Match the end effector mechanism of joint replacement surgery robotTechnical field
The invention belongs to the field of medical instrument technology, and in particular to a kind of modular construction of operating robot.
Background technique
In traditional hip replacement surgery, the polishing of doctor's hand electric, which is bored, polishes to patient's lesions position, soThe prosthese of corresponding model is installed afterwards, this mode of operation not only needs to expend a large amount of manpowers, but also precision of performing the operation cannot be guaranteed.In recent years, surgeon more and more tends to implement to perform the operation by joint replacement surgery robot, this, which is greatly improved, beatsThe precision and efficiency of mill and installation, significantly reduce the revision rate of operation.The end effector mechanism of operating robot is to simplified handThe cumbersome degree of art shortens operating time, guarantees that operation precision plays a significant role.
Summary of the invention
The purpose of the present invention is to propose to a kind of end effector mechanisms of matching joint replacement surgery robot easy to use.
The end effector mechanism of matching joint replacement surgery robot of the invention is made of sleeve, handle and connecting rod, instituteThe one end for stating handle is fixedly connected with sleeve outer wall, and the other end of handle is equipped with to be connect for the mechanical arm with operating robotPedestal；It is installed in sleeve to the link detachable, the both ends of connecting rod are exposed to the both ends of sleeve respectively；The one of the connecting rodEnd is equipped with the driver connection structure of driver connection, and the other end is equipped with the executive item connection structure for installing executive item.
The mechanical arm of operating robot is collaborative mechanical arm, and handle is fixedly connected by pedestal with the end of mechanical arm,Operator applies external force, movable mechanical arm and executing agency by handle；Driver passes through connecting rod for torque or impact forceIt is applied on executive item, driving executive item work；Sleeve is used to locking and replacing surgical instrument, such as is applicable in the company of different operationsBar.During hip replacement surgery, pass through end effector mechanism, it will be able to quickly and readily install and uninstall different functionAttachment, shorten operating time.
Further, to guarantee being reliably connected for sleeve and connecting rod, connecting rod is avoided to deviate from sleeve during the work time, it is describedSleeve and connecting rod are equipped with the axial limit structure in the sleeve axial displacement of working in coordination with limiting rod.
Specifically, the axial limit structure is made of sleeve position limiting structure and connecting rod position limiting structure, the sleeve limitBit architecture includes the chamber for being set to sleeve lateral wall, and control piece is movably installed in the chamber, and one end of the control piece is stretchedOut to exterior thereto；The control piece passes through spring and sleeve connection；Positive stop bead, the positive stop bead are also placed in the chamberBetween chamber inside side walls and control piece, the chamber inside side walls are equipped with diameter in the position of corresponding positive stop bead and are less than limitThe through-hole of position pearl diameter, the control piece are equipped with limited step in the position of corresponding positive stop bead；The connecting rod position limiting structure is to setIt is placed in the limiting groove of connecting rod side, the section of limiting groove is arc.
The working principle of above-mentioned axial limit structure is as follows:
In normal operating condition, control piece is pulled to the chamber of sleeve by the elastic force of spring, so that the limited step of control piecePositive stop bead is pressed to, positive stop bead is mobile to chamber inside side walls direction under the pressure effect of limited step, and is partially protrude through logicalHole and be embedded into the limiting groove of connecting rod side, so that the movement on connecting rod axial direction be locked, cover connecting rod can onlyIt is freely rotated and cannot move axially in cylinder, realize the function of axial limiting.
When needing to change connecting rod, it is only necessary to catch control piece to be exposed to the end of exterior thereto, overcome the elastic force of springControl piece is pulled to exterior thereto, after control piece moves a certain distance, the limited step of control piece will be detached from and positive stop beadContact, after positive stop bead loses the limit of limited step, activity space increase, can be moved along the radial direction of sleeve,Connecting rod is pulled at this time, and the section of connecting rod is that the limiting groove of arc will be applied to the active force of positive stop bead radial direction, makes positive stop beadIt returns in chamber and is no longer embedded into limiting groove, connecting rod does not have the limit power of positive stop bead at this time, can be along the axis of sleeveTo movement, split out out of sleeve.
Further, it is circular tubular structure that the control piece, which is section,；The limiting groove is annular groove, the limitPosition pearl has multiple, and is uniformly distributed on the same section of sleeve, such positive stop bead can apply ratio to connecting rod in multiple directionsMore balanced axial limiting active force, while realizing axial limiting, it may also be ensured that connecting rod keep during rotation withSleeve axis it is parallel, and then improve operation precision.
Further, the angle between the axial direction of the handle and the axial direction of sleeve is acute angle, is exerted a force to facilitate operation person,More preferable compared to generic product gripping sense, operability is stronger, can alleviate surgical operation fatigue.
Further, the handle is equipped with the positioning tracker mounting hole for installing positioning tracker, is performing the operationThe positioning accuracy of end effector mechanism can be improved by positioning tracker, and then improve the precision of operation by Cheng Zhong.Above-mentioned positioningTracker can be magnetic position sensor or optical positioning sensors etc., and details are not described herein again.
End effector mechanism of the invention is mounted on mechanical arm tail end, can guarantee between end effector mechanism and mechanical armAccurate and repeatable relative positional relationship, guarantee system accuracy；The axial limiting mechanism of the end effector mechanism can limitMovement of the connecting rod processed in sleeve, guarantees the accurate axial direction of connecting rod opposing end portions executing agency, while can also make surgical procedureIn tool changing more convenient and quicker, simplify the cumbersome degree of operation, shorten operating time, and by being installed on end effector mechanismLocalization tracker can capture the posture information of executive item in real time, improve operation precision.
Detailed description of the invention
Fig. 1 is the overall structure diagram of end effector mechanism.
Fig. 2 is the use state diagram of end effector mechanism.
Fig. 3 is the cross-sectional view of sleeve.
Fig. 4 is the cooperation schematic diagram of sleeve and connecting rod (connecting rod is axial locking state).
Fig. 5 is the cooperation schematic diagram of sleeve and connecting rod (connecting rod is to axially release state).
Fig. 6 is the structural schematic diagram of acetabular bone polishing connecting rod.
Fig. 7 is the structural schematic diagram of acetabular cup installing connecting rods.
Attached drawing mark: 1, sleeve；11, chamber；12, control piece；13, spring；14, positive stop bead；15, limited step；2,Hand；21, pedestal；22, positioning tracker mounting hole；3, connecting rod；31, driver connection structure；32, executive item connection structure；33,Limiting groove；4, mechanical arm；5, executive item；6, positioning tracker；7, plastic protective sleeve；8, calibration point.
Specific embodiment
It is for example related each to a specific embodiment of the invention by the description to embodiment below against attached drawingThe shape of component, construction, the mutual alignment between each section and connection relationship, the effect of each section and working principle etc. are made into oneThe detailed description of step.
Embodiment 1:
The present embodiment proposes a kind of end effector mechanism of matching joint replacement surgery robot easy to use.
As shown in Fig. 1,3,6,7, the end effector mechanism of the matching joint replacement surgery robot of the present embodiment is by sleeve1, handle 2 and connecting rod 3 are constituted, and one end of the handle 2 is fixedly connected with 1 outer wall of sleeve, the other end of handle 2 equipped with forThe flange form pedestal 21 of the mechanical arm connection of operating robot, handle 2 are equipped with the locating and tracking for installing positioning trackerDevice mounting hole 22；The connecting rod 3 is removably installed in sleeve 1, and the both ends of connecting rod 3 are exposed to the both ends of sleeve 1 respectively；InstituteThe one end for stating connecting rod 3 is equipped with the driver connection structure 31 of driver connection, and the other end is equipped with the execution for installing executive item 5Part connection structure 32.
To guarantee being reliably connected for sleeve 1 and connecting rod 3, connecting rod 3 is avoided to deviate from sleeve 1, the sleeve 1 during the work timeIt is equipped with and is worked in coordination with the axial limit structure of the axial displacement in sleeve 1 of limiting rod 3 with connecting rod 3.
Specifically, as shown in Fig. 3,4,5, the axial limit structure is by sleeve position limiting structure and connecting rod position limiting structure groupAt the sleeve position limiting structure includes the chamber 11 for being set to 1 side wall of sleeve, is movably installed with control piece in the chamber 1112, one end of the control piece 12 is extend out to outside chamber 11；The control piece 12 is connect by spring 13 with sleeve 1；It is describedPositive stop bead 14 is also placed in chamber 11, the positive stop bead 14 is located between 11 inside side walls of chamber and control piece 12, the chamber11 inside side walls of room are equipped with the through-hole that diameter is slightly less than 14 diameter of positive stop bead, the control piece 12 in the position of corresponding positive stop bead 14Limited step 15 is equipped in the position of corresponding positive stop bead 14；3 position limiting structure of connecting rod be set to 3 side of connecting rod limit it is recessedSlot 33, the section of limiting groove 33 are arc.Above-mentioned positive stop bead 14 is preferably with the higher steel ball of intensity.
The working principle of above-mentioned axial limit structure is as follows:
As shown in figure 4, control piece 12 is pulled to 11 (the i.e. bullet of chamber of sleeve 1 by the elastic force of spring 13 in normal operating conditionThe elastic force direction that spring 13 is applied to control piece 12 is directed towards the right direction in Fig. 4) so that the limited step 15 of control piece 12Positive stop bead 14 is pressed to, positive stop bead 14 is mobile to 11 inside side walls direction of chamber under the pressure effect of limited step 15, and partIt protrudes from through-hole and is embedded into the limiting groove 33 of 3 side of connecting rod, so that the movement on 3 axial direction of connecting rod be locked, makeConnecting rod 3 can only be freely rotated in sleeve 1 and cannot move axially, and realize the function of axial limiting.
As shown in figure 5, when needing to change connecting rod 3, it is only necessary to catch control piece 12 to be exposed to the end outside chamber 11,Overcome the elastic force of spring 13 by control piece 12 to pulling outside chamber 11, after control piece 12 moves a certain distance, control piece 12Limited step 15 will be detached from and the contact of positive stop bead 14, after positive stop bead 14 loses the limit of limited step 15, activity spaceIt increases, can be moved along the radial direction of sleeve 1, pull connecting rod 3 at this time, the section of connecting rod 3 is the limiting groove 33 of arcIt will be applied to the radial active force of positive stop bead 14, positive stop bead 14 is made to return in chamber 11 and no longer be embedded into limiting groove 33Interior, connecting rod 3 can be split out out of sleeve 1 without the limit power of positive stop bead 14 along the axial movement of sleeve 1 at this time.
In the present embodiment, control piece 12 is section is circular tubular structure, and control piece 12 is exposed to chamber 11End is bent to form flanging, in order to pull control piece 12；The limiting groove 33 of 3 side of connecting rod is annular groove, the limitPearl 14 has multiple, and is uniformly distributed on the same section of sleeve 1, such positive stop bead 14 can apply connecting rod 3 in multiple directionsAdd the axial limiting active force that comparison is balanced, while realizing axial limiting, it may also be ensured that connecting rod 3 is protected during rotationHold it is parallel with 1 axis of sleeve, and then improve operation precision.
Angle between the axial direction of handle 2 and the axial direction of sleeve 1 is acute angle, specifically, the lower end of handle 2 and sleeve 1Angle between (i.e. sleeve 1 close to one end of executive item 5) is acute angle, to facilitate operation person's force, compared to generic productionProduct gripping sense is more preferable, and operability is stronger, can alleviate surgical operation fatigue.
As shown in Fig. 2, at the time of surgery, the mechanical arm of operating robot be collaborative mechanical arm, handle 2 by pedestal 21 withThe end of mechanical arm 4 is fixedly connected, and operator applies external force, movable mechanical arm 4 and executing agency by handle 2；DriverTorque or impact force are applied on executive item 5 by connecting rod 3, driving executive item 5 works；Sleeve 1 is for locking and replacingSurgical instrument, such as it is applicable in the connecting rod 3 of different operations.During hip replacement surgery, pass through end effector mechanism, it will be able toThe attachment for installing and uninstalling different function quickly and readily shortens operating time.
The pedestal 21 of above-mentioned end executing agency is fixedly mounted on 4 end of mechanical arm, can guarantee end effector mechanism withAccurate and repeatable relative positional relationship between mechanical arm 4 guarantees system accuracy；Positioning tracker 6 be installed on positioning withIt at track device mounting hole 22, is used together with matched locator auxiliary equipment, captures the posture information of executive item 5 in real time, improvedOperation precision.In the present embodiment, positioning tracker 6 uses optical positioning sensors.
In the present embodiment, there are two types of connecting rods 3, one kind is acetabular bone polishing connecting rod 3, and another kind is acetabular cup installing connecting rods 3,The structure of both connecting rods 3 is described in detail with reference to the accompanying drawing.
As shown in fig. 6, acetabular bone polishing connecting rod 3 is made of following four parts: 1, positioned at the driver connection knot of 3 head end of connecting rodStructure 31, the main function of driver connection structure 31 are that connection polishing is bored, and end is bored in the groove structure of head connector and polishingInterface agrees with, and plays a locking effect；2, positioned at the limiting groove 33 of 3 medium position of connecting rod, the diameter of limiting groove 33 is omitedGreater than the diameter of positive stop bead 14 in sleeve 1, the main function of limiting groove 33 is to match with the positive stop bead 14 inside sleeve 1 with realityExisting axial limiting effect；3, positioned at the executive item connection structure 32 of 3 tail end of connecting rod, the main function of executive item connection structure 32 isIt connects reamer for hip arthroplasty,acetabulum (i.e. executive item 5)；4,3 shaft of connecting rod, in the present embodiment, 3 shaft of connecting rod are entirely that aluminum alloy material is made, aluminium alloy has the advantages that hardness is high, wear-resistant, resistant to high temperature, is widely used material in medical instrument, certainly, connecting rod 3Shaft can also be made of the harder plastics of quality.
As shown in fig. 7, acetabular cup installing connecting rods 3 are made of following six parts: 1, being connected positioned at the driver of 3 head end of connecting rodStructure 31, the main function of driver connection structure 31 are that connection taps platform, and the groove structure of head connector and percussion are flatPlatform inner couplings structure is agreed with, and a locking effect is played；2, positioned at the limiting groove 33 of 3 medium position of connecting rod, limiting groove33 length is greater than the diameter of positive stop bead 14 in sleeve 1, and the main function of limiting groove 33 is and the positive stop bead 14 inside sleeve 1Matching, when acetabular cup installing connecting rods 3 are in the state of axial limiting, positive stop bead 14 is located in limiting groove 33, at this time connecting rod 3Motion range in 1 axial direction of sleeve is limited in finite length (i.e. the width of limiting groove 33), and connecting rod 3 is in sleeve 1Interior rotation is unrestricted；3, positioned at the middle part of connecting rod 3 and close to the plastic protective sleeve 7 at 3 tail end of connecting rod, plastic protective sleeve 7Main function be after acetabular cup is installed, give surgeon provide a grip point, facilitate surgeon unload connecting rod3；4, the calibration point 8 at 3 tail end of connecting rod, the main function of calibration point 8 is to provide a position mark point, for calculating hipThe fitting depth of mortar cup；5, positioned at the executive item connection structure 32 of 3 tail end of connecting rod, the main function of executive item connection structure 32 isOne interface for installing and uninstalling acetabular cup is provided；6,3 shaft of connecting rod, in the present embodiment, 3 shaft of connecting rod is entirely aluminium alloyMade of material.
First acetabular bone polishing connecting rod is installed on sleeve 1 at the time of surgery, acetabular bone sanding operation is implemented, has polished to acetabular boneCheng Hou, then acetabular bone polishing connecting rod is removed from sleeve 1, and load onto acetabular cup installing connecting rods, acetabular cup installation operation is implemented,In two different surgical procedures, by the different connecting rod 3 of quick-replaceable, it can simplify the cumbersome degree of operation, shorten operating time.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention specifically designs not by aforesaid wayLimitation, if use the improvement for the various unsubstantialities that conception and technical scheme of the invention carry out, or it is not improved willConception and technical scheme of the invention directly apply to other occasions, within the scope of the present invention.