Multi-degree-of-freedom stereotactic cranial nerve robot

Abstract

The utility model discloses a multi-degree-of-freedom stereotactic cranial nerve robot, which belongs to the technical field of robots and comprises an X-axis moving component, a Y-axis moving component and a Z-axis lifting component, the Y-axis moving component is mounted on the X-axis moving component, and the Z-axis lifting component is mounted on the Y-axis moving component; the X-axis rotating assembly is installed on one side of the Z-axis lifting assembly and can freely rotate around the X axis by 360 degrees; the Y-axis rotating assembly is mounted at one end of the X-axis rotating assembly and can freely rotate around the Y axis by 90 degrees. According to the robot, on the basis of traditional three-degree-of-freedom space movement along the X axis, the Y axis and the Z axis, by additionally arranging two-degree-of-freedom space rotation along the X axis and the Y axis, the operation flexibility and the operation efficiency of the robot are effectively improved; when the device is applied to brain surgery, the limitation of surgery operation is reduced, and the device can be smoother during surgery.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically a multi-degree-of-freedom stereotactic brain neural robot. Background Technology

[0002] Neurosurgical robots are a new medical technology that has gained a lot of attention in recent years. Because cerebral hemorrhage has an extremely high mortality and disability rate, reducing treatment time is crucial for saving lives in the treatment of such acute and critical illnesses. At this time, the use of "robotic stereotactic brain surgery" can quickly locate and drain the bleeding site, effectively reducing the pressure of blood on brain tissue, preventing brain tissue necrosis and brain herniation, actively saving the patient's life, and reducing the disability rate caused by cerebral hemorrhage.

[0003] Currently, robots used in neurosurgery can only move along the three degrees of freedom of the XYZ axes. If a puncture mechanism used in surgery is installed on this robot, although the puncture operation can be completed, in actual application, the puncture needle cannot be adjusted in orientation. The robot's operation can only be controlled by inputting longer program codes, resulting in low operating efficiency. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a multi-degree-of-freedom stereotactic neurorobot. Based on the traditional three-degree-of-freedom spatial movement along the XYZ axes, this robot effectively improves the operational flexibility and efficiency by adding two-degree-of-freedom spatial rotation along the XY axes. When applied to neurosurgery, it reduces the limitations of surgical operation and makes the operation smoother.

[0005] To solve the above-mentioned technical problems, the technical solution of this utility model is implemented as follows:

[0006] A multi-degree-of-freedom stereotactic neurorobot includes an X-axis motion component, a Y-axis motion component, and a Z-axis lifting component. The Y-axis motion component is mounted on the X-axis motion component, and the Z-axis lifting component is mounted on the Y-axis motion component.

[0007] It also includes an X-axis rotation component installed on one side of the Z-axis lifting component, which is capable of rotating freely around the X-axis 360 degrees.

[0008] It also includes a Y-axis rotation component mounted at one end of the X-axis rotation component, which is capable of rotating freely around the Y-axis by 90 degrees.

[0009] By adopting the above scheme, the robot can effectively improve its operational flexibility and efficiency by adding a two-degree-of-freedom rotation along the XY axis, based on the traditional three-degree-of-freedom movement along the XY axis. When applied to neurosurgery, it reduces the limitations of surgical operation and makes the operation smoother.

[0010] As a preferred embodiment of a multi-degree-of-freedom stereotactic neurorobot, the X-axis movement component includes a base; a control motor is fixed on the base; a ball screw is concentrically connected to the shaft of the control motor and arranged along the X-axis; the ball screw is rotatably mounted in two sets of brackets fixed on the base; and a slider is installed on the ball screw via a threaded connection.

[0011] The base is also fixed with guide rails distributed on both sides of the ball screw and arranged parallel to the ball screw. Each guide rail is also slidably mounted with a guide block, the surface of which is flush with the surface of the slider.

[0012] Using the above scheme, in order to realize the movement of the robot in the X-axis direction, the control motor drives the ball screw to rotate, thereby driving the slider to slide along the ball screw, and under the guidance of the guide block, the robot moves in the X-axis direction.

[0013] As a preferred embodiment of a multi-degree-of-freedom stereotactic neurorobot, the Y-axis movement assembly includes a base two that is simultaneously fixedly mounted on the surfaces of a slider one and a guide block one; a control motor two is fixed on the base two, and a ball screw two arranged along the Y-axis direction is concentrically connected to the rotating shaft of the control motor two; the ball screw two is rotatably mounted in two sets of brackets two fixed on the base two; and a slider two is installed on the ball screw two through threaded engagement.

[0014] The base is also fixed with guide rails 2 distributed on both sides of the ball screw 2 and arranged parallel to the ball screw 2. Each guide rail 2 is also slidably mounted with a guide block 2, the surface of which is flush with the surface of the slider 2.

[0015] Using the above scheme, in order to realize the movement of the robot in the Y-axis direction, the control motor 2 drives the ball screw 2 to rotate, thereby driving the slider 2 to slide along the ball screw 2, and under the guidance of the guide block 2, the robot can move in the Y-axis direction.

[0016] As a preferred embodiment of a multi-degree-of-freedom stereotactic neurorobot, the Z-axis lifting assembly includes a base three that is simultaneously fixedly mounted on the surfaces of a slider two and a guide block two; a control motor three is fixed on the base three, and a ball screw three arranged along the Z-axis direction is concentrically connected to the rotating shaft of the control motor three; the ball screw three is rotatably mounted in two sets of brackets three fixed on the base three; and a slider three is installed on the ball screw three through threaded engagement.

[0017] The base three is also fixed with guide rails three distributed on both sides of the ball screw three and arranged parallel to each other. Each guide rail three is also slidably installed with a guide block three, the surface of which is flush with the surface of the slider three.

[0018] Among them, the third base is an L-shaped base, and the vertical and horizontal parts of the third base are fixed together by reinforcing ribs.

[0019] Using the above scheme, in order to realize the movement of the robot in the Z-axis direction, the control motor three drives the ball screw three to rotate, thereby driving the slider three to slide along the ball screw three, and under the guidance of the guide block three, the robot can move in the Z-axis direction.

[0020] As a preferred embodiment of a multi-degree-of-freedom stereotactic neurorobot, the X-axis rotation assembly includes a stand that is simultaneously fixedly mounted on the surfaces of a slider three and a guide block three; a control motor four is fixed on the stand, and a rotating arm arranged along the X-axis is concentrically connected to the rotating shaft of the control motor four. The rotating arm can rotate freely around the X-axis 360 degrees under the drive of the control motor four, and a positioning groove is provided at one end of the rotating arm.

[0021] In order to further improve the robot's operational flexibility, the above scheme is adopted, and the rotating arm is driven by a four-wheel drive motor to rotate, thereby realizing the rotation of the robot in the X-axis direction, which in turn allows for adjustment of the orientation of the puncture needle.

[0022] As a preferred embodiment of a multi-degree-of-freedom stereotactic neurorobot, the Y-axis rotation assembly includes a C-shaped arm fixedly installed in a positioning groove; C-shaped slide rails are fixedly installed on both sides of the C-shaped arm, and a slider four that rotates along the Y-axis is slidably installed on the C-shaped slide rails, and a bearing sleeve is fixedly installed on the slide rail four.

[0023] A control motor five is fixed to the outside of the bearing sleeve. A gear located inside the bearing sleeve is concentrically connected to the shaft of the control motor five. A gear ring is fixed to the outside of the C-shaped arm, wherein the gear meshes and rotates around the gear ring.

[0024] The toothed ring is one-quarter of the entire circular toothed ring, allowing the bearing sleeve to rotate freely around the Y-axis at a maximum angle of 90 degrees.

[0025] In order to further improve the robot's operational flexibility, the control motor drives the gear to rotate, so that the gear rotates along the gear ring, thereby realizing the robot's rotation in the Y-axis direction, and thus adjusting the orientation of the puncture needle.

[0026] As a preferred embodiment of a multi-degree-of-freedom stereotactic neurorobot, the multi-degree-of-freedom stereotactic neurorobot is used in neurosurgery, and a puncture component is installed on one side of the Y-axis rotation component;

[0027] The puncture assembly includes a support 2 fixedly mounted on the side of the bearing sleeve; a control motor 6 is fixed on the support 2, and a ball screw 4 is concentrically connected to the rotating shaft of the control motor 6. The ball screw 4 is rotatably mounted in two sets of brackets 4 fixed on the support 2, and a slider 4 is installed on the ball screw 4 through threaded engagement.

[0028] The bracket four is also fixed with guide rods distributed on both sides of the ball screw four and arranged parallel to the ball screw four. The slider four is also slidably mounted on the guide rods.

[0029] The side of slider four is also fixed with a positioning needle seat, and the puncture needle is fastened in the positioning needle seat by a nut; the side of bracket four located below is also fixed with a guide needle seat, and the needle body of the puncture needle is slidably guided into the guide needle seat.

[0030] Using the above scheme, in order to achieve puncture in neurosurgery, after the puncture position and direction are adjusted, the control motor six drives the ball screw four to rotate, thereby driving the slider four to slide along the ball screw four, and under the guidance of the guide rod three, the puncture needle is fed in.

[0031] After adopting the above technical solution, the beneficial effects of this utility model are:

[0032] 1. Based on the traditional three-degree-of-freedom movement along the XYZ axes, this robot effectively improves its operational flexibility and efficiency by adding two-degree-of-freedom rotation along the XY axes. When applied to neurosurgery, it reduces the limitations of surgical operations, making the surgery smoother.

[0033] 2. In order to realize the movement of the robot in the X-axis direction, the control motor drives the ball screw to rotate, thereby driving the slider to slide along the ball screw and under the guidance of the guide block, the robot moves in the X-axis direction.

[0034] 3. In order to realize the movement of the robot in the Y-axis direction, the control motor 2 drives the ball screw 2 to rotate, thereby driving the slider 2 to slide along the ball screw 2, and under the guidance of the guide block 2, the robot moves in the Y-axis direction.

[0035] 4. In order to realize the movement of the robot in the Z-axis direction, the control motor three drives the ball screw three to rotate, thereby driving the slider three to slide along the ball screw three, and under the guidance of the guide block three, the robot can move in the Z-axis direction.

[0036] 5. To further enhance the robot's operational flexibility, the rotating arm is driven by a four-wheel drive motor, thereby enabling the robot to rotate in the X-axis direction and thus adjust the orientation of the puncture needle.

[0037] 6. To further enhance the robot's operational flexibility, the control motor drives the gear to rotate, causing the gear to rotate along the gear ring, thereby enabling the robot to rotate in the Y-axis direction, which in turn allows for adjustment of the orientation of the puncture needle.

[0038] 7. In order to achieve puncture in neurosurgery, after the puncture position and direction are adjusted, the control motor six drives the ball screw four to rotate, thereby driving the slider four to slide along the ball screw four, and under the guidance of the guide rod three, the puncture needle is fed. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 The three-dimensional structure of this utility model Figure 1 ;

[0041] Figure 2 The three-dimensional structure of this utility model Figure 2 ;

[0042] Figure 3 for Figure 1 3D structural diagram of the X-axis moving component;

[0043] Figure 4 for Figure 1 3D structural diagram of the Y-axis moving component;

[0044] Figure 5 for Figure 1 Three-dimensional structure of the Z-axis lifting assembly Figure 1 ;

[0045] Figure 6 for Figure 1 Three-dimensional structure of the Z-axis lifting assembly Figure 2 ;

[0046] Figure 7 for Figure 1 3D structural diagram of the X-axis rotation component;

[0047] Figure 8 for Figure 1 Three-dimensional structure of the Y-axis rotation component Figure 1 ;

[0048] Figure 9 for Figure 1 Three-dimensional structure of the Y-axis rotation component Figure 2 ;

[0049] Figure 10 for Figure 1 Three-dimensional structural diagram of the puncture component.

[0050] In the diagram, the markings are as follows: 1-X-axis moving assembly; 101-Base 1; 102-Control motor 1; 103-Ball screw 1; 104-Bracket 1; 105-Slider 1; 106-Guide rail 1; 107-Guide block 1; 2-Y-axis moving assembly; 201-Base 2; 202-Control motor 2; 203-Ball screw 2; 204-Bracket 2; 205-Slider 2; 206-Guide rail 2; 207-Guide block 2; 3-Z-axis lifting assembly; 301-Base 3; 302-Control motor 3; 303-Ball screw 3; 304-Bracket 3; 305-Slider 3; 306-Guide rail 3; 307 - Guide block three; 308 - Reinforcing rib; 4 - X-axis rotating assembly; 401 - Stand one; 402 - Control motor four; 403 - Rotating arm; 404 - Positioning groove; 5 - Y-axis rotating assembly; 501 - C-shaped arm; 502 - C-shaped slide rail; 503 - Slider four; 504 - Bearing sleeve; 505 - Control motor five; 506 - Gear; 507 - Gear ring; 6 - Puncture assembly; 601 - Stand two; 602 - Control motor six; 603 - Ball screw four; 604 - Bracket four; 605 - Slider four; 606 - Guide rod; 607 - Positioning needle seat; 608 - Puncture needle; 609 - Guide needle seat. Detailed Implementation

[0051] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0052] like Figures 1 to 2As shown, a multi-degree-of-freedom stereotactic neurorobot includes an X-axis motion component 1, a Y-axis motion component 2, and a Z-axis lifting component 3. The Y-axis motion component 2 is mounted on the X-axis motion component 1, and the Z-axis lifting component 3 is mounted on the Y-axis motion component 2. It also includes an X-axis rotation component 4 mounted on one side of the Z-axis lifting component 3, which can rotate freely around the X-axis by 360 degrees. Furthermore, it includes a Y-axis rotation component 5 mounted on one end of the X-axis rotation component 4, which can rotate freely around the Y-axis by 90 degrees. This robot, based on traditional three-degree-of-freedom spatial movement along the XYZ axes, effectively improves its operational flexibility and efficiency by adding two-degree-of-freedom spatial rotation along the XY axes. When applied to neurosurgery, it reduces the limitations of surgical operations, making the procedure smoother.

[0053] like Figure 3 As shown, the X-axis moving assembly 1 includes a base 101; a control motor 102 is fixed to the base 101 by screws, and a ball screw 103 arranged along the X-axis direction is concentrically connected to the rotating shaft of the control motor 102. The ball screw 103 is rotatably mounted in two sets of brackets 104 fixed to the base 101 by screws. A slider 105 is installed on the ball screw 103 by threaded engagement; guide rails 106 distributed on both sides of the ball screw 103 and arranged parallel to the ball screw 103 are also fixed to the base 101 by screws. A guide block 107 is slidably mounted on each guide rail 106, and the surface of the guide block 107 is flush with the surface of the slider 105. To enable the robot to move in the X-axis direction, the control motor 102 drives the ball screw 103 to rotate, thereby driving the slider 105 to slide along the ball screw 103. Under the guidance of the guide block 107, the robot moves in the X-axis direction.

[0054] like Figure 4As shown, the Y-axis moving assembly 2 includes a base 201 that is simultaneously fixed to the surfaces of slider 105 and guide block 107 by screws; a control motor 202 is fixed to the base 201 by screws, and a ball screw 203 arranged along the Y-axis is concentrically connected to the shaft of the control motor 202. The ball screw 203 is rotatably mounted in two sets of brackets 204 fixed to the base 201 by screws, and slider 205 is installed on the ball screw 203 by threaded engagement; guide rails 206 distributed on both sides of the ball screw 203 and arranged parallel to the ball screw 203 are also fixed to the base 201 by screws, and a guide block 207 is slidably mounted on each guide rail 206, the surface of the guide block 207 being flush with the surface of slider 205. To enable the robot to move in the Y-axis direction, the control motor 202 drives the ball screw 203 to rotate, thereby driving the slider 205 to slide along the ball screw 203. Under the guidance of the guide block 207, the robot moves in the Y-axis direction.

[0055] like Figures 5 to 6 As shown, the Z-axis lifting assembly 3 includes a base 301 that is simultaneously fixed to the surfaces of slider 205 and guide block 207 by screws; a control motor 302 is fixed to the base 301 by screws, and a ball screw 303 arranged along the Z-axis direction is concentrically connected to the shaft of the control motor 302. The ball screw 303 is rotatably mounted in two sets of brackets 304 that are fixed to the base 301 by screws, and the ball screw 303 is threaded onto the base 301. A slider 305 is installed in conjunction with the base 301. Guide rails 306, distributed on both sides of the ball screw 303 and parallel to it, are fixed to the base 301 by screws. A guide block 307 is slidably installed on each guide rail 306, the surface of which is flush with the surface of the slider 305. The base 301 is an L-shaped seat, with reinforcing ribs 308 fixed between its vertical and horizontal portions. To achieve movement of the robot in the Z-axis direction, a control motor 302 drives the ball screw 303 to rotate, thereby driving the slider 305 to slide along the ball screw 303 and, guided by the guide blocks 307, thus achieving movement of the robot in the Z-axis direction.

[0056] like Figure 7As shown, the X-axis rotation assembly 4 includes a base 401 that is simultaneously fixed to the surfaces of slider 305 and guide block 307 by screws. A control motor 402 is fixed to the base 401 by screws. A rotating arm 403 arranged along the X-axis is concentrically connected to the shaft of the control motor 402. The rotating arm 403 can rotate freely around the X-axis 360 degrees under the drive of the control motor 402. A positioning groove 404 is provided at one end of the rotating arm 403. In order to further improve the robot's operational flexibility, the rotating arm 403 is driven by the control motor 402 to rotate, thereby realizing the rotation of the robot in the X-axis direction, and thus adjusting the orientation of the puncture needle 608.

[0057] like Figures 8 to 9 As shown, the Y-axis rotating assembly 5 includes a C-shaped arm 501 fixedly mounted in a positioning groove 404 by screws; C-shaped slide rails 502 are fixedly mounted on both sides of the C-shaped arm 501 by screws, and a slider 605 that rotates along the Y-axis is slidably mounted on the C-shaped slide rails 502; a bearing sleeve 504 is fixedly mounted on the slide rails 602 by screws; a control motor 505 is fixedly mounted on the outer side of the bearing sleeve 504 by screws, and a gear 506 located on the inner side of the bearing sleeve 504 is concentrically connected to the shaft of the control motor 505; a gear ring 507 is fixedly mounted on the outer side of the C-shaped arm 501 by screws, wherein the gear 506 meshes and rotates around the gear ring 507; wherein the gear ring 507 is one-quarter of the entire circular gear ring 507, so that the maximum angle of free rotation of the bearing sleeve 504 around the Y-axis is 90 degrees. To further enhance the robot's operational flexibility, the control motor 505 drives the gear 506 to rotate, causing the gear 506 to rotate along the gear ring 507, thereby enabling the robot to rotate in the Y-axis direction, which in turn allows for adjustment of the orientation of the puncture needle 608.

[0058] like Figure 10As shown, this multi-degree-of-freedom stereotactic neurorobot is used in neurosurgery, and a puncture assembly 6 is installed on one side of the Y-axis rotation assembly 5. The puncture assembly 6 includes a second stand 601 fixed to the side of the bearing sleeve 504 by screws. A control motor 602 is fixed to the second stand 601 by screws. A ball screw 603 is concentrically connected to the shaft of the control motor 602. The ball screw 603 is rotatably mounted in two sets of brackets 604 fixed to the second stand 601 by screws. The ball screw 603 is threaded onto the brackets. A slider 605 is installed; a guide rod 606, distributed on both sides of the ball screw 603 and arranged parallel to the ball screw 603, is also fixed to the bracket 604 by screws. The slider 605 is also slidably mounted on the guide rod 606. A positioning needle seat 607 is also fixed to the side of the slider 605 by screws, and a puncture needle 608 is fastened in the positioning needle seat 607 by a nut. A guide needle seat 609 is also fixed to the side of the lower bracket 604 by screws, and the needle body of the puncture needle 608 slides into the guide needle seat 609. In order to achieve puncture in neurosurgery, after the puncture position and direction are adjusted, the control motor 602 drives the ball screw 603 to rotate, thereby driving the slider 605 to slide along the ball screw 603, and under the guidance of the guide rod 606, the puncture needle 608 is fed.

[0059] The working principle of this utility model:

[0060] When used in neurosurgery, this multi-degree-of-freedom stereotactic neurorobot is used in conjunction with a PLC control system. The PLC control system connects the signal lines to control motor 102, control motor 202, control motor 302, control motor 402, control motor 505, and control motor 602 respectively.

[0061] First, the position of the puncture component 6 is adjusted by the PLC control system. The PLC control system then sequentially controls the movement of the X-axis moving component 1, the Y-axis moving component 2, and the Z-axis lifting component 3. When controlling the robot's movement in the X-axis direction, the control motor 102 drives the ball screw 103 to rotate, thereby driving the slider 105 to slide along the ball screw 103 and, guided by the guide block 107, thus achieving the robot's movement in the X-axis direction. When controlling the robot's movement in the Y-axis direction, the control motor 202 drives the ball screw 203 to rotate, thereby driving the slider 205 to slide along the ball screw 203 and, guided by the guide block 207, thus achieving the robot's movement in the Y-axis direction. When controlling the robot's movement in the Z-axis direction, the control motor 302 drives the ball screw 303 to rotate, thereby driving the slider 305 to slide along the ball screw 303 and, guided by the guide block 307, thus achieving the robot's movement in the Z-axis direction.

[0062] The orientation of the puncture assembly 6 is then adjusted via the PLC control system, which sequentially controls the rotation of the X-axis rotation assembly 4 and the Y-axis rotation assembly 5. When controlling the robot's rotation in the X-axis direction, the control motor 402 drives the rotating arm 403 to rotate, thus achieving the robot's rotation in the X-axis direction. When controlling the robot's rotation in the Y-axis direction, the control motor 505 drives the gear 506 to rotate, causing the gear 506 to rotate along the gear ring 507, thus achieving the robot's rotation in the Y-axis direction, and thereby adjusting the orientation of the puncture needle 608.

[0063] Finally, the PLC controls the feeding of the puncture assembly 6. When the robot is performing puncture, the control motor 602 drives the ball screw 603 to rotate, thereby driving the slider 605 to slide along the ball screw 603, and under the guidance of the guide rod 606, the puncture needle 608 is fed.

[0064] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A multi-degree-of-freedom stereotactic neurorobot, comprising an X-axis moving component (1), a Y-axis moving component (2) and a Z-axis lifting component (3), wherein the Y-axis moving component (2) is mounted on the X-axis moving component (1) and the Z-axis lifting component (3) is mounted on the Y-axis moving component (2); Its features are: It also includes an X-axis rotation component (4) installed on one side of the Z-axis lifting component (3), which is capable of rotating freely around the X-axis 360 degrees; It also includes a Y-axis rotation component (5) installed at one end of the X-axis rotation component (4), which is capable of rotating freely around the Y-axis by 90 degrees.

2. The multi-degree-of-freedom stereotactic neurorobot according to claim 1, characterized in that: The X-axis moving assembly (1) includes a base (101); a control motor (102) is fixed on the base (101), and a ball screw (103) arranged along the X-axis direction is concentrically connected on the rotating shaft of the control motor (102). The ball screw (103) is rotatably mounted in two sets of brackets (104) fixed on the base (101). A slider (105) is installed on the ball screw (103) by threaded engagement. The base (101) is also fixed with guide rails (106) distributed on both sides of the ball screw (103) and arranged parallel to the ball screw (103). Each guide rail (106) is also slidably mounted with a guide block (107), the surface of which is flush with the surface of the slider (105).

3. The multi-degree-of-freedom stereotactic neurorobot according to claim 2, characterized in that: The Y-axis moving assembly (2) includes a base two (201) that is fixedly installed on the surfaces of slider one (105) and guide block one (107); a control motor two (202) is fixed on the base two (201), and a ball screw two (203) arranged along the Y-axis direction is concentrically connected on the rotating shaft of the control motor two (202). The ball screw two (203) is rotatably installed in two sets of brackets two (204) fixed on the base two (201). The slider two (205) is installed on the ball screw two (203) through threaded engagement. The base (201) is also fixed with guide rails (206) distributed on both sides of the ball screw (203) and arranged parallel to the ball screw (203). Each guide rail (206) is also slidably mounted with a guide block (207), the surface of which is flush with the surface of the slider (205).

4. The multi-degree-of-freedom stereotactic neurorobot according to claim 3, characterized in that: The Z-axis lifting assembly (3) includes a base (301) that is fixedly installed on the surfaces of slider two (205) and guide block two (207); a control motor three (302) is fixed on the base three (301), and a ball screw three (303) arranged along the Z-axis direction is concentrically connected on the rotating shaft of the control motor three (302). The ball screw three (303) is rotatably installed in two sets of brackets three (304) fixed on the base three (301). A slider three (305) is installed on the ball screw three (303) through threaded engagement. The base three (301) is also fixed with guide rails three (306) distributed on both sides of the ball screw three (303) and arranged parallel to each other. Each guide rail three (306) is also slidably mounted with a guide block three (307), the surface of which is flush with the surface of the slider three (305).

5. The multi-degree-of-freedom stereotactic neurorobot according to claim 4, characterized in that: The base three (301) is an L-shaped base, and the vertical part and the horizontal part of the base three (301) are fixed together by a reinforcing rib (308).

6. The multi-degree-of-freedom stereotactic neurorobot according to claim 5, characterized in that: The X-axis rotation assembly (4) includes a stand (401) that is fixedly mounted on the surfaces of slider three (305) and guide block three (307); a control motor four (402) is fixed on the stand (401), and a rotating arm (403) arranged along the X-axis is concentrically connected on the rotating shaft of the control motor four (402). The rotating arm (403) can rotate freely around the X-axis 360 degrees under the drive of the control motor four (402), and a positioning groove (404) is provided at one end of the rotating arm (403).

7. The multi-degree-of-freedom stereotactic neurorobot according to claim 6, characterized in that: The Y-axis rotation assembly (5) includes a C-shaped arm (501) fixedly installed in a positioning groove (404); C-shaped slide rails (502) are fixedly installed on both sides of the C-shaped arm (501), and a slider four (605) rotating along the Y-axis is slidably installed on the C-shaped slide rail (502), and a bearing sleeve (504) is fixedly installed on the slide rail four; A control motor (505) is fixed to the outside of the bearing sleeve (504). A gear (506) located inside the bearing sleeve (504) is concentrically connected to the shaft of the control motor (505). A gear ring (507) is fixed to the outside of the C-shaped arm (501), wherein the gear (506) meshes and rotates around the gear ring (507).

8. The multi-degree-of-freedom stereotactic brain neural robot according to claim 7, characterized in that: The toothed ring (507) is one-quarter of the entire circular toothed ring (507), so that the maximum angle at which the bearing sleeve (504) can freely rotate around the Y-axis is 90 degrees.

9. The multi-degree-of-freedom stereotactic neurorobot according to any one of claims 1-8, characterized in that: This multi-degree-of-freedom stereotactic neurorobot is used in neurosurgery, and a puncture component (6) is installed on one side of the Y-axis rotation component (5); The puncture assembly (6) includes a second stand (601) fixedly installed on the side of the bearing sleeve (504); a control motor (602) is fixed on the second stand (601), and a ball screw (603) is concentrically connected on the shaft of the control motor (602). The ball screw (603) is rotatably installed in two sets of brackets (604) fixed on the second stand (601), and a slider (605) is installed on the ball screw (603) by thread engagement. The bracket four (604) is also fixed with guide rods (606) distributed on both sides of the ball screw four (603) and arranged parallel to each other with the ball screw four (603). The slider four (605) is also slidably mounted on the guide rods (606). The side of the slider four (605) is also fixed with a positioning needle seat (607), and a puncture needle (608) is fastened in the positioning needle seat (607) by a nut.

10. The multi-degree-of-freedom stereotactic neurorobot according to claim 9, characterized in that: The side of the lower bracket four (604) is also fixed with a guide needle seat (609), and the needle body of the puncture needle (608) slides through into the guide needle seat (609).

Images