizing the principle that the triangular structure has high strength and high stability.

[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 by bolts, and the second motor seat 22 is fixedly connected to the rotating seat 12 by bolts. A second rotating motor 221 is provided on the second motor seat 22. The output shaft of the second rotating motor 221 is connected to 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 to a second bearing seat 4. The second bearing seat 4 is fixedly connected to the rotating seat 12 by bolts. The second bearing seat 4 is rotatably connected to the connecting seat 21. 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, thereby adjusting the end device of the portable surgical robot connected to the connecting seat 21 from the second degree of freedom 2.

[0038] A mounting side plate 5 is provided on the rotating seat 12, and the mounting side plate 5 is fixedly connected to the rotating seat 12 by bolts. The connecting seat 21 is rotatably connected to the mounting side plate 5. The mounting side plate 5 and the rotation plane of the second degree of freedom 2 are parallel to each other. By providing the mounting side plate 5, the stability during the adjustment of the second degree of freedom 2 can be improved, and the structural reliability of the adjustment device can also be improved, thereby meeting the use requirements of orthopedic surgery.

[0039] A bearing cover 51 is provided on the mounting side plate 5, and the bearing cover 51 is fixed on the mounting side plate 5 by bolts. The bearing cover 51 can cover the rotation connection between the connecting seat 21 and the mounting side plate 5, thereby protecting the rotation connection between the connecting seat 21 and the mounting side plate 5 from being affected by external forces.

[0040] The implementation principle of a portable surgical robot end instrument in an embodiment of the present application is as follows: the operator can install the end device to be used in the operation on the end adjustment device of the portable surgical robot, and flexibly adjust the end device from two rotational degrees of freedom directions through the rotation 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 to meet the doctor's use requirements; and while meeting the flexibility, the end adjustment device also further improves the overall structural strength and stability by setting structures such as a reinforcement plate 112, a first bearing seat 111 and a second bearing seat 4, so that it can better adapt to the use requirements of orthopedic surgery.

[0041] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A portable surgical robot end instrument, characterized in that: The invention comprises a first degree of freedom (1) and a second degree of freedom (2), wherein 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, wherein the first degree of freedom (1) comprises a rotation mechanism in the direction of the first degree of freedom (1), and the second degree of freedom (2) comprises a rotation mechanism in the direction of the second degree of freedom (2).

2. The portable surgical robot end instrument according to claim 1, characterized in that: The first degree of freedom (1) comprises a module fixing seat (11) and a rotating seat (12), and the rotating seat (12) is rotatably connected to the module fixing seat (11).

3. The portable surgical robot end instrument according to claim 2, characterized in that: The invention also comprises a first motor seat (3), on which a first rotating motor (31) is arranged, the first rotating motor (31) is connected to a coupling rod, the coupling rod (32) is connected to a coupling (33), and the coupling (33) is connected to the rotating seat (12).

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

5. The portable surgical robot end instrument according to claim 2, characterized in that: The module fixing seat (11) is in a stepped shape, and a reinforcing plate (112) is provided on the module fixing seat (11), and the reinforcing plate (112) is in a triangular shape.

6. The portable surgical robot end instrument according to claim 2, characterized in that: The second degree of freedom (2) comprises a connecting seat (21), and the connecting seat (21) is rotatably connected to the rotating seat (12).

7. The portable surgical robot end instrument according to claim 6, characterized in that: The second degree of freedom (2) further comprises a second motor seat (22), the second motor seat (22) being connected to the rotating seat (12), a second rotating motor (221) being arranged on the second motor seat (22), the second rotating motor (221) being connected to a bevel gear set (222), and the bevel gear set (222) being connected to the connecting seat (21).

8. The portable surgical robot end instrument 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 to the second bearing seat (4), and the second bearing seat (4) is connected to the connecting seat (21).

9. The portable surgical robot end instrument according to claim 6, characterized in that: The rotating seat (12) is provided with a mounting side plate (5), and the connecting seat (21) is rotatably connected to the mounting side plate (5).

10. The portable surgical robot end instrument according to claim 9, characterized in that: A bearing cover (51) is provided on the mounting side plate (5), and the bearing cover (51) can cover the rotation connection between the connecting seat (21) and the mounting side plate (5).

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