A rapid switching device for the function of a robotic arm used in a surgical navigation system

Abstract

The utility model discloses a device for quickly switching the functions of a robotic arm for a surgical navigation system. The device adopts the method of adding a TCP at the end of the robotic arm and adding a set of structures. The structure includes a control circuit board and structural parts. Buttons can directly control various functions of the robotic arm, and an indicator light ring can be added to indicate the current state of the robotic arm. The buttons and the light ring are added at the end of the robotic arm, so that the operation of the robotic arm is convenient and safe. The power supply of the control circuit board is provided by the robotic arm I / O. The robotic arm control box is used to control button collection and indicator light ring. The robotic arm control box can use internal script programming to directly control the movement and indication of the robotic arm, bypassing cumbersome communication control, and is also convenient to operate.

Description

Technical Field

[0001] The utility model relates to the field of electromechanical equipment, in particular to a mechanical arm function rapid switching device for a surgical navigation system. Background Art

[0002] The joint surgery robots currently used in the market use positioning trolleys in conjunction with navigation trolleys for positioning. The free dragging function of the robotic arm is required when positioning the robotic arm, taking anteroposterior and lateral CT films, and removing the robotic arm. Currently, the free dragging function on the market is mostly done on foot switches and host computer interfaces. Some manufacturers use buttons on the trolleys for control, but they must be far away from the control point when using it, and cannot be real-time. They need to be controlled from a distance when using it. The indicator light ring of some systems is placed on the panel or trolley, and the indicator light ring cannot indicate the status of the robotic arm in real time. Moreover, the free drive and light ring display of the robotic arm are currently controlled through TCP / IP communication or circuit boards connected to the robotic arm control box on the market, which increases network insecurity.

[0003] In summary, a device for quickly switching the functions of a robotic arm used in a surgical navigation system is needed to address the deficiencies in the prior art. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a device for quickly switching the functions of a robotic arm of a surgical navigation system, aiming to solve the above-mentioned problems.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robotic arm function rapid switching device for a surgical navigation system, comprising a robotic arm interface module, a power module, a drive module, a button module and an indicator light circle module, the robotic arm interface module is electrically connected to the power module and the button module, the power module is electrically connected to the drive module and the button module, and the drive module is electrically connected to the indicator light circle module.

[0006] Optionally, the driving module includes transistors Q1 and Q2, MOS tubes Q3 and Q4, a fuse resistor F1, resistors R2, R3, R5-R8, R10-R13 and capacitors C5 and C8, the fuse resistor F1 is connected to the sources of resistors R12, R13, capacitors C5, C8, MOS tubes Q3 and Q4, the other end of resistor R12 is connected to resistor R10 and the collector of transistor Q1, the other ends of resistor R10 and capacitor C5 are both connected to the gate of MOS tube Q3, the base of transistor Q1 is connected to resistor R7, resistor R7 is connected to resistors R2 and R5, the other end of resistor R13 is connected to resistor R11 and the collector of transistor Q2, resistor R11 and capacitor C8 are connected to the gate of MOS tube Q4, the base of transistor Q2 is connected to resistor R8, and resistor R8 is connected to resistors R3 and R6.

[0007] Optionally, the power supply module includes a power control chip U2, capacitors C2, C3, C6, C7 and diodes D1, D2, diodes D1, D2, capacitors C2 and C6 are all connected to the input end of the power control chip U2, the positive pole of the diode D1 is connected to the 12V power input, the positive pole of the diode D2, capacitors C2 and C6 are all grounded, the output end of the power control chip U2 is connected to capacitors C3 and C7, and the other ends of capacitors C3 and C7 are grounded.

[0008] Optionally, the indicator light ring module includes a control chip U1, capacitors C1, C4, a resistor R1 and a light-emitting diode D4. After the capacitors C1 and C4 are connected in parallel, one end is connected to the CE pin and the VCC pin of the control chip U1, and the other end is grounded. The resistor R1 is connected to the ISET pin of the control chip U1, and the other end is grounded. The positive pole of the diode D4 is connected to the LED pin of the control chip U1, and the other end is grounded.

[0009] Optionally, the transistors Q1 and Q2 are 8050 transistors, the MOS tubes Q3 and Q4 are AO4413 MOS tubes, the power control chip U2 is LM7805 chip, and the control chip U1 is CN5711 chip.

[0010] Beneficial effects of the utility model:

[0011] 1. In the utility model, a set of structures is added by adding TCP at the end of the robot arm. The structure includes a control circuit board and structural parts. The buttons can directly control various functions of the robot arm, and the indicator light circle can indicate the current state of the robot arm. The buttons and the indicator light circle are added at the end of the robot arm, which makes it convenient and safe to operate the robot arm. The power supply of the control circuit board is provided by the robot arm I / O. The robot arm control box is used to control the button collection and the indicator light circle. The robot arm control box can be programmed with internal scripts to directly control the movement and indication of the robot arm, bypassing the cumbersome communication control, and is also convenient to operate;

[0012] 2. In the utility model, a control circuit board is added to the end of the robot arm, which is directly connected to the tool I / O port of the robot arm control box, so that key functions and system status display can be directly performed, avoiding long winding and communication transfer, and the operation is simple, safe and effective; BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 The utility model is a schematic diagram of a module structure.

[0014] Figure 2 A schematic diagram of a circuit structure of a driving module.

[0015] Figure 3 A schematic diagram of a circuit structure of a power module.

[0016] Figure 4 The figure is a schematic diagram of a circuit structure of a key module.

[0017] Figure 5 The figure is a schematic diagram of a circuit structure of an indicator light ring. DETAILED DESCRIPTION

[0018] In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] In conjunction with the instruction manual Figure 1 -Attached Figure 5 , explain this technical solution

[0020] like Figure 1 As shown, a robotic arm function rapid switching device for a surgical navigation system includes a robotic arm interface module, a power module, a drive module, a button module and an indicator light circle module, wherein the robotic arm interface module is electrically connected to the power module and the button module, the power module is electrically connected to the drive module and the button module, and the drive module is electrically connected to the indicator light circle module.

[0021] See Figure 2 The driving module includes transistors Q1 and Q2, MOS tubes Q3 and Q4, a fuse resistor F1, resistors R2, R3, R5-R8, R10-R13 and capacitors C5 and C8. The fuse resistor F1 is connected to the sources of resistors R12, R13, capacitors C5, C8, MOS tubes Q3 and Q4. The other end of the resistor R12 is connected to the resistor R10 and the collector of the transistor Q1. The other ends of the resistor R10 and the capacitor C5 are both connected to the gate of the MOS tube Q3. The base of the transistor Q1 is connected to the resistor R7. The resistor R7 is connected to the resistors R2 and R5. The other end of the resistor R13 is connected to the resistor R11 and the collector of the transistor Q2. The resistor R11 and the capacitor C8 are connected to the gate of the MOS tube Q4. The base of the transistor Q2 is connected to the resistor R8. The resistor R8 is connected to the resistors R3 and R6.

[0022] See Figure 3 The power module includes a power control chip U2, capacitors C2, C3, C6, C7 and diodes D1 and D2. The diodes D1, D2, capacitors C2 and C6 are all connected to the input end of the power control chip U2. The positive electrode of the diode D1 is connected to the 12V power input. The positive electrode of the diode D2, capacitors C2 and C6 are all grounded. The output end of the power control chip U2 is connected to capacitors C3 and C7, and the other ends of the capacitors C3 and C7 are grounded.

[0023] See Figure 5 The indicator light circle module includes a control chip U1, capacitors C1, C4, a resistor R1 and a light emitting diode D4. After the capacitors C1 and C4 are connected in parallel, one end is connected to the CE pin and the VCC pin of the control chip U1, and the other end is grounded. The resistor R1 is connected to the ISET pin of the control chip U1, and the other end is grounded. The positive electrode of the diode D4 is connected to the LED pin of the control chip U1, and the other end is grounded.

[0024] Transistors Q1 and Q2 use 8050 transistors, MOS tubes Q3 and Q4 use AO4413 MOS tubes, the power control chip U2 uses LM7805 chip, and the control chip U1 uses CN5711 chip.

[0025] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A device for quickly switching the function of a robotic arm used in a surgical navigation system, characterized in that: It includes a robotic arm interface module, a power module, a drive module, a button module and an indicator light circle module. The robotic arm interface module is electrically connected to the power module and the button module, the power module is electrically connected to the drive module and the button module, and the drive module is electrically connected to the indicator light circle module.

2. The device for rapid switching of mechanical arm functions for a surgical navigation system according to claim 1, characterized in that: The driving module includes transistors Q1 and Q2, MOS transistors Q3 and Q4, a fuse resistor F1, resistors R2, R3, R5-R8, R10-R13 and capacitors C5 and C8. The fuse resistor F1 is connected to the sources of resistors R12, R13, capacitors C5, C8, MOS transistors Q3 and Q4. The other end of the resistor R12 is connected to the resistor R10 and the collector of the transistor Q1. The other ends of the resistor R10 and the capacitor C5 are both connected to the gate of the MOS transistor Q3. The base of the transistor Q1 is connected to the resistor R7. The resistor R7 is connected to the resistors R2 and R5. The other end of the resistor R13 is connected to the resistor R11 and the collector of the transistor Q2. The resistor R11 and the capacitor C8 are connected to the gate of the MOS transistor Q4. The base of the transistor Q2 is connected to the resistor R8. The resistor R8 is connected to the resistors R3 and R6.

3. The device for rapid switching of mechanical arm functions for a surgical navigation system according to claim 2, characterized in that: The power module includes a power control chip U2, capacitors C2, C3, C6, C7 and diodes D1, D2. The diodes D1, D2, capacitors C2 and C6 are all connected to the input end of the power control chip U2, the positive electrode of the diode D1 is connected to the 12V power input, the positive electrode of the diode D2, capacitors C2 and C6 are all grounded, the output end of the power control chip U2 is connected to capacitors C3 and C7, and the other ends of capacitors C3 and C7 are grounded.

4. The device for rapid switching of mechanical arm functions for a surgical navigation system according to claim 3, characterized in that: The indicator light ring module includes a control chip U1, capacitors C1, C4, a resistor R1 and a light emitting diode D4. After the capacitors C1 and C4 are connected in parallel, one end is connected to the CE pin and the VCC pin of the control chip U1, and the other end is grounded. The resistor R1 is connected to the ISET pin of the control chip U1, and the other end is grounded. The positive electrode of the diode D4 is connected to the LED pin of the control chip U1, and the other end is grounded.

5. The device for rapid switching of mechanical arm functions for a surgical navigation system according to any one of claims 2 to 4, characterized in that: The transistors Q1 and Q2 are 8050 transistors, the MOS tubes Q3 and Q4 are AO4413 MOS tubes, the power control chip U2 is LM7805 chip, and the control chip U1 is CN5711 chip.

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