CN211067011U - High-integration orthopaedic surgery robot - Google Patents
High-integration orthopaedic surgery robot Download PDFInfo
- Publication number
- CN211067011U CN211067011U CN201921873095.2U CN201921873095U CN211067011U CN 211067011 U CN211067011 U CN 211067011U CN 201921873095 U CN201921873095 U CN 201921873095U CN 211067011 U CN211067011 U CN 211067011U
- Authority
- CN
- China
- Prior art keywords
- control system
- robot
- subsection
- degree
- freedom
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012829 orthopaedic surgery Methods 0.000 title abstract description 13
- 238000003384 imaging method Methods 0.000 claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 238000012806 monitoring device Methods 0.000 claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims abstract description 16
- 230000010354 integration Effects 0.000 claims abstract description 11
- 238000005452 bending Methods 0.000 claims description 11
- 210000003141 lower extremity Anatomy 0.000 claims description 7
- 238000001356 surgical procedure Methods 0.000 abstract description 33
- 230000000399 orthopedic effect Effects 0.000 abstract description 30
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000002432 robotic surgery Methods 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 210000003423 ankle Anatomy 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000002082 fibula Anatomy 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000002601 radiography Methods 0.000 description 1
- 210000002303 tibia Anatomy 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The utility model discloses a high-integration orthopaedic surgery robot, which comprises a robot body, an imaging device, an actuating mechanism, a monitoring device, an operating table, a control system and a display screen, wherein the control system is arranged in the robot body; the image equipment is connected with the control system circuit; the monitoring equipment is in circuit connection with the control system; the actuating mechanism is fixed in the operation table and is in sliding connection with the operation table, the operation tool is installed on the actuating mechanism, and the actuating mechanism is in circuit connection with the control system. The utility model discloses a high integration orthopedic surgery robot, structural design is reasonable, and it has integrateed equipment such as image equipment, actuating mechanism and control system as an organic whole, has not only reduced the data transmission and the position switch between the different equipment, has greatly saved the operating room space, has optimized the operation work flow moreover, has reduced the operation degree of difficulty.
Description
Technical Field
The utility model relates to the technical field of medical equipment, concretely relates to high integration orthopedic surgery robot.
Background
In recent years, the orthopaedic surgical robot is widely applied to clinical use at home and abroad, and has the characteristics of high precision, micro-wound, rapidness and the like, so that the orthopaedic surgical robot not only becomes a powerful assistant for doctors at present, but also has more possibility for orthopaedic surgery in the future. The working principle of the existing orthopedic surgery robot is mainly based on a navigation technology, and is assisted by a multi-degree-of-freedom mechanical arm as an executing mechanism, and the operation guidance and operation are completed by matching with preoperative or intraoperative imaging equipment. Therefore, imaging devices (such as a C-arm), robots, operating tables, other monitoring and auxiliary devices, etc. are all necessary devices for robotic orthopedic surgery.
However, in the existing orthopaedic surgical robot, the robot is not only independent of the imaging device but also independent of the operating table, and various devices need to be connected with each other and work cooperatively. Because different devices are from different manufacturers and run under different operating systems, the problems of connection and switching among different devices are more, which not only causes the narrow operation space to be crowded, but also seriously affects the operation effect and the execution efficiency, and also seriously restricts the rapid development of the orthopaedic operation robot technology to a certain extent.
SUMMERY OF THE UTILITY MODEL
Therefore, the utility model provides a high integration orthopedic surgery robot to each equipment mutual independence such as image equipment, robot, operation table of solving among the prior art orthopedic surgery robot and the operation degree of difficulty that leads to is great, the lower problem of execution efficiency.
In order to achieve the above object, the present invention provides the following technical solutions:
the utility model provides a high-integration orthopaedic surgery robot, which comprises a robot body, an imaging device, an actuating mechanism, a monitoring device, an operating table, a control system and a display screen, wherein the display screen is arranged in the robot body;
the imaging equipment is connected with the control system circuit and used for scanning the patient on the operating table and transmitting the scanned image to the control system;
the monitoring equipment is in circuit connection with the control system and is used for monitoring the positions of the actuating mechanism and the patient and transmitting monitoring information to the control system;
the executing mechanism is fixed on the operating table and is in sliding connection with the operating table, the surgical tool is installed on the executing mechanism, and the executing mechanism is in circuit connection with the control system;
the control system controls the executing mechanism according to the scanning image and the monitoring information, and the executing mechanism performs operation on the patient by using the operation tool.
Preferably, the executing mechanism is a multi-degree-of-freedom mechanical arm and a control box, and the multi-degree-of-freedom mechanical arm and the control box are respectively connected with the control system circuit;
the multi-degree-of-freedom mechanical arm is arranged on the control box; the control box install in the operation table, just the control box with operation table sliding connection.
Preferably, the operating table is provided with a placing frame, and the imaging device is movably mounted on the placing frame;
the actuating mechanism grabs the imaging equipment on the placing frame under the control of the control system and moves the imaging equipment to an operation area to scan a patient.
Preferably, the operating table comprises a table body and a support frame, wherein the table body is fixed at the top of the support frame;
the two placing racks are respectively arranged on the front side and the rear side of the supporting frame, and the left side and the right side of the bottom of the supporting frame are respectively provided with a track;
the actuating mechanism is mounted to the track.
Preferably, the operating table comprises a table body and a support frame, the table body is fixed on the top of the support frame, and the left side and the right side of the bottom of the support frame are respectively provided with a track for mounting the actuating mechanism;
the bed body comprises an upper subsection and a lower subsection, and the lower subsection comprises a left subsection and a right subsection which are arranged side by side;
the left subsection and the right subsection are respectively connected with the upper subsection in a rotating mode, and an included angle between the left subsection and the right subsection is adjustable.
Preferably, the left subsection can be bent along the width direction of the left subsection, and the bending angle is adapted to the bending radian of the left lower limb of the patient;
the right subsection can be bent along the width direction of the right subsection, and the bending angle is suitable for the bending radian of the right lower limb of the patient.
Preferably, the support frame is provided with a placing frame, and the placing frame is located on the lower side of the left or right branch part.
Preferably, the high-integration orthopaedic surgical robot further comprises a multi-degree-of-freedom bracket;
the multi-degree-of-freedom bracket is mounted on the operating bed, is connected with the operating bed in a sliding manner and is connected with the control system circuit;
the imaging equipment is arranged on the multi-degree-of-freedom bracket;
the multi-degree-of-freedom support drives the imaging equipment to move to an operation area under the control of the control system to scan the patient.
Preferably, the high-integration orthopaedic surgery robot further comprises a multi-degree-of-freedom support arm, the multi-degree-of-freedom support arm is mounted on the robot body, and the multi-degree-of-freedom support arm is in circuit connection with the control system;
the monitoring equipment is arranged on the multi-freedom-degree supporting arm and moves under the driving of the multi-freedom-degree supporting arm.
Preferably, the high-integration orthopedic surgery robot further comprises a walking wheel, a plurality of walking wheels are arranged at the bottom of the robot body, and the walking wheel is used for driving the robot body to move.
The utility model has the advantages of as follows:
the utility model provides a high integration orthopedic surgery robot, it includes robot body, imaging device, actuating mechanism, supervisory equipment, operation table, control system and display screen. The device comprises an image device, an execution mechanism, a monitoring device, a display screen and the like, wherein the image device, the execution mechanism, the monitoring device, the display screen and the like are respectively in circuit connection with a control system, and the execution mechanism and the image device are both installed on the operating table.
In addition, the highly integrated orthopedic surgery robot greatly optimizes the surgery process, is simpler to operate and control, can complete all operations and controls on one workbench, and effectively avoids operations such as patient operating table positioning, robot positioning, image equipment scanning, image registration, image equipment moving away, surgical tool guiding, postoperative image equipment re-moving confirming effect and the like in the orthopedic surgery. Meanwhile, the highly integrated orthopedic surgery robot technically realizes the interconnection of circuits and power supplies of all parts of equipment of the orthopedic robot by using integrated data lines and power lines, and a control system is arranged at a robot control part to realize unified control, thereby greatly improving the integration level.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.
Fig. 1 is a schematic structural diagram of a highly integrated orthopaedic surgical robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of an operating bed of a highly integrated orthopaedic surgical robot provided in embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of an actuating mechanism of a highly integrated orthopaedic surgical robot provided in embodiment 1 of the present invention;
fig. 4 is a schematic structural diagram illustrating a placement state of an imaging device of a highly integrated orthopaedic surgical robot according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an imaging device scanning state of the highly integrated orthopaedic surgical robot according to embodiment 1 of the present invention;
fig. 6 is a schematic structural view of an operating bed of a highly integrated orthopaedic surgical robot provided in embodiment 2 of the present invention;
fig. 7 is a reference diagram of a usage status of an operating bed of a highly integrated orthopaedic surgical robot according to embodiment 2 of the present invention;
fig. 8 is a schematic structural diagram of the scanning state of the imaging device of the highly-integrated orthopaedic surgical robot according to embodiment 3 of the present invention;
in the figure: 1. a robot body; 2. an image device; 3. an actuator; 31. a multi-degree-of-freedom mechanical arm; 32. a control box; 4. monitoring equipment; 5. an operating bed; 51. a bed body; 511. an upper subsection; 512. a lower subsection; 5121. a left subsection; 5122. a right subsection; 52. a support frame; 6. a display screen; 7. placing a rack; 8. a multi-degree-of-freedom bracket; 9. a multi-degree-of-freedom support arm; 10. a traveling wheel; 11. a track.
Detailed Description
The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
As shown in fig. 1, the present embodiment provides a highly integrated orthopaedic surgical robot, which includes a robot body 1, an imaging device 2, an executing mechanism 3, a monitoring device 4, an operating table 5, a control system and a display screen 6, wherein the display screen 6 is installed in the robot body 1, the control system is disposed inside the robot body 1, and the display screen 6 is electrically connected to the control system.
In the present embodiment, the imaging device 2 is electrically connected to the control system for scanning the patient on the operating table 5 and transmitting the scanned image to the control system. The imaging device 2 is a mobile X-ray machine which is used for scanning two-dimensional and three-dimensional images of a patient, and the control system controls the execution mechanism 3 to perform operation on the patient according to the scanned images.
In particular, the monitoring device 4 is in circuit connection with the control system, the monitoring device 4 being adapted to monitor the position of the actuator 3 and the patient and to transmit monitoring information to the control system. The monitoring device 4 can be but is not limited to a navigation camera, the navigation camera is an infrared or visible light camera, the navigation camera integrates control software and is in circuit connection with a control system, the monitoring device 4 is similar to human eyes and used for positioning the executing mechanism 3 and the position of a patient, and the monitoring device 4 is helpful for ensuring the smooth proceeding of the orthopedic surgery.
More specifically, the actuator 3 is fixed to the operating table 5 and slidably connected to the operating table 5, the surgical tool is mounted to the actuator 3, and the actuator 3 is electrically connected to the control system.
As shown in fig. 3, the actuator 3 is a multi-degree-of-freedom mechanical arm 31 and a control box 32, and the multi-degree-of-freedom mechanical arm and the control box 32 are respectively connected with a control system circuit; the multi-degree-of-freedom mechanical arm 31 is mounted on the control box 32; the control box 32 is installed on the operating table 5, and the control box 32 is connected with the operating table 5 in a sliding manner, wherein the control box 32 is connected with the control system circuit through a data line and a power line. The control box 32 contains a driving motor and a control device of the multi-degree-of-freedom mechanical arm 31, and the driving motor is used for driving the control box 32 to drive the multi-degree-of-freedom mechanical arm 31 to move along the track 11 of the operating table 5. The control device of the multi-degree-of-freedom mechanical arm 31 is in circuit connection with the control system, and the control system controls the stretching and bending radians and positions of the multi-degree-of-freedom mechanical arm 31, so that multi-degree-of-freedom motion is realized.
It should be noted that, the control system of the present invention is a control core of the whole system, and the control system is used for controlling the actuator 3 to move along the operating bed 5 so as to complete the operation; in particular to control the multi-degree-of-freedom mechanical arm 31 to move in the operation, capture the imaging device 2 and drive the imaging device 2 to complete the scanning exposure and other actions.
In the present embodiment, the control system controls the actuator 3 according to the scanned image and the monitoring information, and the actuator 3 performs the operation on the patient using the surgical tool.
Preferably, the operating table 5 is provided with a placing frame 7, and the imaging device 2 is movably mounted on the placing frame 7. When the scanning starts, the executing mechanism 3 grabs the image equipment 2 on the placing frame 7 under the control of the control system and moves to the operation area to scan the patient, after the scanning is completed, the executing mechanism 3 drives the image equipment 2 to move to the placing frame 7 and place the image equipment 2 on the placing frame 7 under the control of the control system, so that the image equipment 2 can be placed at ordinary times conveniently, the executing mechanism 3 can also grab the patient under the control of the control system when the patient is scanned conveniently, and meanwhile, the executing mechanism 3 can place the image equipment 2 back under the control of the control system after the scanning is completed, thereby optimizing the layout of each equipment in the operating room and greatly saving the space of the operating room.
It should be noted that the operation table 5 is a very important component in the orthopedic surgery, and as long as the integral operation table 5 is introduced in the present embodiment, the integral operation table 5 is mainly applied to the surgical types of the spine, hip joint, and the like.
As shown in fig. 2, the operating bed 5 includes a bed body 51 and a support frame 52, the bed body 51 is fixed on the top of the support frame 52; the two placing racks 7 are respectively arranged on the front side and the rear side of the supporting frame 52, and the imaging device 2 can be placed on the placing rack 7 on the front side as required or on the placing rack 7 on the rear side as required; the left side and the right side of the bottom of the support frame 52 are respectively provided with a track 11, the actuating mechanism 3 is installed on the track 11, and the actuating mechanism 3 moves back and forth along the track 11 under the control of the control system, so that the scanning process or the operation of the patient is completed.
Referring to fig. 4 and 5, in the present embodiment, the surgical tool and the imaging device 2 share the same actuator 3. The imaging device 2 is a key component of the orthopedic robot, and is an important embodiment of high integration. The imaging device 2 can be but not limited to a small C-shaped arm X-ray machine, one C-shaped arm X-ray machine is used as a scanning tool and is placed on a placing rack 7 at one end of the operating table 5, the multi-degree-of-freedom mechanical arm 31 of the executing mechanism 3 grabs the C-shaped arm X-ray machine and moves the C-shaped arm X-ray machine to an operating area, the C-shaped arm X-ray machine finishes three-dimensional or two-dimensional image scanning and transmits a scanning image to the control system, and the control system images the scanning image on the display screen 6 for operation planning and. After the image scanning of the patient is completed, the multi-degree-of-freedom mechanical arm 31 sends the C-shaped arm X-ray machine back to the placing frame 7 and then returns to the operation area, the corresponding operation tool is installed, and the subsequent operation work is continuously completed. The C-shaped arm X-ray machine works in a traditional power supply mode, is provided with a charging power supply, can work by being separated from a network power supply, and supports wireless image transmission. Of course, the C-arm X-ray machine movement scan can also be achieved manually.
It should be noted that the C-arm X-ray machine is placed on the placing frame 7 of the operating table 5, and forms an integrated structure with the operating table 5, and the C-arm X-ray machine can move along the direction of the operating table 5 to reach and move out of the operating area, so that the spatial structure of the operating room is optimized well, and the operation flow is simplified.
Preferably, the high-integration orthopaedic surgery robot further comprises a multi-degree-of-freedom support arm 9, the multi-degree-of-freedom support arm 9 is installed on the robot body 1, and the multi-degree-of-freedom support arm 9 is in circuit connection with the control system; the monitoring device 4 is mounted on the multi-degree-of-freedom support arm 9, and the monitoring device 4 moves under the driving of the multi-degree-of-freedom support arm 9. The multi-degree-of-freedom supporting arm 9 can move and rotate to different positions and angles under the control of the control system, the navigation camera can realize real-time tracking of the position of the executing mechanism 3 and the position of a patient according to the navigation principle, monitoring information is transmitted to the control system, the control system controls the executing mechanism 3 to perform an operation on the patient, and the operation process is simpler.
Preferably, high integration orthopedic surgery robot still includes walking wheel 10, and a plurality of walking wheels 10 all set up in the bottom of robot body 1, and walking wheel 10 is used for driving robot body 1 and removes, and this has made things convenient for robot body 1's removal widely, also makes things convenient for the operation and the control to patient's operation process.
In this embodiment, the robot body 1 is in the form of a trolley, four wheels are provided for facilitating movement, hardware and software of a control system are installed in the trolley, one or more touch display screens 6 are provided, the display screens 6 are used for surgical planning and control, and the imaging device 2, the execution mechanism 3, the monitoring device 4 and the like are controlled by the control system so as to complete a surgical operation process more accurately.
It should be added that the mechanical arm in the prior art refers to a complex system with high precision, multiple inputs, multiple outputs, high nonlinearity and strong coupling. The mechanical arm adopts a mechanical electronic device with anthropomorphic arm, wrist and hand functions; it can move any object or tool according to the time-varying requirement of the space pose (position and posture), thereby completing the operation requirement of a certain operation process, such as clamping the image equipment 2 or operation tools. The application field of mechanical arms in the robot is more common, and the structure is also more common. The utility model relates to a to the degree of freedom arm, multi freedom support arm 9, multi freedom support 8's structure and theory of operation all adopt the arm among the prior art, all are in order to bear relevant equipment component and make relevant equipment be in the required position of operation and angle to make things convenient for the implementation of operation process.
The high-integration-level orthopaedic surgery robot provided by the embodiment, wherein the imaging device 2, the executing mechanism 3, the monitoring device 4, the display screen 6 and other devices are respectively in circuit connection with the control system, and the executing mechanism 3 and the imaging device 2 are both installed on the operating table 5, so that the imaging device 2, the executing mechanism 3, the control system, the display screen 6 and other devices are integrated into a whole, thereby not only reducing data transmission and position switching among different devices, greatly saving the space of an operating room, reducing the operation difficulty, but also greatly improving the reliability of the robotic surgery system in orthopaedic surgery.
In addition, the highly integrated orthopedic surgery robot greatly optimizes the surgery process, is simpler to operate and control, can complete all operations and controls on one workbench, and effectively avoids operations of positioning of the patient operating bed 5, positioning of the robot, scanning of the imaging device 2, image registration, moving of the imaging device 2, guiding of surgical tools, confirmation of effects of moving of the imaging device 2 again after surgery and the like in the orthopedic surgery. Meanwhile, the highly integrated orthopedic surgery robot technically realizes the interconnection of circuits and power supplies of all parts of equipment of the orthopedic robot by using integrated data lines and power lines, and a control system is arranged at a robot control part to realize unified control, thereby greatly improving the integration level.
Example 2
This embodiment provides another highly integrated orthopaedic surgical robot, and the same parts as those in embodiment 1 will not be described herein again, and only different parts will be described below.
Referring to fig. 1 to 5, in the present embodiment, the operating table 5 includes a table body 51 and a support frame 52, the table body 51 is fixed on the top of the support frame 52, the left side and the right side of the bottom of the support frame 52 are respectively provided with a rail 11 for installing the actuator 3, and the rail 11 facilitates the movement of the actuator 3.
It should be noted that the operation table 5 is a very important component in an orthopedic operation, and as long as the split type operation table is described in this embodiment, the split type operation table 5 is mainly used for operations related to lower limbs, including but not limited to operations of ankle, knee joint, tibia, fibula, femur, and the like.
As shown in fig. 6 and 7, the bed body 51 includes an upper section 511 and a lower section 512, and the lower section 512 includes a left section 5121 and a right section 5122 arranged side by side. The upper section 511 is adapted to receive the upper body of the patient, the left section 5121 is adapted to receive the left leg of the patient, and the right section 5122 is adapted to receive the right leg of the patient.
In this embodiment, the left subsection 5121 and the right subsection 5122 are rotatably connected to the upper subsection 511, and the included angle between the left subsection 5121 and the right subsection 5122 is adjustable, which greatly facilitates the patient to place a comfortable surgical posture and facilitates the surgical treatment of the patient by the actuator 3.
Preferably, the left subsection 5121 can be bent along its width, the bending angle being adapted to the curvature of the patient's left lower limb; the right section 5122 can be bent along its width at an angle that accommodates the curvature of the patient's right lower limb. The left subsection 5121 or the right subsection 5122 can be bent to meet the requirement of the bending body position of a patient during operation, so that the operation is more convenient.
It should be noted that the upper end and the lower end of the left part 5121 are connected by a middle partition plate, and the two ends of the partition plate are respectively rotatably connected with the upper end and the lower end of the left part 5121 by a rotating shaft, which makes the adjustment of the bending angle of the left part 5121 easier and makes the patient feel more comfortable, and the bending manner of the right part 5122 is the same as that of the left part 5121, and will not be described herein again.
It is further preferable that the support frame 52 is provided with a placing frame 7, and the placing frame 7 is located at the lower side of the left subsection 5121 or the right subsection 5122, which helps to save space in the operating room, so that the layout of each device is more reasonable, of course, the support frame 52 may also be arranged above the operating bed 5, and the position where the support frame 52 is arranged may be specifically set according to the layout in the operating room, the needs of the operation, and the like.
The high-integration-level orthopaedic surgery robot provided by the embodiment, wherein the imaging device 2, the executing mechanism 3, the monitoring device 4, the display screen 6 and other devices are respectively in circuit connection with the control system, and the executing mechanism 3 and the imaging device 2 are both installed on the operating table 5, so that the imaging device 2, the executing mechanism 3, the control system, the display screen 6 and other devices are integrated into a whole, thereby not only reducing data transmission and position switching among different devices, greatly saving the space of an operating room, reducing the operation difficulty, but also greatly improving the reliability of the robotic surgery system in orthopaedic surgery.
In addition, the highly integrated orthopedic surgery robot greatly optimizes the surgery process, is simpler to operate and control, can complete all operations and controls on one workbench, and effectively avoids operations of positioning of the patient operating bed 5, positioning of the robot, scanning of the imaging device 2, image registration, moving of the imaging device 2, guiding of surgical tools, confirmation of effects of moving of the imaging device 2 again after surgery and the like in the orthopedic surgery. Meanwhile, the highly integrated orthopedic surgery robot technically realizes the interconnection of circuits and power supplies of all parts of equipment of the orthopedic robot by using integrated data lines and power lines, and a control system is arranged at a robot control part to realize unified control, thereby greatly improving the integration level.
Example 3
This embodiment provides another highly integrated orthopaedic surgical robot, and the same parts as those in embodiment 1 will not be described herein again, and only different parts will be described below.
As shown in fig. 8, the multi-degree-of-freedom support 8 is attached to the operating bed 5, the multi-degree-of-freedom support 8 is slidably connected to the operating bed 5, and the multi-degree-of-freedom support 8 is electrically connected to the control system.
In this embodiment, the imaging device 2 is a large C-arm X-ray machine, which is mounted on the multi-degree-of-freedom support 8; the multi-degree-of-freedom support 8 drives the imaging device 2 to move to an operation area under the control of the control system to scan the patient. The multi-degree-of-freedom bracket 8 is similar to the multi-degree-of-freedom mechanical arm 31 in structure and function and is used for bringing a C-shaped arm X-ray machine to an operation area to scan a patient under the control of a control system. The C-shaped arm X-ray machine is separated from the executing mechanism 3, is driven by the multi-freedom-degree support 8 to move along the track 11 of the operating table 5, can stay at the bed end of the operating table 5 and can move to an operating area for ray scanning.
It should be noted that the imaging device 2 and the actuator 3 are respectively located on the rails 11 on both sides of the operating table 5, and the movement of the imaging device 2 and the movement of the actuator 3 do not interfere with each other, so that the control of each flow of the orthopedic surgery is more convenient.
It should be noted that the C-arm X-ray machine is mainly used for various operations such as radiography and photography, and includes a C-shaped frame, a bulb for generating X-rays, an image intensifier and a CCD camera for acquiring images, and a workstation for processing images. The C type arm X-ray machine can divide into little C, well C and big C according to the size of self volume, and the use of three is different according to the difference of operation classification, the utility model discloses according to the difference of operation and improve the connection structure of C type arm X-ray machine to satisfy the needs of each different bone surgery.
In the present embodiment, the track 11 for the C-arm X-ray machine to move may be disposed below the bed body 51 of the operating bed 5, or may be disposed above the bed body 51 according to the actual needs of the operation, so as to further optimize the spatial layout in the operating room.
The high-integration-level orthopaedic surgery robot provided by the embodiment, wherein the imaging device 2, the executing mechanism 3, the monitoring device 4, the display screen 6 and other devices are respectively in circuit connection with the control system, and the executing mechanism 3 and the imaging device 2 are both installed on the operating table 5, so that the imaging device 2, the executing mechanism 3, the control system, the display screen 6 and other devices are integrated into a whole, thereby not only reducing data transmission and position switching among different devices, greatly saving the space of an operating room, reducing the operation difficulty, but also greatly improving the reliability of the robotic surgery system in orthopaedic surgery.
In addition, the highly integrated orthopedic surgery robot greatly optimizes the surgery process, is simpler to operate and control, can complete all operations and controls on one workbench, and effectively avoids operations of positioning of the patient operating bed 5, positioning of the robot, scanning of the imaging device 2, image registration, moving of the imaging device 2, guiding of surgical tools, confirmation of effects of moving of the imaging device 2 again after surgery and the like in the orthopedic surgery. Meanwhile, the highly integrated orthopedic surgery robot technically realizes the interconnection of circuits and power supplies of all parts of equipment of the orthopedic robot by using integrated data lines and power lines, and a control system is arranged at a robot control part to realize unified control, thereby greatly improving the integration level.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. The high-integration orthopaedic surgical robot is characterized by comprising a robot body, an imaging device, an executing mechanism, a monitoring device, an operating bed, a control system and a display screen, wherein the display screen is installed on the robot body, the control system is arranged in the robot body, and the display screen is in circuit connection with the control system;
the imaging equipment is connected with the control system circuit and used for scanning the patient on the operating table and transmitting the scanned image to the control system;
the monitoring equipment is in circuit connection with the control system and is used for monitoring the positions of the actuating mechanism and the patient and transmitting monitoring information to the control system;
the executing mechanism is fixed on the operating table and is in sliding connection with the operating table, the surgical tool is installed on the executing mechanism, and the executing mechanism is in circuit connection with the control system;
the control system controls the executing mechanism according to the scanning image and the monitoring information, and the executing mechanism performs operation on the patient by using the operation tool.
2. The highly integrated orthopaedic surgical robot of claim 1, wherein the actuator is a multi-degree-of-freedom robot arm and a control box, the multi-degree-of-freedom robot arm and the control box are respectively in circuit connection with the control system;
the multi-degree-of-freedom mechanical arm is arranged on the control box; the control box install in the operation table, just the control box with operation table sliding connection.
3. The highly integrated orthopaedic surgical robot of claim 2, wherein the operating bed is provided with a rack, the imaging device is movably mounted to the rack;
the actuating mechanism grabs the imaging equipment on the placing frame under the control of the control system and moves the imaging equipment to an operation area to scan a patient.
4. The highly integrated orthopaedic surgical robot of claim 3, wherein the operating bed comprises a bed body and a support frame, the bed body is fixed on top of the support frame;
the two placing racks are respectively arranged on the front side and the rear side of the supporting frame, and the left side and the right side of the bottom of the supporting frame are respectively provided with a track;
the actuating mechanism is mounted to the track.
5. The highly integrated orthopaedic surgical robot of claim 3, wherein the operating bed comprises a bed body and a support frame, the bed body is fixed on the top of the support frame, and the left side and the right side of the bottom of the support frame are respectively provided with a track for mounting the actuator;
the bed body comprises an upper subsection and a lower subsection, and the lower subsection comprises a left subsection and a right subsection which are arranged side by side;
the left subsection and the right subsection are respectively connected with the upper subsection in a rotating mode, and an included angle between the left subsection and the right subsection is adjustable.
6. A highly integrated orthopaedic surgical robot according to claim 5, wherein the left branch is bendable in its width direction at an angle adapted to the curvature of the left lower limb of the patient;
the right subsection can be bent along the width direction of the right subsection, and the bending angle is suitable for the bending radian of the right lower limb of the patient.
7. A highly integrated orthopaedic surgical robot according to claim 5, wherein said support frame is provided with a rack located on the underside of the left or right section.
8. The high integration orthopaedic surgical robot of claim 1, further comprising a multiple degree of freedom gantry;
the multi-degree-of-freedom bracket is mounted on the operating bed, is connected with the operating bed in a sliding manner and is connected with the control system circuit;
the imaging equipment is arranged on the multi-degree-of-freedom bracket;
the multi-degree-of-freedom support drives the imaging equipment to move to an operation area under the control of the control system to scan the patient.
9. The highly integrated orthopaedic surgical robot of claim 1, further comprising a multiple degree of freedom support arm mounted to the robot body and in circuit connection with the control system;
the monitoring equipment is arranged on the multi-freedom-degree supporting arm and moves under the driving of the multi-freedom-degree supporting arm.
10. The high-integration orthopaedic surgical robot of claim 1, further comprising a plurality of walking wheels, wherein the walking wheels are disposed at the bottom of the robot body, and the walking wheels are used for driving the robot body to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921873095.2U CN211067011U (en) | 2019-11-03 | 2019-11-03 | High-integration orthopaedic surgery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921873095.2U CN211067011U (en) | 2019-11-03 | 2019-11-03 | High-integration orthopaedic surgery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211067011U true CN211067011U (en) | 2020-07-24 |
Family
ID=71621969
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921873095.2U Active CN211067011U (en) | 2019-11-03 | 2019-11-03 | High-integration orthopaedic surgery robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211067011U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110623731A (en) * | 2019-11-03 | 2019-12-31 | 北京诺影医疗科技有限公司 | A highly integrated orthopedic surgical robot |
| CN113712775A (en) * | 2021-09-10 | 2021-11-30 | 青岛大学附属医院 | Be used for full-automatic auxiliary robot of gynaecology's disease routine inspection |
| CN114209436A (en) * | 2021-12-13 | 2022-03-22 | 上海机器人产业技术研究院有限公司 | Auxiliary broken bone returning robot for orthopedics department |
| US12453670B2 (en) | 2022-03-25 | 2025-10-28 | Mazor Robotics Ltd. | Surgical platform and trolley assembly |
-
2019
- 2019-11-03 CN CN201921873095.2U patent/CN211067011U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110623731A (en) * | 2019-11-03 | 2019-12-31 | 北京诺影医疗科技有限公司 | A highly integrated orthopedic surgical robot |
| CN113712775A (en) * | 2021-09-10 | 2021-11-30 | 青岛大学附属医院 | Be used for full-automatic auxiliary robot of gynaecology's disease routine inspection |
| CN114209436A (en) * | 2021-12-13 | 2022-03-22 | 上海机器人产业技术研究院有限公司 | Auxiliary broken bone returning robot for orthopedics department |
| CN114209436B (en) * | 2021-12-13 | 2023-07-28 | 上海机器人产业技术研究院有限公司 | Auxiliary broken bone return robot for orthopedics department |
| US12453670B2 (en) | 2022-03-25 | 2025-10-28 | Mazor Robotics Ltd. | Surgical platform and trolley assembly |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211067011U (en) | High-integration orthopaedic surgery robot | |
| CN110623731A (en) | A highly integrated orthopedic surgical robot | |
| CN1259891C (en) | Robot assisted bone setting operation medical system with lock marrow internal nail | |
| US10874469B2 (en) | Remotely operated orthopedic surgical robot system for fracture reduction with visual-servo control method | |
| CN104055563B (en) | Orthopedic robot and intelligent reset system | |
| CN103356295B (en) | Soft lens operation aided arm prosthesis system and control method thereof | |
| CN107847282A (en) | A robotic system for telesurgery | |
| WO2011063715A1 (en) | Orthopaedic robot navigation apparatus and positioning system | |
| CN105434048B (en) | Robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment | |
| CN109662779A (en) | A kind of transurethral prostate resection videoendoscopic surgery robot system | |
| CN109498141B (en) | Master-slave double-arm bionic digital long bone diaphysis fracture reduction robot | |
| CN110179541A (en) | Robot perceptual system and control method | |
| WO2017017443A1 (en) | Apparatus for performing fracture reduction | |
| CN106361441A (en) | Master-slave mode parallel robot system and method for femoral shaft fracture reduction | |
| CN111345896A (en) | Osteotomy execution system and positioning, control and simulation execution method and electronic device | |
| CN110251234B (en) | Gantry type retractable mechanical arm spine surgical robot | |
| CN114948003A (en) | Surgical device, readable storage medium, electronic device, and surgical robot system | |
| CN103919611A (en) | Orthopaedic robot navigation locating device | |
| EP3197379A1 (en) | Device for repositioning bone fracture fragments | |
| CN114191080B (en) | Decoupling type bone setting robot | |
| WO2006069288A2 (en) | Overhead mount for a medical robot for use with medical scanning equipment | |
| CN215229764U (en) | Operating table and have its bone surgery auxiliary system | |
| Joung et al. | Hazard analysis of fracture-reduction robot and its application to safety design of fracture-reduction assisting robotic system | |
| CN117462269A (en) | Upper and lower limb pelvic fracture reduction robot and remote real-time control system | |
| CN214857401U (en) | Integrated system structure device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |