Vibration reduction connecting device for surgical robot and surgical robot

Abstract

The utility model provides a vibration reduction connecting device for a surgical robot and the surgical robot, the vibration reduction connecting device comprises a locking module and a vibration reduction module, and the vibration reduction module is connected to the locking module; wherein the damping connecting device has a first working mode and a second working mode, in the first working mode, the damping module is loosened by the locking module, and in the second working mode, the damping module is locked by the locking module. In this way, the vibration reduction connecting device can conduct mode switching according to the working scene of the tail end instrument in the surgical robot, so that the requirement for high rigidity between the tail end instrument and a mechanical arm in the surgical robot can be met, and the requirement for high-precision surgery of the tail end instrument is met; according to the vibration reduction connecting device, the mechanical arm can be subjected to vibration reduction under the conditions of large impact and vibration of a tail end instrument, so that the shaking amplitude borne by the mechanical arm is reduced, the mechanical arm is protected, and therefore the surgical robot applying the vibration reduction connecting device can meet the use requirement of multi-purpose surgery.

Description

Technical Field

[0001] The utility model belongs to the technical field related to medical devices, and in particular relates to a vibration reduction connection device for a surgical robot and the surgical robot. Background Art

[0002] Surgical robots are used to eliminate the adverse effects of large-area trauma caused by surgery on patients through minimally invasive means, thereby reducing patients' pain and accelerating postoperative recovery. They can also reduce uncontrollable surgical risks caused by doctors' hand tremors in conventional surgeries. In addition, for surgical operations such as orthopedics, neurosurgery, and dentistry that require high precision, surgical robots also have functions such as precise positioning, surgical planning, and precise imaging, and can significantly reduce the radiation damage and infection risks suffered by doctors during surgery.

[0003] Among them, surgical robots usually use mechanical arms to drive the end instruments used for surgical operations to move. Different types of surgical operations have different requirements for the robot's accuracy, rigidity and other performance. Different procedures of the same type of surgery may also have different requirements for the performance of surgical robots. When the end instrument is an instrument used in orthopedic surgery, for example, there is a process of vigorously hitting a cup beater in orthopedic surgery. This process produces a large impact force, which will have an adverse effect on the precision parts in the mechanical arm. Therefore, it is necessary to increase the impact resistance element to reduce the impact force; at the same time, orthopedic surgery also has grinding and swing sawing processes that may produce high-frequency vibrations, which also have a negative effect on the precision parts of the mechanical arm; and when the end instrument is used in percutaneous puncture surgery in neurosurgery, the high rigidity of the mechanical arm is required to ensure the accuracy of the puncture process of the puncture device. However, the connection structure used to connect the mechanical arm and the end instrument in the existing surgical robot cannot meet the needs of multi-purpose surgery. Utility Model Content

[0004] In view of this, it is necessary to provide a vibration-damping connection device for a surgical robot and a surgical robot for solving the above-mentioned technical problems.

[0005] A vibration-damping connection device for a surgical robot comprises a locking module and a vibration-damping module, wherein the vibration-damping module is connected to the locking module;

[0006] The vibration-damping connection device has a first working mode and a second working mode. In the first working mode, the locking module releases the vibration-damping module, and in the second working mode, the locking module locks the vibration-damping module.

[0007] It can be understood that by loosening or locking the locking module and the vibration reduction module, the vibration reduction connection device can be applied to the surgical robot and can switch modes according to the working scenario of the terminal instrument in the surgical robot. This can not only ensure the high rigidity requirements between the terminal instrument and the robotic arm in the surgical robot to meet the requirements of high-precision surgery of the terminal instrument, but also reduce the vibration of the robotic arm in the event of large impact and vibration of the terminal instrument, so as to reduce the vibration amplitude of the robotic arm and protect the robotic arm, so that the surgical robot using the vibration reduction connection device can meet the use requirements of multi-purpose surgery.

[0008] In one embodiment, the locking module is coaxially arranged with the vibration reduction module;

[0009] Wherein, the locking module is connected to the mechanical arm of the surgical robot, and the vibration reduction module is connected to the end instrument of the surgical robot.

[0010] It can be understood that the locking module and the vibration reduction module are arranged coaxially so that in the second working mode, the robot arm and the end instrument connected by the vibration reduction connection device are in a rigidly connected state as a whole, and the high rigidity requirement is guaranteed.

[0011] In one embodiment, the locking module includes a locking shaft, and the vibration reduction module includes a connecting rod;

[0012] In the first working mode, a preset gap is formed between the locking shaft and the connecting rod. In the second working mode, the locking shaft can move toward the connecting rod and lock the locking shaft and the connecting rod.

[0013] In one embodiment, a positioning portion is formed on the locking shaft, and a positioning matching portion is formed on the connecting rod;

[0014] In the second working mode, the positioning portion can be plug-fitted with the positioning matching portion.

[0015] It can be understood that the locking shaft and the connecting rod can be assembled and positioned when locked by utilizing the plug-in fit between the positioning portion and the positioning fit portion.

[0016] In one embodiment, the connecting rod and the locking shaft are both configured as ferromagnetic parts;

[0017] Wherein, the locking module also includes an electromagnetic unit, and the electromagnetic unit can control the locking / loosening between the locking shaft and the connecting rod.

[0018] It can be understood that the locking / loosening between the locking shaft and the connecting rod is controlled by turning the electromagnetic unit on and off, so that the switching between the two working modes in the vibration-damping connection device can be facilitated.

[0019] In one embodiment, the locking module further comprises a fixed shell and a connecting plate, the electromagnetic unit is at least partially disposed inside the fixed shell, and the connecting plate is attached to an end of the fixed shell away from the connecting rod and connected to the electromagnetic unit;

[0020] Wherein, the fixing shell is connected to the vibration reduction module.

[0021] In one embodiment, the vibration reduction module further includes a vibration reduction seat and a vibration reduction unit, and the vibration reduction seat is connected to the vibration reduction unit and the fixed shell respectively;

[0022] Wherein, the connecting rod passes through the vibration reduction unit and is connected to the vibration reduction unit.

[0023] In one embodiment, the vibration reduction unit is made of rubber or polyurethane;

[0024] Alternatively, the vibration reduction unit is configured as a metal spring damper.

[0025] The present application also seeks protection for a surgical robot, comprising a robotic arm, an end instrument, and any one of the above-mentioned vibration-damping connection devices, wherein the robotic arm and the end instrument are transmission-connected via the vibration-damping connection device;

[0026] Wherein, the locking module is connected to the robotic arm, and the vibration reduction module is connected to the end instrument.

[0027] In one embodiment, the end instrument is configured as a piercer, a cup beater, a grinder assembly, or an oscillating saw assembly.

[0028] Due to the application of the above technical solution, the utility model has the following advantages compared with the prior art:

[0029] The vibration-damping connection device for a surgical robot and the surgical robot for which protection is sought in the present application utilize the loosening or locking between a locking module and a vibration-damping module so that the vibration-damping connection device can be applied to the surgical robot and can switch modes according to the working scenario of the terminal instrument in the surgical robot. This can ensure high rigidity requirements between the terminal instrument and the robotic arm in the surgical robot to meet the requirements of high-precision surgery of the terminal instrument, and can also dampen the vibration of the robotic arm in the event of large impact and vibration of the terminal instrument, thereby reducing the amplitude of vibration to which the robotic arm is subjected, and protecting the robotic arm, thereby enabling the surgical robot using the vibration-damping connection device to meet the requirements of multi-purpose surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 An exploded view of a vibration-damping connection device provided in one embodiment of the present application;

[0032] Figure 2 A cross-sectional view of a vibration-damping connection device provided in one embodiment of the present application;

[0033] Figure 3 A schematic diagram of the structure of a surgical robot provided in one embodiment of the present application.

[0034] Figure numerals: 100, vibration-damping connection device; 10, locking module; 11, locking shaft; 111, positioning portion; 1111, positioning protrusion; 12, electromagnetic unit; 13, fixing shell; 14, connecting plate; 20, vibration-damping module; 21, connecting rod; 211, positioning matching portion; 2111, positioning groove; 22, vibration damper seat; 23, vibration damping unit; 200, robotic arm; 300, end instrument. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0036] It should be noted that when an element is referred to as being "provided on" another element, it may be directly provided on the other element or there may be a central element. When an element is considered to be "provided on" another element, it may be directly provided on the other element or there may be a central element at the same time. When an element is considered to be "fixed to" another element, it may be directly fixed to the other element or there may be a central element at the same time.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0038] like Figure 3 As shown, the vibration-damping connection device 100 for a surgical robot for which protection is sought in the present application is applied in the surgical robot to perform transmission connection between a robotic arm 200 and an end instrument 300 in the surgical robot, wherein the end instrument 300 is a surgical instrument required to be used during surgery by the surgical robot.

[0039] like Figure 1 , Figure 2 As shown, a vibration-damping connection device 100 provided in an embodiment of the present application comprises a locking module 10 and a vibration-damping module 20, wherein the vibration-damping module 20 is connected to the locking module 10; wherein the vibration-damping connection device 100 has a first working mode and a second working mode, wherein in the first working mode, the locking module 10 releases the vibration-damping module 20, and in the second working mode, the locking module 10 locks the vibration-damping module 20. Here, the locking module 10 is used to connect with the robot arm 200, and the vibration-damping module 20 is used to connect with the end instrument 300. It should be noted that when the locking module 10 releases the vibration-damping module 20, the vibration-damping module 20 can reduce the vibration of the force transmission of the vibration-damping connection device 100 when it is working; when the locking module 10 locks the vibration-damping module 20, the vibration-damping module 20 will not reduce the vibration of the force transmission of the vibration-damping connection device 100 when it is working.

[0040] It can be understood that the vibration-damping connection device 100 is applied to a surgical robot and can switch modes according to the application scenario of the end instrument 300 in the surgical robot. This can ensure the high rigidity requirement between the end instrument 300 and the robotic arm 200 in the surgical robot to meet the requirements of high-precision surgery of the end instrument 300, and can also reduce the vibration of the robotic arm 200 generated when the end instrument 300 is subjected to large impact and vibration, so as to reduce the vibration amplitude of the robotic arm 200 and protect the robotic arm 200, so that the surgical robot using the vibration-damping connection device 100 can meet the use requirements of multi-purpose surgery.

[0041] like Figure 1 , Figure 2As shown, in one embodiment, the locking module 10 and the vibration reduction module 20 are coaxially arranged, so that when the locking module 10 and the vibration reduction module 20 are locked, the mechanical arm 200 and the end tool 300 connected via the vibration reduction connection device 100 are in a rigid connection state as a whole, so as to meet the use requirements of high-precision control of the end tool 300. Of course, for those skilled in the art, a certain angle deviation may also be formed between the locking module 10 and the vibration reduction module 20, but since it is not the focus of the protection requested in this application, it will not be elaborated here.

[0042] like Figure 1 , Figure 2 As shown, in one embodiment, the locking module 10 includes a locking shaft 11, and the vibration reduction module 20 includes a connecting rod 21; in the first working mode, a preset gap is formed between the locking shaft 11 and the connecting rod 21, and in the second working mode, the locking shaft 11 can move toward the connecting rod 21, and the locking shaft 11 and the connecting rod 21 are locked. In other words, the locking module 10 and the vibration reduction module 20 of this embodiment are specifically loosened or locked by the cooperation between the locking shaft 11 and the connecting rod 21. Here, the vibration reduction module 20 is connected to the end instrument 300 by the connecting rod 21, and a bolt (not shown) can also be used to realize the detachable connection between the connecting rod 21 and the end instrument 300.

[0043] like Figure 1 , Figure 2 As shown, in one embodiment, a positioning portion 111 is formed on the locking shaft 11, and a positioning matching portion 211 is formed on the connecting rod 21; in the second working mode, the positioning portion 111 and the positioning matching portion 211 are plugged into and matched with each other, thereby realizing the assembly positioning between the locking shaft 11 and the connecting rod 21, and locking the locking shaft 11 and the connecting rod 21.

[0044] like Figure 1 , Figure 2 As shown, as a non-limiting example, the positioning portion 111 is configured as a positioning protrusion 1111 formed on the locking shaft 11, and the positioning matching portion 211 is configured as a positioning groove 2111 provided on the connecting rod 21, and the positioning groove 2111 matches the positioning protrusion 1111, and the assembly positioning between the locking shaft 11 and the connecting rod 21 is achieved by using the concave-convex matching between the positioning protrusion 1111 and the positioning groove 2111. Of course, the structure of the positioning portion 111 and the positioning matching portion 211 is not limited to that shown in the figure. For those skilled in the art, the positioning portion 111 can also be configured as a positioning groove, and the positioning matching portion 211 can be configured as a positioning protrusion. It should be noted that the cross-sectional shape of the positioning protrusion 1111 can be configured as a trapezoid, a triangle, a regular polygon, or other irregular shapes according to the requirements of use, which will not be elaborated here.

[0045] like Figure 1 , Figure 2 As shown, in one embodiment, the connecting rod 21 and the locking shaft 11 are both configured as ferromagnetic parts; wherein, the locking module 10 further includes an electromagnetic unit 12, which can control the locking / relaxing between the locking shaft 11 and the connecting rod 21. That is to say, when the vibration damping connection device 100 of this embodiment is working, the locking / relaxing between the locking shaft 11 and the connecting rod 21 can be controlled by turning on and off the electromagnetic unit 12, so that it is convenient to switch between the two working modes of the vibration damping connection device 100 when it is working. Here, the electromagnetic field generated when the electromagnetic unit 12 is powered on can be used to drive the locking shaft 11 to move toward the connecting rod 21. Of course, for those skilled in the art, the power off of the electromagnetic unit 12 can also be used to control the locking between the locking shaft 11 and the connecting rod 21, or the linear motor direct drive or motor drive cam mechanism can be used to realize the control of the movement of the locking shaft 11 toward the connecting rod 21, which will not be elaborated here.

[0046] like Figure 1 , Figure 2 As shown, in one embodiment, the locking module 10 further includes a fixed shell 13 and a connecting plate 14, the electromagnetic unit 12 is at least partially disposed inside the fixed shell 13, the connecting plate 14 is attached to one end of the fixed shell 13 away from the connecting rod 21 and connected to the electromagnetic unit 12, and is used to limit and fix the electromagnetic unit 12 to the fixed shell 13, and specifically, the electromagnetic unit 12 can be fixed to the fixed shell 13 by screws (not shown) passing through the connecting plate 14. Here, the locking module 10 is connected to the robot arm 200 by the connecting plate 14, and specifically, bolts can be used to achieve a detachable connection between the connecting plate 14 and the robot arm 200.

[0047] like Figure 2 As shown, the fixing shell 13 is connected to the vibration reduction module 20 , and realizes the assembly connection between the locking module 10 and the vibration reduction module 20 .

[0048] like Figure 1 , Figure 2 As shown, in one embodiment, the vibration damping module 20 also includes a vibration damper seat 22 and a vibration damping unit 23, and the vibration damper seat 22 is respectively connected to the vibration damping unit 23 and the fixed shell 13; wherein, the connecting rod 21 is arranged through the vibration damping unit 23 and is connected to the vibration damping unit 23. Here, the connecting rod 21, the vibration damping seat 22 and the vibration damping unit 23 are formed by combining through a conventional existing vulcanization process, and since it is not the focus of the protection requested in this application, it will not be elaborated here. It should be noted that when the locking module 10 is locked with the vibration damping module 20, the vibration damping unit 23 can be limited by the connecting rod 21 and the vibration damping seat 22, so that the vibration damping unit 23 cannot play a vibration damping function during the transmission of the overall force of the vibration damping connection device 100.

[0049] In one embodiment, the material of the vibration reduction unit 23 is configured as rubber or polyurethane; or, the vibration reduction unit 23 is configured as a metal spring damper.

[0050] like Figure 3 As shown, the present application also provides a surgical robot, including a robotic arm 200, an end instrument 300, and the above-mentioned vibration-damping connection device 100, wherein the robotic arm 200 and the end instrument 300 are transmission-connected via the vibration-damping connection device 100; wherein the locking module 10 is connected to the robotic arm 200, and the vibration-damping module 20 is connected to the end instrument 300.

[0051] like Figure 3 As shown, in one embodiment, the end instrument 300 is configured as a puncture, a cup beater, a grinder assembly or an oscillating saw assembly. Here, the puncture operation of the puncture belongs to the application scenario where the vibration impact of the end instrument 300 is small when it is working, and the precision required for the control of the puncture operation is high. For this reason, the locking module 10 needs to be locked with the vibration reduction module 20; and the cup beater, grinder assembly or oscillating saw assembly is an application scenario where the vibration impact of the end instrument 300 is large when it is working in a surgical operation. The mechanical arm 200 is greatly affected by the vibration by the action force and the reaction force. For this reason, the locking module 10 needs to be released from the vibration reduction module 20. It should be noted that the above-mentioned puncture, cup beater, grinder assembly or oscillating saw assembly is a conventional surgical instrument in the prior art.

[0052] As can be seen from the above, when the end instrument 300 is configured as a puncture device, the locking module 10 and the vibration reduction module 20 in the vibration reduction connection device 100 are locked, so that the robot arm 200, the vibration reduction connection device 100 and the puncture device are in a rigidly connected state as a whole, so that the accuracy of the puncture device driven by the vibration reduction connection device 100 during dynamic operation of the robot arm 200 can be ensured; and when the end instrument 300 is configured as a cup maker, a grinder assembly or an oscillating saw assembly, the locking module 10 and the vibration reduction module 20 in the vibration reduction connection device 100 are loosened, so that the vibration reduction module 20 can use the vibration reduction unit 23 to perform a vibration reduction function on the force transmission between the end instrument 300 configured as a cup maker, a grinder assembly or an oscillating saw assembly and the robot arm 200, and achieve good vibration and shock resistance function, so that the robot arm 200 can be protected.

[0053] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, appropriate changes and modifications to the above embodiments are within the scope of protection required by the present invention.

Claims

1. A vibration-damping connection device for a surgical robot, characterized in that: It comprises a locking module (10) and a vibration reduction module (20), wherein the vibration reduction module (20) is connected to the locking module (10); The vibration-damping connection device (100) has a first working mode and a second working mode. In the first working mode, the locking module (10) releases the vibration-damping module (20), and in the second working mode, the locking module (10) locks the vibration-damping module (20).

2. The vibration-damping connection device for a surgical robot according to claim 1, characterized in that: The locking module (10) and the vibration reduction module (20) are coaxially arranged; The locking module (10) is connected to a mechanical arm (200) of a surgical robot, and the vibration reduction module (20) is connected to an end instrument (300) of the surgical robot.

3. The vibration-damping connection device for a surgical robot according to claim 1, characterized in that: The locking module (10) comprises a locking shaft (11), and the vibration reduction module (20) comprises a connecting rod (21); In the first working mode, a preset gap is formed between the locking shaft (11) and the connecting rod (21), and in the second working mode, the locking shaft (11) can move toward the connecting rod (21) and lock the locking shaft (11) and the connecting rod (21).

4. The vibration-damping connection device for a surgical robot according to claim 3, characterized in that: A positioning portion (111) is formed on the locking shaft (11), and a positioning matching portion (211) is formed on the connecting rod (21); In the second working mode, the positioning portion (111) can be plug-fitted with the positioning matching portion (211).

5. The vibration-damping connection device for a surgical robot according to claim 3, characterized in that: The connecting rod (21) and the locking shaft (11) are both configured as ferromagnetic parts; Wherein, the locking module (10) further comprises an electromagnetic unit (12), and the electromagnetic unit (12) is capable of controlling the locking and releasing between the locking shaft (11) and the connecting rod (21).

6. The vibration-damping connection device for a surgical robot according to claim 5, characterized in that: The locking module (10) further comprises a fixed shell (13) and a connecting plate (14), the electromagnetic unit (12) being at least partially arranged inside the fixed shell (13), and the connecting plate (14) being attached to an end of the fixed shell (13) away from the connecting rod (21) and connected to the electromagnetic unit (12); Wherein, the fixed shell (13) is connected to the vibration reduction module (20).

7. The vibration-damping connection device for a surgical robot according to claim 6, characterized in that: The vibration reduction module (20) further comprises a vibration reduction seat (22) and a vibration reduction unit (23), wherein the vibration reduction seat (22) is connected to the vibration reduction unit (23) and the fixed shell (13) respectively; Wherein, the connecting rod (21) is arranged to penetrate the vibration reduction unit (23) and is connected to the vibration reduction unit (23).

8. The vibration-damping connection device for a surgical robot according to claim 7, characterized in that: The vibration reduction unit (23) is made of rubber or polyurethane; Alternatively, the vibration reduction unit (23) is configured as a metal spring damper.

9. A surgical robot, characterized in that: The invention comprises a mechanical arm (200), an end tool (300), and a vibration-damping connection device (100) according to any one of claims 1 to 8, wherein the mechanical arm (200) and the end tool (300) are connected in transmission via the vibration-damping connection device (100); Wherein, the locking module (10) is connected to the mechanical arm (200), and the vibration reduction module (20) is connected to the end instrument (300).

10. The surgical robot according to claim 9, characterized in that: The end instrument (300) is configured as a piercer, a cup beater, a grinder assembly or an oscillating saw assembly.

Images