A sharpening device and surgical robotic apparatus

Abstract

This application provides a refining device and a surgical robot. The refining device includes a flange assembly, an optical module, and a refining module. The flange assembly includes a flange and an insulating component, with the insulating component mounted on the flange and the optical module mounted on the first side wall of the flange. The optical module has multiple optical reflective spheres arranged at intervals, which are used to reflect the light to be tracked. The refining module is mounted on the second side wall of the flange. The refining module includes a power tool and a ball drill. Different types of ball drills can be selectively mounted on the same power tool. The power tool has a rotating end, and the ball drill is mounted on the rotating end of the power tool and moves with the rotation of the rotating end of the power tool to refine bone tissue. This allows the flange to integrate the optical module and the refining module, enabling real-time dynamic tracking of the refining process through the optical module. Furthermore, by replacing different types of ball drills, the compatibility of the refining device is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of surgical robot equipment, and in particular to a grinding and filing device and a surgical robot equipment. Background Technology

[0002] With the development of technology, surgical robots, through clear imaging systems and flexible robotic arms, assist doctors in performing complex surgical procedures in a minimally invasive manner, completing intraoperative positioning, cutting, puncture, hemostasis, and suturing. The grinding and filing device is an integral part of the surgical robot.

[0003] In the prior art, existing grinding and filing devices include a flange assembly, a power tool, and a ball drill. The power tool is connected to the flange assembly, and the ball drill is fixedly connected to the power tool. However, it is not compatible with different models of ball drills, resulting in poor compatibility of existing grinding and filing devices. Utility Model Content

[0004] The purpose of this invention is to provide a refining device and a surgical robot. The flange assembly includes a flange and an insulating component. The insulating component is installed on the flange, and the flange is installed on the robotic arm of the surgical robot. The insulating component is located between the flange and the robotic arm. An optical module is located on one side of the flange and installed on the first side wall of the flange. The optical module has multiple optical reflective spheres, which are arranged at intervals and on the same plane. The multiple optical reflective spheres are used to reflect the light to be tracked. The refining module is located on the other side of the flange and installed on the second side wall of the flange. The refining module includes a power tool and a ball drill. Different types of ball drills can be selectively installed on the same power tool. The power tool has a rotating end, and the ball drill is installed on the rotating end of the power tool and moves with the rotation of the rotating end of the power tool to refine bone tissue. This allows the flange to integrate the optical module and the refining module. The optical module enables real-time dynamic tracking of the refining process, avoiding the waste of resources in developing a separate navigation module. This facilitates the positioning of the ball drill. At the same time, by replacing different types of ball drills, the compatibility of the refining device is improved.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a grinding and filing device, applied to surgical robot equipment, the grinding and filing device comprising:

[0006] A flange assembly includes a flange and an insulating element, the insulating element being mounted on the flange, the flange being mounted on a robotic arm of a surgical robot device, and the insulating element being positioned between the flange and the robotic arm;

[0007] An optical module is disposed on one side of the flange and mounted on the first sidewall of the flange; the optical module is provided with multiple optical reflective spheres, which are arranged at intervals and on the same plane, and are used to reflect the light to be tracked;

[0008] A grinding and filing module is located on the other side of the flange and installed on the second side wall of the flange. The grinding and filing module includes a power tool and a ball drill. Different models of ball drills can be selectively installed on the same power tool. The power tool has a rotating end, and the ball drill is installed on the rotating end of the power tool and moves as the rotating end of the power tool rotates to grind and file bone tissue.

[0009] Optionally, the optical module and the grinding module are integrated into the same flange, and the optical module and the grinding module are distributed on the first side and the second side of the flange; the optical module and the grinding module are arranged in different directions and are arranged adjacent to each other.

[0010] Optionally, the flange is provided with multiple mounting holes, which form multiple mounting areas and are compatible with different models of robotic arms.

[0011] Optionally, the insulating component includes a flat gasket and an insulating portion, the flat gasket being connected to the flange; the insulating portion is positioned and connected to the flat gasket, the insulating portion being located on the side of the flat gasket facing away from the flange;

[0012] Both the insulating portion and the flat gasket portion expose the plurality of mounting holes of the flange.

[0013] Optionally, the optical module may also include a bracket and a support plate;

[0014] The bracket is installed on the first side wall of the flange; the support plate is detachably installed on the bracket and supports a plurality of optical reflective spheres; the plurality of optical reflective spheres are distributed at different positions on the support plate and are on the same plane.

[0015] Optionally, the optical module further includes a shield, and both the shield and the optical reflector are mounted on the support plate;

[0016] The shields are arranged in a ring and are disposed around each of the optical reflective spheres, with the openings of the shields exposed to the optical reflective spheres.

[0017] Optionally, the power tool is provided with a mounting part, which is flatly mounted on the second side wall of the flange, and the mounting part is positioned and connected to the flange.

[0018] Optionally, the second side wall of the flange is provided with a positioning groove, and the mounting part is provided with a positioning boss. The positioning boss is laterally inserted into the positioning groove, and the positioning boss is positioned and connected to the positioning groove.

[0019] Optionally, the ball drills of different models may have different diameters;

[0020] The ball drill is detachably mounted on the rotating end of the power tool and can be replaced with a different model relative to the rotating end of the power tool.

[0021] To achieve the above objectives, this utility model provides the following technical solution: a surgical robot device, including the aforementioned grinding and filing device.

[0022] Compared with the prior art, the beneficial effects of this utility model are:

[0023] This invention provides a refining device and a surgical robot. The flange assembly includes a flange and an insulating component. The insulating component is mounted on the flange, and the flange is mounted on the robotic arm of the surgical robot. The insulating component is located between the flange and the robotic arm. An optical module is disposed on one side of the flange and mounted on the first side wall of the flange. The optical module has multiple optical reflective spheres, which are spaced apart and located on the same plane. The multiple optical reflective spheres are used to reflect the light to be tracked. The refining module is disposed on the other side of the flange and mounted on the second side wall of the flange. The refining module includes a power tool and a ball drill. Different types of ball drills can be selectively mounted on the same power tool. The power tool has a rotating end, and the ball drill is mounted on the rotating end of the power tool and moves with the rotation of the rotating end of the power tool to refine bone tissue. This allows the flange to integrate the optical module and the refining module. The optical module enables real-time dynamic tracking of the refining process, avoiding the waste of resources in developing a separate navigation module. This facilitates the positioning of the ball drill. At the same time, by replacing different types of ball drills, the compatibility of the refining device is improved. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings. In the following description, the same reference numerals denote the same parts.

[0026] Figure 1 A schematic diagram of a filing apparatus according to an embodiment of this application is shown.

[0027] Figure 2 An exploded view of a filing apparatus according to an embodiment of this application is shown.

[0028] Figure 3 A schematic diagram showing the connection between the optical reflector ball and the shield of a filing device according to an embodiment of this application is shown.

[0029] Figure 4 A cross-sectional view showing the connection between the optical reflector ball and the shield of a filing device according to an embodiment of this application is shown.

[0030] Figure 5 A schematic diagram showing the connection between the rotating end of a filing device and a ball drill according to an embodiment of this application is shown.

[0031] Figure Labels

[0032] 100. Grinding and filing device;

[0033] 10. Flange assembly; 11. Flange; 11a. Mounting hole; 11b. Locating groove; 12. Insulating component; 121. Flat gasket; 122. Insulating component;

[0034] 20. Optical module; 21. Optical reflector sphere; 22. Bracket; 23. Support plate; 24. Mask;

[0035] 30. Grinding and filing module; 31. Power tool; 311. Rotating end; 312. Mounting part; 3121. Positioning boss; 32. Ball drill. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0037] Please refer to the attached document. Figures 1-5 This application provides a grinding and filing device 100, which is applied to a surgical robot device and is used to grind and file bone tissue.

[0038] Please refer to the attached document. Figures 1-5In this embodiment, the filing device 100 includes a flange assembly 10, an optical module 20, and a filing module 30. The flange assembly 10 includes a flange 11 and an insulating member 12. The insulating member 12 is mounted on the flange 11, and the flange 11 is mounted on the robotic arm of the surgical robot device. The insulating member 12 is located between the flange 11 and the robotic arm. The optical module 20 is disposed on one side of the flange 11 and mounted on the first sidewall of the flange 11. The optical module 20 has a plurality of optical reflective spheres 21, which are spaced apart and located on the same plane. The plurality of optical reflective spheres 21 are used to reflect the light to be tracked. The filing module 30 is disposed on the other side of the flange 11 and mounted on the first sidewall of the flange 11. The second sidewall of the flange 11; the grinding module 30 includes a power tool 31 and a ball drill 32. Different models of ball drills 32 can be selectively installed on the same power tool 31. The power tool 31 is provided with a rotating end 311. The ball drill 32 is installed on the rotating end 311 of the power tool 31 and moves with the rotation of the rotating end 311 of the power tool 31 to grind bone tissue. The flange 11 integrates the optical module 20 and the grinding module 30. The optical module 20 realizes real-time dynamic tracking of the grinding process, avoiding the waste of resources in developing a separate navigation module, thereby facilitating the positioning of the ball drill 32. At the same time, by replacing different models of ball drills 32, the compatibility of the grinding device 100 is improved.

[0039] Please refer to the attached document. Figures 1-5 In this embodiment, the flange assembly 10 includes a flange 11 and an insulating member 12. The insulating member 12 is mounted on the flange 11, and the flange 11 is mounted on the robotic arm of the surgical robot device so that the flange assembly 10 can be connected to the robotic arm of the surgical robot device through the flange 11, thereby facilitating the robotic arm of the surgical robot device to control the grinding and filing device 100 to move. The insulating member 12 is located between the flange 11 and the robotic arm so as to provide insulation between the flange 11 and the robotic arm.

[0040] An optical module 20 is disposed on one side of the flange 11 and mounted on the first sidewall of the flange 11, so as to fix the optical module 20 to the first sidewall of the flange 11. The optical module 20 is provided with multiple optical reflective spheres 21, which are arranged at intervals and on the same plane. The multiple optical reflective spheres 21 are used to reflect the light to be tracked, so that the flange 11 integrates the optical module 20, and realizes real-time dynamic tracking of the grinding process through the optical module 20, avoiding the waste of resources of developing a separate navigation module. Optionally, the multiple optical reflective spheres 21 are specifically four or three.

[0041] A filing module 30 is located on the other side of the flange 11 and installed on the second side wall of the flange 11 to facilitate its fixation to the second side wall of the flange 11. The filing module 30 includes a power tool 31 and a ball drill 32. Different types of ball drills 32 can be selectively installed on the same power tool 31. The power tool 31 has a rotating end 311, and the ball drill 32 is installed on the rotating end 311 of the power tool 31 and moves with the rotation of the rotating end 311 of the power tool 31 to file bone tissue. By replacing different types of ball drills 32, the compatibility of the filing device 100 is improved. Optionally, the diameter of the ball drill 32 is 1mm-6mm.

[0042] Please refer to the attached document. Figures 1-5 In this embodiment, the optical module 20 and the grinding module 30 are integrated on the same flange 11. The optical module 20 and the grinding module 30 are distributed on the first side and the second side of the flange 11. The optical module 20 and the grinding module 30 are arranged in different directions and adjacent to each other, which effectively utilizes the space of the flange 11, making the grinding device 100 more compact in overall layout. It can accommodate the optical module 20 and the grinding module 30 in a small space at the same time, thus improving the integration of the grinding device 100.

[0043] Please refer to the attached document. Figures 1-2 In this embodiment, the flange 11 is provided with multiple mounting holes 11a, which form multiple mounting areas and are compatible with different types of robotic arms. This allows the flange 11 to adapt to different types of robotic arms through multiple mounting areas, thereby improving the versatility of the flange 11.

[0044] Please refer to the attached document. Figures 1-2 In this embodiment, the insulating component 12 includes a flat washer portion 121 and an insulating portion 122. The flat washer portion 121 is connected to the flange 11. The insulating portion 122 is positioned and connected to the flat washer portion 121 so that the insulating portion 122 can be positioned and connected to the flange 11 through the flat washer portion 121, ensuring the positional accuracy of the insulating portion 122 relative to the flange 11. The insulating portion 122 is located on the side of the flat washer portion 121 facing away from the flange 11. Both the insulating portion 122 and the flat washer portion 121 expose multiple mounting holes 11a of the flange 11 so that the bolts used for connection of the robotic arm can pass through the insulating portion 122 and the flat washer portion 121 to the flange 11, so that the robotic arm and the flange 11 can clamp the insulating portion 122 and the flat washer portion 121.

[0045] Please refer to the attached document. Figures 1-2In this embodiment, the optical module 20 further includes a bracket 22 and a support plate 23. The bracket 22 is installed on the first side wall of the flange 11 so that the optical module 20 can be connected to the first side wall of the flange 11 through the bracket 22. The support plate 23 is detachably installed on the bracket 22 so that the support plate 23 can be connected to or detached from the bracket 22. The support plate 23 supports multiple optical reflective spheres 21 so that the multiple optical reflective spheres 21 can be replaced or repaired, improving the disassembly convenience of the multiple optical reflective spheres 21. The multiple optical reflective spheres 21 are distributed at different positions on the support plate 23 and are on the same plane. The multiple optical reflective spheres 21 on the same plane are used to study the reflection characteristics of light on the plane. Since the optical reflective spheres 21 have a reflective effect on light, when light shines on these optical reflective spheres 21, the reflection law of light on the plane can be analyzed according to the direction and intensity of the reflected light. In optical experiments, incident light at different angles can be simulated.

[0046] Please refer to the attached document. Figures 1-4 In this embodiment, the optical module 20 further includes a shield 24, and both the shield 24 and the optical reflective spheres 21 are mounted on the support plate 23. The shield 24 is arranged in a ring and is disposed on the periphery of each optical reflective sphere 21. The opening of the shield 24 is exposed to the optical reflective spheres 21 so that the shield 24 can cover the optical reflective spheres 21 in a ring shape and prevent other light from shining on the optical reflective spheres 21.

[0047] Please refer to the attached document. Figures 1-2 In this embodiment, the power tool 31 is provided with a mounting part 312, which is flatly mounted on the second side wall of the flange 11. The mounting part 312 is positioned and connected to the flange 11 so that the power tool 31 can be positioned and connected to the flange 11 through the mounting part 312, ensuring the positional accuracy of the power tool 31 relative to the flange 11 and improving the assembly convenience of the power tool 31.

[0048] Please refer to the attached document. Figures 1-2 In this embodiment of the application, the second side wall of the flange 11 is provided with a positioning groove 11b, and the mounting part 312 is provided with a positioning boss 3121. The positioning boss 3121 is inserted laterally into the positioning groove 11b, and the positioning boss 3121 and the positioning groove 11b are positioned and connected, so that the mounting part 312 can be positioned and connected to the flange 11 through the positioning boss 3121 and the positioning groove 11b.

[0049] Please refer to the attached document. Figures 1-25. In this embodiment of the application, different models of ball drills 32 have different diameters; the ball drills 32 are detachably mounted on the rotating end 311 of the power tool 31 so that the ball drills 32 can be connected to or disconnected from the rotating end 311 of the power tool 31, and the ball drills 32 can be replaced relative to the rotating end 311 of the power tool 31 so as to replace different models of ball drills 32, thereby improving the compatibility of the grinding and filing device 100.

[0050] In the second application embodiment, a surgical robot device includes a filing device 100, which is part of the surgical robot device. The surgical robot device is used to assist doctors in performing complex surgical procedures, such as intraoperative positioning, cutting, puncture, hemostasis, and suturing.

[0051] At this time, the filing device 100 includes a flange assembly 10, an optical module 20, and a filing module 30. The flange assembly 10 includes a flange 11 and an insulating component 12. The insulating component 12 is mounted on the flange 11, and the flange 11 is mounted on the robotic arm of the surgical robot device. The insulating component 12 is located between the flange 11 and the robotic arm. The optical module 20 is disposed on one side of the flange 11 and mounted on the first sidewall of the flange 11. The optical module 20 is provided with multiple optical reflective spheres 21, which are arranged at intervals and on the same plane. The multiple optical reflective spheres 21 are used to reflect the light to be tracked. The filing module 30 is disposed on the other side of the flange 11 and mounted on the flange 11. The second sidewall; the grinding module 30 includes a power tool 31 and a ball drill 32. Different models of ball drills 32 can be selectively installed on the same power tool 31. The power tool 31 is provided with a rotating end 311. The ball drill 32 is installed on the rotating end 311 of the power tool 31 and moves with the rotation of the rotating end 311 of the power tool 31 to grind bone tissue. The flange 11 integrates the optical module 20 and the grinding module 30. The optical module 20 realizes real-time dynamic tracking of the grinding process, avoiding the waste of resources in developing a separate navigation module, thereby facilitating the positioning of the ball drill 32. At the same time, by replacing different models of ball drills 32, the compatibility of the grinding device 100 is improved.

[0052] Compared with the prior art, the beneficial effects of this utility model are:

[0053] This utility model provides a filing device 100 and a surgical robot device. The flange assembly 10 includes a flange 11 and an insulating component 12. The insulating component 12 is mounted on the flange 11, and the flange 11 is mounted on the robotic arm of the surgical robot device. The insulating component 12 is located between the flange 11 and the robotic arm. An optical module 20 is disposed on one side of the flange 11 and mounted on the first sidewall of the flange 11. The optical module 20 has multiple optical reflecting spheres 21, which are spaced apart and located on the same plane. The multiple optical reflecting spheres 21 are used to reflect the light to be tracked. A filing module 30 is disposed on the other side of the flange 11 and mounted on the second side of the flange 11. The grinding and filing module 30 includes a power tool 31 and a ball drill 32. Different models of ball drills 32 can be selectively installed on the same power tool 31. The power tool 31 has a rotating end 311. The ball drill 32 is installed on the rotating end 311 of the power tool 31 and moves with the rotation of the rotating end 311 of the power tool 31 to grind and file bone tissue. The flange 11 integrates the optical module 20 and the grinding and filing module 30. The optical module 20 realizes real-time dynamic tracking of the grinding and filing process, avoiding the waste of resources in developing a separate navigation module, thereby facilitating the positioning of the ball drill 32. At the same time, by replacing different models of ball drills 32, the compatibility of the grinding and filing device 100 is improved.

[0054] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0055] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features.

[0056] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A sharpening device, characterized in that, The filing device, used in surgical robot equipment, includes: A flange assembly includes a flange and an insulating element, the insulating element being mounted on the flange, the flange being mounted on a robotic arm of a surgical robot device, and the insulating element being positioned between the flange and the robotic arm; An optical module is disposed on one side of the flange and mounted on the first sidewall of the flange; the optical module is provided with multiple optical reflective spheres, which are arranged at intervals and on the same plane, and are used to reflect the light to be tracked; A grinding and filing module is located on the other side of the flange and installed on the second side wall of the flange. The grinding and filing module includes a power tool and a ball drill. Different models of ball drills can be selectively installed on the same power tool. The power tool has a rotating end, and the ball drill is installed on the rotating end of the power tool and moves as the rotating end of the power tool rotates to grind and file bone tissue.

2. The filing apparatus according to claim 1, characterized in that, The optical module and the grinding module are integrated on the same flange, and the optical module and the grinding module are distributed on the first side and the second side of the flange; the optical module and the grinding module are arranged in different directions and are arranged adjacent to each other.

3. The filing apparatus according to claim 1, characterized in that, The flange is provided with multiple mounting holes, which form multiple mounting areas and are compatible with different models of robotic arms.

4. The grinding and filing apparatus according to claim 3, characterized in that, The insulating component includes a flat gasket and an insulating portion, the flat gasket being connected to the flange; the insulating portion is positioned and connected to the flat gasket, and the insulating portion is located on the side of the flat gasket facing away from the flange. Both the insulating portion and the flat gasket portion expose the plurality of mounting holes of the flange.

5. The filing apparatus according to claim 1, characterized in that, The optical module also includes a bracket and a support plate; The bracket is installed on the first side wall of the flange; the support plate is detachably installed on the bracket and supports a plurality of optical reflective spheres; the plurality of optical reflective spheres are distributed at different positions on the support plate and are on the same plane.

6. The grinding and filing apparatus according to claim 5, characterized in that, The optical module also includes a shield, and both the shield and the optical reflector are mounted on the support plate; The shields are arranged in a ring and are disposed around each of the optical reflective spheres, with the openings of the shields exposed to the optical reflective spheres.

7. The filing apparatus according to claim 1, characterized in that, The power tool is provided with a mounting part, which is flatly mounted on the second side wall of the flange and is positioned and connected to the flange.

8. The grinding and filing apparatus according to claim 7, characterized in that, The second side wall of the flange is provided with a positioning groove, and the mounting part is provided with a positioning boss. The positioning boss is inserted laterally into the positioning groove, and the positioning boss and the positioning groove are positioned and connected.

9. The filing apparatus according to claim 1, characterized in that, Different models of the ball drill have different diameters; The ball drill is detachably mounted on the rotating end of the power tool and can be replaced with a different model relative to the rotating end of the power tool.

10. A surgical robot device, characterized in that, Includes the filing apparatus as described in any one of claims 1 to 9.

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