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CN-116869657-B - Compact orthopedic surgery robot end effector design

CN116869657BCN 116869657 BCN116869657 BCN 116869657BCN-116869657-B

Abstract

The invention provides a compact type end effector design of an orthopedic operation robot, which relates to the technical field of orthopedic operations and comprises a base plate, a first component, a second component and a positioning column, wherein the first component and the second component are connected to the base plate, the positioning column is used for installing a drill guide rod, the first component comprises a first driving mechanism and a first driving plate, the first driving mechanism is connected with the first driving plate, the first driving mechanism can drive the first driving plate to perform translational motion in a first plane, the first driving plate is rotationally connected with the positioning column, and the second component comprises a second driving plate which is rotationally connected with the positioning column. Therefore, the position of the drill guide rod can be conveniently adjusted and kept stable in the orthopedic operation, the drilling positioning requirement at any angle can be met, the operation which depends on the experience of doctors partially becomes more standard and accurate, the dependence on the clinical experience of the doctors is eliminated, the medical staff can perform the drilling operation more efficiently and accurately, and the operation efficiency can be improved.

Inventors

  • LUO YANGYU
  • WANG JIULONG
  • HAN WEI
  • ZHONG XUEDONG

Assignees

  • 中国科学院自动化研究所
  • 北京慧骨医学科技有限公司

Dates

Publication Date
20260505
Application Date
20230707

Claims (7)

  1. 1. A compact orthopedic surgery robot end effector design is characterized by comprising a base plate, a first component, a second component and a positioning column, wherein the first component and the second component are connected to the base plate, the positioning column is provided with a mounting hole penetrating along the axial direction, the mounting hole is used for placing a drill guide rod, The first assembly comprises a first driving mechanism and a first driving plate, the first driving mechanism is connected with the first driving plate, the first driving mechanism can drive the first driving plate to perform translational motion in a first plane, the first driving plate is rotationally connected with the positioning column, the positioning column can rotate around a first rotation shaft and a second rotation shaft relative to the first driving plate, and the first rotation shaft and the second rotation shaft are mutually perpendicular; The second assembly comprises a second driving plate, the second driving plate is rotationally connected with the positioning column, the positioning column can rotate around a third rotation shaft and a fourth rotation shaft relative to the second driving plate, and the third rotation shaft and the fourth rotation shaft are mutually perpendicular; The second assembly further comprises a second driving mechanism, the second driving mechanism is connected with the second driving plate, the second driving mechanism can drive the second driving plate to perform translational motion in a second plane, and the second plane is parallel to the first plane; The first component and the second component have the same structure and are arranged at two sides of the substrate in mirror symmetry respectively; The first driving mechanism comprises a transverse moving unit and a longitudinal moving unit which are connected with each other, the transverse moving unit is connected to the base plate, the transverse moving unit can drive the longitudinal moving unit to move along the X direction, the first driving plate is connected to the longitudinal moving unit, the longitudinal moving unit can drive the first driving plate to move along the Y direction, and the X direction and the Y direction are mutually perpendicular.
  2. 2. The compact orthopedic robotic end effector design of claim 1, wherein the lateral movement unit comprises a first drive disposed on the base plate, an output of the first drive being connected to the longitudinal movement unit, the first drive being capable of driving the longitudinal movement unit to move in the X-direction.
  3. 3. The compact surgical robot end effector design of claim 2, wherein the lateral movement unit further comprises a first linear slide and a first slider, the first linear slide disposed on the base plate, the first linear slide having a track direction parallel to the X-direction, the first slider slidably disposed on the first linear slide, the longitudinal movement unit coupled to the first slider.
  4. 4. The compact orthopedic surgical robotic end effector design of claim 1, wherein the longitudinal movement unit comprises a mounting plate fixedly coupled to the lateral movement unit and a second drive disposed on the mounting plate, an output of the second drive coupled to the first drive plate, the second drive capable of driving the first drive plate to move in the Y-direction.
  5. 5. The compact surgical robot end effector design of claim 4, wherein the longitudinal movement unit further comprises a second linear slide and a second slider, the second linear slide being disposed on the mounting plate, the second linear slide having a track direction parallel to the Y-direction, the second slider being slidably disposed on the second linear slide, the first drive plate being coupled to the second slider.
  6. 6. The compact orthopedic robotic end effector design of claim 1, wherein the first assembly further comprises a first connection mechanism via which the first drive plate is connected to the positioning column, wherein, The first connecting mechanism comprises a first connecting piece and a second connecting piece, wherein the first connecting piece is rotationally connected to the first driving plate, the first connecting piece can rotate around the first rotating shaft relative to the first driving plate, the first connecting piece is rotationally connected to the second connecting piece, the second connecting piece can rotate around the second rotating shaft relative to the first connecting piece, and the second connecting piece is fixedly connected to the positioning column.
  7. 7. The compact orthopedic surgical robotic end effector design of claim 6, wherein the first drive plate comprises a cross plate and a riser connected to each other, the cross plate extending in the X-direction, the riser extending perpendicular to the first plane toward the second assembly, the first connector rotatably connected to the riser.

Description

Compact orthopedic surgery robot end effector design Technical Field The invention relates to the technical field of orthopedic surgery, in particular to a compact orthopedic surgery robot end effector design. Background Orthopedics is one of the most common departments in various hospitals, and mainly researches the anatomy, physiology and pathology of the skeletal muscle system, and maintains and develops the normal form and function of the system by using medicines, operations and physical methods. In the case of surgery on a fracture patient, it is often necessary to drill holes in the patient's bone, fix, for example, implant pedicle screws in spinal surgery, implant directional guides in shoulder surgery, and open intramedullary canal holes in elbow joint replacement surgery. In these bone surgeries, the bone to be treated of the patient is fixed in advance, and then the main doctor holds the drilling tool to perform bone drilling treatment. The traditional treatment mode has high requirements on clinical operation experience and physical strength of a main doctor, has low operation efficiency and poor precision and stability, is not beneficial to postoperative recovery of patients, and is easy to generate postoperative complications. In order to overcome the above drawbacks, drill positioning devices have been introduced in existing orthopedic surgery, by means of which positioning of the drill bit is achieved. However, the fixed size of the existing drilling positioning device is limited, the function is single, the size and the position cannot be timely adjusted according to the operation position of a patient in actual operation, the requirement of drilling positioning at any angle is difficult to meet, and finally the operation effect can be influenced. Disclosure of Invention The invention provides a compact orthopedic surgery robot end effector design, which is used for solving the defects that a drilling positioning device in the prior art cannot adjust the size and the position in time according to the surgery position of a patient and is difficult to meet the drilling positioning requirement at any angle. The invention provides a compact orthopedic surgery robot end effector design, which comprises a base plate, a first component, a second component and a positioning column, wherein the first component and the second component are connected to the base plate, the positioning column is provided with a mounting hole penetrating along the axial direction, the mounting hole is used for placing a drill guide rod, The first assembly comprises a first driving mechanism and a first driving plate, the first driving mechanism is connected with the first driving plate, the first driving mechanism can drive the first driving plate to perform translational motion in a first plane, the first driving plate is rotationally connected with the positioning column, the positioning column can rotate around a first rotation shaft and a second rotation shaft relative to the first driving plate, and the first rotation shaft and the second rotation shaft are mutually perpendicular; the second assembly comprises a second driving plate, the second driving plate is rotationally connected with the positioning column, the positioning column can rotate around a third rotating shaft and a fourth rotating shaft relative to the second driving plate, and the third rotating shaft and the fourth rotating shaft are mutually perpendicular. According to the present invention, there is provided a compact orthopedic surgical robotic end effector design, the second assembly further comprising a second drive mechanism coupled to the second drive plate, the second drive mechanism capable of driving the second drive plate for translational movement in a second plane parallel to the first plane. According to the design of the compact type end effector of the orthopedic operation robot, the first component and the second component are identical in structure and are arranged on two sides of the base plate in a mirror symmetry mode respectively. According to the compact orthopedic surgical robot end effector design provided by the invention, the first driving mechanism comprises a transverse moving unit and a longitudinal moving unit which are connected with each other, the transverse moving unit is connected to the base plate, the transverse moving unit can drive the longitudinal moving unit to move along the X direction, the first driving plate is connected to the longitudinal moving unit, the longitudinal moving unit can drive the first driving plate to move along the Y direction, and the X direction and the Y direction are mutually perpendicular. According to the design of the compact type end effector of the orthopedic operation robot, the transverse moving unit comprises a first driving piece, the first driving piece is arranged on the base plate, the output end of the first driving piece is connected to the longitudinal moving unit,