阅读说明：本技术 一种医用手术机器人及其可微调定位的工具端 (Medical surgical robot and tool end capable of finely adjusting and positioning ) 是由 张元智 王少白 刘刚 兰天 陈冷 于 2019-09-20 设计创作，主要内容包括：本发明涉及一种医用手术机器人及其可微调定位的工具端,其中,工具端包括可往任意方向转动的万向转动装置,所述万向转动装置安装于机械臂末端；所述万向转动装置上设有手术通道；当预定手术路径与病患位置有细微差异时,调节所述万向转动装置,使所述手术通道对准待手术部位,解决现有技术中当手术机器人的光学定位跟踪系统完成自动定位后,病人或病床有轻微移动时,需要再次定位,进而造成定位时间过长的技术问题。(the invention relates to a medical surgical robot and a tool end capable of fine-tuning and positioning, wherein the tool end comprises a universal rotating device capable of rotating in any direction, and the universal rotating device is arranged at the tail end of a mechanical arm; an operation channel is arranged on the universal rotating device; when the preset operation path is slightly different from the position of a patient, the universal rotating device is adjusted to enable the operation channel to be aligned to the position to be operated, and the technical problem that in the prior art, after the optical positioning and tracking system of the operation robot completes automatic positioning, the patient or a sickbed slightly moves, the patient or the sickbed needs to be positioned again, and then the positioning time is too long is solved.)

1. A tool end capable of fine adjustment and positioning of a medical surgical robot is characterized by comprising a universal rotating device capable of rotating in any direction, wherein the universal rotating device is arranged at the tail end of a mechanical arm;

An operation channel is arranged on the universal rotating device;

when the preset operation path is slightly different from the position of the patient, the universal rotating device is adjusted to enable the operation channel to be aligned to the position to be operated.

2. the tool end of a medical surgical robot capable of fine adjustment positioning as claimed in claim 1, wherein the universal rotation device comprises a universal ball, and the universal ball is mounted at the tail end of the mechanical arm through a guide sleeve;

The operation channel is arranged on the universal ball, the universal ball can be movably arranged in the guide sleeve, and the universal ball can be fixed in the guide sleeve through a threaded fastener or a locking piece.

3. the tool end of claim 2, wherein the guide sleeve has a threaded hole formed in a side wall thereof, and the locking member is inserted through the threaded hole and faces the ball, so that the ball can be locked in the guide sleeve by the locking member when the surgical passage on the ball is aligned with the surgical site.

4. the tool end of a medical surgical robot capable of fine adjustment and positioning as claimed in claim 2, wherein the guide sleeve comprises a left half shell and a right half shell, an arc groove matched with the universal ball is respectively arranged on the relative positions of the left half shell and the right half shell, and the two arc grooves are connected through a threaded fastener to form the guide sleeve for accommodating the universal ball;

when the threaded fastener is screwed down, the two arc-shaped grooves clamp the universal ball to prevent the universal ball from rotating; when the threaded fastener is unscrewed, the universal ball can rotate in the two arc-shaped grooves.

5. a medical surgical robot tool end capable of fine adjustment positioning as claimed in claim 2, wherein the universal ball is a hollow ball shell.

6. The tool end capable of fine adjustment and positioning of a medical surgical robot as claimed in claim 5, wherein the universal ball comprises a first hemispherical shell and a second hemispherical shell, a core rod is fixedly arranged in the first hemispherical shell, the core rod is axially provided with the surgical channel, and the surgical channel penetrates through the first hemispherical shell and the second hemispherical shell.

7. A finely positionable tool end of a medical surgical robot as recited in claim 1, wherein said universal swivel means comprises a swivel body, said surgical channel opening in said swivel body, said swivel body being disposed at a distal end of said robotic arm by a universal joint.

8. The tool end of claim 7, wherein the universal joint comprises a shaft head and a shaft sleeve adapted to the shaft head, the shaft sleeve is fixed to the end of the robotic arm, and the shaft head is rotatably disposed within the shaft sleeve;

The rotating body is fixedly arranged at one end of the shaft, and the shaft head is fixedly arranged at the other end of the shaft;

the shaft head can be fastened in the shaft sleeve through a locking piece;

when the locking piece is screwed down, the shaft head is fixed in the shaft sleeve; when the locking piece is unscrewed, the shaft head can rotate in the guide sleeve.

9. A medical surgical robot comprising a fine-positionable tool end according to any of claims 1 to 8.

10. a medical surgical robot, characterized in that the robot is an orthopaedic surgical robot comprising a tool end that can be fine-positioned according to any of claims 1 to 8.

Technical Field

The invention relates to a medical surgical robot, in particular to a medical surgical robot and a tool end capable of fine adjustment and positioning.

Background

Medical surgical robots are increasingly popular. The surgical robot can provide accurate positioning and powerful support, and avoid the influence of the surgeon caused by fatigue, arm vibration and other reasons during the operation, thereby improving the precision and safety of the operation.

Surgical robots, particularly orthopaedic surgical robots, are generally divided into three parts: the optical positioning and tracking system realizes the navigation function; secondly, a mechanical arm host; and thirdly, the main control trolley is used for operation planning. When the operation is started, the robot scans the affected part through an imaging device, such as an X-ray machine, medical images are obtained, a doctor finishes operation planning on a robot main control trolley, an operation path is determined, and then the mechanical arm can automatically find the position of the operation path. The tail end of the mechanical arm is provided with a tool end, and an operation channel is provided on the tool end.

When the optical positioning and tracking system of the surgical robot completes automatic positioning and the patient or the sickbed slightly moves, the patient or the sickbed needs to be positioned again, so that the positioning time is too long. At present, an operation channel at a tool end is fixed at the tail end of a mechanical arm and cannot be finely adjusted.

Disclosure of Invention

The invention aims to provide a medical surgical robot and a tool end capable of fine-tuning and positioning, and aims to solve the technical problem that in the prior art, when an optical positioning and tracking system of the surgical robot completes automatic positioning and a patient or a sickbed slightly moves, the positioning needs to be performed again, and further the positioning time is too long.

In order to solve the problems, the invention provides a tool end capable of fine adjustment and positioning for a medical surgical robot, which comprises a universal rotating device capable of rotating in any direction, wherein the universal rotating device is arranged at the tail end of a mechanical arm;

An operation channel is arranged on the universal rotating device;

When the preset operation path is slightly different from the position of the patient, the universal rotating device is adjusted to enable the operation channel to be aligned to the position to be operated.

Preferably, the universal rotating device comprises a universal ball, and the universal ball is mounted at the tail end of the mechanical arm through a guide sleeve;

The operation channel is arranged on the universal ball, the universal ball can be movably arranged in the guide sleeve, and the universal ball can be fixed in the guide sleeve through a threaded fastener or a locking piece.

Preferably, a threaded hole is formed in the side wall of the guide sleeve, the locking member penetrates through the threaded hole and faces the universal ball, and when an operation channel on the universal ball is aligned to a part to be operated, the universal ball can be locked in the guide sleeve through the locking member.

preferably, the guide sleeve comprises a left half shell and a right half shell, the opposite positions of the left half shell and the right half shell are respectively provided with an arc-shaped groove matched with the universal ball, and the two arc-shaped grooves are connected through a threaded fastener to form the guide sleeve for accommodating the universal ball;

When the threaded fastener is screwed down, the two arc-shaped grooves clamp the universal ball to prevent the universal ball from rotating; when the threaded fastener is loosened, the universal ball can rotate in the two arc-shaped grooves.

Preferably, the universal ball is a hollow ball shell.

preferably, the universal ball comprises a first hemispherical shell and a second hemispherical shell, a core rod is fixedly arranged in the first hemispherical shell, the operation channel is axially arranged in the core rod, and the operation channel penetrates through the first hemispherical shell and the second hemispherical shell.

Preferably, the universal rotating device comprises a rotating body, the operation channel is arranged on the rotating body, and the rotating body is arranged at the tail end of the mechanical arm through a universal joint.

Preferably, the universal joint comprises a shaft head and a shaft sleeve matched with the shaft head, the shaft sleeve is fixed at the tail end of the mechanical arm, and the shaft head is rotatably arranged in the shaft sleeve;

The rotating body is fixedly arranged at one end of the shaft, and the shaft head is fixedly arranged at the other end of the shaft;

The shaft head can be fastened in the shaft sleeve through a locking piece;

When the locking piece is screwed down, the shaft head is fixed in the shaft sleeve; when the locking piece is unscrewed, the shaft head can rotate in the guide sleeve.

The invention also provides a medical surgical robot, which comprises the tool end capable of being finely positioned according to the embodiment.

the invention also provides a medical surgical robot, which is an orthopedic surgical robot, and the orthopedic surgical robot comprises the tool end capable of fine-tuning and positioning.

compared with the prior art, the invention has the following technical effects:

in the invention, when the optical positioning tracking system of the surgical robot finishes automatic positioning, a patient or a sickbed slightly moves, or when the surgical robot breaks down, fine adjustment of a positioning angle can be manually realized through the universal transmission device, and the accurate positioning of a surgical channel is ensured.

Drawings

in order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts. In the drawings:

fig. 1 is a schematic structural diagram of a tool end of a medical surgical robot capable of fine-tuning positioning according to a preferred embodiment of the present invention;

Fig. 2 is a schematic structural diagram of an embodiment of a guide sleeve according to embodiment 1 of the present invention;

Fig. 3 is a schematic structural view of another embodiment of the guide sleeve according to embodiment 1 of the present invention;

FIG. 4 is a schematic diagram of a gimbaled ball according to a preferred embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a universal rotating apparatus according to embodiment 1 of the present invention.

Detailed Description

The medical surgical robot and the tool end capable of fine positioning provided by the present invention will be described in detail with reference to fig. 1 to 5, and this embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments, and those skilled in the art can modify and decorate the medical surgical robot within the scope of not changing the spirit and content of the present invention.

referring to fig. 1 to 5, a tool end of a medical surgical robot capable of fine-tuning positioning includes a universal rotation device 1 capable of rotating in any direction, wherein the universal rotation device 1 is installed at the end of a mechanical arm 4;

An operation channel 12 is arranged on the universal rotating device 1;

when the scheduled operation path is slightly different from the position of the patient, the universal rotating device 1 is adjusted to lead the operation channel 12 to be aligned with the position to be operated.

The present invention is not limited to the specific structure of the universal rotation device 1, and may be any structure that satisfies the requirement of universal rotation. Two specific embodiments of the universal swivel 1 will be described in detail below.