CN103536364A - Intelligent orthopaedic system - Google Patents

Abstract

The invention provides an intelligent orthopaedic system which comprises an intelligent robot, a controller and an operating rod. The intelligent robot comprises a movable base, a seven-degree-of-freedom mechanical arm and a robot end effector. A movable device is arranged at the bottom of the movable base. The number of degree of freedom of the robot operating rod is half of that of the robot end effector. The operating rod is positioned at the wrist of the intelligent robot and connected with the robot controller to transmit manual operating signals of an operator. The controller is positioned in a base of the intelligent robot and connected with the intelligent robot and the operating rod to realize control on the intelligent robot. The intelligent robot is placed besides an operating table so as to assist surgeons in operating on patients.

Description

A kind of intelligent orthopaedics system

Technical field

The present invention relates to orthopedic medical device technical field, particularly a kind of intelligent orthopaedics system.

Background technology

Along with robotics and medical science applied cross development, the Medical Robot of various uses is just obtaining applying more and more widely in medical domain.Operating robot is one of forward position study hotspot wherein.Medical robot has been obtained application widely at aspects such as neuro-surgery, cardiac repair, gallbladder excising operation, prosthetic replacement, plastic surgery, urological surgeries at present, when improving surgical effect and precision, also constantly start new application.

Robot compares and has in some aspects great advantage with doctor's manual operations, because the location of mechanical hand is more accurate, stable and strong, the fatigue that can avoid surgeon's prolonged operations and bring, and may cause the vibration of surgeon's arm, thereby precision, stability and the safety of operation have been improved.Just, due to the above-mentioned advantage of robot, the clinical practice of operating robot has been deployed into the every field of surgery.

Current existing operating robot product and technology are mainly based on teleoperation robot, and doctor comes control to complete various actions by remote control device.Robot is omnidistance all by operated by the doctor of professional training in operation, does not substantially possess autonomy.

Surgical operation is due to the difference of type of surgery, also different to the requirement of operating robot.In bone surgery, usually need accurate cutting, grinding, the operation such as fixing, this generic operation is had relatively high expectations to performance accuracy and strength, but moves fairly simplely, can be completed by robot autonomous.Therefore, there is certain capacity of will, can assist doctor to complete the robot device of these operations of wasting time and energy, can greatly lower doctor's operation intensity, save operating time, improve homework precision, reduce wound size, be bone surgery in the urgent need to.

Summary of the invention

For this reason, the present invention proposes a kind of intelligent orthopaedics system, can eliminate fully one or more problems that restriction and defect due to prior art cause.

Additional advantages of the present invention, object and characteristic, a part will be elucidated in the following description, and another part will be significantly or be acquired from enforcement of the present invention by the investigation of the explanation to below for those of ordinary skill in the art.By the structure of pointing out especially in the description at word and claims and accompanying drawing, can realize and obtain the object of the invention and advantage.

The invention provides a kind of intelligent orthopaedics system, it is characterized in that, described system comprises: intelligent robot, controller and action bars, wherein: described intelligent robot comprises: movable base, seven freedom mechanical arm and end effector of robot, the bottom of described movable base is provided with movable fixture, half that the number of degrees of freedom, of described robot manipulation's bar is end effector of robot, action bars is positioned at the wrist place of intelligent robot and is connected with robot controller and with transmission, transmits operator's manual operation signal, controller is positioned at the base of intelligent robot and is connected and realizes the control to intelligent robot with intelligent robot and action bars, intelligent robot is placed in the auxiliary operator of operation edge of table doctor and realizes the operation technique to patient.

Preferably, movable base is as the pedestal of whole device, the top that seven freedom mechanical arm is fixedly installed in movable base is connected with controller by signal cable and accepts its control signal, end effector of robot is fixedly installed on the mechanical interface of mechanical arm tail end and is connected with reception control signal with controller by wire, end effector of robot, as the power tool of robot, comprises bone saw, bone drill and the clamping device of the use of performing the operation.

Preferably, described movable fixture is roller.

Preferably, described seven freedom mechanical arm be fisher's formula mechanism, comprise: shoulder, ancon and wrist, wherein: shoulder, wrist adopt three joints axes mutually vertically to meet at the ball auxiliary structure of a bit, be convenient to the simplification of motion control arithmetic, ancon adopts a revolute pair, has realized shoulder, wrist and has respectively had three degree of freedom, and ancon has one degree of freedom.

Preferably, described end effector of robot is fixedly installed in mechanical arm tail end mechanical interface by mechanical locking.

Preferably, described controller comprises: central control module, multiaxial motion control module, AC servo driver, display module and sensing module, wherein: central control module is connected with guider by LAN, acceptance is from the navigation instruction of guider, and by robot location, the self informations such as attitude output to guider, central control module is connected with multiaxial motion control module by pci bus, central control module completes robot motion planning, and instruction is sent to multiaxial motion control module, by the latter's specific implementation, robot motion controls, central control module is connected with sensing module by IO interface, acceptance is from the latter's heat transfer agent, display module is connected with central control module, as human-computer interaction interface, be used for supervisory-controlled robot duty in the course of the work, and accept user's input information by touch-sensitive display, can be used for mode of operation selects, running parameter is set, stream servo-driver is connected with multiaxial motion control module by signal cable, acceptance is from the motion planning information of central control module, according to control algolithm, complete interpolation operation, generate concrete driving signal and send to each AC servo driver, control each motor movement to complete instruction action.

Preferably, described robot manipulation's bar, comprises that one is handled control stick and a selector switch, is all installed on mechanical arm tail end, by IO port, is connected with central control module, and manual control information is communicated to central control module.

Preferably, half that the number of degrees of freedom, of described robot manipulation's bar is end effector of robot, is therefore divided into two group modes by control action, carries out position translation operation and attitude adjusting operation, and every group of each three degree of freedom also switched by selector switch.

Compared with prior art, outstanding feature of the present invention is:

1, degree of freedom is high, and the suitability is strong.Existing intelligent orthopaedics system is all particular procedure job design, and as knee joint moulding, open cranium etc., and the operation auxiliary robot the present invention relates to has 7 degree of freedom, and motility is high, also has redundant degree of freedom, is convenient to the work compound with doctor.

2, autonomy is higher, has the different of essence from present existing complete manually telesurgery robot.The operation auxiliary robot the present invention relates to can independently be realized the operational motion of operation preplanning, and can in operation, by doctor, be adjusted at any time.

3, structure opening, can combine with various navigation system as basic platform.Flexible operation mode, both can be connected with autopilot, under the guiding of guider, as actuator, complete the operation of preoperative planning, also can be used as independently surgery assistor tool and under doctor's operation, realize osteotomy, boring, grinding, the surgical operation such as fixing.

4, handiness, and positioning precision is high.Support to use " by doing and illustrating " formula of stick to handle, be particularly useful for controlling machine human needs in operation.

Accompanying drawing explanation

Fig. 1 is according to the structural representation of the orthopaedics system embodiment of the present invention, intelligent.

Fig. 2 is the use schematic diagram according to the orthopaedics system embodiment of the present invention, intelligent.

Fig. 3 is the controller architecture schematic diagram according to the orthopaedics system embodiment of the present invention, intelligent.

the specific embodiment

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.

As depicted in figs. 1 and 2, the present embodiment comprises: seven-degree offreedom robot 1, controller 2 androbot stick 3, wherein:robot stick 3 is positioned atrobot body 1 wrist place, be connected with robot controller 2, and transmit operator's manual operation signal; Controller 2 is positioned at the base ofrobot body 1, and is connected withrobot body 1 androbot stick 3, and robot body is implemented to control; Duringrobot body 1 is used, be placed in operation edge of table, auxiliary operator doctor realizes the operation technique to patient.

Describedrobot body 1 comprises: movable base 4, seven freedommechanical arm 5, end effector of robot 6 are mechanical parts of whole device.Wherein: described movable base 4 is pedestals 4 of whole device.Seven freedommechanical arm 5 is fixedly installed in pedestal 4 tops, for realizing various surgical action, by signal cable, is connected with controller 2, accepts its control signal.End effector of robot 6 is power tools of robot, refers in particular to operating theater instruments in the present invention, comprises the bone saw of the use of performing the operation, bone drill, specific clamping devices etc., are fixedly installed in during use on the mechanical interface ofmechanical arm 5 ends, and have wire to be connected with controller 2, accept its control signal.

Described movable base 4, has the movement of can rolling of four universal wheels 7 below, and when work, wheel departs from ground, by support foot, is landed, and makes that pedestal 4 is stable is fixed on ground, to obtain higher positioning precision.Space place machine people controller 2 in pedestal 4.

Described seven freedommechanical arm 5 Wei Yi fisher's formula mechanisms, structure is similar to people's arm.Be broadly divided into shoulder 8, ancon 9,wrist 10 3 parts formations.Wherein shoulder 8,wrist 10 adopt three joints axes mutually vertically to meet at the ball auxiliary structure of a bit, are convenient to the simplification of motion control arithmetic, and ancon 9 adopts a revolute pair.Be that shoulder 8,wrist 10 respectively have three degree of freedom; Ancon 9 has one degree of freedom.Owing to there being 7 degree of freedom,mechanical arm 5 ends can arrive the optional position in operative region with any attitude.In operation use procedure,mechanical arm 5 can remain in the attitude of optional position so that larger strength is stable, plays the effect that grips in operation;Mechanical arm 5 can hand-held operating theater instruments be realized the orbiting motions such as accurate straight line, circular arc in operative region, realizes the operations such as cutting, grinding, boring according to doctor's requirement; In operating process,mechanical arm 5 can be in the situation that keeping end effector 6 positions and attitude constant by adjusting elbow joint position avoid operating doctor's operating position, the doctor that makes to operate can conveniently and freely carry out operation technique.

Described end effector of robot 6 is power tools of robot, refers in particular to operating theater instruments in this example, comprises the bone saw of the use of performing the operation, bone drill, specific clamping device etc.Consider in operation and may need to change operating theater instruments, adopt removable lining mechanical interface to be connected withmechanical arm 5, in operation, by nurse, realize quick-replaceable.

As shown in Figure 3, described controller 2 comprises:central control module 11, multiaxialmotion control module 12,AC servo driver 13,display module 14 and sensing module 15.Wherein: describedcentral control module 11 is cores of control system, and it is connected with guider by LAN, accept the navigation instruction from guider, and the self informations such as robot location, attitude are outputed to guider.Central control module 11 is connected with multiaxialmotion control module 12 by pci bus, andcentral control module 11 completes robot motion planning, and instruction is sent to multiaxialmotion control module 12, and by the latter's specific implementation, robot motion controls.Central control module 11 is connected withsensing module 15 by IO interface, accepts the heat transfer agent from thelatter.Display module 14 is connected withcentral control module 11, is used for supervisory-controlled robot duty in the course of the work, and accepts user's input information by touch-sensitive display as human-computer interaction interface, can be used for mode of operation and selects, running parameter setting etc.DescribedAC servo driver 13 is connected with multiaxialmotion control module 12 by signal cable, acceptance is from the motion planning information ofcentral control module 11, according to certain control algolithm, complete interpolation operation, generate concrete driving signal and send to eachAC servo driver 13, control each motor movement to complete instruction action.

The controls that describedcentral control module 11 is realized robot body, comprise the action of control, realize with communicating by letter of navigation system etc.Central control module 11 can be realized the motion control arithmetic of seven freedom mechanism, comprises point position control and the accurate TRAJECTORY CONTROL such as straight line, circular arc of quick location.Central control module 11 can be realized graphical man machine interface, setting that can completion system parameters.Central control module 11 can be realized robot coordinate, navigator coordinate, and the conversion between the coordinate systems such as patient body coordinate, finally realizes robot and accurately moves.Central control module 11 can be accepted the information from stick, realizes manual control machine device people motion, and robot movement locus planning is adjusted in the reference position of manually setting according to doctor.Central control module 11 can realize and guider between network service, complete operation action under the guiding of guider.

Describedrobot stick 3, comprises that one is handled control stick and a selector switch, is all installed onmechanical arm 5 ends, by IO port, is connected withcentral control module 11, and manual control information is communicated tocentral control module 11, by systems soft ware, is processed.Therefore stick has three degree of freedom, and end effector of robot 6 has six-freedom degree, control action is divided into two group modes, carries out position translation operation and attitude adjusting operation, and every group of each three degree of freedom meets the operating habit of general robot product.The effect of selector switch is exactly for switching stick control model.During translation, end effector of robot 6 attitudes are constant, can move along stick direction keeping parallelism, when attitude is adjusted, constant (reference point is set to devices work point to end effector of robot 6 reference point locations conventionally, as saw the point of a knife of cutter), whole end effector 6 rotates along stick direction around reference point, with adjustment devices attitude.The operation information that stick sends is processed by the systems soft ware ofcentral control module 11, through coordinate transform and kinematic calculation, generate robot motion's instruction, then through multi-axis motion control card, process the concrete driving signal of generation and send to eachAC servo driver 13, thereby control servomotor motion, produce corresponding action.

The present embodiment can be selected manually or automatic mode in use as required.

When robot is operated in auto state, accept the key instruction from navigation system, independently realize the predetermined action of preoperative planning.Compare with other the robot system of manual distant manipulation type, not only efficiency is higher, and surgical action is also more accurate.The doctor's termination machine human action the position of planning, attitude being adjusted by stick at any time of operating in operation process.Because employing is installed on the stick ofmechanical arm 5 ends, realized the maneuverability pattern of " by doing and illustrating " formula, doctor can directly stir stick to target travel direction can realize operating theater instruments to this direction motion, intuitive and convenient, handle to compare with traditional teach box and greatly improved efficiency, reduced the danger of operate miss.

When being operated in manual mode, robot need an operator to coordinate, by operator doctor, by stick control, moved, by operator, passed through the parameters such as interface setting speed, motion mode, and the people's complete operation that starts the machine under operator doctor's password commander.This is mainly to consider that operator doctor inconvenient modes such as touch screen of using in operation process complete parameter input, can fill the post of robot operator by nurse or assistant.

Above content is only preferred embodiment of the present invention, for those of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, and this description should not be construed as limitation of the present invention.

Claims (8)

1. an intelligent orthopaedics system, it is characterized in that, described system comprises: intelligent robot, controller and action bars, wherein: described intelligent robot comprises: movable base, seven freedom mechanical arm and end effector of robot, the bottom of described movable base is provided with movable fixture, half that the number of degrees of freedom, of described robot manipulation's bar is end effector of robot, action bars is positioned at the wrist place of intelligent robot and is connected with robot controller and with transmission, transmits operator's manual operation signal, controller is positioned at the base of intelligent robot and is connected and realizes the control to intelligent robot with intelligent robot and action bars, intelligent robot is placed in the auxiliary operator of operation edge of table doctor and realizes the operation technique to patient.

2. intelligent orthopaedics system according to claim 1, it is characterized in that, movable base is as the pedestal of whole device, the top that seven freedom mechanical arm is fixedly installed in movable base is connected with controller by signal cable and accepts its control signal, end effector of robot is fixedly installed on the mechanical interface of mechanical arm tail end and is connected with reception control signal with controller by wire, end effector of robot, as the power tool of robot, comprises bone saw, bone drill and the clamping device of the use of performing the operation.

3. intelligent orthopaedics system according to claim 2, is characterized in that, described movable fixture is roller.

4. intelligent orthopaedics system according to claim 2, it is characterized in that, described seven freedom mechanical arm be fisher's formula mechanism, comprise: shoulder, ancon and wrist, wherein: shoulder, wrist adopt three joints axes mutually vertically to meet at the ball auxiliary structure of a bit, are convenient to the simplification of motion control arithmetic, ancon adopts a revolute pair, realized shoulder, wrist and respectively had three degree of freedom, ancon has one degree of freedom.

5. intelligent orthopaedics system according to claim 2, is characterized in that, described end effector of robot by mechanical locking, be fixedly installed in mechanical arm tail end mechanical interface.

6. intelligent orthopaedics system according to claim 1, it is characterized in that, described controller comprises: central control module, multiaxial motion control module, AC servo driver, display module and sensing module, wherein: central control module is connected with guider by LAN, acceptance is from the navigation instruction of guider, and by robot location, the self informations such as attitude output to guider, central control module is connected with multiaxial motion control module by pci bus, central control module completes robot motion planning, and instruction is sent to multiaxial motion control module, by the latter's specific implementation, robot motion controls, central control module is connected with sensing module by IO interface, acceptance is from the latter's heat transfer agent, display module is connected with central control module, as human-computer interaction interface, be used for supervisory-controlled robot duty in the course of the work, and accept user's input information by touch-sensitive display, can be used for mode of operation selects, running parameter is set, stream servo-driver is connected with multiaxial motion control module by signal cable, acceptance is from the motion planning information of central control module, according to control algolithm, complete interpolation operation, generate concrete driving signal and send to each AC servo driver, control each motor movement to complete instruction action.

7. intelligent orthopaedics system according to claim 1, is characterized in that, described robot manipulation's bar, comprise that one is handled control stick and a selector switch, all be installed on mechanical arm tail end, by IO port, be connected with central control module, manual control information is communicated to central control module.

8. according to the intelligent orthopaedics system described in claim 1 or 7, it is characterized in that, half that the number of degrees of freedom, of described robot manipulation's bar is end effector of robot, therefore control action is divided into two group modes, carry out position translation operation and attitude adjusting operation, every group of each three degree of freedom also switched by selector switch.

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