Mechanical arm tail end executing device

Abstract

The utility model provides a mechanical arm tail end executive device which comprises a first sleeve, a second sleeve and a shaft sleeve, the first sleeve is fixedly connected with the shaft sleeve, the second sleeve is provided with a second sleeve head end and a second sleeve tail end, and the second sleeve is connected with the first sleeve through internal and external threads. And a first tracer is arranged on the shaft sleeve. According to the device, the first sleeve is connected with the second sleeve and the first tracer, the surgical robot or the navigation system can monitor the position of the execution tail end of the surgical robot in real time, the position of the second sleeve is obtained according to the position of the first tracer, the coordinate position of the second sleeve can be accurately positioned, and the positioning accuracy is improved. The surgical precision and success rate are improved; and under the condition that the groove is formed in the inner wall of the first sleeve, the first sleeve and the second sleeve are easy to separate.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a mechanical arm end execution device. Background Art

[0002] With the continuous development of science and technology, the field of medical surgery is constantly developing towards intelligence and precision, especially in the field of precision medicine. The use of surgical robots for assisted surgery is becoming more and more common. The robotic arms of surgical robots assist or replace human hands in fine operations in many surgical scenarios to ensure surgical accuracy and improve surgical efficiency. For example, in orthopedic surgery navigated by surgical robots, orthopedic surgical instruments or end effectors can be matched with the robotic arms of surgical robots, so that surgical instruments or end effectors are mounted on the end of the robotic arms to achieve navigation, while ensuring the doctor's operation of surgical instruments during the operation. The robotic arms of surgical robots are usually equipped with tracking devices to determine the exact position of the robotic arms and the direction of the robotic arm channel. The end effector passes through the robotic arm channel and contacts the bone surface, but because the relative position of the end effector and the tracking device is not fixed, the position of the end effector cannot be accurately located. This will directly affect the accuracy and success rate of the operation. Utility Model Content

[0003] In view of the defects in the prior art, the purpose of the present utility model is to provide a robotic arm execution device that can monitor the position of the execution end of a surgical robot in real time.

[0004] A robot arm end effector comprises a first sleeve, a second sleeve and a shaft sleeve, wherein the first sleeve is fixedly connected to the shaft sleeve, the second sleeve has a second sleeve head end and a second sleeve end, the second sleeve is connected to the first sleeve via internal and external threads, and a first tracer is provided on the shaft sleeve.

[0005] In one embodiment, the second sleeve has sharp teeth at the end thereof, and the sharp teeth are used for fixing to the bone surface.

[0006] In one embodiment, an external thread is provided on the second sleeve near the head end of the second sleeve, and an internal thread matching the external thread is provided on the shaft sleeve or the first sleeve.

[0007] In one embodiment, the robot arm end effector further includes a locking member, and the locking member is used to fix the relative position of the first sleeve and the robot arm.

[0008] In one embodiment, the locking member is an anti-dropping bolt.

[0009] In one embodiment, a through hole is provided on the mechanical arm, and the locking member passes through the through hole and abuts against the first sleeve.

[0010] In one embodiment, the first tracer includes a reference frame and a reflective stand that are fixedly connected, and the reflective stand is provided with a reflective device.

[0011] In one embodiment, the reflective device may be a reflective film, a reflective sticker, a reflective ball, etc.

[0012] In one embodiment, there are at least three reflective sticker seats.

[0013] In one embodiment, the first tracer includes a fixedly connected reference frame and a light source.

[0014] In one embodiment, a groove is formed on the inner wall of the first sleeve.

[0015] In one embodiment, the groove is used to reduce negative air pressure between the first sleeve and the second sleeve.

[0016] In one embodiment, at least two grooves are provided, and the grooves are evenly arranged in the circumferential direction of the first sleeve.

[0017] Compared with the prior art, the end effector of the robot arm provided by the utility model has the following beneficial effects:

[0018] 1. Able to monitor the position of the surgical robot's execution end in real time;

[0019] 1. The first sleeve is connected to the second sleeve and the first tracer respectively. The surgical robot or navigation system can obtain the position of the second sleeve according to the position of the first tracer, and can accurately locate the coordinate position of the second sleeve, thereby improving the accuracy and success rate of the surgery;

[0020] 2. When a groove is provided on the inner wall of the first sleeve, the first sleeve and the second sleeve are easily separated. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0022] Figure 1 This is a schematic diagram of the structure of a robot arm end effector according to an embodiment of the present utility model;

[0023] Figure 2 This is a schematic diagram of the structure of the second sleeve shown in one embodiment of the utility model;

[0024] Figure 3 A schematic diagram of the structure of a first sleeve, a shaft sleeve and a first tracer showing an embodiment of the utility model;

[0025] Figure 4 This is a schematic diagram of the structure of a robot arm end effector according to an embodiment of the present utility model;

[0026] Figure 5 A side view of a robot arm end effector according to an embodiment of the present utility model;

[0027] Figure 6 This is a cross-sectional view of a robot arm end effector at line BB showing an embodiment of the utility model.

[0028] Reference numerals:

[0029] 1. First sleeve; 2. Second sleeve; 3. Bushing; 4. Reflective post holder; 5. Reflective device; 6. Reference frame; 8. First tracer; 9. Second tracer; 11. Groove; 12. Anti-drop bolt; 21. Head end of second sleeve; 22. Tail end of second sleeve; 23. Sharp teeth; 7. Robotic arm; 71. Robotic arm sleeve. DETAILED DESCRIPTION

[0030] In order to make the purpose, advantages and features of the utility model clearer, the utility model is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the utility model. In addition, the structure shown in the drawings is often a part of the actual structure. In particular, the emphasis of each drawing is different, and sometimes different scales are used.

[0031] As used in the present invention, the singular forms "a", "an" and "the" include plural objects, the term "or" is generally used in a sense including "and / or", the term "several" is generally used in a sense including "at least one", and the term "at least two" is generally used in a sense including "two or more". In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", and "third" may explicitly or implicitly include one or at least two of the features. The term "proximal end" is usually the end close to the operator, and the term "distal end" is usually the end close to the patient. "One end" and "the other end" as well as "proximal end" and "distal end" usually refer to two corresponding parts, which include not only the endpoints. The terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements. In addition, as used in the present utility model, an element is arranged on another element, which usually only means that there is a connection, coupling, matching or transmission relationship between the two elements, and the connection, coupling, matching or transmission between the two elements can be direct or indirect through an intermediate element, and it cannot be understood as indicating or implying the spatial position relationship between the two elements, that is, one element can be in any position such as inside, outside, above, below or on one side of another element, unless the content clearly indicates otherwise. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0032] The core idea of ​​the utility model is to provide a mechanical arm end effector to solve the problem that the position of the mechanical arm cannot be accurately located in the prior art.

[0033] Reference Figure 1 to Figure 4The present embodiment provides a robot end effector, comprising a first sleeve 1, a second sleeve 2 and a sleeve 3. The first sleeve 1 is fixedly connected to the sleeve 3. The sleeve 3 is provided with a first tracer 8. The second sleeve 2 has a second sleeve head end 21 and a second sleeve tail end 22. In the working state, the second sleeve head end 21 is close to the operator, and the second sleeve tail end 22 is close to the patient's diseased part. The second sleeve tail end 22 is provided with a plurality of sharp teeth 23. The sharp teeth 23 can grip the bone surface when the second sleeve tail end 22 abuts against the bone surface. An external thread is provided on the second sleeve near the second sleeve head end 21, and an internal thread matching the external thread is provided on the first sleeve 1. The second sleeve 2 and the first sleeve 1 can be connected by internal and external threads. The first tracer 8 is fixedly connected to the sleeve 3. The first tracer 8 includes a reference frame 6 and four reflective sticker seats 4, each of which is provided with a reflective device 5, which can be in various forms, such as reflective film, reflective sticker, reflective ball, etc. Of course, the reflective device on the first tracer 8 can also be replaced by a light-emitting device, which can be recognized by a surgical robot or a navigation system. In the working state, the first sleeve 1 and the second sleeve 2 are connected by internal and external threads, and the relative positions of the first tracer 8 and the first sleeve 1 and the second sleeve 2 are fixed, so the position of the second sleeve 2 can be calculated by the position of the first tracer, and the position of the sharp teeth 23 of the second sleeve 2 can also be obtained. The sharp teeth 23 are fixed to the bone surface, which is equivalent to obtaining the position information of the bone surface.

[0034] Reference Figure 4 The mechanical arm 7 of the surgical robot is connected to a second tracer 9, which is used to be identified and positioned by the surgical robot or the navigation and positioning system. The mechanical arm 7 is provided with a mechanical arm sleeve 71, and the first sleeve 1 passes through the mechanical arm sleeve 71. A locking member is provided between the mechanical arm sleeve 71 and the first sleeve 1, and the locking member is used to fix the relative position of the mechanical arm sleeve 71 and the first sleeve 1. The locking member can be in the form of a limit pin, a limit bolt, etc. In this embodiment, a hole is provided on the mechanical arm sleeve 71, and an anti-detachment bolt 12 passes through the hole. The tail end of the anti-detachment bolt 12 abuts against the first sleeve 1 and applies a certain force to the first sleeve 1.

[0035] When in use, the first sleeve and the second sleeve are first connected together by threading and inserted into the mechanical arm sleeve 71. When the sharp teeth 23 of the second sleeve 2 are inserted into the periosteum and pressed against the bone surface, the anti-detachment bolt 12 is screwed into the through hole of the mechanical arm, and the tail of the anti-detachment bolt 12 rests on the outer wall of the first sleeve 1 and exerts a certain force on the first sleeve 1. The anti-detachment bolt 12 can limit the relative position of the first sleeve 1 and the mechanical arm sleeve 71, so that there will be no relative movement between them.

[0036] Furthermore, due to bleeding during the operation, blood may enter the gap between the first sleeve 1 and the second sleeve 2. When the second sleeve 2 needs to be removed from the first sleeve 1, negative air pressure will be formed between the first sleeve 1 and the second sleeve 2, making it difficult to remove the second sleeve 2 from the first sleeve 1. Figure 5 and Figure 6 In this embodiment, eight arc-shaped grooves 11 are provided on the inner wall of the first sleeve 1. The eight grooves 11 are evenly distributed in the circumferential direction of the first sleeve 1, which greatly reduces the negative air pressure and makes it easy to separate the first sleeve 1 and the second sleeve 2.

[0037] The above is a description of the specific embodiments of the utility model, which is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be based on the attached claims.

Claims

1. A robot end effector, characterized in that: It includes a first sleeve, a second sleeve and a shaft sleeve, the first sleeve is fixedly connected to the shaft sleeve, the second sleeve has a second sleeve head end and a second sleeve tail end, the second sleeve is connected to the first sleeve through internal and external threads, and the shaft sleeve is provided with a first tracer.

2. The end effector of the robot arm according to claim 1, characterized in that: The end of the second sleeve is provided with sharp teeth, and the sharp teeth are used for fixing to the bone surface.

3. The end effector of the robot arm according to claim 1, characterized in that: An external thread is provided on the second sleeve near the head end of the second sleeve, and an internal thread matching the external thread is provided on the shaft sleeve or the first sleeve.

4. The end effector of the robot arm according to claim 1, characterized in that: It also includes a locking piece, which is used to fix the relative position of the first sleeve and the mechanical arm.

5. The end effector of the robot arm according to claim 4, characterized in that: The locking piece is an anti-dropping bolt.

6. The end effector of the robot arm according to claim 4, characterized in that: The mechanical arm is provided with a through hole, and the locking piece passes through the through hole and abuts against the first sleeve.

7. The end effector of the robot arm according to claim 1, characterized in that: The inner wall of the first sleeve is provided with a groove.

8. The end effector of the robot arm according to claim 7, characterized in that: There are at least two grooves, and the grooves are evenly arranged in the circumferential direction of the first sleeve.

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