Portable surgical robot

Abstract

The utility model relates to a portable surgical robot which comprises an X shaft, a Y shaft, a Z shaft, a navigation device and a main control device, the X shaft, the Y shaft and the Z shaft are connected to a mechanical arm base through a mounting base, the X shaft, the Y shaft and the Z shaft are matched with one another to control the spatial orientation of a tail end device of the portable surgical robot, the X shaft comprises at least one adjusting mechanism parallel to the X shaft, and the main control device is connected with the navigation device. The Y shaft comprises at least one adjusting mechanism parallel to the Y shaft, the Z shaft comprises at least one adjusting mechanism parallel to the Z shaft, and the main control device is connected with the X shaft, the Y shaft and the Z shaft. By means of the technical scheme, the size of the adjusting device can be reduced, and meanwhile accurate adjustment of the tail end device is achieved in the X-axis direction, the Y-axis direction and the Z-axis direction.

Description

Technical Field

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

[0002] Traditional orthopedic surgery requires doctors to perform manual operations at the corresponding positions of the patient's bones. Doctors need rich surgical experience to judge changes during the operation, which increases the difficulty of the operation to a certain extent. The risk of surgical errors is high. In order to solve the current difficulties of orthopedic surgery, a large number of orthopedic auxiliary surgical robots have emerged in the current market. These orthopedic surgical robots are basically controlled by large multi-axis robotic arms.

[0003] However, the robotic arms used to adjust the end-devices of traditional surgical robots are relatively large, taking up considerable operating room space and causing inconvenience during the surgery. Furthermore, the paths of traditional multi-axis robotic arms are not fixed during adjustment, potentially interfering with the surgery, requiring ample space for adjustment. Utility Model Content

[0004] In order to replace the traditional robotic arm and achieve precise adjustment of the end device in the X-axis, Y-axis and Z-axis directions, the present application provides a portable surgical robot.

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

[0006] A portable surgical robot includes an X-axis, a Y-axis, a Z-axis, a navigation device, and a main control device. The X-axis, Y-axis, and Z-axis are connected to a robotic arm base via a mounting base. The X-axis, Y-axis, and Z-axis cooperate with each other to control the spatial orientation of a terminal device of the portable surgical robot. The X-axis includes at least one adjustment mechanism parallel to the X-axis, the Y-axis includes at least one adjustment mechanism parallel to the Y-axis, and the Z-axis includes at least one adjustment mechanism parallel to the Z-axis. The main control device is connected to the X-axis, Y-axis, and Z-axis.

[0007] By adopting the above technical solution, the operator can control the spatial orientation of the end device of the portable surgical robot through the coordination of the X-axis, Y-axis and Z-axis.

[0008] Optionally, the X-axis includes a first X-axis and a second X-axis, the first X-axis includes a support, a plurality of sliders and a fixing member, the mounting seat is connected to the support, the slider is connected to the support, the fixing member includes a plurality of rods parallel to the X-axis direction and a plurality of fixed blocks, and the slider is slidably connected to the rod.

[0009] By adopting the above technical solution, the operator can apply force to the slider to make the slider slide on the rod. Since the end device is connected to the X-axis through the mounting seat, the operator can then roughly adjust the position of the end device in the X direction.

[0010] Optionally, the support includes a base and a plurality of brackets, and the plurality of brackets are movably connected to the base.

[0011] By adopting the above technical solution, it is convenient for operators to store the support.

[0012] Optionally, the second X-axis includes a first motor, a first screw and a first connecting seat, the first motor is fixedly mounted on the mounting seat, the first motor can drive the first screw to rotate, the first screw and the X-axis are parallel to each other, the first connecting seat is threadedly connected to the first screw, the end device is connected to the first connecting seat, and a plurality of parallel slide rails are provided on the mounting seat, the first connecting seat is slidably connected to two slide rails, and the slide rails are parallel to the X-axis.

[0013] By adopting the above technical solution, the first connecting seat is limited to rotate by the slide rail, which can improve the stability of the first connecting seat during the adjustment process, thereby ensuring the stability of the end device during the adjustment process, and then realizing precise adjustment of the end device position from the X-axis direction.

[0014] Optionally, the Y-axis includes a first Y-axis and a second Y-axis, the first Y-axis includes a plurality of connecting members arranged on the base and a plurality of sliding members slidably connected to the connecting members, the axes of the plurality of connecting members are all parallel to the Y-axis, and the plurality of sliding members are all connected to the bracket.

[0015] By adopting the above technical solution, the operator can directly apply force to the sliding member to make the sliding member slide in the connecting member, and roughly adjust the position of the end device in the Y-axis direction.

[0016] Optionally, the sliding member includes a sliding portion and a connecting portion, the sliding portion is slidably connected to the connecting member, and the plurality of brackets are rotatably connected to the connecting portion.

[0017] By adopting the above technical solution, it is convenient for operators to repair, replace or store a single bracket.

[0018] Optionally, a locking hole penetrating the connecting member is provided on the connecting member, and a bolt can be passed through the locking hole to abut the sliding portion.

[0019] By adopting the above technical solution, after the adjustment is completed, the operator can thread the bolt into the connecting piece and rotate the bolt until the bolt abuts the sliding part, thereby completing the locking of the sliding piece.

[0020] Optionally, the second Y-axis includes a second motor, a second lead screw and a second connecting seat, the second motor can drive the second lead screw to rotate, the second lead screw and the Y-axis are parallel to each other, the second connecting seat is threadedly connected to the second lead screw, the end device is connected to the second connecting seat, and a plurality of parallel slide rails are provided on the first connecting seat, the second connecting seat is slidably connected to the slide rail, and the slide rail is parallel to the Y-axis.

[0021] By adopting the above technical solution, the rotation of the second connecting seat is limited by the second slide rail, which is conducive to improving the stability of the second connecting seat during the adjustment process, and thus achieving precise adjustment of the position of the end device from the Y-axis direction.

[0022] Optionally, the Z-axis includes a first Z-axis and a second Z-axis, the first Z-axis includes a locking seat arranged on the slider, a locking ring is arranged on the locking seat, several of the brackets are parallel to the Z-axis, several of the brackets can be coaxially passed through the locking ring, and the locking ring can lock the bracket by a bolt.

[0023] By adopting the above technical solution, the operator can manually insert the bracket coaxially into the locking ring, and move the bracket along the Z-axis direction inside the locking ring to adjust the position of the end device along the Z-axis direction.

[0024] Optionally, the second Z-axis includes a third motor, a third lead screw and a third connecting seat. The third motor is connected to the second connecting seat through a connecting plate. The third motor can drive the third lead screw to rotate. The third lead screw can be parallel to the Z-axis. The end device is connected to the third connecting seat. The third connecting seat is threadedly connected to the third lead screw. A slide rail three is provided on the connecting plate. The third connecting seat is slidably connected to the slide rail three. The slide rail three and the third lead screw are parallel to each other.

[0025] By adopting the above technical solution, the rotation of the third connecting seat is limited by the slide rail three, which is conducive to improving the stability of the third connecting seat during the adjustment process, and then realizing precise adjustment of the position of the end device from the Z-axis direction.

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

[0027] 1. It can replace the traditional robotic arm to achieve precise adjustment of the end device in the X-axis, Y-axis and Z-axis directions;

[0028] 2. It has a clear adjustment space range and a clear adjustment path, which will not interfere with the doctor's surgical process;

[0029] 3. The production cost is much lower than that of traditional multi-axis robotic arms, which helps reduce procurement costs for hospitals and surgical costs for patients; BRIEF DESCRIPTION OF THE DRAWINGS

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

[0031] Figure 2 It is a structural diagram displayed on the Y-axis of this application.

[0032] Figure 3 It is a schematic diagram of the structure displayed on the Z axis of this application.

[0033] Explanation of reference numerals 1. Navigation device; 2. Main control device; 3. First X-axis; 31. Support; 311. Base; 312. Bracket; 32. Slider; 33. Fixing member; 331. Rod; 332. Fixing block; 4. Second X-axis; 41. First motor; 411. Signal receiving unit 1; 42. First lead screw; 43. First connecting seat; 44. Slide rail 1; 5. First Y-axis; 51. Connecting member; 511. Locking hole; 52. Slide Moving part; 521, sliding part; 522, connecting part; 6, second Y-axis; 61, second motor; 611, second signal receiving part; 62, second lead screw; 63, second connecting seat; 64, second slide rail; 7, first Z-axis; 71, locking seat; 72, locking ring; 8, second Z-axis; 81, third motor; 811, signal receiving end; 82, third lead screw; 83, third connecting seat; 84, third slide rail; 85, connecting plate; 9, mounting seat. DETAILED DESCRIPTION

[0034] The following is combined with Figure 1-3 This application is described in further detail.

[0035] An embodiment of the present application discloses a portable surgical robot.

[0036] Reference Figure 1-3 A portable surgical robot includes an X-axis, a Y-axis, a Z-axis, a navigation device 1 and a main control device 2. The X-axis, Y-axis and Z-axis are connected to the base of the robotic arm through a mounting seat 9. The operator can control the spatial orientation of the terminal device of the portable surgical robot through the cooperation of the X-axis, Y-axis and Z-axis.

[0037] The X-axis includes a first X-axis 3 , the Y-axis includes a first Y-axis 5 , and the Z-axis includes a first Z-axis 7 .

[0038] Reference Figure 1The first X-axis 3 includes a support 31, four sliders 32, and a fixing member 33. The mounting base 9 is connected to the support 31. The support 31 includes a base 311 and four brackets 312. One end of each of the four brackets 312 is connected to the base 311. The slider 32 is connected to the end of the bracket 312 away from the base 311. The fixing member 33 includes two rods 331 parallel to the X-axis and four fixing blocks 332. The slider 32 is slidably connected to the rods 331. The operator can apply force to the slider 32 to make it slide on the rods 331, thereby manually adjusting the position of the support 31 in the X-axis direction. Because the end device is connected to the X-axis, the operator can also make coarse adjustments to the position of the end device in the X-axis direction.

[0039] The bracket 312 is rotatably connected to the base 311. When the support 31 needs to be stored, the operator only needs to rotate the bracket 312 toward the base 311 until the bracket 312 is parallel to the base 311. When the support 31 needs to be installed, the operator only needs to rotate the bracket 312 away from the base 311 until the bracket 312 and the base 311 are perpendicular to each other, which reduces the operator's labor intensity and simplifies the installation process.

[0040] Reference Figure 2 The first Y-axis 5 includes four connecting members 51 and four sliding members 52 mounted on the base 311. The axes of the connecting members 51 are parallel to the Y-axis, and the sliding members 52 are connected to the bracket 312. The sliding members 52 include a sliding portion 521 and a connecting portion 522. The sliding portion 521 is slidably connected to the connecting member 51, and one end of the bracket 312 is rotatably connected to the connecting portion 522. The operator can directly apply force to the sliding portion 521, causing it to slide within the connecting member 51, thereby coarsely adjusting the position of the end device along the Y-axis.

[0041] The connecting member 51 is provided with a locking hole 511 that passes through the connecting member 51, and a bolt can be inserted into the locking hole 511 to abut the sliding portion 521. After adjustment, the operator can thread the bolt into the connecting member 51 and rotate the bolt until the bolt abuts the sliding portion 521 to complete the locking of the sliding member 52.

[0042] Reference Figure 3 The first Z-axis 7 includes a locking seat 71 disposed on the slider 32. The locking seat 71 is provided with a locking ring 72. The bracket 312 can be coaxially inserted into the locking ring 72. The operator can rotate the bracket 312 to make it parallel to the Z-axis. When the operator adjusts the bracket 312 to the desired position, the operator can tighten the locking ring 72 with a bolt to secure the bracket 312. The operator can manually insert the bracket 312 coaxially into the locking ring 72 and move the bracket 312 within the locking ring 72 along the Z-axis to adjust the position of the end device along the Z-axis.

[0043] The X-axis further includes a second X-axis 4 , the Y-axis further includes a second Y-axis 6 , and the Z-axis further includes a second Z-axis 8 .

[0044] like Figure 1 As shown, the second X-axis 4 includes a first lead screw 42 mounted on a mounting base 9, a first motor 41, and a first connecting base 43 mounted on the mounting base 9. The output shaft of the first motor 41 is connected to the first lead screw 42 via a coupling. The first lead screw 42 is parallel to the X-axis. The end device is connected to the first connecting base 43, which is threadedly connected to the first lead screw 42. Two parallel slide rails 44 are mounted on the mounting base 9. The first connecting base 43 is slidably connected to the two slide rails 44. The slide rails 44 are parallel to the X-axis. A signal receiving unit 411 is mounted on the first motor 41, and the main control unit 2 is connected to the signal receiving unit 411 via wires. The operator controls the first motor 41 to start through the main control device 2, and the first motor 41 drives the first screw 42 to rotate. While the first screw 42 rotates, the first connecting seat 43 is slidably connected to the two slide rails 44. The first connecting seat 43 threadedly connected to the first screw 42 moves along the X-axis direction, and the rotation of the first connecting seat 43 is limited by the slide rail 44. The stability of the first connecting seat 43 during the adjustment process can be improved, thereby ensuring the stability of the end device during the adjustment process, and then realizing precise adjustment of the position of the end device from the X-axis direction.

[0045] like Figure 2 As shown, the second Y-axis 6 includes a second lead screw 62 mounted on the first connecting base 43, a second motor 61, and a second connecting base 63 mounted on the first connecting base 43. The output shaft of the second motor 61 is connected to the second lead screw 62 via a coupling, and the end device is connected to the second connecting base 63. The second connecting base 63 is threadedly connected to the second lead screw 62. The first connecting base 43 is provided with two parallel second slide rails 64. The second connecting base 63 is slidably connected to the second slide rails 64. The second slide rails 64 are parallel to the Y-axis. The second motor 61 is provided with a second signal receiving unit 611, and the main control unit 2 is connected to the second signal receiving unit 611 via wires. The operator controls the second motor 61 to start through the main control device 2, and the second motor 61 drives the first screw 42 to rotate. While the second screw 62 rotates, the second connecting seat 63 is slidably connected to the two slide rails 64. The second connecting seat 63 threadedly connected to the second screw 62 moves along the Y-axis direction, and the rotation of the second connecting seat 63 is limited by the slide rail 64, which is beneficial to improve the stability of the second connecting seat 63 during the adjustment process, and thus realize the precise adjustment of the position of the end device from the Y-axis direction.

[0046] like Figure 3As shown, the second Z-axis 8 includes a third lead screw 82 connected to the second connecting base 63, a third motor 81, and a third connecting base 83. The third motor 81 is connected to the second connecting base 63 via a connecting plate 85. The output shaft of the third motor 81 is connected to the third lead screw 82 via a coupling. The third lead screw 82 can be parallel to the Z-axis. The end device is connected to the third connecting base 83, and the third connecting base 83 is threadedly connected to the third lead screw 82. The third connecting base 83 is restricted from rotating about the axial direction of the third lead screw 82. A third slide rail 84 is provided on the connecting plate 85. The third connecting base 83 is slidably connected to the third slide rail 84. The third slide rail 84 is parallel to the third lead screw 82. The third motor 81 is provided with a signal receiving terminal 811. The main control device 2 is connected to the signal receiving unit via an electric wire. The operator controls the third motor 81 to start through the main control device 2, and the third motor 81 drives the third screw 82 to rotate. While the third screw 82 rotates, the third connecting seat 83 is slidably connected to the slide rail 3 84. The third connecting seat 83 threadedly connected to the third screw 82 will not rotate during the movement, which is beneficial to improve the stability of the third connecting seat 83 during the adjustment process, and thus realize the precise adjustment of the position of the end device from the Z-axis direction.

[0047] The implementation principle of a portable surgical robot in an embodiment of the present application is: the operator roughly adjusts the spatial orientation of the terminal device through the mutual coordination between the first X-axis 3, the first Y-axis 5 and the first Z-axis 7.

[0048] The operator can identify the location of the end device through the navigation device 1; the navigation device 1 transmits the location information of the end device to the main control device 2; after receiving the current location information of the end device, the main control device 2 combines the spatial location of the target lesion to plan the adjustment path of the adjustment device; the operator controls the second X-axis 4, the second Y-axis 6 and the second Z-axis 8 simultaneously through the main control device 2 to accurately adjust the end device to the final surgical position.

[0049] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A portable surgical robot, Features: The invention comprises an X-axis, a Y-axis, a Z-axis, a navigation device (1) and a main control device (2); the X-axis, the Y-axis and the Z-axis are connected to a mechanical arm base via a mounting seat (9); the X-axis, the Y-axis and the Z-axis cooperate with each other to control the spatial orientation of a terminal device of a portable surgical robot; the X-axis comprises at least one adjustment mechanism parallel to the X-axis, the Y-axis comprises at least one adjustment mechanism parallel to the Y-axis, the Z-axis comprises at least one adjustment mechanism parallel to the Z-axis; and the main control device (2) is connected to the X-axis, the Y-axis and the Z-axis.

2. A portable surgical robot according to claim 1, Features: The X-axis comprises a first X-axis (3) and a second X-axis (4); the first X-axis (3) comprises a support (31), a plurality of sliders (32) and a fixing member (33); the mounting seat (9) is connected to the support (31); the sliders (32) are connected to the support (31); the fixing member (33) comprises a plurality of rods (331) parallel to the X-axis direction and a plurality of fixing blocks (332); the sliders (32) are slidably connected to the rods (331).

3. A portable surgical robot according to claim 2, Features: The support (31) comprises a base (311) and a plurality of brackets (312), and the plurality of brackets (312) are movably connected to the base (311).

4. A portable surgical robot according to claim 3, Features: The second X-axis (4) comprises a first motor (41), a first lead screw (42) and a first connecting seat (43); the first motor (41) is fixedly arranged on the mounting seat (9); the first motor (41) can drive the first lead screw (42) to rotate; the first lead screw (42) and the X-axis are parallel to each other; the first connecting seat (43) is threadedly connected to the first lead screw (42); the end device is connected to the first connecting seat (43); two parallel slide rails (44) are arranged on the mounting seat (9); the first connecting seat (43) is slidably connected to the two slide rails (44); the slide rails (44) and the X-axis are parallel to each other.

5. The portable surgical robot according to claim 4, Features: The Y-axis includes a first Y-axis (5) and a second Y-axis (6), the first Y-axis (5) includes a plurality of connecting members (51) arranged on a base (311) and a plurality of sliding members (52) slidably connected to the connecting members (51), the axes of the plurality of connecting members (51) are all parallel to the Y-axis, and the plurality of sliding members (52) are all connected to the bracket (312).

6. The portable surgical robot according to claim 5, Features: The sliding member (52) comprises a sliding portion (521) and a connecting portion (522); the sliding portion (521) is slidably connected to the connecting member (51); and a plurality of the brackets (312) are rotatably connected to the connecting portion (522).

7. The portable surgical robot according to claim 6, Features: The connecting member (51) is provided with a locking hole (511) penetrating the connecting member (51), and a bolt can be passed through the locking hole (511) to abut against the sliding portion (521).

8. The portable surgical robot according to claim 5, Features: The second Y-axis (6) comprises a second motor (61), a second lead screw (62) and a second connecting seat (63); the second motor (61) can drive the second lead screw (62) to rotate; the second lead screw (62) and the Y-axis are parallel to each other; the second connecting seat (63) is threadedly connected to the second lead screw (62); the end device is connected to the second connecting seat (63); two parallel slide rails (64) are arranged on the first connecting seat (43); the second connecting seat (63) is slidably connected to the slide rail (64); the slide rail (64) and the Y-axis are parallel to each other.

9. The portable surgical robot according to claim 3, Features: The Z axis comprises a first Z axis (7) and a second Z axis (8); the first Z axis (7) comprises a locking seat (71) arranged on a slider (32); a locking ring (72) is arranged on the locking seat (71); a plurality of the brackets (312) are parallel to the Z axis; a plurality of the brackets (312) can be coaxially penetrated by the locking ring (72); and the locking ring (72) can lock the brackets (312) by means of bolts.

10. The portable surgical robot according to claim 9, Features: The second Z axis (8) comprises a third motor (81), a third lead screw (82) and a third connecting seat (83); the third motor (81) is connected to the second connecting seat (63) via a connecting plate (85); the third motor (81) can drive the third lead screw (82) to rotate; the third lead screw (82) can be parallel to the Z axis; the end device is connected to the third connecting seat (83); the third connecting seat (83) is threadedly connected to the third lead screw (82); a slide rail three (84) is provided on the connecting plate (85); the third connecting seat (83) is slidably connected to the slide rail three (84); the slide rail three (84) and the third lead screw (82) are parallel to each other.

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