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WO2018000871A1 - Bras robotique et robot pour orthopédie - Google Patents

Bras robotique et robot pour orthopédie Download PDF

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Publication number
WO2018000871A1
WO2018000871A1 PCT/CN2017/078725 CN2017078725W WO2018000871A1 WO 2018000871 A1 WO2018000871 A1 WO 2018000871A1 CN 2017078725 W CN2017078725 W CN 2017078725W WO 2018000871 A1 WO2018000871 A1 WO 2018000871A1
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WO
WIPO (PCT)
Prior art keywords
joint
axis
boom
rotation
robot arm
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.)
Ceased
Application number
PCT/CN2017/078725
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English (en)
Chinese (zh)
Inventor
何超
袁帅
陈奇韬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Microport Shanghai Medbot Co Ltd
Original Assignee
Microport Shanghai Medbot Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Microport Shanghai Medbot Co Ltd filed Critical Microport Shanghai Medbot Co Ltd
Publication of WO2018000871A1 publication Critical patent/WO2018000871A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery

Definitions

  • the invention relates to the technical field of medical instruments, in particular to a mechanical arm and an orthopedic robot.
  • Orthopedic surgery often requires precise cutting, grinding, fixing, etc. This type of operation has high requirements for accuracy, stability, freedom, and operation.
  • general orthopedic microtrauma surgery is widely performed. Reduce surgical trauma, reduce blood loss, and shorten postoperative recovery time.
  • X-ray irradiation is repeated during the operation, and the long-time, large-dose radiation causes damage to the surgeon and the patient.
  • spinal surgery The anatomy of the human spine is complex, and the surrounding nerves, blood vessels, muscles and other important tissues, including the typical vertebral screw internal fixation surgery, puts high demands on the accuracy and stability of the surgeon's operation.
  • the Makoplasty series of orthopaedic robots combine navigation, computer 3D computing and precision robotic arm positioning to enable more accurate positioning and bone surface removal in hip surgery.
  • the arrangement of joint degrees of freedom has strong operability, stability and safety in specific orthopedic surgery, but its large structure itself also limits its application and promotion in other orthopedic operations.
  • a spinal surgery robot called Renaissance developed by Mazor of Israel has been developed in the United States.
  • the FDA is allowed to enter clinical applications.
  • the robot is mainly used for pedicle screw placement in spinal surgery, which has the advantages of high accuracy of nail placement, shortening recovery time, reducing the number of C-arm fluoroscopy, and reducing radiation damage to doctors and patients.
  • the device needs to be directly rigidly fixed to the spine, which is easy to cause trauma to other parts of the spine; its structure adopts a parallel structure design, which makes the working space of the device smaller and less flexible; and the device cannot actively perform surgical operations, and can only be passively realized.
  • the positioning function of the nail in spinal surgery cannot be used for other common operations such as osteotomy and orthopedics, and has a single function and poor versatility.
  • the orthopedic micro-trauma surgery orthopedic robot especially the mechanical arm, needs further research and development in terms of configuration rationality and precision improvement.
  • the object of the present invention is to provide a mechanical arm and an orthopaedic robot, which solves the problems of cumbersome structure, low precision, poor flexibility and low versatility of the mechanical arm of the orthopedic micro-trauma surgery orthopedic robot.
  • the present invention provides a mechanical arm including: a position adjusting member having three degrees of freedom and an attitude adjusting member having at least two degrees of freedom connected to the position adjusting member; ,
  • the position adjusting member includes a base member, a shoulder member, a boom member, and an arm member that are sequentially connected;
  • the posture adjusting member includes a wrist member and an instrument mount member that are sequentially connected, the arm member and the arm member Wrist parts are connected.
  • the shoulder member is rotatably coupled to the base member to form a first horizontal rotation joint; the shoulder member is rotatably coupled to the boom member to form a first Vertically swinging the joint; the boom member is rotatably coupled to the arm member to form a second vertical swing joint.
  • the rotation axis of the first horizontal joint is perpendicular to the rotation axis of the first vertical swing joint, and the rotation axis of the first vertical swing joint and the second vertical swing
  • the axes of rotation of the joints are parallel to each other.
  • the position adjusting component further comprises an elbow component, and the armrest component is connected to the boom component through the elbow component.
  • the shoulder member is rotatably coupled to the base member to form a first horizontal rotation joint; the shoulder member is rotatably coupled to the boom member to form a first The swing joint is vertically slid; the boom member is fixedly coupled to one end of the elbow member, and the other end of the elbow member is rotatably coupled to the arm member to form a second horizontal joint.
  • the rotation axis of the first horizontal rotation joint is perpendicular to the rotation axis of the first vertical swing joint, and the rotation axis of the first horizontal rotation joint and the second horizontal rotation joint The axes of rotation are parallel to each other.
  • the shoulder member is rotatably coupled to the base member to form a first horizontal rotation joint; the shoulder member is rotatably coupled to the boom member to form a first Vertically swinging the joint; the boom member is rotatably coupled to the elbow member to form a second vertical swing joint; the elbow member is rotatably coupled to the arm member to form a second horizontal joint; wherein, the first The vertical oscillating joint and the second vertical oscillating joint together form a vertical oscillating joint.
  • the rotation axis of the first horizontal joint is perpendicular to the rotation axis of the vertical swing joint, and the rotation axis of the first horizontal joint is opposite to the rotation axis of the second horizontal joint parallel.
  • the boom component comprises: a boom main skeleton and a boom sub-frame, the shoulder component, the boom main skeleton, the elbow component and the The connecting points of the connection points of the boom sub-frames are connected in parallel to form a parallelogram.
  • the boom main skeleton and the boom sub-frame are both connecting rods, and the boom main skeleton and the boom sub-frame are parallel to each other.
  • the boom component comprises: a main boom main frame and a flexible transmission structure
  • the boom main skeleton is a connecting rod
  • the flexible transmission structure comprises a first flexible transmission joint component.
  • a second flexible transmission joint component and sleeved and respectively fixed to the first flexible transmission a flexible transmission transmission member on the second flexible transmission joint member, the first flexible transmission joint member being fixedly coupled to the shoulder member, the second flexible transmission joint member being fixed to the elbow member connection.
  • the boom component comprises: a main boom main frame, a first power device, a first angle detecting device, a second power device and a second angle detecting device, and the first power device Driving the first vertical swing joint to rotate, the first angle detecting device measures the rotation angle, and feeds back to the second angle detecting device, and the second power device drives the second vertical swing joint according to the rotation angle obtained by the second angle detecting device Rotate the same angle in the opposite direction.
  • the posture adjusting component has 2 degrees of freedom, and the arm component is rotatably coupled with the wrist component to form a first rotating joint; the wrist component and the instrument mounting seat The components are rotationally coupled to form a second rotational joint.
  • the posture adjustment component has 3 degrees of freedom
  • the instrument mount component has a surgical instrument interface for connecting with a surgical instrument
  • the arm component and the wrist The components are rotationally coupled to form a first rotational joint
  • the wrist component is rotatably coupled to the instrument mount component to form a second rotational joint
  • the surgical instrument interface is rotationally coupled to the surgical instrument to form a third rotational joint.
  • an axis of the first rotating joint, an axis of the second rotating joint, and an axis of the third rotating joint intersect at a point.
  • an axis of the first rotating joint and an axis of the second rotating joint intersect at a point, an axis of the second rotating joint and an axis of the third rotating joint Go to another point.
  • an axis of the first rotating joint and an axis of the second rotating joint are perpendicular to each other, and an axis of the second rotating joint and an axis of the third rotating joint are mutually vertical.
  • an axis of the first rotating joint and an axis of the second rotating joint are perpendicular to each other and intersect, an axis of the second rotating joint and a third rotating joint
  • the axes intersect, the axis of the first rotating joint and the axis of the third rotating joint are not coplanar.
  • the present invention also provides an orthopedic robot comprising: the robotic arm as described above.
  • the mechanical arm includes a position adjusting member having three degrees of freedom and an attitude adjusting member having at least two degrees of freedom connected to the position adjusting member;
  • the position adjusting member includes a base member, a shoulder member, a boom member, and an arm member that are sequentially connected;
  • the posture adjusting member includes a wrist member and an instrument mount member that are sequentially connected, and the arm member and the large arm member
  • the arm parts are connected.
  • the position adjusting component and the attitude adjusting component together constitute a series mechanical arm of at least five degrees of freedom, and the respective degrees of freedom are adjusted according to actual needs to meet the requirements for position and posture during the operation, and the structures between the components are compact and small, occupying a small space.
  • the light weight enhances the flexibility and ease of operation of the arm.
  • the adjustment position adjusting member and the posture adjusting member have different configurations, respectively, the versatility and applicability of the robot arm are enhanced.
  • the posture adjusting member can be designed as a configuration in which the extension lines of the three joints are at one point, thereby replacing the operation precision with the accuracy of the robot arm itself, and improving the accuracy and stability of the operation.
  • FIG. 1 is a schematic view showing the arrangement of degrees of freedom of a position adjusting member in the first embodiment of the present invention
  • 1-1 is a schematic diagram of a three-dimensional configuration of a position adjusting member in the first embodiment of the present invention
  • Figure 2 is a schematic diagram of a three-dimensional configuration of an attitude adjusting member of the present invention
  • Figure 3 is a schematic view showing a three-dimensional configuration of another posture adjusting member of the present invention.
  • Figure 4 is a schematic view showing a three-dimensional configuration of another posture adjusting member of the present invention.
  • Figure 5 is a schematic view showing the arrangement of degrees of freedom of the position adjusting member in the second embodiment of the present invention.
  • 5-1 is a schematic diagram of a three-dimensional configuration of a position adjusting member in Embodiment 2 of the present invention.
  • Figure 6 is a front elevational view of the robot arm in the third embodiment of the present invention.
  • Figure 7 is a schematic view showing the arrangement of degrees of freedom of the robot arm in the third embodiment of the present invention.
  • Figure 8 is a schematic view showing the three-dimensional configuration of the robot arm in the third embodiment of the present invention.
  • Figure 9 is a schematic view showing a positional adjustment member having a parallelogram structure in the third embodiment of the present invention.
  • Figure 10 is another schematic diagram of the position adjusting member having a parallelogram structure in the third embodiment of the present invention.
  • Figure 10-1 is a right side view of Figure 10;
  • Figure 11 is a schematic view showing the position adjustment member of the third embodiment of the present invention having a non-parallelogram structure
  • Figure 11-1 is a right side view of Figure 11.
  • a first horizontal rotation joint R11 a first vertical swing joint R12; a second vertical swing joint R13;
  • Figure 7-8 a first horizontal rotation joint R31; a first vertical swing joint R32; a second vertical swing joint R32'; a second horizontal joint joint R33;
  • Figure 1 - 11-1 first rotating joint R4; second rotating joint R5; base member 1; shoulder member 2; boom member 3; elbow member 4; arm member 5; wrist member 6; Instrument mount component 7; surgical instrument interface 7-1; flexible transmission transmission component 8; first flexible transmission joint component 9; second flexible transmission joint component 10; boom main skeleton 11; boom sub-frame 12; -1, 2-2, 4-1,4-2; position adjusting member 100; posture adjusting member 200.
  • the mechanical arm includes: a position adjusting member and an attitude adjusting member connected to the position adjusting member; referring to FIG. 1 and FIG. 1-1, the position adjusting member 100 includes a base member 1 and a shoulder member which are sequentially connected 2.
  • the position adjusting member 100 and the posture adjusting member 200 jointly constitute a five-degree-of-freedom series robot, and each degree of freedom is adjusted according to actual needs to meet the position and posture requirements during surgery.
  • the five degrees of freedom in the configuration of the robot arm in this embodiment include three degrees of freedom of the position adjusting member 100 and two degrees of freedom of the posture adjusting member 200.
  • the horizontal installation of the mechanical arm is taken as an example, and of course, it may be installed in other manners, and the name of the component in the manual does not limit the component.
  • the three degrees of freedom of the position adjusting member 100 in the present embodiment are respectively: a first horizontal rotating joint R11 formed by rotationally connecting the shoulder member 2 and the base member 1; A first vertical swing joint R12 formed by rotatively connecting the member 2 with the boom member 3; a second vertical swing joint R13 formed by pivotally connecting the boom member 3 and the arm member 5.
  • the rotation axis of the first horizontal rotation joint R11 and the rotation axis of the first vertical swing joint R12 are perpendicular to each other, and the rotation axis of the first vertical swing joint R12 and the rotation axis of the second vertical swing joint R13 are parallel to each other. .
  • the two degrees of freedom of the posture adjusting component 200 are respectively rotatably connected to the wrist component 5 to form a first rotating joint R4; the wrist component 6 and the instrument mounting component 7 is rotationally coupled to form a second rotational joint R5.
  • the axis of the first rotating joint R4 intersects the axis of the second rotating joint R5 at a point, preferably the axis of R4 and the axis of R5 are perpendicular to each other.
  • the instrument mount component 7 has a surgical instrument interface for connection with a surgical instrument (for the specific structure of the surgical instrument interface 7-1, please refer to the structure in FIGS.
  • the surgical instrument interface 7- 1 can be rotatably coupled to the surgical instrument through the third rotational joint R6 such that the mechanical arm adds another degree of freedom to six degrees of freedom, more preferably the rotational axis of the second rotational joint R5 and the third rotational joint R6
  • the axis of rotation intersects at a point, most preferably the axes of rotation of the two joints intersect perpendicularly;
  • the surgical instrument interface 7-1 can also be fixedly coupled to the surgical instrument, ie without the third rotational joint R6, the robotic arm is still five degrees of freedom .
  • the posture adjusting component 200 can be configured according to actual needs, and the following three examples are used to understand the configuration of the posture adjusting component.
  • the spatial right-angled right-hand coordinate system is introduced as a reference.
  • the posture adjusting component 200 of the mechanical arm has three degrees of freedom, that is, the surgical instrument interface 7-1 can be rotatably connected with the surgical instrument through the third rotating joint R6.
  • the axial direction of the arm member 5 is parallel to the Y-axis in the space rectangular coordinate system, and the axis of the first rotational joint R4 formed by the rotational connection of the wrist member 6 and the arm member 5 is parallel to the space.
  • the Y-axis is arranged in the Cartesian coordinate system, and the axis of the second rotational joint R5 formed by rotational connection with the instrument mount component 7 and the wrist component 6 intersects at a point, preferably the two axes are also perpendicular to each other; the instrument mount component 7 forms a surgical instrument
  • the axis of the third rotating joint R6 and the second rotating joint The axes of R5 intersect at a point, preferably the two axes are also perpendicular to each other and the axis of the first rotational joint R4, the axis of the second rotational joint R5 and the axis of the third rotational joint R6 intersect at one point.
  • the advantage of the three-axis intersection is that the position joint and the joint joint can be decoupled, that is, the posture joint does not affect the position and posture of the position joint during the movement; the instrument mount component 7 is equipped with the surgical instrument during the surgical application, and the three-axis The intersection of the first rotation joint and/or the second rotation joint can be avoided to provide adjustment precision and stability.
  • the axis of the first rotational joint R4, R4 formed by the rotational connection of the wrist member 6 and the arm member 5 is arranged in parallel with the X-axis, and the instrument mount member 7 and the wrist member 6 are arranged.
  • the axis of the second rotational joint R5, R4 formed by the rotational connection intersects the axis of R5 at a point, preferably the two axes are also perpendicular to each other; the axis of the third rotational joint R6 formed by the instrument mount component 7 and the surgical instrument and the second rotational joint
  • the axes of R5 intersect at one point, preferably the two axes are also perpendicular to each other; and the axis of the first rotational joint, the axis of the second rotational joint, and the axis of the third rotational joint R6 also intersect at one point.
  • the attitude adjusting member 200 of this configuration is a modification of the configuration of the posture adjusting member 200 provided in the example 1 shown in FIG. 2.
  • the axis of the first rotating joint R4 formed by the rotational connection of the wrist member 6 and the arm member 5 is arranged in parallel with the Y-axis, and the second rotating joint R5 formed by the rotational connection of the instrument mounting member 7 and the wrist member 6 is formed.
  • the axis of R4 intersects the axis of R5 at a point, preferably perpendicular and intersects.
  • the axis of the third rotational joint R6 formed by the surgical instrument interface 7-1 (not shown) and the surgical instrument intersects the axis of R5, the axis of R4 It is not coplanar with the axis of R6; preferably the axis of the third rotational joint R6 formed by the surgical instrument interface 7-1 and the surgical instrument is perpendicular and intersects the axis of R5.
  • the axis of the third rotational joint R6 formed by the surgical instrument interface 7-1 and the surgical instrument is translated by a distance in the X-axis direction with respect to the axis of R4, the axis (ie, the axis of the first rotational joint R4, the second rotation)
  • the axis of the joint R5 and the axis of the third rotating joint R6 do not intersect at one point.
  • the axis of the first rotating joint R4 and the axis of the second rotating joint R5 intersect at one point
  • the axis of the second rotating joint R5 and the axis of the third rotating joint R6 intersect at another point.
  • the position adjustment component and the various components of the attitude adjustment component 200 can be controlled by the related algorithm of the high degree of freedom fixed point principle to ensure the loading of the orthopedic robot.
  • the instrument has a function similar to the position of the intersection of the three-axis intersection on the one-point configuration.
  • the position adjusting member 100 in this embodiment further includes an elbow member 4 that is fixedly coupled to one end of the elbow member 4, the elbow member The other end of 4 is rotatably coupled to the arm member 5.
  • the three degrees of freedom of the position adjusting member 100 are respectively a first horizontal rotating joint R21 formed by the rotatably connecting the shoulder member 2 and the base member 1; the shoulder member 2 and the boom The member 3 is rotationally coupled to form a first vertical swing joint R22; the boom member 3 is fixedly coupled to one end of the elbow member 4, and the other end of the elbow member 4 is rotatably coupled to the arm member 5.
  • a second horizontal rotation joint R23 is formed.
  • the rotation axis of the first horizontal rotation joint R21 and the rotation axis of the first vertical swing joint R22 are perpendicular to each other, and the rotation axis of the first horizontal rotation joint R21 and the rotation axis of the second horizontal rotation joint R23 are parallel to each other.
  • the posture adjusting component 200 in this embodiment refer to the content of the first embodiment, and no further description is made here.
  • the shoulder member 2, the boom member 3, and the elbow member 4 constitute a parallelogram-like structure to better ensure the position adjusting member 100. Stability and adjustment accuracy.
  • the so-called "parallelogram-like structure" means that the configuration of the above-mentioned components can achieve the same or similar effect of the parallelogram mechanism.
  • the boom member 3 is rotatably coupled to one end of the elbow member 4, and the other end of the elbow member 4 is rotatably coupled to the arm member 5.
  • the three degrees of freedom of the position adjusting member 100 are respectively a first horizontal rotating joint R31 formed by the rotatably connecting the shoulder member 2 and the base member 1; the shoulder member 2 and the boom a first vertical swing joint R32 formed by rotationally connecting the member 3; a second vertical swing joint R32' formed by the pivotal connection of the boom member 3 and the elbow member 4; the elbow member 4 and the arm member 5 Rotating the second horizontal rotation joint R33 formed.
  • the shoulder member 2, the boom member 3, and the elbow member 4 constitute a parallelogram-like structure
  • the first vertical swing joint R32 and the second vertical swing joint R32' together constitute a vertical swing joint (ie, R32 and R32' collectively serves as a freedom for the position adjustment member 100 degree).
  • the rotation axis of the first horizontal rotation joint R31 is perpendicular to the rotation axis of the vertical swing joint, and the rotation axis of the first horizontal rotation joint R31 is parallel to the rotation axis of the second horizontal rotation joint R33.
  • the parallelogram-like structure in this embodiment has the following structure:
  • the boom member 3 includes a boom main skeleton 11 and a boom sub-frame 12.
  • One end of the boom sub-frame 12 is rotatably coupled to the shoulder member 2 via a shaft structure 2-2, and the other end is rotatably coupled to the elbow member 4 via a shaft structure 4-2; one end of the main boom main frame 11 passes through the shaft
  • the structure 2-1 is rotatably coupled to the shoulder member 2, and the other end is rotatably coupled to the elbow member 4 via a hinge structure 4-1, the boom main skeleton 11, the boom sub-frame 12 and the
  • the connecting members of the shoulder member 2 and the elbow member 4 are sequentially connected to each other to form a parallelogram, wherein the boom main skeleton 11 and the boom sub-frame 12 are connecting rods.
  • the boom main frame 11 and the boom sub-frame 12 are parallel to each other, and the boom sub-frame 12 and the boom main frame 11 and the shoulder member 2 and the elbow member 4 form a parallelogram structure.
  • the boom sub-frame 12, the boom main frame 11, the shoulder member 2 and the elbow member 4 form a parallelogram structure as a preferred embodiment.
  • the connection points of the boom main skeleton 11, the boom sub-frame 12, the shoulder member 2, and the elbow member 4 are sequentially connected to form a parallelogram, the same function as described above can be achieved.
  • Structure 2 Please refer to FIG. 9. The difference between structure 2 and structure 1 lies in the structure of the boom sub-frame 12.
  • the boom main frame 11 is still a connecting rod, and the boom sub-frame 12 is replaced by a connecting rod to a flexible transmission.
  • the flexible transmission structure includes a first flexible transmission joint component 9, a second flexible transmission joint component 10, and a sleeve and is respectively fixed to the first flexible transmission joint component 9, the second flexible transmission joint component 10
  • the upper flexible transmission joint member 9 is fixedly coupled to the shoulder member 2, and the second flexible transmission joint member 10 is fixedly coupled to the elbow member 4.
  • the first flexible transmission joint component 9 is sleeved on the rotating shaft structure 2-1 and fixedly connected with the shoulder component 2;
  • the second flexible transmission joint component 10 is sleeved on the rotating shaft 4 -1, and fixedly connected with the elbow member 4;
  • one end of the main boom main frame 11 is rotatably connected to the shoulder member 2 through the shaft structure 2-1, and the other end is passed through the shaft structure 4-1 and the elbow member 4
  • the connection is rotated to ensure that the main frame 11 of the boom can move relative to the shoulder member 2 and the elbow member 4 during the movement.
  • the axis of rotation of the shoulder member 2 and the elbow member 4 are parallel to each other and perpendicular to the horizontal plane, ensuring that the arm member 5 is always level, facilitating the surgical procedure The operation of the doctor.
  • the axis of rotation of the shoulder member 2 and the elbow member 4 ie the axis of R31 and the axis of R33
  • the axis of rotation i.e., the axis of R31 and the axis of R33
  • the parallelogram-like structure may also be other specific structures, and as long as the same effect of the parallelogram structure can be achieved, it is also within the scope of the present invention.
  • the boom member 3 shown in FIG. 11 and FIG. 11-1 the boom member 3 includes a connecting rod, one end of the connecting rod is rotatably connected to the shoulder member 2 through the rotating shaft structure 2-1, and One end is rotatably coupled to the elbow member 4 via the spindle structure 4-1.
  • the axis of rotation of the shoulder member 2 and the elbow member 4 may be parallel to each other by motor control.
  • the axis of rotation of the shoulder member 2 is perpendicular to a horizontal plane.
  • the motor control may adopt the following control mode, but is not limited to the control mode, and any control mode similar to the control mode principle may be used.
  • the boom component includes: a main boom main frame, a first power device, a first angle detecting device, a second power device and a second angle detecting device.
  • the main frame of the boom is a connecting rod, and the first power device Driving the first vertical swing joint to rotate, the first angle detecting device measures the rotation angle, and feeds back to the second angle detecting device, and the second power device drives the second vertical swing joint according to the rotation angle obtained by the second angle detecting device Rotate the same angle in the opposite direction.
  • a power device and an angle detecting device are respectively disposed at the shoulder member 2 and the elbow member 4, and the first power device at the shoulder member 2 drives the boom member 3 to swing.
  • the first angle detecting means at the shoulder member 2 measures the rotation angle and feeds back to the second angle detecting means at the elbow part 4, and the second angle detecting means at the elbow part 4 obtains a feedback deflection angle signal Thereafter, the second power unit is rotated by the same angle in the opposite direction, thereby ensuring that the axis of R31 and the axis of R33 are parallel to each other.
  • the first angle detecting means at the shoulder member 2 measures a clockwise angle
  • the second power unit at the elbow member 4 is rotated by the same angle in the counterclockwise direction according to the feedback signal.
  • more orthopaedic robot configurations can be obtained by different combinations, and these configurations are also the orthopaedic robot configurations that the present invention can relate to.
  • the robot arm includes 3 a degree of freedom position adjusting member and an attitude adjusting member having at least two degrees of freedom connected to the position adjusting member; wherein the position adjusting member includes a base member, a shoulder member, a boom member and The arm member; the posture adjusting member includes a wrist member and an instrument mount member that are sequentially connected, and the arm member is coupled to the wrist member.
  • the position adjusting component and the attitude adjusting component together constitute a series mechanical arm of at least five degrees of freedom, and the respective degrees of freedom are adjusted according to actual needs to meet the requirements for position and posture during the operation, and the structures between the components are compact and small, occupying a small space.
  • the light weight enhances the flexibility and ease of operation of the arm.
  • the adjustment position adjusting member and the posture adjusting member have different configurations, respectively, the versatility and applicability of the robot arm are enhanced.
  • the posture adjusting member can be designed as a configuration in which the extension lines of the three joints are at one point, thereby replacing the operation precision with the accuracy of the robot arm itself, and improving the accuracy and stability of the operation.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

La présente invention concerne un bras robotique et un robot pour orthopédie, le bras robotique comprenant un élément d'ajustement de position (100) ayant trois degrés de liberté et un élément d'ajustement de posture (200) ayant au moins deux degrés de liberté raccordé à l'élément d'ajustement de position (100). L'élément d'ajustement de position (100) comprend un élément de base (1), un élément d'épaule (2), un grand élément de bras (3) et un petit élément de bras (5) raccordés successivement. L'élément de régulation de posture (200) comprend une unité de poignet (6) et un élément de siège de montage d'instrument (7) raccordés successivement, et le petit élément de bras (5) est raccordé à l'élément de poignet (6). L'élément de régulation de position (100) et l'élément de régulation de posture (200) constituent ensemble un bras de robot en série ayant au moins cinq degrés de liberté. Chacun des degrés de liberté peut être ajusté en fonction des besoins réels de façon à satisfaire aux besoins de position et de posture pendant une opération. Les structures de chacune des parties sont compactes, de petite taille et pratiques, occupant un petit espace, avec un poids léger, et améliorant la flexibilité du bras robotique et la facilité de fonctionnement.
PCT/CN2017/078725 2016-06-29 2017-03-30 Bras robotique et robot pour orthopédie Ceased WO2018000871A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610496649.6A CN106175935B (zh) 2016-06-29 2016-06-29 机械臂及骨科机器人
CN201610496649.6 2016-06-29

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WO2018000871A1 true WO2018000871A1 (fr) 2018-01-04

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PCT/CN2017/078725 Ceased WO2018000871A1 (fr) 2016-06-29 2017-03-30 Bras robotique et robot pour orthopédie

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CN (1) CN106175935B (fr)
WO (1) WO2018000871A1 (fr)

Cited By (12)

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CN108858174A (zh) * 2018-06-06 2018-11-23 昆明理工大学 一种机械手
CN110393588A (zh) * 2019-08-30 2019-11-01 山东威高手术机器人有限公司 用于微创手术的医生操作台
CN110680505A (zh) * 2019-09-20 2020-01-14 中国地质大学（武汉） 一种含闭环连杆的八自由度手术机械臂
CN111374768A (zh) * 2018-12-29 2020-07-07 深圳市达科为智能医学有限公司 转动角度可调节的机械臂
CN113712691A (zh) * 2021-08-27 2021-11-30 苏州微创畅行机器人有限公司 调节装置、机械臂及牙科种植手术机器人
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CN119257747B (zh) * 2024-07-25 2025-09-23 天津大学 一种模块化骨科手术机器人及其使用方法

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