Medical titanium plate bending special mechanical arm

Abstract

The utility model relates to medical treatment instrument processing equipment technical field, concretely is a kind of medical titanium plate bending special mechanical arm, including mechanical arm main body, bending claw and fixed base, further including extension seat, initiative telescopic component and displacement compensation component, the extension seat is fixed at the end of mechanical arm main body, and it is located the rear of fixed base, the initiative telescopic component is arranged inside the extension seat, and its front end stretches out the end of extension seat and is connected with fixed base, the displacement compensation component is arranged at the rear end of fixed base;The utility model solves the problem that hole position deviation caused by stretching effect and mechanical arm may occur spatial interference during the bending of medical titanium plate by the mode of extension seat, initiative telescopic component and displacement compensation component cooperation, with accurate displacement compensation and dynamic path adjustment function, can effectively avoid hole position deviation, greatly improve the success rate of surgical implantation.

Description

Technical Field

[0001] This utility model relates to the field of medical device processing equipment technology, specifically a special robotic arm for bending medical titanium plates. Background Technology

[0002] The robotic arm for bending medical titanium plates is a high-precision automated medical device developed for clinical surgeries in orthopedics, maxillofacial surgery, trauma surgery, and spinal surgery. It is mainly used to individually, precisely, and non-destructively bend standardized medical titanium plates according to the three-dimensional shape of the patient's bones, replacing traditional manual bending and improving the fit of internal fixation implants and the quality of surgery.

[0003] When medical titanium plates are subjected to three-dimensional torsional bending, the limited size of the end effector of the robotic arm may cause physical collisions (spatial interference) with the joints of the robotic arm itself or other auxiliary fixtures. This can lead to collision damage to the robotic arm, failure of the titanium plate forming accuracy, or even damage, seriously affecting equipment safety and implantation quality. Existing technologies use compact 6-axis or 7-axis robotic arms, combined with end effectors with smaller rotation radii, to improve flexibility in confined spaces. However, for titanium plates in systems with pre-set locking screw holes, each hole after bending must be precisely aligned with the pre-drilled holes on the bone. When the titanium plate is bent, due to the stretching effect, the actual arc length distance between the holes will change slightly (non-linear stretching). Traditional path planning is static, which often causes the last hole to deviate from the target position by 1-2 mm, resulting in surgical implantation failure.

[0004] To address this, a specialized robotic arm for bending medical titanium plates is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide a robotic arm specifically designed for bending medical titanium plates. By using an extension seat, an active telescopic component, and a displacement compensation component in synergy, it solves the problems of hole position deviation caused by the stretching effect during the bending process of medical titanium plates and the potential spatial interference of the robotic arm. It has precise displacement compensation and dynamic path adjustment functions, which can effectively avoid hole position deviation and greatly improve the success rate of surgical implantation.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A robotic arm for bending medical titanium plates includes a main body, a bending gripper, and a fixed base. It also includes an extension base, an active telescopic component, and a displacement compensation component. The extension base is fixed to the end of the main body and located behind the fixed base. The active telescopic component is disposed inside the extension base, with its front end extending beyond the end of the extension base and connecting to the fixed base. The displacement compensation component is located at the rear end of the fixed base. The active telescopic component drives the fixed base along the extension base based on the nonlinear tensile deformation generated during the bending process of the titanium plate. The axial reciprocating linear displacement is used to compensate for the distance deviation between the bending point of the titanium plate and the preset hole position. The displacement compensation component monitors the physical displacement of the moving seat relative to the extension seat in real time and feeds the displacement signal back to the control system so as to realize dynamic accuracy compensation of the bending path of the titanium plate through the closed-loop control of the drive motor.

[0007] Preferably, the active telescopic assembly includes a drive motor, a through slot, a lead screw, a movable seat, and an extension shaft. The drive motor is fixed inside the extension seat and is located at the rear end of the extension seat. The through slot is opened through the front end of the extension seat. The lead screw is fixed to the rotating end of the drive motor and passes through the through slot. The movable seat is helically connected to the surface of the lead screw and is located inside the extension seat. The extension shaft is sleeved on the surface of the lead screw and rotatably connected to the front end of the movable seat. It passes through the through slot and is connected to the fixed seat.

[0008] Preferably, a guide plate is fitted onto the surface of the movable seat, and guide grooves are symmetrically formed at the upper and lower ends of the guide plate. Guide rods are symmetrically fixed on the upper and lower sides of the inner wall of the extension seat, and the guide rods are slidably connected to the guide grooves.

[0009] Preferably, the displacement compensation assembly includes a laser emitter, a through hole, and a reflecting angle mirror. The laser emitter is fixed to the rear end of the fixed base and is located above the extension shaft. The through hole is opened through the front end of the extension base and is located above the through groove. The reflecting angle mirror is fixed to the surface of the guide plate and is located above the movable base.

[0010] Preferably, a light-sensitive stripe is fixed on the left side of the inner wall of the extension seat. The laser beam emitted by the laser emitter passes through the through hole and is directed towards the reflecting angle mirror, and is reflected by the reflecting angle mirror to the surface of the light-sensitive stripe. This is used to realize real-time measurement of the extension distance of the fixed seat at the micrometer level through the stripe counting principle.

[0011] Preferably, the surface of the guide rod is provided with a self-lubricating coating, and the inner wall of the guide groove is embedded with a dustproof sealing ring, which is used to reduce the frictional resistance of the moving seat during high-frequency reciprocating motion inside the extension seat and to prevent metal shavings from interfering with displacement monitoring.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: In practical applications, the synergistic effect of the active telescopic component and the displacement compensation component enables real-time dynamic correction of material physical deformation during the bending process of medical titanium plates. During the bending action, the drive motor, through the screw and the helical transmission of the moving seat, drives the fixed seat to perform precise reciprocating linear displacement along the axial direction of the extension seat. This active compensation mechanism can counteract the nonlinear tensile effect caused by the bending of the titanium plate in real time, ensuring that the preset locking hole positions on the titanium plate always remain consistent with the preset path. Simultaneously, the laser emitted by the laser emitter is reflected by a reflecting mirror to a light-sensing stripe, achieving micron-level displacement monitoring using a counting principle. The high-precision signal is then fed back to the control system for closed-loop adjustment. Thus, this device effectively solves the hole position deviation problem caused by traditional static path planning, avoiding surgical implantation failure caused by cumulative errors of 1-2 mm. While achieving precise anatomical morphology fitting, it greatly improves the adaptability of internal fixation implants and the success rate of surgery. Attached Figure Description

[0013] Figure 1 is a schematic diagram of the overall structure of this utility model; Figure 2 is a schematic diagram of the bending claw structure of this utility model; Figure 3 is a cross-sectional view of the fixed base structure of this utility model; Figure 4 is a cross-sectional view of the drive motor structure of this utility model; Figure 5 is a cross-sectional view of the lead screw structure of this utility model.

[0014] In the diagram: 1. Main body of the robotic arm; 2. Bending claw; 21. Fixed seat; 3. Extension seat; 4. Active telescopic assembly; 41. Drive motor; 42. Through slot; 43. Lead screw; 44. Moving seat; 441. Guide plate; 442. Guide slot; 443. Guide rod; 45. Extension shaft; 5. Displacement compensation assembly; 51. Laser emitter; 52. Through hole; 53. Reflecting mirror. Detailed Implementation

[0015] 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.

[0016] Please refer to Figures 1 to 5. This utility model provides a special robotic arm for bending medical titanium plates, and the technical solution is as follows: Referring to Figures 1, 2, and 5, a robotic arm specifically designed for bending medical titanium plates includes a robotic arm body 1, a bending claw 2, and a fixed base 21. The bending claw 2 is located at the front end of the robotic arm body 1, and the fixed base 21 is fixed to the rear end of the bending claw 2. The arm also includes an extension base 3, an active telescopic component 4, and a displacement compensation component 5. The extension base 3 is fixed to the end of the robotic arm body 1, located behind the fixed base 21, and serves as the carrier for the active telescopic component 4 and the displacement compensation component 5. The active telescopic component 4 is located inside the extension base 3, with its front end extending out of the end of the extension base 3 and connecting to the fixed base 21. The core function of the active telescopic component 4 is to dynamically adjust the position of the fixed base 21 based on the deformation caused by bending the titanium plate, thereby compensating for physical displacement deviations. The displacement compensation component 5 is located at the rear end of the fixed base 21. The displacement compensation component 5 functions to construct a closed-loop control system, providing real-time feedback of physical displacement data to ensure the accuracy of compensation. The active telescopic component 4... Based on the nonlinear tensile deformation generated during the bending process of the titanium plate, the fixed seat 21 is driven to reciprocate linearly along the axial direction of the extension seat 3 to compensate for the distance deviation between the bending point of the titanium plate and the preset hole position. The displacement compensation component 5 monitors the physical displacement of the moving seat 44 relative to the extension seat 3 in real time and feeds the displacement signal back to the control system so as to achieve dynamic accuracy compensation of the titanium plate bending path through the closed-loop control of the drive motor 41.

[0017] Referring to Figures 3, 4, and 5, in one embodiment of this utility model, the active telescopic component 4 specifically includes a drive motor 41, a through groove 42, a lead screw 43, a movable seat 44, and an extension shaft 45. The drive motor 41 is fixed inside the extension seat 3 and is located at the rear end of the extension seat 3. The through groove 42 is opened through the front end of the extension seat 3. The lead screw 43 is fixed to the rotating end of the drive motor 41 and passes through the through groove 42. The movable seat 44 is helically connected to the surface of the lead screw 43 and is located inside the extension seat 3. The extension shaft 45 is sleeved on the surface of the lead screw 43 and rotatably connected to the front end of the movable seat 44. It passes through the through groove 42 and is connected to the fixed seat 21. The drive motor 41, as a power source, drives the lead screw 43 to rotate. Through the helical connection, it drives the movable seat 44, accurately converting the rotational motion of the drive motor 41 into linear power, providing mechanical drive for subsequent displacement compensation. The movable seat 44 moves along the lead screw 43... It performs linear motion and transmits the displacement to the external fixed seat 21 through the extension shaft 45, realizing the physical transmission of power from the inside of the extension seat 3 to the external fixed seat 21, directly driving the fixed seat 21 to perform reciprocating linear displacement along the axial direction.

[0018] Referring to Figures 3, 4, and 5, as one embodiment of this utility model, specifically, the movable seat... A guide plate 441 is fitted onto the surface of the moving seat 44. Guide grooves 442 are symmetrically opened at the upper and lower ends of the guide plate 441. Guide rods 443 are symmetrically fixed on the upper and lower sides of the inner wall of the extension seat 3. The guide rods 443 and the guide grooves 442 are slidably connected. The guide rods 443 and the guide grooves 442 form a sliding pair, which constrains the movement path of the moving seat 44 and ensures the stability and straightness of the moving seat 44 during the movement.

[0019] Referring to Figures 3 and 5, as one embodiment of this utility model, specifically, the displacement compensation component... 5 includes a laser emitter 51, a through hole 52, and a reflecting angle mirror 53. The laser emitter 51 is fixed to the rear end of the fixed base 21 and is located above the extension shaft 45. The through hole 52 is opened through the front end of the extension base 3 and is located above the through groove 42. The reflecting angle mirror 53 is fixed to the surface of the guide plate 441 and is located above the movable base 44.

[0020] Referring to Figures 3, 4, and 5, as one embodiment of this utility model, specifically, the extension seat... 3. A light-sensitive stripe is fixed on the left side of the inner wall. The laser beam emitted by the laser emitter 51 passes through the through hole 52 and is directed towards the reflecting mirror 53. The laser beam is then reflected by the reflecting mirror 53 onto the surface of the light-sensitive stripe. This is used to achieve real-time micron-level measurement of the extension and retraction distance of the fixed base 21 through the stripe counting principle. The laser beam passes through the through hole 52 and is directed towards the moving base. The synchronously moving reflecting angle mirror 53 reflects the light onto the light-sensing stripes on the inner wall of the extension seat 3. Using the counting principle, real-time micron-level measurement of displacement is achieved, and the monitored displacement signal is then fed back to the control system. The system achieves dynamic precision compensation for the bending path through closed-loop adjustment of the drive motor 41, ensuring that the holes in the bent titanium plate can be accurately aligned with the pre-drilled holes in the skeleton.

[0021] Referring to Figures 3, 4, and 5, as one embodiment of this utility model, specifically, the guide rod... The surface of guide rod 443 is provided with a self-lubricating coating, and the inner wall of guide groove 442 is provided with a dustproof sealing ring, which is used to reduce the frictional resistance of the moving seat 44 during high-frequency reciprocating motion inside the extension seat 3 and to prevent metal shavings from interfering with displacement monitoring. The self-lubricating coating on the surface of guide rod 443 and the dustproof sealing ring in guide groove 442 effectively reduce the frictional resistance of high-frequency motion and prevent metal shavings from interfering with precision monitoring, thereby improving mechanical life and reliability.

[0022] Working principle: During the bending process of medical titanium plates, the robotic arm body 1 drives the bending claw 2 to bend the titanium plate. When the titanium plate begins to bend, it will produce nonlinear tensile deformation. The active telescopic component 4 drives the fixed seat 21 to reciprocate linearly along the axial direction of the extension seat 3 to compensate for the distance deviation between the bending point of the titanium plate and the preset hole position. During this process, the displacement compensation component 5 monitors the physical displacement of the moving seat 44 relative to the extension seat 3 in real time and feeds the displacement signal back to the control system to achieve dynamic accuracy compensation of the titanium plate bending path through the closed-loop control of the drive motor 41.

[0023] Specifically, during the bending process of the medical titanium plate, the robotic arm 1 drives the bending claw 2 to bend the titanium plate. When the titanium plate begins to bend, it will produce nonlinear tensile deformation, which will start the drive motor 41 and drive the lead screw 43 to rotate. Since the lead screw 43 is helically connected to the moving seat 44, the rotation of the lead screw 43 will cause the moving seat 44 to move linearly along the lead screw 43. The moving seat 44 is connected to the fixed seat 21 through the extension shaft 45, thereby driving the fixed seat 21 to reciprocate linearly along the axial direction of the extension seat 3, thereby compensating for the distance deviation between the bending point of the titanium plate and the preset hole position. During this process, the laser beam emitted by the laser emitter 51 passes through the through hole 52 and is directed to the reflecting mirror 53. The reflecting mirror 53 reflects the laser to the light-sensitive stripe surface on the left side of the inner wall of the extension seat 3. Through the stripe counting principle, the micron-level real-time measurement of the extension distance of the fixed seat 21 can be achieved. The displacement compensation component 5 will monitor the moving seat 44 relative to the extension seat 3. The physical displacement is fed back to the control system in the form of a displacement signal. The control system performs closed-loop control of the drive motor 41 based on the feedback signal, thereby realizing dynamic precision compensation for the bending path of the titanium plate. This ensures that the preset holes of the bent titanium plate can be accurately aligned with the pre-drilled holes on the bone, effectively avoiding hole deviations caused by the stretching effect and improving the success rate of surgical implantation. At the same time, the guide groove 442 on the guide plate 441 is slidably connected to the guide rod 443 on the inner wall of the extension seat 3, ensuring the stability and straightness of the movement of the moving seat 44 inside the extension seat 3. The self-lubricating coating on the surface of the guide rod 443 and the dustproof sealing ring embedded in the inner wall of the guide groove 442 reduce the frictional resistance of the moving seat 44 during high-frequency reciprocating motion inside the extension seat 3, prevent metal shavings from interfering with displacement monitoring, and further improve the working accuracy and reliability of the robotic arm, providing a strong guarantee for the precise bending of medical titanium plates.

[0024] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm for bending medical titanium plates, comprising a robotic arm body (1), a bending claw (2), and a fixing base (21), characterized in that: It also includes an extension seat (3), an active telescopic component (4), and a displacement compensation component (5). The extension seat (3) is fixed at the end of the main body (1) of the robotic arm and is located behind the fixed seat (21). The active telescopic component (4) is located inside the extension seat (3) and its front end extends out of the end of the extension seat (3) and is connected to the fixed seat (21). The displacement compensation component (5) is located at the rear end of the fixed seat (21). The active telescopic component (4) drives the fixed seat (21) to reciprocate linearly along the axial direction of the extension seat (3) according to the nonlinear tensile deformation generated during the bending of the titanium plate, so as to compensate for the distance deviation between the bending point of the titanium plate and the preset hole position. The displacement compensation component (5) monitors the physical displacement of the moving seat (44) relative to the extension seat (3) in real time and feeds the displacement signal back to the control system so as to realize the dynamic accuracy compensation of the bending path of the titanium plate through the closed-loop control of the drive motor (41).

2. The medical titanium plate bending robotic arm according to claim 1, characterized in that: The active telescopic assembly (4) includes a drive motor (41), a through groove (42), a lead screw (43), a movable seat (44), and an extension shaft (45). The drive motor (41) is fixed inside the extension seat (3) and is located at the rear end of the extension seat (3). The through groove (42) is opened through the front end of the extension seat (3). The lead screw (43) is fixed to the rotating end of the drive motor (41) and passes through the through groove (42). The movable seat (44) is spirally connected to the surface of the lead screw (43) and is located inside the extension seat (3). The extension shaft (45) is sleeved on the surface of the lead screw (43) and rotatably connected to the front end of the movable seat (44). It passes through the through groove (42) and is connected to the fixed seat (21).

3. The medical titanium plate bending robotic arm according to claim 2, characterized in that: The surface of the movable seat (44) is fitted with a guide plate (441), and the upper and lower ends of the guide plate (441) are symmetrically provided with guide grooves (442). The upper and lower sides of the inner wall of the extension seat (3) are symmetrically fixed with guide rods (443), and the guide rods (443) are slidably connected with the guide grooves (442).

4. The medical titanium plate bending robotic arm according to claim 3, characterized in that: The displacement compensation assembly (5) includes a laser emitter (51), a through hole (52), and a reflecting angle mirror (53). The laser emitter (51) is fixed to the rear end of the fixed base (21) and is located above the extension shaft (45). The through hole (52) is opened through the front end of the extension base (3) and is located above the through groove (42). The reflecting angle mirror (53) is fixed to the surface of the guide plate (441) and is located above the movable base (44).

5. The medical titanium plate bending robotic arm according to claim 4, characterized in that: A light-sensitive stripe is fixed on the left side of the inner wall of the extension seat (3), and the laser beam emitted by the laser emitter (51) penetrates... After passing through the through hole (52), it is directed towards the reflecting angle mirror (53) and reflected by the reflecting angle mirror (53) to the surface of the light-sensitive stripe, which is used to realize the micron-level real-time measurement of the extension distance of the fixed seat (21) through the stripe counting principle.

6. The medical titanium plate bending robotic arm according to claim 3, characterized in that: The surface of the guide rod (443) is provided with a self-lubricating coating, and the inner wall of the guide groove (442) is provided with a dustproof sealing ring, which is used to reduce the frictional resistance of the moving seat (44) during high-frequency reciprocating motion inside the extension seat (3) and to prevent metal shavings from interfering with displacement monitoring.

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