Orthopedic surgery robot positioning device of multi-degree-of-freedom mechanical arm

Abstract

The utility model discloses a kind of orthopedic surgery robot positioning devices of multi-degree-of-freedom mechanical arm, the device includes bed body, positioning base plate, surgical mechanical arm and optical camera. Positioning base plate is composed of trunk fixed plate and lower limb positioning plate, and several groups of fastening belts are slidably arranged on the lower limb positioning plate for fixing the lower limbs of patients. The surgical mechanical arm is connected with the bed body through a ball screw drive mechanism, and an optical camera for capturing the markers of the lower limbs of patients is arranged at the end. The device ensures the stability and safety during the operation through the high-precision laser positioning system and multi-degree-of-freedom mechanical arm, significantly improves the precision and success rate of the operation, and reduces the operation time and the risk of postoperative complications.

Description

Technical Field

[0001] This utility model relates to the field of medical devices, specifically to a positioning device for an orthopedic surgical robot with a multi-degree-of-freedom robotic arm. Background Technology

[0002] Diabetic patients often develop peripheral neuropathy and vascular disease due to high blood sugar, leading to loss of sensation and poor blood circulation in the lower limbs, increasing the risk of foot ulcers and infections. When these complications are not effectively controlled, lower limb surgery, such as amputation, may be necessary.

[0003] With advancements in medical technology, orthopedic surgery demands increasingly precise positioning and operational flexibility. Orthopedic surgical robots have emerged to address this need. Through precise robotic arm movements and laser positioning systems, surgeons can more efficiently acquire the patient's three-dimensional posture information, significantly improving surgical accuracy and safety, and reducing surgical time and the risk of postoperative complications. Therefore, the application of orthopedic surgical robots has become an important auxiliary tool in diabetic lower limb surgery. The combination of multi-degree-of-freedom robotic arms and laser positioning modules not only expands the imaging range but also ensures comprehensive three-dimensional posture information acquisition, further optimizing the surgical procedure and improving treatment outcomes. Before surgery, the skin surface at the amputation site needs to be marked to determine the surgical area and angle, ensuring precise robotic arm operation. However, currently, there is a lack of specialized positioning devices for diabetic patients' lower limbs in clinical practice. Traditional positioning methods are mostly manual measurements, requiring human intervention and subject to human error, making them difficult to meet the needs of modern surgery.

[0004] Therefore, there is an urgent need to design a positioning device for orthopedic surgical robots with a multi-degree-of-freedom robotic arm to meet the positioning needs of lower limb amputation in diabetic patients in clinical practice. Utility Model Content

[0005] The purpose of this invention is to provide a positioning device for an orthopedic surgical robot with a multi-degree-of-freedom robotic arm, which overcomes the shortcomings of the prior art, improves surgical precision and safety, and is particularly suitable for lower limb surgery in diabetic patients.

[0006] The technical solution adopted by this utility model to solve the above problems is: a positioning device for an orthopedic surgical robot with a multi-degree-of-freedom robotic arm, including a bed, a positioning base plate arranged above the bed, the positioning base plate including a set of trunk fixing plates and two sets of lower limb positioning plates, a number of fastening straps slidably arranged on the lower limb positioning plates, a surgical robotic arm arranged on the bed, and an optical camera for capturing the patient's lower limb markings at the end of the surgical robotic arm.

[0007] Preferably, the surgical robotic arm is slidably connected to one side of the bed and is adapted to a first linear drive component that drives it to move horizontally to one side of the lower limb positioning plate. The first linear drive component adopts a ball screw drive mechanism, which includes a ball screw and a servo motor that drives it to rotate. The ball screw is slidably sleeved with a sliding arm. Guide grooves that are slidably adapted to the sliding arm are opened on both sides of the bed, and a mounting bracket for fixing the surgical robotic arm is provided at the end of the sliding arm away from the ball screw.

[0008] Preferably, the surgical robotic arm includes a base, a support column, a first joint arm, and a second joint arm connected in sequence via rotary joints, with an optical camera integrated and mounted at the end of the second joint arm.

[0009] Preferably, the surgical robotic arm is further adapted to a second linear drive component that drives it to move horizontally along the lower limb positioning plate. The second linear drive component includes a fixed slide rail mounted on the mounting frame. The fixed slide rail is slidably connected to the base. The bottom of the base is provided with a roller for driving the base to move relative to the fixed slide rail and a stepper motor for driving the roller to rotate.

[0010] Preferably, the two ends of the fastening band are respectively slidably adapted to the sliding grooves opened on both sides of the lower limb positioning plate, and a locking component is provided at the end near the outer side. The locking component includes a slider slidably disposed in the sliding groove, the slider is provided with a stud, and the stud passes through the clamp plate disposed at the end of the fastening band and is screwed and adapted to the locking nut.

[0011] Preferably, the lower limb positioning plate has a foot support plate telescopically connected to its end.

[0012] Preferably, the torso fixation plate is provided with a headrest and an abdominal band.

[0013] Preferably, both the fastening band and the waistband are made of elastic woven fabric.

[0014] Compared with the prior art, this utility model has the following advantages and effects:

[0015] This invention relates to a multi-degree-of-freedom robotic arm positioning device for orthopedic surgical robots, specifically designed for positioning lower limb amputations in diabetic patients. The device securely fixes the patient's lower limb using a positioning plate and fastening straps. A mark is made at the amputation site, and a high-precision optical camera captures the mark. Simultaneously, the robotic arm's end effector moves along the marked position, and the three-dimensional coordinates of the end effector are recorded in real-time by a built-in microcomputer or an external computer. Repeated tracking and positioning can be performed multiple times, and corrections are made after comparing multiple movement trajectories to improve positioning accuracy, meeting the needs of modern clinical applications. Attached Figure Description

[0016] Figure 1This is a schematic diagram of the positioning device for an orthopedic surgical robot with a multi-degree-of-freedom robotic arm, according to an embodiment of this utility model.

[0017] Figure 2 This is a schematic diagram of the positioning device for an orthopedic surgical robot with a multi-degree-of-freedom robotic arm, according to an embodiment of this utility model.

[0018] Figure 3 This is a schematic diagram illustrating the use of the lower limb positioning plate according to an embodiment of this utility model.

[0019] Figure 4 This is a schematic diagram of the structure of the first linear drive component in an embodiment of this utility model.

[0020] Figure 5 This is a schematic diagram of the surgical robotic arm and the second linear drive component according to an embodiment of the present invention.

[0021] Figure 6 This is a schematic diagram of the connection structure between one end of the fastening strap and the lower limb positioning plate in an embodiment of this utility model.

[0022] Figure Numbers: Bed 11, Positioning Base Plate 12, Torso Fixation Plate 13, Lower Limb Positioning Plate 14, Fastening Strap 15, Surgical Robotic Arm 16, Optical Camera 17, Marker 18, First Linear Drive Component 21, Ball Screw 22, Servo Motor 23, Sliding Arm 24, Guide Groove 25, Mounting Frame 26, Laser Emitting Module 31, Laser Receiving Module 32, Rotary Joint 33, Base 34, Support Column 35, First Joint Arm 36, Second Joint Arm 37, Second Linear Drive Component 41, Fixed Slide Rail 42, Base 43, Roller 44, Stepper Motor 45, Slide Groove 51, Locking Component 52, Slider 53, Stud 54, Clamping Plate 55, Locking Nut 56, Foot Support Plate 61, Head Support 62, Abdominal Belt 63. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to the accompanying drawings and through embodiments. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments. Example

[0024] See Figure 1 - Figure 3 In this embodiment, a positioning device for an orthopedic surgical robot with a multi-degree-of-freedom robotic arm is disclosed. Specifically, it is used for precise positioning and fixation of lower limb amputation surgery in diabetic patients. The device includes a bed 11, a positioning base plate 12 above the bed 11, a set of trunk fixation plates 13 and two sets of lower limb positioning plates 14, and several sets of fastening straps 15 slidingly disposed on the lower limb positioning plates 14. The bed 11 is equipped with a surgical robotic arm 16, and the end of the surgical robotic arm 16 is equipped with an optical camera 17 for capturing the patient's lower limb marker 18.

[0025] Specifically, in this embodiment, the bed 11 supports the patient and provides a stable surgical platform. A positioning base plate 12 is disposed above the bed 11, including a set of trunk fixation plates 13 and two sets of lower limb positioning plates 14. The trunk fixation plates 13 are used to fix the patient's upper body to prevent displacement during surgery. The lower limb positioning plates 14 are used to fix the patient's lower limbs to ensure stability during surgery. Several sets of fastening straps 15 are slidably disposed on the lower limb positioning plates 14 to fix the patient's lower limbs. The fastening straps 15 can be adjusted according to the patient's body shape to ensure accurate positioning. The surgical robotic arm 16 captures the patient's lower limb marker 18 through an optical camera 17, and simultaneously moves the end effector of the surgical robotic arm 16 along the position of the marker 18. The three-dimensional coordinates of the end effector are recorded in real time by the built-in microcomputer or an external computer of the surgical robotic arm 16. Repeated tracking and positioning can be performed multiple times, and corrections can be made after comparing multiple movement trajectories to improve positioning accuracy. In this embodiment, the fastening band 15 is slidably disposed on the lower limb positioning plate 14. Therefore, its position can be flexibly adjusted according to the specific needs of the patient's lower limb, so that the fastening band 15 avoids the lower limb mark 18 and is fully exposed. Medical tape can also be pasted on the patient's lower limb as a fixing point for the fastening band 15.

[0026] See Figure 4 The surgical robotic arm 16 is slidably connected to one side of the bed 11 and is equipped with a first linear drive component 21 that drives it to move horizontally to one side of the lower limb positioning plate 14. After the patient is placed on the positioning base plate 12, the surgical robotic arm 16 can be driven to move towards the lower limb positioning plate 14 by the first linear drive component 21 to prepare for scanning and positioning the patient's lower limb marker 18. Specifically, the first linear drive component 21 adopts a ball screw 22 drive mechanism, which includes a ball screw 22 and a servo motor 23 that drives its rotation. The ball screw 22 is slidably fitted with a sliding arm 24. Guide grooves 25 that are slidably fitted to the sliding arm 24 are opened on both sides of the bed 11, and a mounting bracket 26 for fixing the surgical robotic arm 16 is provided at the end of the sliding arm 24 away from the ball screw 22.

[0027] When the first linear drive component 21 drives the surgical robotic arm 16, it also needs to return to zero. Therefore, in this embodiment, a laser emitting module 31 is provided on one side of the positioning bed board, and a laser receiving module 32 is provided on one side of the fixed slide rail 42. The laser emitting module 31 emits light. When the first linear drive component 21 drives the surgical robotic arm 16 to move, if the laser receiving module 32 receives a signal, it means that the surgical robotic arm 16 has returned to zero.

[0028] See Figure 5The surgical robotic arm 16 includes a base 34, a support column 35, a first joint arm 36, and a second joint arm 37 connected in sequence via a rotary joint 33. An optical camera 17 is integrated and mounted at the end of the second joint arm 37. This allows the surgical robotic arm 16 to move flexibly in three-dimensional space, meeting the needs of complex surgeries.

[0029] The surgical robotic arm 16 is also equipped with a second linear drive component 41 that drives it to move horizontally along the lower limb positioning plate 14. When the surgical robotic arm 16 moves to one side of the lower limb positioning plate 14, it can be driven to move horizontally along the direction of the patient's lower limb by the second linear drive component 41. It can stop when the optical camera 17 captures the lower limb marker 18 to achieve preliminary positioning. Specifically, the second linear drive component 41 includes a fixed slide rail 42 disposed on the mounting bracket 26. The fixed slide rail 42 is slidably connected and adapted to the base 34. The bottom of the base 34 is provided with a roller 44 for driving the base 34 to move relative to the fixed slide rail 42 and a stepper motor 45 for driving the roller 44 to rotate.

[0030] See Figure 6 The two ends of the fastening band 15 are slidably adapted to the sliding grooves 51 on both sides of the lower limb positioning plate 14, and a locking component 52 is provided at the outer end. The locking component 52 includes a slider 53 slidably disposed in the sliding groove 51. The slider 53 is provided with a stud 54. The stud 54 passes through the clamping plate 55 at the end of the fastening band 15 and is screwed into the locking nut 56. When the fastening band 15 is tightened, the unlocked end moves under the tension of the fastening band 15 and then tightens, so that the fastening band 15 is perpendicular to the lower limb positioning plate 14. When the fixed position of the fastening band 15 is determined, the locking nut 56 can be tightened to make the clamping plate 55 press against the side wall of the lower limb positioning plate 14, thereby locking the fastening band 15.

[0031] The lower limb positioning plate 14 has a telescopically connected foot support plate 61 at its end. The foot support plate 61 is used to place the patient's feet, and its position can be telescopically adjusted to meet the placement needs of patients with different lower limb lengths. The torso fixation plate 13 is equipped with a headrest 62 and an abdominal band 63, which are used to fix the patient's head and abdomen, respectively. Both the fastening band 15 and the abdominal band 63 are made of elastic woven fabric, providing a comfortable fixation effect and reducing patient discomfort.

[0032] The above description in this specification is merely illustrative of the present invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, as long as they do not depart from the content of this specification or exceed the scope defined in the claims, all of which shall fall within the protection scope of this invention.

Claims

1. A positioning device for an orthopedic surgical robot with a multi-degree-of-freedom robotic arm, characterized in that, The device includes a bed frame, with a positioning base plate on top of the bed frame. The positioning base plate includes a set of trunk fixation plates and two sets of lower limb positioning plates. Several sets of fastening straps are slidably installed on the lower limb positioning plates. The bed frame is equipped with a surgical robotic arm, and the end of the surgical robotic arm is equipped with an optical camera for capturing the patient's lower limb markings.

2. The positioning device for an orthopedic surgical robot with a multi-degree-of-freedom robotic arm according to claim 1, characterized in that: The surgical robotic arm is slidably connected to one side of the bed and is adapted to a first linear drive component that drives it to move horizontally to the side of the lower limb positioning plate. The first linear drive component adopts a ball screw drive mechanism, which includes a ball screw and a servo motor that drives it to rotate. The ball screw is slidably sleeved with a sliding arm. Guide grooves that are slidably adapted to the sliding arm are opened on both sides of the bed, and a mounting bracket for fixing the surgical robotic arm is provided at the end of the sliding arm away from the ball screw.

3. The positioning device for an orthopedic surgical robot with a multi-degree-of-freedom robotic arm according to claim 2, characterized in that: The surgical robotic arm includes a base, a support column, a first joint arm, and a second joint arm connected in sequence via rotary joints, with an optical camera integrated and mounted at the end of the second joint arm.

4. The positioning device for an orthopedic surgical robot with a multi-degree-of-freedom robotic arm according to claim 3, characterized in that: The surgical robotic arm is also adapted to a second linear drive component that drives it to move horizontally along the lower limb positioning plate. The second linear drive component includes a fixed slide rail mounted on the mounting frame. The fixed slide rail is slidably connected to the base. The bottom of the base is provided with a roller for driving the base to move relative to the fixed slide rail and a stepper motor for driving the roller to rotate.

5. The positioning device for an orthopedic surgical robot with a multi-degree-of-freedom robotic arm according to claim 1, characterized in that: The two ends of the fastening band are respectively adapted to slide grooves on both sides of the lower limb positioning plate, and a locking component is provided at the end near the outer side. The locking component includes a slider that is slidably disposed in the slide groove. The slider is provided with a stud. The stud passes through the clamp plate at the end of the fastening band and is screwed to the locking nut.

6. The positioning device for an orthopedic surgical robot with a multi-degree-of-freedom robotic arm according to claim 1, characterized in that: The lower limb positioning plate has a foot support plate that is telescopically connected to its end.

7. The positioning device for an orthopedic surgical robot with a multi-degree-of-freedom robotic arm according to claim 1, characterized in that: The torso fixation plate is equipped with a headrest and an abdominal band.

8. The positioning device for an orthopedic surgical robot with a multi-degree-of-freedom robotic arm according to claim 1, characterized in that: The fastening straps and waistbands mentioned above are both made of elastic woven fabric.

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