CN106377318B - Minimally invasive spine surgical robot realizes the concatenated Three Degree Of Freedom mechanism of spatial movement - Google Patents

Abstract

Minimally invasive spine surgical robot realizes the concatenated Three Degree Of Freedom mechanism of spatial movement, the present invention relates to the concatenated Three Degree Of Freedom mechanisms of spatial movement, the present invention needs the position and the posture that are once accurately positioned several backbone intercepts to solve robot in prior art minimally invasive spine surgical, there is larger the problem of requiring to robot working space, it includes mechanical arm pedestal, feeding rotary joint and pitching joint, feeding rotary joint is inserted on mechanical arm pedestal, and pitching joint is mounted on the output end of feeding rotary joint.The invention belongs to medical robot fields.

Description

A three-degree-of-freedom mechanism for spatial motion serialization of a robot for minimally invasive spinal surgery

technical field

The invention relates to a three-degree-of-freedom mechanism for spatial movement in series, in particular to a three-degree-of-freedom mechanism for a spinal minimally invasive surgery robot to realize spatial movement in series, and belongs to the field of medical robots.

Background technique

Traditional minimally invasive spinal surgery is achieved by relying on the doctor's rich experience and multiple X-ray machine photographs, which not only has high requirements for the doctor's skills, but also brings serious radiation to doctors and patients due to multiple X-ray machine photographs . More and more domestic and foreign experts and scholars are beginning to study robots to assist doctors in surgery. Robots need to accurately locate the positions and postures of several spinal segments at a time, so there is a greater requirement for the robot's work space. Therefore, it is necessary to provide surgical robots with the ability to Three-degree-of-freedom mechanism for changing different end-surgical tools.

Contents of the invention

In order to solve the problem that the robot needs to accurately locate the positions and postures of several spinal sections at one time in the minimally invasive spinal surgery in the prior art, the present invention has a relatively large requirement for the working space of the robot, and further provides a minimally invasive spinal surgery robot that realizes spatial movement in series Three degrees of freedom mechanism.

The technical solution adopted by the present invention to solve the above-mentioned problems is: it includes a mechanical arm base, a feed rotary joint and a pitch joint, the feed rotary joint is inserted on the mechanical arm base, and the pitch joint is installed on the output of the feed rotary joint. serve.

The beneficial effects of the present invention are:

1. In the present invention, the installation grooves 3-9 of the pitch joint 3 can be installed with sensors, other modules and instruments, so that a surgical robot can realize multiple functions, and at the same time, the robot has the advantages of high operation accuracy and stability.

2. The three-degree-of-freedom mechanism of the present invention can accurately locate the positions and postures of several spinal sections at one time during spinal surgery. The present invention adopts a series form, which has the advantages of large working space, flexible movement, and accurate positioning posture, and meets the needs of spinal cords. Characteristics of clinical needs.

Description of drawings

Fig. 1 is a front view of the overall structure of the present invention, Fig. 2 is a view from A-A in Fig. 1, and Fig. 3 is a schematic diagram of the overall structure of the present invention.

Detailed ways

Specific Embodiment 1: This embodiment is described in conjunction with FIGS. 1-3 . The spinal minimally invasive surgery robot described in this embodiment realizes a three-degree-of-freedom mechanism in series with spatial movement, which includes a robotic arm base 1, a feed rotary joint 2 and The pitch joint 3 and the feed rotary joint 2 are inserted on the base 1 of the mechanical arm, and the pitch joint 3 is installed on the output end of the feed rotary joint 2 .

In this embodiment, the manipulator base 1 plays a supporting role, and can be connected with other mechanisms to expand the degree of freedom.

Specific embodiment two: this embodiment is described in conjunction with Fig. 1-Fig. A motor mounting plate 2-2, the first synchronous pulley 2-3, synchronous belt 2-4, feed block 2-5, precision ball screw ball spline shaft 2-6, the second synchronous pulley 2- 7. Ball screw part 2-8, precision ball screw ball spline mounting seat 2-9, ball spline part 2-10, first gear 2-11, linear bearing 2-12, travel shaft connection seat 2- 13. Stroke shaft connection expansion member 2-14, linear bearing gland 2-15, stroke shaft 2-16, pitch motor 2-17, second motor 2-18 and second gear 2-19, precision ball screw The ball spline mounting seat 2-9 is a circular sleeve, the stroke shaft 2-16 is a hollow shaft, the ball screw part 2-8 is installed on one end of the precision ball screw ball spline mounting seat 2-9, and the ball spline The other end of the key part 2-10 close to the precision ball screw ball spline mounting seat 2-9 is installed on the precision ball screw ball spline mounting seat 2-9, and the precision ball screw ball spline mounting seat 2-9 The other end is installed on one end of the mounting hole of the manipulator base 1, the linear bearing 2-12 is installed in the mounting hole of the manipulator base 1, and the linear bearing gland 2-15 is installed on the other end of the mounting hole of the manipulator base 1. On one end, one end of the stroke shaft 2-16 passes through the linear bearing gland 2-15 and is set in the linear bearing 2-12, the second synchronous pulley 2-7 is set close to the ball screw part 2-8, and the precision ball screw One end of the ball spline shaft 2-6 is installed on one end of the stroke shaft 2-16 in the linear bearing 2-12, and the other end of the precision ball screw ball spline shaft 2-6 passes through the first gear 2-11, The ball spline part 2-10 ball screw part 2-8 and the second synchronous pulley 2-7 are arranged, and the other end of the precision ball screw ball spline shaft 2-6 is installed with a feed block 2-5, The first motor mounting plate 2-2 is installed on the precision ball screw ball spline mounting seat 2-9 near the second synchronous pulley 2-7, and the first motor 2-1 is installed on the first motor mounting plate 2-2 , and a first synchronous pulley 2-3 is installed on the output shaft of the first motor 2-1, the first synchronous pulley 2-3 and the second synchronous pulley 2-7 are connected by a synchronous belt 2-4, and the second motor 2-18 is installed on the mechanical arm base 1 near the first gear 2-11, and the second gear 2-19 is installed on the output shaft of the second motor 2-18, and the second gear 2-19 is connected with the first gear 2-11 are meshed, and the pitch motor 2-17 is installed in the other end of the travel shaft 2-16, and the other components and connections are the same as those in Embodiment 1.

Specific embodiment three: This embodiment is described in conjunction with Fig. 1-Fig. 3. The spinal minimally invasive surgery robot described in this embodiment realizes a three-degree-of-freedom mechanism in series with spatial motion, and the pitch joint 3 includes a harmonic reducer 3-1, a transmission shaft 3-2. Pitch joint seat 3-3, first bevel gear 3-4, bearing group 3-5, second bevel gear 3-6, left connector 3-7 and right connector 3-8, transmission shaft 3 -2 is set in the pitch joint seat 3-3, the end of the bearing group 3-5 close to the drive shaft 3-2 is set on the drive shaft 3-2, and the harmonic reducer 3-1 is set on the other end of the drive shaft 3-2 On one end, the first bevel gear 3-4 is set on the transmission shaft 3-2, and the first bevel gear 3-4 is located between the bearing group 3-5 and the harmonic reducer 3-1, and the right connecting piece 3-8 One end of the bearing set 3-5 is installed on one end of the transmission shaft 3-2, one end of the left connecting piece 3-7 is installed on the harmonic reducer 3-1, and the other end of the left connecting piece 3-7 is connected to the right The other end of the piece 3-8 is fixedly connected to form a 'U' shape, and the connection between the left connecting piece 3-7 and the right connecting piece 3-8 is processed with a mounting groove 3-9, and the second bevel gear 3-6 is close to The first bevel gear 3-4 is arranged in the pitch joint seat 3-3, the output shaft of the pitch motor 2-17 is installed on the second bevel gear 3-6, and the second bevel gear 3-6 and the first bevel gear 3 -4 Engagement, other components and connections are the same as those in Embodiment 2.

working principle

In the present invention, the first motor 2-1 drives the ball screw part 2-8 to rotate through the first synchronous pulley 2-3, the synchronous belt 2-4 and the second synchronous pulley 2-7, and then passes the precision ball screw The lever ball spline shaft 2-6 drives the stroke shaft 2-16 to perform feed movement, and when the second motor 2-18 outputs, the ball spline part 2-10 is driven by the second gear 2-19 and the first gear 2-11 Rotate, and then drive the stroke shaft 2-16 to perform circular motion through the precision ball screw and ball spline shaft 2-6, when the first motor 2-1 and the second motor 2-18 output simultaneously through the precision ball screw and ball spline The shaft 2-6 drives the stroke shaft 2-16 to perform a spiral motion. In the present invention, the pitch joint 3 provides power output through the pitch motor 2-17, and the pitch motor 2-17 passes the second bevel gear 3-6, the first bevel gear 3- 4 and the transmission shaft 3-2 transmit power to the harmonic reducer 3-1 for deceleration and distance increase, and the harmonic reducer 3-1 drives the left connecting piece 3-7 and the right connecting piece 3-8 to do pitching motion, and then Reach the object of the present invention.

Claims (2)

1. The three-degree-of-freedom mechanism of the robot for minimally invasive surgery of the spine to realize spatial movement in series, is characterized in that: it includes a mechanical arm base (1), a feed rotary joint (2) and a pitch joint (3); the feed rotary joint ( 2) Including the first motor (2-1), the first motor mounting plate (2-2), the first timing pulley (2-3), the timing belt (2-4), the feed block (2-5 ), precision ball screw ball spline shaft (2-6), second timing pulley (2-7), ball screw part (2-8), precision ball screw ball spline mounting seat (2-9 ), ball spline part (2-10), first gear (2-11), linear bearing (2-12), travel shaft connection seat (2-13), travel shaft connection expansion member (2-14) , linear bearing gland (2-15), travel shaft (2-16), pitch motor (2-17), second motor (2-18) and second gear (2-19), feed rotary joint ( 2) Inserted on the base (1) of the mechanical arm, the pitch joint (3) is installed on the output end of the feed rotary joint (2); the precision ball screw ball spline mounting seat (2-9) is circular The sleeve, the stroke shaft (2-16) is a hollow shaft, the ball screw part (2-8) is installed on one end of the precision ball screw ball spline mounting seat (2-9), the ball spline part (2- 10) Install the other end close to the ball spline mounting seat (2-9) of the precision ball screw on the ball spline mounting seat (2-9) of the precision ball screw, and the ball spline mounting seat (2-9) of the precision ball screw The other end of -9) is installed on one end of the mounting hole of the manipulator base (1), the linear bearing (2-12) is installed in the mounting hole of the manipulator base (1), and the linear bearing gland (2-15) Installed on the other end of the installation hole of the base of the mechanical arm (1), one end of the stroke shaft (2-16) passes through the linear bearing gland (2-15) and is set in the linear bearing (2-12), and the second synchronous The pulley (2-7) is set close to the ball screw part (2-8), and one end of the ball spline shaft (2-6) of the precision ball screw is connected and tightened by the travel shaft connection seat (2-13) and the travel shaft Part (2-14) is installed on one end of the stroke shaft (2-16) in the linear bearing (2-12), and the other end of the precision ball screw ball spline shaft (2-6) passes through the first gear ( 2-11), the ball spline part (2-10), the ball screw part (2-8) and the second synchronous pulley (2-7) are set, and the precision ball screw ball spline shaft (2-6 ) is installed with a feed block (2-5), and the first motor mounting plate (2-2) is installed on the precision ball screw ball spline mounting seat (2-2) close to the second synchronous pulley (2-7) -9), the first motor (2-1) is installed on the first motor mounting plate (2-2), and the first synchronous pulley (2-3) is installed on the output shaft of the first motor (2-1) ), the first synchronous pulley (2-3) and the second synchronous pulley (2-7) are connected by a synchronous belt (2-4), and the second motor (2-18) is close to the first gear (2-11) Mounted on the robotic arm on the base (1), and the second gear (2-19) is installed on the output shaft of the second motor (2-18), and the second gear (2-19) meshes with the first gear (2-11) , pitching motor (2-17) is installed in the other end of stroke shaft (2-16). 2. According to claim 1, the minimally invasive surgery robot for spine realizes a three-degree-of-freedom mechanism for spatial motion in series, wherein the pitch joint (3) includes a harmonic reducer (3-1), a drive shaft (3-2) , pitch joint seat (3-3), first bevel gear (3-4), bearing set (3-5), second bevel gear (3-6), left connecting piece (3-7) and right connecting piece (3-8), the transmission shaft (3-2) is set in the pitch joint seat (3-3), and the end of the bearing group (3-5) close to the transmission shaft (3-2) is sleeved on the transmission shaft (3-2 ), the harmonic reducer (3-1) is set on the other end of the drive shaft (3-2), the first bevel gear (3-4) is set on the drive shaft (3-2), and the first bevel The gear (3-4) is located between the bearing set (3-5) and the harmonic reducer (3-1), and one end of the left connecting piece (3-7) is installed on the drive shaft ( 3-2), one end of the right connector (3-8) is installed on the harmonic reducer (3-1), the other end of the left connector (3-7) and the right connector (3-8 The other end of ) is fixedly connected to form a 'U'-shaped piece, and the connection between the left connecting piece (3-7) and the right connecting piece (3-8) is processed with a mounting groove (3-9), and the second bevel gear ( 3-6) It is arranged in the pitch joint seat (3-3) close to the first bevel gear (3-4), and the output shaft of the pitch motor (2-17) is installed on the second bevel gear (3-6), and The second bevel gear (3-6) meshes with the first bevel gear (3-4).