CN104323861A - Three-degree-of-freedom parallel serial joint plastic operation robot - Google Patents

Abstract

The invention provides a three-degree-of-freedom serial-parallel hybrid arthroplasty operation robot. It solves the problem of uneven doctor's operation level and low overall precision in the existing prosthetic joint replacement. The invention includes a workbench, on which a vertical mechanism and a horizontal mechanism are arranged, and a grinding and drilling mechanism is arranged on the horizontal mechanism, and there are two horizontal mechanisms respectively arranged on both sides of the vertical mechanism, and the vertical mechanism includes a vertical sliding table and a The vertical drive assembly, the horizontal mechanism includes a horizontal sliding table and a horizontal driving assembly, the two sides of the vertical sliding table are fixedly connected to the connecting arm, the outer end of the connecting arm is hinged on the corresponding side of the horizontal sliding table, and the horizontal mechanism extends the claw forward The front end of the arm and the claw arm is provided with a collar, and the collars on both sides of the horizontal mechanism are stacked up and down to form a connected sleeve hole. touch. In the present invention, the robot adopts a triangular structure to realize the precise stroke of the three-dimensional space trajectory, and improves the cutting precision of the bone articular surface.

Description

Three-degree-of-freedom serial-parallel hybrid arthroplasty robot

technical field

The invention belongs to the technical field of surgical instruments, and relates to a bone grinding operation in prosthetic joint replacement surgery, in particular to a three-degree-of-freedom series-parallel hybrid arthroplasty surgery robot.

Background technique

Artificial joint replacement refers to the use of metal, high molecular polyethylene, ceramics and other materials to make artificial joint prostheses according to the shape, structure and function of human joints, and implant them into the human body through surgical techniques to replace the function of diseased joints to achieve relief. Joint pain, the purpose of restoring joint function.

Artificial joint replacement requires high surgical skills for doctors. First of all, in addition to the resection of joint lesions, artificial joint replacement requires a deep understanding of the kinematics of the joint. Installing the artificial joint prosthesis at an accurate position can not only achieve good stability of the prosthesis, but also improve the stability of the prosthesis. Restore normal movement of joints. Secondly, a large number of tools and instruments will be used in artificial joint replacement. Doctors must master the design principles of tools and instruments and be familiar with the methods of use, which requires a lot of theoretical study and clinical practice. In my country, there is another characteristic, that is, when most patients seek joint replacement, the joint disease has reached an advanced stage, and there are severe joint deformities and bone defects. This requires doctors to have a solid theoretical foundation and rich clinical experience in order to flexibly handle complex situations that arise during surgery.

The biggest difficulty in arthroplasty is that it is necessary to grind the articular surface of the prosthesis in the correct position to ensure the fit between the prosthesis and the human bone, and the therapeutic effect depends heavily on the surgical accuracy. At present, the accuracy of artificial arthroplasty mainly depends on the doctor's experience, which undoubtedly increases the uncertainty of the operation and affects the installation accuracy of the prosthesis.

Contents of the invention

The purpose of the present invention is to solve the above-mentioned problems in the existing technology, and propose a three-degree-of-freedom string that realizes three-dimensional cutting and grinding operations of flat and vertical surfaces through mechanical cooperation, and realizes highly precise bone grinding effects through automatic machine actions. Parallel joint arthroplasty robot.

The purpose of the present invention can be achieved through the following technical solutions: a three-degree-of-freedom serial-parallel hybrid arthroplasty surgical robot, including a workbench, a vertical mechanism and a horizontal mechanism are set on the workbench, and a grinding and drilling mechanism is set on the horizontal mechanism There are two horizontal mechanisms, which are respectively arranged on both sides of the vertical mechanism. The vertical mechanism includes a vertical slide table and a vertical drive assembly that drives the vertical slide table up and down. The horizontal mechanism includes a horizontal slide table and a horizontal drive assembly that drives the translation of the horizontal sliding platform, the two sides of the vertical sliding platform are fixedly connected to the connecting arm, the outer end of the connecting arm is hinged on the horizontal sliding platform on the corresponding side, and the horizontal mechanism protrudes forward Claw arm, the front end of the claw arm is provided with a collar, and the collars of the horizontal mechanisms on both sides are stacked up and down to form a connected sleeve hole. The grinding and drilling mechanism is connected in the sleeve hole, and the inner wall of the sleeve hole and The outer wall of the grinding and drilling mechanism forms a sliding contact.

In this three-degree-of-freedom serial-parallel hybrid arthroplasty robot, the connecting arm includes two upper and lower parallel rods. The bearing is connected under the horizontal slide table, and the upper and lower hinge points are located on a vertical line. The connecting arms on both sides of the vertical sliding table are arranged in an up-and-down dislocation, so that the two horizontal mechanisms connected by the connecting arms have an up-and-down dislocation, and when the two extend forward and intersect at one point, they overlap without interfering. The connecting arms on both sides of the vertical sliding table in the vertical mechanism form a triangular structure with the two horizontal sliding tables. bits form two parallel degrees of freedom. In this way, the combination of the lifting of the vertical mechanism and the translation of the horizontal mechanism can achieve any position adjustment in three-dimensional space, and finally realize the bone cutting operation of the grinding and drilling mechanism according to a given trajectory. The completely symmetrical parallel mechanism has better isotropy and is always a rigid triangular mechanism with high rigidity and large bearing capacity, which is suitable for bone grinding occasions that require large cutting force.

In the aforementioned three-degree-of-freedom series-parallel hybrid arthroplasty surgical robot, the drill-grinding mechanism includes a drill-mill motor and a drill-mill support frame, and the drill-mill motor and the drill-mill support frame are connected through a motor base, and the The rotating shaft of the drill motor extends into the drill support frame and is fixedly connected with a drill shaft. A drill bearing is sleeved between the drill shaft and the support frame. A cutting head is fixed inside the drill shaft. The cutting head protrudes from the drill support frame. The cutting head is inserted into the drill shaft from the tail end, and the top wire is inserted into the outer wall of the drill shaft, and the top wire is perpendicular to the cutting head, so that the cutting head and the drill shaft are integrally fixed.

In the above-mentioned three-degree-of-freedom serial-parallel hybrid arthroplasty robot, the drill support frame includes a cylinder holder, the outer periphery of the cylinder holder is sleeved with a protective sleeve, and the center of the cylinder holder is provided with an assembly hole. Both the milling drill bearing and the milling drill shaft are arranged in the assembling hole, a positioning sleeve is installed between one end of the barrel frame and the motor seat, and an end cover is installed at the other end. There are two drill bearings in total, and one drill bearing is sleeved on each end of the drill shaft, and the rotation and positioning of the two ends are installed to improve the stability of the drill shaft rotation. The two ends of the bobbin frame are all fixedly installed with the motor seat or the end cover by screws.

In the above-mentioned three-DOF series-parallel hybrid arthroplasty robot, the vertical drive assembly includes a vertical rod frame, and a vertical motor, a vertical screw and at least one vertical guide rail are arranged on the vertical rod frame , the vertical motor is driven to connect the vertical screw, and vertical bearings are sleeved between the two ends of the vertical screw and the vertical rod frame, and vertical screw holes and vertical slide holes are provided on the vertical slide table , the vertical screw hole is pierced with a vertical nut, and the vertical nut is sleeved on the vertical screw rod to form a threaded connection, and the vertical sliding hole is pierced with a vertical guide cylinder, and the vertical guide slide The sleeve forms a sliding connection on the vertical rail. In this embodiment, two vertical guide rails are used, and the two vertical guide rails are respectively located on both sides of the vertical screw rod. Through the socket cooperation of the vertical slide table, the vertical screw rod and the vertical guide rail, under the drive of the vertical motor, the rotation of the vertical screw rod is converted into the lifting motion of the vertical slide table.

In the above-mentioned three-degree-of-freedom serial-parallel hybrid arthroplasty robot, vertical limit sensors are set at the upper and lower positions of the vertical rod frame, and vertical trigger blocks are set at the upper and lower positions of the vertical slide table, so that The vertical limit sensor is electronically connected to the vertical motor, and the vertical trigger flap touches the vertical limit sensor driven by the lifting of the vertical sliding table, and the vertical limit sensor controls the vertical position through the electric signal. The motor stops. The upper and lower vertical limit sensors are installed on the inner side of any vertical rod, and the upper and lower vertical trigger flaps of the vertical slide are installed on the same side, so that during the lifting operation of the vertical slide, once the vertical When the straight slide table reaches the upper limit position or the lower limit position, the vertical trigger block at the corresponding position will touch the vertical limit sensor, so that the vertical motor stops, and the vertical slide table stops moving, which is beneficial to the safety of the stroke.

In the above-mentioned three-degree-of-freedom serial-parallel hybrid joint arthroplasty robot, the vertical rod frame includes two vertical rods on both sides, the bottom of the vertical rods is provided with a mounting base, and the upper parts of the two vertical rods are fixedly connected to each other. The support plate, the lower support plate is fixedly connected between the lower parts, the vertical motor is installed on the upper support plate, the vertical driving pulley is sleeved on the drive shaft of the vertical motor, and the end of the vertical screw rod is sleeved Connect the vertical driven pulley, and the outer circumference of the vertical driving pulley and the vertical driven pulley is connected with a vertical synchronous belt. The two ends of the vertical screw rod and the vertical guide rail are installed on the upper support plate and the lower support plate respectively. The two vertical rods are fixedly connected with the upper support plate and the lower support plate by screws. Mounting holes are provided on the mounting base at the bottom of the pole, and bolts are inserted into the mounting holes to form a fixed connection with the workbench. Reinforcing ribs are arranged on both sides of the vertical rod, thereby improving the strength and stability of the vertical rod frame on the workbench.

In the above-mentioned three-DOF series-parallel hybrid arthroplasty robot, the horizontal driving assembly includes a horizontal rod frame, and a horizontal motor, a horizontal screw and at least one horizontal guide rail are arranged on the horizontal rod frame, and the horizontal The motor drives and connects the horizontal screw, and horizontal bearings are sleeved between both ends of the horizontal screw and the horizontal rod frame. Horizontal screw holes and horizontal sliding holes are provided on the horizontal slide table, and horizontal nuts are inserted into the horizontal screw holes. , the horizontal nut is sleeved on the horizontal screw rod to form a threaded connection, the horizontal sliding hole is connected with a horizontal guide sleeve, and the horizontal guide sleeve is sleeved on the horizontal guide rail to form a sliding connection. In this embodiment, two horizontal guide rails are used, and the two horizontal guide rails are respectively located on both sides of the horizontal screw rod. Through the socket cooperation of the horizontal slide table, the horizontal screw, and the horizontal guide rail, under the drive of the horizontal motor, the rotation of the horizontal screw is converted into the translational movement of the horizontal slide table relative to the horizontal drive assembly, thereby driving the overall horizontal mechanism to do linear telescopic movement .

In the above-mentioned three-degree-of-freedom serial-parallel hybrid arthroplasty robot, horizontal limit sensors are set at the front and rear positions of the horizontal bar frame, horizontal trigger blocks are set at the front and rear positions of the horizontal slide table, and the horizontal limit sensor The position sensor is electronically connected to the horizontal motor, and the horizontal trigger block touches the horizontal limit sensor driven by the translation of the horizontal slide table, and the horizontal limit sensor controls the horizontal motor to stop through an electric signal. The front and rear two horizontal limit sensors are installed on the inner side of any cross bar, and the front and rear two horizontal trigger blocks of the horizontal slide table are installed on the same side, so that during the translation operation of the horizontal slide table, once the horizontal slide table reaches At the front limit position or the rear limit position, the horizontal trigger block at the corresponding position will touch the horizontal limit sensor, so that the horizontal motor stops and the horizontal sliding table stops moving, which is beneficial to the safety of the stroke.

In the above-mentioned three-degree-of-freedom serial-parallel hybrid arthroplasty robot, the horizontal bar frame includes two cross bars located on the upper and lower sides, the front ends of the two cross bars are fixedly connected to the front support plate, and the rear ends of the two cross bars are fixedly connected to each other. Connected to the rear support plate, the horizontal motor is installed on the rear support plate, the drive shaft of the horizontal motor is sleeved with a horizontal driving pulley, the end of the horizontal screw is sleeved with a horizontal driven pulley, and the horizontal driving The outer circumference of the pulley and the horizontal driven pulley is connected with a horizontal synchronous belt. The two ends of the horizontal screw rod and the horizontal guide rail are installed on the front support plate and the rear support plate respectively. The two cross bars are connected with the front support plate and the rear support plate by screws.

In the aforementioned three-degree-of-freedom serial-parallel hybrid arthroplasty surgical robot, the workbench includes an equipment area and an operation area that are combined, the vertical mechanism and the horizontal mechanism are installed in the equipment area, and the grinding and drilling mechanism passes through The claw arms extend above the surgical field.

Compared with the prior art, this three-degree-of-freedom serial-parallel hybrid arthroplasty robot has the following advantages:

1. The series-parallel hybrid mechanism of the present invention has a compact structure, and the completely symmetrical parallel mechanism has better isotropy, and is always a rigid triangular mechanism, with high rigidity and large bearing capacity, and is suitable for bone grinding that requires a large cutting force Occasion: The linear series mechanism has no cumulative error, high precision, flexible operation, smooth operation, strong stability, large working space, high safety, and realizes three-degree-of-freedom movement in the joint replacement surgery space.

2. The present invention can achieve minimal surgical damage, improve the accuracy and quality of disease diagnosis and surgical treatment, improve surgical safety, shorten treatment time, and reduce medical costs; at the same time, it can reduce the work intensity of doctors and improve the work efficiency of doctors , avoiding the harm caused by X-rays to doctors, and also reducing the pain of patients, shortening the recovery time, and reducing the incidence of complications.

Description of drawings

Fig. 1 is a front structural view of the three-degree-of-freedom serial-parallel hybrid arthroplasty robot.

Fig. 2 is a top view structure diagram of the three-degree-of-freedom serial-parallel hybrid arthroplasty robot.

Fig. 3 is a side view structure diagram of the three-degree-of-freedom serial-parallel hybrid arthroplasty robot.

Fig. 4 is a structural diagram of the vertical mechanism in the three-degree-of-freedom serial-parallel hybrid arthroplasty robot.

Fig. 5 is a structural diagram of the horizontal mechanism in the three-degree-of-freedom serial-parallel hybrid arthroplasty robot.

Fig. 6 is a structural diagram of the grinding and drilling mechanism in the three-degree-of-freedom serial-parallel hybrid arthroplasty robot.

In the figure, 1, workbench; 2, vertical mechanism; 201, vertical rod; 202, mounting seat; 203, upper support plate; 204, lower support plate; 205, vertical motor; 206, vertical driving pulley; 207, vertical synchronous belt; 208, vertical driven pulley; 209, vertical bearing; 210, vertical screw rod; 211, vertical nut; 212, vertical guide rail; 213, vertical guide slide cylinder; 214, Vertical slide table; 215, vertical limit sensor; 216, vertical trigger block; 3, connecting arm; 4, horizontal mechanism; 401, cross bar; 402, front support plate; 403, rear support plate; 404, Horizontal motor; 405, horizontal driving pulley; 406, horizontal synchronous belt; 407, horizontal driven pulley; 408, horizontal bearing; 409, horizontal screw; 410, horizontal nut; 411, horizontal guide rail; 412, horizontal guide slide ; 413, horizontal slide table; 414, horizontal limit sensor; 415, horizontal trigger block; 5, grinding and drilling mechanism; 501, grinding and drilling motor; 502, motor seat; 503, positioning sleeve; Protective sleeve; 506, grinding drill bearing; 507, grinding drill shaft; 508, top wire; 509, end cover; 510, cutting head; 6, reinforcing rib.

Detailed ways

The following are specific embodiments of the present invention and in conjunction with the accompanying drawings, the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.

As shown in Figures 1 to 6, the three-degree-of-freedom serial-parallel hybrid arthroplasty robot includes a workbench 1, on which a vertical mechanism 2 and a horizontal mechanism 4 are arranged, and on the horizontal mechanism 4, a grinding and drilling mechanism 5 is arranged. The workbench 1 includes a combined equipment area and an operation area, a vertical mechanism 2 and a horizontal mechanism 4 are installed in the equipment area, and a grinding and drilling mechanism 5 extends above the operation area through a claw arm.

There are two horizontal mechanisms 4, which are respectively arranged on both sides of the vertical mechanism 2. The vertical mechanism 2 includes a vertical slide 214 and a vertical drive assembly that drives the vertical slide 214 to lift. The horizontal mechanism 4 includes a horizontal slide 413. and the horizontal drive assembly that drives the translation of the horizontal sliding table 413, the two sides of the vertical sliding table 214 are fixedly connected to the connecting arm 3, the outer end of the connecting arm 3 is hinged on the horizontal sliding table 413 on the corresponding side, and the horizontal mechanism 4 protrudes forward The claw arm, the front end of the claw arm is provided with a collar, and the collars of the horizontal mechanism 4 on both sides are stacked up and down to form a connected sleeve hole. The grinding and drilling mechanism 5 is connected in the sleeve hole. The outer walls form a sliding contact.

The vertical drive assembly includes an upright rod frame, and the upright rod frame includes two upright rods 201 located on both sides. The bottom of the upright rods 201 is provided with a mounting seat 202, and a mounting hole is opened on the mounting seat 202, and the bolt penetrates into the mounting hole and the workbench 1 Form a fixed assembly. Reinforcing ribs 6 are provided on both sides of the vertical rod 201 , thereby improving the strength and stability of the vertical rod frame on the workbench 1 . The upper support plate 203 is fixedly connected between the upper parts of the two vertical rods 201, and the lower support plate 204 is fixedly connected between the lower parts, and the two vertical rods 201, the upper support plate 203 and the lower support plate 204 are all assembled by screws.

A vertical motor 205 is installed on the upper support plate 203, a vertical screw rod 210 and two vertical guide rails 212 are also installed between the upper support plate 203 and the lower support plate 204, and the two vertical guide rails 212 are respectively located in the vertical Both sides of the screw 210. The vertical driving pulley 206 is socketed on the drive shaft of the vertical motor 205, the vertical driven pulley 208 is socketed on the end of the vertical screw rod 210, and the outer circumference of the vertical driving pulley 206 and the vertical driven pulley 208 Attach the vertical timing belt 207. The two ends of the vertical screw rod 210 and the vertical guide rail 212 are installed on the upper support plate 203 and the lower support plate 204 respectively, wherein the two ends of the vertical screw rod 210 are sleeved with vertical bearings 209, and the two vertical bearings 209 are installed respectively on the upper support plate 203 or the lower support plate 204 .

Vertical screw holes and vertical slide holes are provided on the vertical slide table 214, vertical nuts 211 are connected in the vertical screw holes, and the vertical nuts 211 are sleeved on the vertical screw rod 210 to form threaded connections; Connect to the vertical sliding guide cylinder 213, and the vertical sliding guide cylinder 213 is sleeved on the vertical guide rail 212 to form a sliding connection. The rotation of the vertical screw 210 is transformed into the lifting motion of the vertical slide 214 through the socket cooperation of the vertical slide 214 with the vertical screw 210 and the vertical guide rail 212 , driven by the vertical motor 205 .

Vertical limit sensors 215 are arranged at the upper and lower positions of the vertical rod frame, and vertical trigger stoppers 216 are arranged at the upper and lower positions of the vertical slide table 214. The vertical limit sensor 215 is electronically connected to the vertical motor 205, and the vertical trigger stoppers The sheet 216 touches the vertical limit sensor 215 driven by the lifting of the vertical sliding table 214, and the vertical limit sensor 215 controls the vertical motor 205 to stop by an electric signal. Two vertical limit sensors 215 up and down are installed on the inner side of any vertical rod 201, and two vertical trigger catches 216 up and down of the vertical slide table 214 are installed on the same side, thus making the lifting of the vertical slide table 214 In operation, once the vertical sliding table 214 reaches the upper limit position or the lower limit position, the vertical trigger block 216 at the corresponding position will touch the vertical limit sensor 215, so that the vertical motor 205 stops, and the vertical sliding table 214 stops Exercise is conducive to the safety of the journey.

Connecting arm 3 comprises two parallel rods up and down, and the inner ends of two parallel rods are all fixed on the side of vertical slide table 214; The outer ends of the parallel rods are connected below the horizontal slide table 413 through steering bearings, and the upper and lower hinge points are located on a vertical line. The connecting arms 3 on both sides of the vertical slide 214 are vertically misaligned, so that the two horizontal mechanisms 4 connected by the connecting arms 3 have an up-down misalignment.

The horizontal driving assembly includes a horizontal rod frame, which includes two cross bars 401 located on the upper and lower sides, the front ends of the two cross bars 401 are fixedly connected with a front support plate 402 , and the rear ends of the two cross bars 401 are fixedly connected with a rear support plate 403 . The two cross bars 401, the front support plate 402 and the rear support plate 403 are all fixedly connected and assembled by screws. Horizontal motor 404 is installed on the rear support plate 403, a horizontal screw rod 409 and two horizontal guide rails 411 are set between the front support plate 402 and the rear support plate 403, and the two horizontal guide rails 411 are positioned at both sides of a horizontal screw rod 409. The drive shaft of the horizontal motor 404 is socketed with a horizontal driving pulley 405, the end of the horizontal screw rod 409 is socketed with a horizontal driven pulley 407, and the outer circumference of the horizontal driving pulley 405 and the horizontal driven pulley 407 is connected with a horizontal synchronous belt 406. The two ends of the horizontal screw 409 and the horizontal guide rail 411 are installed on the front support plate 402 and the rear support plate 403 respectively, wherein both ends of the horizontal screw 409 are socketed with horizontal bearings 408, and the two horizontal bearings 408 are respectively installed on the front support plate 402 Or on the rear support plate 403.

A horizontal screw hole and a horizontal sliding hole are provided on the horizontal sliding table 413, and a horizontal nut 410 is connected in the horizontal screw hole, and the horizontal nut 410 is sleeved on the horizontal screw rod 409 to form a threaded connection. The sliding guide cylinder 412 is sleeved on the horizontal guide rail 411 to form a sliding connection. Through the socket cooperation of the horizontal sliding table 413, the horizontal screw 409 and the horizontal guide rail 411, under the drive of the horizontal motor 404, the rotation of the horizontal screw 409 is converted into the translational movement of the horizontal sliding table 413 relative to the horizontal driving assembly, thereby driving the whole Horizontal mechanism 4 does linear expansion and contraction motion.

Horizontal limit sensors 414 are arranged at the front and rear positions of the horizontal bar frame, and horizontal trigger stoppers 415 are all set at the front and rear positions of the horizontal slide table 413. Driven by the translation of 413, the horizontal limit sensor 414 is touched, and the horizontal limit sensor 414 controls the horizontal motor 404 to stop by an electric signal. Two front and rear horizontal limit sensors 414 are installed on the inner side of any cross bar 401, and the front and rear two horizontal trigger catches 415 of the horizontal slide table 413 are installed on the same side, so that in the translational operation of the horizontal slide table 413, Once the horizontal sliding table 413 reaches the front limit position or the rear limit position, the horizontal trigger block 415 at the corresponding position will touch the horizontal limit sensor 414, so that the horizontal motor 404 stops, and the horizontal sliding table 413 stops moving, which is beneficial to the safety of the stroke.

The grinding and drilling mechanism 5 includes a grinding and drilling motor 501 and a grinding and drilling support frame. The grinding and drilling motor 501 and the grinding and drilling support frame are connected by a motor seat 502. The shaft 507, the drill shaft 507 and the drill support frame are sleeved with a drill bearing 506, the drill shaft 507 is fixed with a cutting head 510, and the cutting head 510 extends out of the drill support frame. The cutting head 510 is inserted into the drill shaft 507 from the tail end, and the top wire 508 is inserted into the outer wall of the drill shaft 507, and the top wire 508 is perpendicular to the cutting head 510, thereby connecting the cutting head 510 to the drill shaft 507. form a solid body.

The drill support frame includes a cylinder holder 504, the outer circumference of the cylinder holder 504 is socketed with a protective sleeve 505, and the center of the cylinder holder 504 is provided with an assembly hole, and the drill bearing 506 and the drill shaft 507 are all arranged in the assembly hole, and the cylinder holder 504 A positioning sleeve 503 is installed between one end and the motor base 502, and an end cover 509 is installed at the other end. There are two grinding and drilling bearings 506, each of the two ends of the grinding and drilling shaft 507 is socketed with a grinding and drilling bearing 506, and the rotation positioning of the two ends is installed to improve the stability of the grinding and drilling shaft 507 rotation. The two ends of the cartridge holder 504 are fixedly installed with the motor base 502 or the end cover 509 by screws.

The operation method of this three-degree-of-freedom serial-parallel hybrid arthroplasty robot is as follows:

During the operation, the robot is installed on one side of the operating bed by the doctor, and the patient is placed on the bed. The robot can combine three-dimensional image navigation technology to determine the position of the cutting head 510 in the robot grinding and drilling mechanism 5 through image guidance, and the computer control system converts the preoperative grinding planning trajectory into a driving pulse to drive the vertical mechanism 2 and the two The servo motor of the horizontal mechanism 4, the servo motor converts the rotational motion into the linear motion of the ball nut along the ball screw through the belt transmission, as the input motion of the whole robot, the pose of the robot is constantly changing with the start time of each motor, Output the preoperative grinding planning trajectory to the motion trajectory of the cutting head 510 to complete bone resection on the motion trajectory. This robot solves the operation risk caused by relying on the doctor's experience, greatly reduces the doctor's work intensity, and thus improves the operation accuracy.

The vertical sliding table 214 or the horizontal sliding table 413 driven by the servo motor moves linearly along the guide rail, completing the vertical and plane linear driving functions of the grinding and drilling mechanism 5 . The counting zero point of the incremental encoder is set during the initialization process of the robot, and the positive and negative limits are set within the travel range of the vertical slide 214 or the horizontal slide 413 to ensure the safety of the robot. One of the two limit sensors plays the role of limit and zero setting, and the other only has the function of limit. The linear mechanism has no cumulative error, high precision, smooth operation, large working space and high safety, and can realize the required movement in the joint replacement surgery space.

The principle of the three-degree-of-freedom serial-parallel joint plastic surgery robot is as follows:

The connecting arms 3 on both sides of the vertical slide table 214 in the vertical mechanism 2 and the two horizontal slide tables 413 form a triangular structure, wherein the lifting adjustment of the vertical mechanism 2 forms a degree of freedom in series, and the two horizontal slide tables 413 The mutual translation and position adjustment of linear expansion and contraction form two parallel degrees of freedom. Thus, the combination of the lifting of the vertical mechanism 2 and the translation of the horizontal mechanism 4 can achieve arbitrary position adjustment in three-dimensional space, and finally realize the bone cutting operation of the grinding and drilling mechanism 5 according to a given trajectory. The completely symmetrical parallel mechanism has better isotropy and is always a rigid triangular mechanism with high rigidity and large bearing capacity, which is suitable for bone grinding occasions that require large cutting force.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention belongs can make various modifications or supplements to the described specific embodiments or adopt similar methods to replace them, but they will not deviate from the spirit of the present invention or go beyond the definition of the appended claims range.

Although this article has used workbench 1 more; Vertical mechanism 2; Vertical rod 201; Mounting base 202; 207; vertical driven pulley 208; vertical bearing 209; vertical screw rod 210; vertical nut 211; vertical guide rail 212; Vertical trigger catch 216; connecting arm 3; horizontal mechanism 4; cross bar 401; front support plate 402; rear support plate 403; Horizontal bearing 408; Horizontal screw rod 409; Horizontal nut 410; Horizontal guide rail 411; Motor base 502; positioning sleeve 503; barrel holder 504; protective sleeve 505; grinding drill bearing 506; grinding drill shaft 507; top wire 508; Possibility of other terms. These terms are used only for the purpose of describing and explaining the essence of the present invention more conveniently; interpreting them as any kind of additional limitation is against the spirit of the present invention.

Claims (10)

1. The three-degree-of-freedom serial-parallel hybrid arthroplasty robot includes a workbench, a vertical mechanism and a horizontal mechanism are set on the workbench, and a grinding and drilling mechanism is set on the horizontal mechanism. It is characterized in that the horizontal mechanism has a total of Two, respectively arranged on both sides of the vertical mechanism, the vertical mechanism includes a vertical slide table and a vertical drive assembly that drives the vertical slide table up and down, and the horizontal mechanism includes a horizontal slide table and drives the horizontal slide table to translate The horizontal drive assembly, the two sides of the vertical sliding table are fixedly connected to the connecting arm, the outer end of the connecting arm is hinged on the horizontal sliding table on the corresponding side, the horizontal mechanism extends the claw arm forward, and the claw The front end of the arm is provided with a collar, and the collars of the horizontal mechanisms on both sides are stacked up and down to form a connected sleeve hole. The grinding and drilling mechanism is connected in the sleeve hole, and the inner wall of the sleeve hole and the outer wall of the grinding and drilling mechanism form a sliding contact. 2. The three-degree-of-freedom serial-parallel hybrid arthroplasty surgical robot according to claim 1, wherein the grinding and drilling mechanism includes a grinding and drilling motor and a grinding and drilling support frame, and the grinding and drilling motor and the grinding and drilling support frame They are connected by a motor seat, the rotating shaft of the milling drill motor extends into the milling drill support frame and is fixedly connected with a mill drill shaft, and a mill drill bearing is sleeved between the mill drill shaft and the mill drill support frame. A cutting head is fixed inside the drill shaft, and the cutting head protrudes from the drill support frame. 3. The three-degree-of-freedom serial-parallel hybrid arthroplasty robot according to claim 2, wherein the drill support frame includes a cylinder holder, and a protective sleeve is sleeved on the periphery of the cylinder holder, and the cylinder The center of the frame is provided with an assembly hole, the drill bearing and the drill shaft are arranged in the assembly hole, a positioning sleeve is installed between one end of the barrel holder and the motor seat, and an end cover is installed at the other end. 4. The three-degree-of-freedom serial-parallel hybrid arthroplasty surgical robot according to claim 1, wherein the vertical drive assembly comprises a vertical rod frame on which a vertical motor, a vertical A straight screw and at least one vertical guide rail, the vertical motor is driven to connect the vertical screw, vertical bearings are sleeved between the two ends of the vertical screw and the vertical rod frame, and the vertical sliding table is set A vertical screw hole and a vertical sliding hole, the vertical screw hole is connected with a vertical nut, and the vertical nut is sleeved on the vertical screw rod to form a threaded connection, and the vertical sliding hole is connected with a vertical guide The sliding cylinder is sleeved on the vertical guide rail to form a sliding connection. 5. The three-degree-of-freedom series-parallel hybrid arthroplasty surgical robot according to claim 4, characterized in that vertical limit sensors are set at the upper and lower positions of the vertical rod frame, and the upper and lower positions of the vertical sliding table Vertical trigger flaps are all provided, and the vertical limit sensor is electronically connected to the vertical motor. The limit sensor controls the vertical motor to stop through the electric signal. 6. The three-degree-of-freedom serial-parallel hybrid arthroplasty surgical robot according to claim 4, wherein the vertical rod frame includes two vertical rods located on both sides, the bottom of the vertical rods is provided with a mounting base, and the two vertical rods The upper support plate is fixedly connected between the upper parts of the vertical poles, and the lower support plate is fixedly connected between the lower parts. The vertical motor is installed on the upper support plate, and the vertical driving pulley is sleeved on the drive shaft of the vertical motor. The end of the vertical screw rod is sleeved with a vertical driven pulley, and the outer periphery of the vertical driving pulley and the vertical driven pulley is connected with a vertical synchronous belt. 7. The three-degree-of-freedom series-parallel arthroplasty surgical robot according to claim 1, wherein the horizontal drive assembly comprises a horizontal rod frame on which a horizontal motor, a horizontal screw and At least one horizontal guide rail, the horizontal motor drives and connects the horizontal screw, the horizontal bearings are sleeved between the two ends of the horizontal screw and the horizontal rod frame, and the horizontal screw hole and the horizontal slide hole are provided on the horizontal slide table, The horizontal screw hole is pierced with a horizontal nut, and the horizontal nut is sleeved on the horizontal screw rod to form a threaded connection. The horizontal sliding hole is pierced with a horizontal guide sleeve, and the horizontal guide sleeve is sleeved on the horizontal guide rail to form a sliding connection. . 8. The three-degree-of-freedom serial-parallel hybrid joint arthroplasty robot according to claim 7, characterized in that horizontal limit sensors are set at the front and rear positions of the horizontal rod frame, and horizontal limit sensors are set at the front and rear positions of the horizontal slide table. The horizontal trigger block, the horizontal limit sensor is electronically connected to the horizontal motor, the horizontal trigger block touches the horizontal limit sensor driven by the translation of the horizontal slide table, and the horizontal limit sensor controls the horizontal motor through electrical signals shutdown. 9. The three-degree-of-freedom serial-parallel hybrid arthroplasty robot according to claim 7, wherein the horizontal bar frame includes two cross bars located on the upper and lower sides, and the front ends of the two cross bars are fixedly connected The front support plate is fixedly connected to the rear support plate between the rear ends. The horizontal motor is installed on the rear support plate. The drive shaft of the horizontal motor is sleeved with a horizontal driving pulley, and the end of the horizontal screw is sleeved with a horizontal The driven pulley, the horizontal driving pulley and the outer periphery of the horizontal driven pulley are connected with a horizontal synchronous belt. 10. The three-degree-of-freedom series-parallel arthroplasty surgical robot according to any one of claims 1 to 9, wherein the workbench includes a combined equipment area and an operation area, and the vertical mechanism The horizontal mechanism is installed in the equipment area, and the grinding and drilling mechanism extends to the top of the operation area through the claw arm.