Multi-degree-of-freedom navigation robot end instrument

Abstract

The utility model relates to a multi-degree-of-freedom navigation robot end instrument which comprises a spherical guide block, a crossed combined track is arranged on the outer side of the spherical guide block, an adjusting piece moving in a sliding mode is installed at the intersection of the inner side of the combined track, and a threaded piece is installed on the inner side of the adjusting piece. The threaded pieces control the adjusting pieces to be attached to or separated from the inner wall of the combined rail by screwing and loosening the threaded pieces, and a driving assembly used for controlling the spherical guide block and the other adjusting piece to rotate is installed at one end of one adjusting piece. The movable blocks can move around the spherical guide block in the two guide rails respectively, the positions of the movable blocks on the outer side of the spherical guide block are changed, under driving of the driving motor, one movable block serves as a connecting point, the spherical guide block can rotate automatically and axially rotate on the outer side of the movable block through the first guide rail, and the other movable block axially rotates along the second guide rail. The purpose of controlling the adjustment of the surgical instrument is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical navigation robots, in particular to a multi-degree-of-freedom navigation robot terminal instrument. Background Art

[0002] Doctors are restricted by the physiological structure of the human body and have great limitations in positioning accuracy, operating accuracy, operating stability, etc. In order to improve surgical results, reduce surgical trauma, and enhance surgical safety, computers are combined with robots and introduced into surgical operations to produce surgical navigation robots that can accurately guide surgical instruments to perform surgical operations on the human body.

[0003] The end robotic arm of the navigation robot is used to install surgical instruments. In order to cooperate with the operation, it needs to rotate and adjust in all directions during the process so that the surgical instruments can be fixed in different positions. The end robotic arm is rotationally connected to the main body of the navigation robot. When rotating, the end robotic arm needs to rotate completely as a whole to control the all-round activity adjustment of the surgical instruments. The rotation range is large, which can easily affect other instruments and equipment placed nearby during the operation, which is very inconvenient. Utility Model Content

[0004] Based on the above description, the utility model provides a multi-degree-of-freedom navigation robot end instrument to solve the problem that when the end instrument of the existing navigation robot controls the movement of surgical instruments, the rotation adjustment range is large and it is easy to affect other nearby equipment.

[0005] The utility model provides a technical solution to the above-mentioned technical problem as follows: a multi-degree-of-freedom navigation robot end device, comprising a spherical guide block, a cross-shaped combined track is arranged on the outer side of the spherical guide block, an adjusting member that moves by sliding is installed at the intersection on the inner side of the combined track, a threaded member is installed on the inner side of the adjusting member, and the threaded member controls the adjusting member to fit or separate from the inner wall of the combined track by tightening or loosening, wherein a driving assembly for controlling the rotation of the spherical guide block and the other adjusting member is installed at one end of one of the adjusting members.

[0006] On the basis of the above technical solution, the present invention can also be improved as follows.

[0007] Furthermore, the combined track is composed of a first guide rail, a second guide rail and an expansion opening, the first guide rail and the second guide rail are both annular and are opened on the surface of the spherical guide block, and the first guide rail and the second guide rail are cross-shaped.

[0008] Furthermore, the expansion opening is annular and is opened in the center of the inner walls of the first guide rail and the second guide rail in a cross shape, and damping layers spliced ​​to each other are arranged on the inner sides of the first guide rail and the second guide rail.

[0009] Furthermore, the adjusting member is composed of a movable block and a wing plate, the movable block is arc-shaped and its size is adapted to the first guide rail and the second guide rail, the wing plate is arranged on both sides of the movable block close to each other, and its shape is the same as the shape of the two sides of the movable block, and the movable block is installed between the damping layers on both sides of the inner walls of the first guide rail and the second guide rail through the wing plate.

[0010] Furthermore, the movable block is located at the intersection of the first guide rail and the second guide rail, and the inner arc surface of the movable block is in contact with the inner walls of the first guide rail and the second guide rail, and external notches are provided at both ends of the outer arc surface of the movable block, and the two external notches are arranged in opposite directions and extend to the outside of the movable block.

[0011] Furthermore, a threaded hole penetrating the movable block is provided at the center of the inner wall of the outer notch away from one end of the wing plate, and an inner notch communicating with the outer notch is provided at the center of the inner arc surface of the movable block.

[0012] Furthermore, the threaded member is composed of a bolt, which is installed in the threaded hole, and a rubber head that fits the wing plate is provided at one end of the bolt away from the outer notch.

[0013] Furthermore, a tooth groove is formed at one end of the bolt surface away from the rubber head, and the tooth grooves are distributed in a circular shape with equal distances around the center of the bolt. A gear meshing with the tooth grooves of the two bolts is installed in the inner notch of the movable block.

[0014] Furthermore, a coupling and a mounting seat are respectively installed at one end of the two movable blocks away from each other, and a driving motor is installed at one end of the coupling away from the spherical guide block.

[0015] Compared with the prior art, the technical solution of this application has the following beneficial technical effects:

[0016] 1. The utility model uses a spherical guide block, a movable block and a driving motor. The movable block can move around the spherical guide block in two guide rails respectively and change its position outside the spherical guide block. Driven by the driving motor, one of the movable blocks is used as a connection point, so that the spherical guide block can rotate by itself and rotate axially outside the movable block through the first guide rail, and the other movable block rotates axially along the second rail, so as to achieve the purpose of controlling the adjustment of the surgical instrument. During the rotation adjustment, the end instrument of the navigation robot does not need to be adjusted as a whole, and only the spherical guide block and the movable block need to be adjusted. The active rotation range is less affected, and the surgical instrument can be controlled to move in all directions, thereby ensuring the accuracy of the adjustment activity of the surgical instrument during the operation.

[0017] 2. The utility model uses a movable block and a wing plate, in conjunction with a threaded hole, a bolt and a tooth block. The two bolts face opposite directions and are provided with tooth grooves meshing with the tooth block on the outside. The tooth block can control the two bolts to move in different directions in the threaded hole by rotating. When the bolts move away from each other, the wing plate can be supported and stuck on the inner side of the spherical guide block, which is convenient for the fixation of the movable block after adjustment. When the bolts move toward each other, the wing plate and the inner side of the spherical guide block are loosened, which is convenient for the sliding adjustment of the movable block. The process is simple to operate, which is convenient for the use of the movable block and can ensure the stability of the structure and the connection strength during the use of the movable block. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure of a multi-degree-of-freedom navigation robot end device provided by an embodiment of the utility model;

[0019] Figure 2 This is a structural schematic diagram of the connection relationship between the movable block and the spherical guide block in the embodiment of the utility model;

[0020] Figure 3 It is a schematic diagram of the exploded structure of the movable block and the spherical guide block in the embodiment of the utility model;

[0021] Figure 4 It is a schematic diagram of the exploded structure of the movable block and the bolt in the embodiment of the utility model;

[0022] Figure 5 This is a structural diagram of the connection relationship between the gear and the movable block in the embodiment of the utility model;

[0023] Figure 6 This is a structural schematic diagram of the connection relationship between the movable block and the bolts in the embodiment of the utility model;

[0024] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0025] 1. Spherical guide block; 11. First guide rail; 12. Second guide rail; 13. Extension port; 2. Damping layer; 3. Movable block; 31. External notch; 32. Threaded hole; 33. Internal notch; 4. Wing plate; 5. Bolt; 51. Rubber head; 52. Tooth groove; 6. Gear; 7. Coupling; 8. Mounting seat; 9. Drive motor. DETAILED DESCRIPTION

[0026] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0028] See also Figure 1-6 The utility model is a multi-degree-of-freedom navigation robot end device, including a spherical guide block 1, a cross-shaped combined track is arranged on the outside of the spherical guide block 1, an adjusting member that moves by sliding is installed at the intersection on the inner side of the combined track, a threaded member is installed on the inner side of the adjusting member, and the threaded member is controlled by tightening and loosening to fit or separate the adjusting member from the inner wall of the combined track, and a driving component for controlling the rotation of the spherical guide block 1 and the other adjusting member is installed at one end of one of the adjusting members.

[0029] See also Figure 1 The combined track is composed of a first guide rail 11, a second guide rail 12 and an expansion port 13. The first guide rail 11 and the second guide rail 12 are both annular and are opened on the surface of the spherical guide block 1. The first guide rail 11 and the second guide rail 12 are cross-intersected. The setting of the first guide rail 11 and the second guide rail 12 limits the movement direction of the movable block 3 outside the spherical guide block 1. The two movable blocks 3 move 360 ​​degrees outside the spherical guide block 1 and cover the spherical guide block 1, and the movement trajectories of the two movable blocks 3 are perpendicular to each other. The expansion port 13 is annular and is opened in the center of the inner wall of the first guide rail 11 and the second guide rail 12 to cross each other. The inner sides of the first guide rail 11 and the second guide rail 12 are provided with damping layers 2 spliced ​​with each other. The damping layer 2 can increase the friction between the outer wing plate 4 of the movable block 3, which is convenient for the movable block 3 to be fixed after adjustment, and increases the stability of the movable block 3.

[0030] See also Figure 2The adjusting member is composed of a movable block 3 and a wing plate 4. The movable block 3 is arc-shaped and its size is adapted to the first guide rail 11 and the second guide rail 12. The wing plates 4 are arranged on both sides of the movable block 3 close to each other, and their shapes are the same as those on both sides of the movable block 3. The wing plates 4 are tough and can be bent on the outside of the movable block 3. The movable block 3 is installed between the damping layers 2 on both sides of the inner walls of the first guide rail 11 and the second guide rail 12 through the wing plates 4. The cross-sections of the movable block 3 and the first guide rail 11 and the second guide rail 12 are all trapezoidal, and the side with a larger area faces the center of the spherical guide block 1. After the movable block 3 is installed, it can avoid falling off from the first guide rail 11 and the second guide rail 12. The movable block 3 is located at the intersection of the first guide rail 11 and the second guide rail 12, and the inner arc surface of the movable block 3 is in contact with the inner walls of the first guide rail 11 and the second guide rail 12. The movable block 3 in the first guide rail 11 is connected to the coupling 7 and is fixed at the output end of the drive motor 9 and cannot move. It can be self-rotated and adjusted along with the coupling 7, resulting in the spherical guide block 1 only being able to be rotated and adjusted along the outer side of the movable block 3 through the first guide rail 11, while the other movable block 3 can be rotated on the surface of the spherical guide block 1 along the second guide rail 12 for angle adjustment. When the movable block 3 in the first guide rail 11 and the coupling 7 rotate at the output end of the driving motor 9 at the same time, the spherical guide block 1 and the other movable block 3 can be rotated and adjusted with the center of the coupling 7 as the center. External notches 31 are provided at both ends of the outer arc surface of the movable block 3. The two external notches 31 are arranged in opposite directions and extend to the outside of the movable block 3. The external notches 31 not only leave space for the reciprocating movement of the bolt 5, but also the staff can put their hands into the external notches 31 to control the rotation of the bolt 5. A threaded hole 32 penetrating the movable block 3 is provided at the center of the inner wall of the external notch 31 away from one end of the wing plate 4, and an internal notch 33 connected to the external notch 31 is provided at the center of the inner arc surface of the movable block 3.

[0031] See also Figure 6 The screw member is composed of a bolt 5, which is installed in the threaded hole 32. The end of the bolt 5 away from the outer notch 31 is provided with a rubber head 51 that fits the wing plate 4. The setting of the rubber head 51 facilitates the contact between one end of the bolt 5 and the wing plate 4 to avoid the damage of the wing plate 4 caused by the top of the bolt 5 during the squeezing and fitting process of the wing plate 4. A tooth groove 52 is provided on the surface of the bolt 5 away from the rubber head 51. The tooth grooves 52 are distributed in a ring with equal distances around the center of the bolt 5. A gear 6 meshing with the tooth grooves 52 of the two bolts 5 is installed in the inner notch 33 of the movable block 3. The two bolts 5 mesh with the gear 6 through the tooth grooves 52, so that when a single bolt 5 rotates to drive the gear 6, the other bolt 5 is also rotated synchronously by the transmission of the gear 6. The two bolts 5 simultaneously extrude and reinforce the wing plate 4 or move away from the outside of the wing plate 4, which is convenient for the operation and use of the bolts 5, reduces the steps of use, and increases convenience.

[0032] See also Figure 1A coupling 7 and a mounting seat 8 are respectively installed at the ends of the two movable blocks 3 away from each other. A driving motor 9 is installed at the end of the coupling 7 away from the spherical guide block 1. The mounting seat 8 is used to install different surgical instruments.

[0033] When it is necessary to adjust the angle of the mounting seat 8 outside the movable block 3, the driving motor 9 can be started first, so that the driving motor 9 drives the movable block 3 in the first guide rail 11 to rotate by itself through the coupling 7. The spherical guide block 1 and the other movable block 3 can be rotated and adjusted with the center of the coupling 7 as the center point. After the adjustment, the spherical guide block 1 can also slide along the surface of the movable block 3 outside the coupling 7 through the first guide rail 11 to perform 360-degree rotation adjustment. After the adjustment is completed, the bolt 5 in the movable block 3 is rotated so that the rubber head 51 at one end of the bolt 5 squeezes the wing plate 4 and fits the damping layer 2 on the inner side of the first guide rail 11 to fix the movable block 3 in the first guide rail 11. After the adjustment is completed, the other movable block 3 is slid along the second guide rail 12 to adjust the angle. After the adjustment is completed, the bolt 5 in the movable block 3 is rotated so that the rubber head 51 at one end of the bolt 5 squeezes the wing plate 4 and fits the damping layer 2 on the inner side of the second guide rail 12 to fix the movable block 3 in the second guide rail 12.

[0034] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" etc. specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0035] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom navigation robot end device, comprising a spherical guide block (1), characterized in that: A cross-combined track is arranged on the outer side of the spherical guide block (1), and an adjusting member that moves by sliding is installed at the intersection on the inner side of the combined track. A threaded member is installed on the inner side of the adjusting member, and the threaded member controls the adjusting member to fit or separate from the inner wall of the combined track by tightening or loosening. A driving component for controlling the rotation of the spherical guide block (1) and the other adjusting member is installed at one end of one of the adjusting members.

2. The multi-degree-of-freedom navigation robot end device according to claim 1, characterized in that: The combined track is composed of a first guide rail (11), a second guide rail (12) and an expansion opening (13); the first guide rail (11) and the second guide rail (12) are both annular and are opened on the surface of the spherical guide block (1); the first guide rail (11) and the second guide rail (12) are cross-shaped.

3. The multi-degree-of-freedom navigation robot end device according to claim 2, characterized in that: The expansion opening (13) is annular and is opened in the center of the inner wall of the first guide rail (11) and the second guide rail (12) in a cross shape. The inner sides of the first guide rail (11) and the second guide rail (12) are provided with damping layers (2) spliced ​​to each other.

4. The multi-degree-of-freedom navigation robot end device according to claim 3, characterized in that: The adjusting member is composed of a movable block (3) and a wing plate (4); the movable block (3) is arc-shaped and its size is adapted to the first guide rail (11) and the second guide rail (12); the wing plate (4) is arranged on two sides of the movable block (3) close to each other and has the same shape as the two sides of the movable block (3); the movable block (3) is installed between the damping layers (2) on both sides of the inner walls of the first guide rail (11) and the second guide rail (12) through the wing plate (4).

5. The multi-degree-of-freedom navigation robot end device according to claim 4, characterized in that: The movable block (3) is located at the intersection of the first guide rail (11) and the second guide rail (12), and the inner arc surface of the movable block (3) is in contact with the inner walls of the first guide rail (11) and the second guide rail (12). External notches (31) are provided at both ends of the outer arc surface of the movable block (3), and the two external notches (31) are arranged in opposite directions and extend to the outside of the movable block (3).

6. The multi-degree-of-freedom navigation robot end device according to claim 5, characterized in that: A threaded hole (32) penetrating the movable block (3) is provided at the center of the inner wall of the outer notch (31) away from one end of the wing plate (4), and an inner notch (33) communicating with the outer notch (31) is provided at the center of the inner arc surface of the movable block (3).

7. The multi-degree-of-freedom navigation robot end device according to claim 6, characterized in that: The threaded member is composed of a bolt (5) which is installed in the threaded hole (32). The end of the bolt (5) away from the outer notch (31) is provided with a rubber head (51) which fits the wing plate (4).

8. The multi-degree-of-freedom navigation robot end device according to claim 7, characterized in that: A tooth groove (52) is formed at one end of the surface of the bolt (5) away from the rubber head (51), and the tooth grooves (52) are distributed in a circular shape with equal distances around the center of the bolt (5). A gear (6) meshing with the tooth grooves (52) of the two bolts (5) is installed in the inner notch (33) of the movable block (3).

9. The multi-degree-of-freedom navigation robot end device according to claim 4, characterized in that: A coupling (7) and a mounting seat (8) are respectively installed at the ends of the two movable blocks (3) that are away from each other, and a driving motor (9) is installed at the end of the coupling (7) that is away from the spherical guide block (1).

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