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WO2018126607A1 - 开颅机器人 - Google Patents

开颅机器人 Download PDF

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Publication number
WO2018126607A1
WO2018126607A1 PCT/CN2017/087160 CN2017087160W WO2018126607A1 WO 2018126607 A1 WO2018126607 A1 WO 2018126607A1 CN 2017087160 W CN2017087160 W CN 2017087160W WO 2018126607 A1 WO2018126607 A1 WO 2018126607A1
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WO
WIPO (PCT)
Prior art keywords
craniotomy
connecting member
drill
moving mechanism
connecting rod
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/CN2017/087160
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English (en)
French (fr)
Inventor
包磊
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.)
Shenzhen Benevolence Medical Sci & Tech Co Ltd
Original Assignee
Shenzhen Benevolence Medical Sci & Tech Co Ltd
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Filing date
Publication date
Application filed by Shenzhen Benevolence Medical Sci & Tech Co Ltd filed Critical Shenzhen Benevolence Medical Sci & Tech Co Ltd
Publication of WO2018126607A1 publication Critical patent/WO2018126607A1/zh
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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans

Definitions

  • the utility model relates to the technical field of medical equipment, in particular to a craniotomy robot.
  • some craniotomy tools are equipped with a clutch device to allow self-stopping, and the clutch device is disposed in the drill bit portion.
  • a clutch device to allow self-stopping
  • the clutch device is disposed in the drill bit portion.
  • such a structure causes a large diameter of the drill bit, so that the drill bit of such a structure cannot drill a diameter of 2.5. Miniature bone holes below mm.
  • the implementation of the self-stopping of the clutch device is not high in accuracy, and even in the case of spring aging, the clutch failure may occur.
  • the purpose of the utility model is to overcome the defects of the prior art and provide a craniotomy robot to solve the problem that the craniotomy tool in the prior art has difficulty in ensuring uniform drilling speed, poor reliability and precision of drilling, and difficulty in drilling. Take the microbone hole with a diameter of 2.5mm or less and the problem of poor overall reliability and stability.
  • the craniotomy robot comprises:
  • the movable mechanism being movably connected to the mount for relative to the Mounting for relative movement;
  • a cranial drill connected to the moving mechanism for performing a craniotomy operation on the craniotomy object after being moved to the preset position by the moving mechanism;
  • control device is disposed on the cranial drill and electrically connected to the moving mechanism and the cranial drill respectively for controlling the moving mechanism to move the cranial drill to the preset position And performing the craniotomy on the craniotomy object by controlling the cranial drill.
  • the moving mechanism includes a rotating module rotatable around a center line of the mounting seat and connected to the mounting seat, and a rotating arm disposed on the rotating module; the cranial drilling is set on On the robot arm.
  • the mechanical arm includes a first connecting member that is disposed on the rotating module, a second connecting member that is disposed on the first connecting member, and is rotatably disposed on the second connecting member
  • the third connecting member is provided on the third connecting member.
  • the first connecting member includes a first connecting rod rotatably connected to the rotating module, is disposed on the rotating module and is connected to the first connecting rod to drive the first connection The first drive source for the rotation of the rod.
  • the second connecting member includes a second connecting rod rotatably coupled to the first connecting member, disposed on the first connecting member and coupled to the second connecting rod to drive the a second driving source for rotating the second connecting rod.
  • the third connecting member includes a third connecting rod member rotatably coupled to the second connecting member, disposed on the second connecting member and coupled to the third connecting rod member to drive the A third driving source for rotating the third connecting rod.
  • the rotary module includes a rotary cylinder, and a rotary end of the rotary cylinder is coupled to the mount.
  • the cranial drill includes a box that is rotated on the robot arm, a drill fixed to the box, and is fixed to the box for cooling and cooling the bit.
  • the spray gun head is fixed to the box for cooling and cooling the bit.
  • the mounting base includes a base and a pillar connected to the base, and the moving mechanism is disposed on the pillar.
  • the diameter of the drill bit is less than 2.5 mm.
  • the technical effect of the craniotomy robot of the present invention is that since the cranial robot is fixedly disposed on the operating table through the mounting seat, when the patient needs to perform a craniotomy, the medical staff can lay the patient lying on the operation. On the stage.
  • the movement mechanism can be controlled by the control device to move the cranial drill to a desired position, and then the cranial drill is controlled by the control device to perform a craniotomy operation on the patient, the entire operation, not only It is simple and convenient, and it is beneficial to ensure the uniform drilling speed and greatly improve the reliability and precision of the drilling.
  • the micro-bone hole with the diameter of 2.5mm or less can be drilled to improve the use range of the instrument.
  • the cranial robot is automated, it is beneficial to ensure its overall reliability and stability.
  • Figure 1 is a schematic view of a craniotomy robot of the present invention
  • FIG. 2 is a schematic structural view of a rotary module, a first connecting member and a second connecting member of the cranial robot of the present invention
  • FIG 3 is a schematic structural view of a third connecting member and a cranial drill of the craniotomy robot of the present invention.
  • the craniotomy object to be applied is mainly a patient, and of course, it can also be applied to an animal craniotomy.
  • the cranial robot 100 includes a mount 10, a moving mechanism 20, a cranial drill 30, and a control device 40. The components of the cranial robot 100 are further described below:
  • the mounting seat 10 is used for positioning and mounting at a desired position, and the positioning mounting is to fix the mounting seat at a corresponding desired position.
  • the mount 10 is mainly installed beside the operating table;
  • the movable mechanism 20 is movably coupled to the mount 10 for relative movement relative to the mount 10; that is, the move mechanism is coupled to the mount and is movable relative to the mount, the movement including both rotation and Includes translational motion and compound motion with rotation and peace.
  • the moving mechanism 20 has a fixed end and a moving end, wherein the fixed end is fixedly disposed on the mounting seat 10 to position the entire moving mechanism 20, and the moving end is used for moving work, and the cranial drill is set on On the mobile side;
  • the cranial drill 30 is disposed on the moving mechanism 20 to perform a craniotomy operation on the craniotomy object after being moved to the preset position by the moving mechanism 20, and specifically, the cranial drill 30 is disposed on the moving end of the moving mechanism 20; The position is set in advance according to the craniotomy position of the craniotomy object.
  • the control device 40 is disposed on the cranial drill 30 and electrically connected to the moving mechanism 20 and the cranial drill 30, respectively, for controlling the moving mechanism 20 to move the cranial drill 30 to a preset position and controlling the cranial drill 30 to perform the craniotomy object.
  • the craniotomy operation wherein the preset position can be input into the control device in advance, and the cranial drill is moved to the preset position by the control movement mechanism corresponding to the control device.
  • the medical staff can lie on the operating table when the patient needs to perform a craniotomy.
  • the movement mechanism 20 can be manipulated by the control device 40 to move the cranial drill 30 to a desired position, and then the cranial drill 30 is manipulated by the control device 40 to perform a craniotomy operation on the patient.
  • the whole operation is not only simple and convenient, but also helps to ensure uniform drilling speed, greatly improve the reliability and precision of the drilling.
  • the micro-bone hole with a diameter of 2.5mm or less can be drilled to improve the instrument. The scope of use.
  • the cranial robot 100 is automated, it is advantageous to ensure its overall reliability and stability.
  • a preferred embodiment of the moving mechanism 20 of the present embodiment includes a rotating module 21 that is rotatably mounted on the mounting base 10 about a center line of the mounting base 10 and is rotatably disposed on the rotating module 21 .
  • the arm 22 generally speaking, the mount is a cylinder or a rectangular parallelepiped, and the center line is the above rule
  • the axis of symmetry of the body, the rotation module 21 is rotatable about the mount 10, and the arm 22 is rotatable about the rotation module 21.
  • the cranial drill 30 is rotated on the robot arm 22.
  • the rotation is set to mean that the cranial drill can be rotated and connected to the robot arm.
  • the cranial drill 30 can easily and effectively realize the positioning setting of the XYZ three-axis coordinate system.
  • the mechanical arm 22 includes a first connecting member 221 that is rotatably disposed on the rotating module 21, a second connecting member 222 that is disposed on the first connecting member 221, and is rotatably disposed on the second connecting member 222.
  • the third connecting member 223 is configured to rotate on the third connecting member 223. Due to the arrangement of the first connecting member 221, the second connecting member 222, and the third connecting member 223, the cranial drill 30 can be positioned more accurately at a desired position.
  • one connecting member, two connecting members or three or more connecting members may be provided according to actual conditions, and such an embodiment also belongs to the protection scope of the present embodiment.
  • the first connecting member 221 is configured to include a first connecting rod 2211 that is rotatably coupled to the rotating module 21 , and is disposed on the rotating module 21 and connected to the first connecting rod 2211 for driving.
  • the first connecting rod 2211 rotates the first driving source 2212, wherein, specifically, one end of the first connecting rod 2211 is provided with a first rotating shaft 2213, the axis of the first rotating shaft 2213 and the first connecting rod
  • the axis of the 2211 intersects perpendicularly, and the first connecting rod 2211 is rotatably coupled to the rotating module 21 through the first rotating shaft 2213. Then, the first connecting rod 2211 is rotated about the axis of the first rotating shaft 2213.
  • the first driving source 2212 can be a micro motor, and the micro motor is connected to the first rotating shaft 2213 through the first transmission gear train 2214.
  • the second connecting member 222 is preferably configured to include a second connecting rod member 2221 rotatably coupled to the first connecting member 221 , and disposed on the first connecting member 221 and coupled to the second connecting rod
  • the second driving source 2222 is connected to the second connecting rod 2221, wherein the second connecting rod 2221 is provided with a second rotating shaft 2223, and the axis of the second rotating shaft 2223 is The axis of the second connecting rod member 2221 is perpendicularly intersected, and the second connecting rod member 2221 is rotatably connected to the first connecting member 221 through the second rotating shaft 2223. Then, the second connecting rod The piece 2221 is rotated about the axis of the second rotating shaft 2223.
  • the second driving source 2222 can be a micro motor, and the micro motor is connected to the second rotating shaft 2223 via the second transmission gear train 2224.
  • the third connecting member 223 is preferably configured to include a third connecting rod member 2231 rotatably coupled to the second connecting member 222 , and is disposed on the second connecting member 222 and connected to the third connecting rod member 2231 .
  • a third driving source 2232 for driving the third connecting rod member 2231 wherein, specifically, one end of the third connecting rod member 2231 is provided with a third rotating shaft 2233, and the axis of the third rotating shaft 2233 is connected with the third The axis of the rod 2231 is perpendicularly intersected, and the third connecting rod 2231 is rotatably connected to the second connecting member 222 through the third rotating shaft 2233. Then, the third connecting rod 2231 is an axis about the third rotating shaft 2233. Turn.
  • the third driving source 2232 can be a micro motor, and the micro motor is connected to the third rotating shaft 2233 through the third transmission gear train 2234.
  • the rotating module 21 includes a rotating cylinder 211, and the rotating end of the rotating cylinder 211 is connected to the mounting base 10, In this way, the rotation of the rotary module 21 is simply and efficiently performed, and the drawing and mounting of the rotary cylinder 211 are also convenient.
  • the cranial drill 30 includes a rotation provided on the robot arm 22.
  • a fourth rotating shaft 34 is disposed on one end of the casing 31, the axis of the fourth rotating shaft 34 intersects the axis of the casing 31, and the casing 31 is connected to the third through the fourth rotating shaft 34.
  • the member 223 is rotatably connected, and then the case 31 is rotated about the axis of the fourth rotating shaft 34.
  • a fourth driving source 35 for driving the rotation of the casing 31 is disposed on the third connecting member 223.
  • the fourth driving source 35 is a micro motor that passes through the fourth transmission gear train 36 and the casing 31.
  • the fourth rotating shaft 34 is connected.
  • the mounting base 10 includes a base 11 and a strut 12 vertically connected to the base 11, and the moving mechanism 20 is moved on the strut 12.
  • the cranial robot 100 further includes a side end disposed on the moving mechanism 20 for use.
  • the display screen 50 is electrically coupled to the control device 40 for display screen 50 showing the operational data of the moving mechanism 20 and the cranial drill 30 so that the medical personnel can observe the actual situation.
  • the diameter of the drill bit is less than 2.5 mm. Since the control device 40 is disposed in the casing 31, the self-stop control is not through the mechanical mechanism. The spring return mechanism is completed so that the drill diameter can be set small so as to be suitable for the opening of the micro hole.
  • the cranial drill 30 of the cranial robot 100 on the operating table is located outside of the operating table to avoid obstructing the patient from using the operating table.
  • the medical staff needs to use the cranial robot 100 to perform a craniotomy operation on the patient's head, the patient is first placed on the operating table. At this time, the cranial drill 30 of the cranial robot 100 is located above the patient.
  • the craniotomy robot 100 is powered on.
  • the medical staff can control the rotation of the rotation module 21 by the control device 40 to rotate the cranial drill 30 along the axis of the rotation module 21 to the position above the craniotomy position of the patient;
  • the person can control the first connecting member 221, the second connecting member 222, and/or the third connecting member 223 of the robot arm 22 to rotate by the control device 40 to urge the drill bit 32 toward the patient craniotomy position.
  • the medical staff can control the operation of the drill bit 32 and the spray gun head 33 by the control die device 40 to perform a craniotomy operation on the patient.
  • the drill bit 32 will be drilled along its axial direction and gradually lean toward the patient.
  • the spray gun head 33 will simultaneously spray physiological saline to cool the lubrication bit 32, and when the drill bit 32 drills the desired hole in the patient's skull, the drill bit 32 will The patient is retracted away from the patient's head, and the spray gun head 33 simultaneously stops the discharge of physiological saline.
  • the medical staff can control the first connecting member 221, the second connecting member 222, and/or the third connecting member 223 of the robot arm 22 to rotate by the control device 40 to keep the drill bit 32 away.
  • the patient is switched to the cranial position; then, the medical staff can control the rotation of the rotary module 21 by the control device 40 to rotate the cranial drill 30 in the axial direction of the rotary module 21 to the outside of the operating table.

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Abstract

一种开颅机器人（100），包括安装座（10）、移动机构（20）、颅钻（30）及控制装置（40），移动机构（20）移动设于安装座（10）上，颅钻（30）设于移动机构（20）上，控制装置（40）设于颅钻（30）上，并分别与移动机构（20）、颅钻（30）电连接。由于该开颅机器人（100）为通过安装座（10）而固定设置在手术台上，故，当需要对患者进行开颅手术时，医护人员可使患者平躺于手术台上。而对患者进行开颅操作时，可通过控制装置（40）操控移动机构（20），以将颅钻（30）移动至所需位置处，之后，再通过控制装置（40）操控颅钻（30），以对患者实施开颅操作，整个操作，不但简单方便，而且有利于保证钻孔速度均匀，大大提高钻孔的可靠度和精准度，同时，还可根据实际情况，钻取直径为2.5mm以下的微型骨孔，提高器械的使用范围。

Description

开颅机器人 技术领域
本实用新型涉及医疗设备的技术领域，尤其涉及一种开颅机器人。
背景技术
目前，当医护人员需要对患者进行开颅手术时，其大多为采用手动式开颅工具，而此种工具需要医护人员手持以进行钻孔，无疑增加医护人员的工作强度；而且，在手动钻孔过程中，工具容易摆动，以致产生定位偏差。另外，在对患者的头颅进行钻孔时需要钻过三层骨质，而采用手动式开颅工具难以保证钻孔速度均匀，只能依靠医护人员的经验进行手动调节，从而造成钻孔的可靠度和精准度不够。
此外，有些开颅工具配置了离合装置以可进行自停，而且该离合装置为设置在钻头部分，但是，此种结构会造成钻头直径较大，以致此种结构的钻头不能钻取直径为2.5mm以下的微型骨孔。同时，采用离合装置进行自停的实施方式，其准确性不高，而且在弹簧老化等情况下甚至可能会出现离合失灵的情况。
因此，有必要提供一种技术手段以解决上述缺陷。
实用新型内容
本实用新型的目的在于克服现有技术之缺陷，提供一种开颅机器人，以解决现有技术中的开颅工具存在难以保证钻孔速度均匀、钻孔的可靠度和精准度差、难以钻取直径为2.5mm以下的微型骨孔、及整体可靠性和稳定性差的问题。
本实用新型是这样实现的，开颅机器人，包括：
安装座，用于定位安装在所需的位置处；
移动机构，所述移动机构与所述安装座可移动的连接，用于相对于所述安 装座进行相对运动；
颅钻，所述颅钻与所述移动机构连接，用于被所述移动机构移动至预设位置后对开颅对象实施开颅操作；
控制装置，所述控制装置设于所述颅钻上，并分别与所述移动机构、所述颅钻电连接，以用于控制所述移动机构将所述颅钻移动至所述预设位置处以及控制所述颅钻对开颅对象实施开颅操作。
具体地，所述移动机构包括可绕所述安装座的中心线旋转并与所述安装座连接的旋转模组、及转动设于所述旋转模组上机械臂；所述颅钻转动设于所述机械臂上。
进一步地，所述机械臂包括转动设于所述旋转模组上的第一连接构件、转动设于所述第一连接构件上的第二连接构件、及转动设于所述第二连接构件上的第三连接构件，所述颅钻转动设于所述第三连接构件上。
进一步地，所述第一连接构件包括与所述旋转模组转动连接的第一连接杆件、设于所述旋转模组上并与所述第一连接杆件连接以驱动所述第一连接杆件转动的第一驱动源。
较佳地，所述第二连接构件包括与所述第一连接构件转动连接的第二连接杆件、设于所述第一连接构件上并与所述第二连接杆件连接以驱动所述第二连接杆件转动的第二驱动源。
较佳地，所述第三连接构件包括与所述第二连接构件转动连接的第三连接杆件、设于所述第二连接构件上并与所述第三连接杆件连接以驱动所述第三连接杆件转动的第三驱动源。
优选地，所述旋转模组包括一旋转气缸，所述旋转气缸的旋转端与所述安装座连接。
优选地，所述颅钻包括转动设于所述机械臂上的箱体、固定于所述箱体上的钻头、及固定于所述箱体上以用于对所述钻头工作时进行冷却降温的喷液枪头。
具体地，所述安装座包括底座及与所述底座相连的支柱，所述移动机构移动设于所述支柱上。
具体地，钻头的直径小于2.5mm。
本实用新型的开颅机器人的技术效果为：由于该开颅机器人为通过安装座而固定设置在手术台上，故，当需要对患者进行开颅手术时，医护人员可使患者平躺于手术台上。而对患者进行开颅操作时，可通过控制装置操控移动机构，以将颅钻移动至所需位置处，之后，再通过控制装置操控颅钻，以对患者实施开颅操作，整个操作，不但简单方便，而且有利于保证钻孔速度均匀，大大提高钻孔的可靠度和精准度，同时，还可根据实际情况，钻取直径为2.5mm以下的微型骨孔，提高器械的使用范围。再有，由于该开颅机器人为自动化操作，有利于保证其整体可靠性和稳定性。
附图说明
图1为本实用新型的开颅机器人的示意图；
图2为本实用新型的开颅机器人的旋转模组、第一连接构件和第二连接构件的结构示意图；
图3为本实用新型的开颅机器人的第三连接构件和颅钻的结构示意图。
具体实施方式
为了使本实用新型的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本实用新型进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本实用新型，并不用于限定本实用新型。
请参阅图1，下面对本实用新型的开颅机器人的实施例进行阐述。
本实施例的开颅机器人100，其所应用的开颅对象主要为病人，当然亦可应用于动物的开颅手术。该开颅机器人100包括安装座10、移动机构20、颅钻30及控制装置40，下面对开颅机器人100的各部件作进一步描述：
安装座10，其用于定位安装在所需的位置处，定位安装即将安装座固定在对应的所需位置。而一般地，安装座10主要安装在手术台的旁边；
移动机构20与安装座10可移动的连接，用于相对于安装座10进行相对运动；也就是说，移动机构与安装座是连接的，并且能够相对于安装座进行移动，移动既包括转动也包括平动以及具有转动和平动的复合运动。可理解地，该移动机构20具有固定端和移动端，其中，固定端为固定设置在安装座10上，以使整个移动机构20定位设置，而移动端为用于移动工作，颅钻设于移动端上；
颅钻30设于移动机构20上，以被移动机构20移动至预设位置后对开颅对象实施开颅操作，而具体地，颅钻30为设于移动机构20的移动端上；其中预设位置是根据开颅对象的开颅位置所预先设定的。
控制装置40设于颅钻30上，并分别与移动机构20、颅钻30电连接，以用于控制移动机构20将颅钻30移动至预设位置处以及控制颅钻30对开颅对象实施开颅操作，其中，预设位置可预先输入到控制装置中，通过控制装置对应的控制移动机构移动颅钻到预设位置处。
由于该开颅机器人100为通过安装座10而固定设置在手术台上，故，当需要对患者进行开颅手术时，医护人员可使患者平躺于手术台上。而对患者进行开颅操作时，可通过控制装置40操控移动机构20，以将颅钻30移动至所需位置处，之后，再通过控制装置40操控颅钻30，以对患者实施开颅操作，整个操作，不但简单方便，而且有利于保证钻孔速度均匀，大大提高钻孔的可靠度和精准度，同时，还可根据实际情况，钻取直径为2.5mm以下的微型骨孔，提高器械的使用范围。再有，由于该开颅机器人100为自动化操作，有利于保证其整体可靠性和稳定性。
请参阅图1，本实施例的移动机构20的优选实施方式为，其包括可绕安装座10的中心线旋转设于安装座10上的旋转模组21、及转动设于旋转模组21上机械臂22；一般而言，安装座为圆柱体或长方体，其中心线即为上述规 则体的对称轴线，旋转模组21可绕安装座10旋转，机械臂22可绕旋转模组21旋转。颅钻30转动设于机械臂22上，转动设于的含义即颅钻可转动并与机械臂连接。其中，借由旋转模组21和机械臂22的设置，可使颅钻30简单有效地实现XYZ三轴坐标系的定位设置。
而具体地，机械臂22包括转动设于旋转模组21上的第一连接构件221、转动设于第一连接构件221上的第二连接构件222、及转动设于第二连接构件222上的第三连接构件223，颅钻30转动设于第三连接构件223上。由于第一连接构件221、第二连接构件222和第三连接构件223的设置，可较精准地使到颅钻30定位在所需的位置处。当然，亦可根据实际情况而设置一个连接构件、两个连接构件或者三个以上的连接构件，而此种实施方式也属于本实施例的保护范畴。
请参阅图2，第一连接构件221的优选结构为，其包括与旋转模组21转动连接的第一连接杆件2211、设于旋转模组21上并与第一连接杆件2211连接以驱动第一连接杆件2211转动的第一驱动源2212，其中，具体地，第一连接杆件2211的一端上设有第一转动轴2213，该第一转动轴2213的轴线与第一连接杆件2211的轴线垂直相交，而且第一连接杆件2211为通过该第一转动轴2213与旋转模组21转动连接，那么，第一连接杆件2211为绕着第一转动轴2213的轴线转动。
较佳地，该第一驱动源2212可以为一微型电机，且该微型电机通过第一传动齿轮系2214与第一转动轴2213连接。
请继续参阅图2，第二连接构件222的优选结构为，其包括与第一连接构件221转动连接的第二连接杆件2221、设于所述第一连接构件221上并与第二连接杆件2221连接以驱动第二连接杆件2221转动的第二驱动源2222，其中，具体地，第二连接杆件2221的一端上设有第二转动轴2223，该第二转动轴2223的轴线与第二连接杆件2221的轴线垂直相交，而且第二连接杆件2221为通过该第二转动轴2223与第一连接构件221转动连接，那么，第二连接杆 件2221为绕着第二转动轴2223的轴线转动。
较佳地，该第二驱动源2222可以为一微型电机，且该微型电机通过第二传动齿轮系2224与第二转动轴2223连接。
请参阅图3，第三连接构件223的优选结构为，其包括与第二连接构件222转动连接的第三连接杆件2231、设于第二连接构件222上并与第三连接杆件2231连接以驱动第三连接杆件2231转动的第三驱动源2232，其中，具体地，第三连接杆件2231的一端上设有第三转动轴2233，该第三转动轴2233的轴线与第三连接杆件2231的轴线垂直相交，而且第三连接杆件2231为通过该第三转动轴2233与第二连接构件222转动连接，那么，第三连接杆件2231为绕着第三转动轴2233的轴线转动。
较佳地，该第三驱动源2232可以为一微型电机，且该微型电机通过第三传动齿轮系2234与第三转动轴2233连接。
作为本实用新型的另一优选实施例，其结合上述实施例的实施方式，而且，在本实施例中，旋转模组21包括一旋转气缸211，旋转气缸211的旋转端与安装座10连接，以此简单有效地实施旋转模组21的旋转，而且，旋转气缸211的取材及安装也较为方便。
请参阅图1，并结合图3，作为本实用新型的另一优选实施例，其结合上述实施例的实施方式，而且，在本实施例中，颅钻30包括转动设于机械臂22上的箱体31、固定于箱体31上的钻头32、及固定于箱体31上以用于对钻头32工作时进行冷却降温的喷液枪头33，其中，钻头与喷液枪头可设置为可拆卸的。具体地，箱体31的一端上设有第四转动轴34，该第四转动轴34的轴线与箱体31的轴线垂直相交，而且箱体31为通过该第四转动轴34与第三连接构件223转动连接，那么，箱体31为绕着第四转动轴34的轴线转动。同时地，于第三连接构件223上设有一用于驱动箱体31转动的第四驱动源35，该第四驱动源35为微型电机，其通过第四传动齿轮系36与箱体31上的第四转动轴34连接。
另外，安装座10包括底座11及与底座11垂直相连的支柱12，移动机构20移动设于支柱12上。
请参阅图1，作为本实用新型的另一优选实施例，其结合上述实施例的实施方式，而且，在本实施例中，开颅机器人100还包括设于移动机构20的一侧端以用于显示移动机构20和颅钻30的工作数据的显示屏50，显示屏50与控制装置40电连接，以便于医务人员的观察知晓实际情况。
请参阅图1，作为本实用新型的另一优选实施例，其结合上述实施例的实施方式，钻头的直径小于2.5mm，由于控制装置40设置在箱体31内，自停的控制不是通过机械的弹簧复位机构完成，从而可以将钻头直径设置为很小，从而适于微型孔的开设。
下面结合各图式，对本实用新型的开颅机器人100的工作原理作进一步说明：
准备工序
初始时，手术台上的开颅机器人100的颅钻30位于手术台的外侧，以避免阻挡患者使用手术台。而当医护人员需要使用开颅机器人100对患者的头部进行开颅操作时，先使患者平躺于手术台上，此时，开颅机器人100的颅钻30位于患者的上方。
定位工序
通电启动开颅机器人100，此时，医护人员可通过控制装置40控制旋转模组21转动，以使颅钻30沿旋转模组21的轴线方向转至患者开颅位置处的上方；接着，医护人员可通过控制装置40控制机械臂22的第一连接构件221、第二连接构件222和/或第三连接构件223转动，以使钻头32靠向换患者开颅位置处。
钻颅工序
医护人员可通过控制模装置40控制钻头32、喷液枪头33工作，以对患者实施开颅操作，具体地，钻头32会沿其轴线方向钻动并逐渐靠向钻入患者 头颅，而在钻头32钻入患者头颅时，该喷液枪头33会同步喷出生理盐水，以冷却润滑钻头32，而当钻头32在患者头颅上钻出所需的孔时，钻头32会后撤远离患者头颅，而且该喷液枪头33会同步停止喷出生理盐水。
复位工序
在患者的头颅钻出所需的孔后，医护人员可通过控制装置40控制机械臂22的第一连接构件221、第二连接构件222和/或第三连接构件223转动，以使钻头32远离换患者开颅位置处；接着，医护人员可通过控制装置40控制旋转模组21转动，以使颅钻30沿旋转模组21的轴线方向转至手术台的外侧。
以上所述仅为本实用新型较佳的实施例而已，其结构并不限于上述列举的形状，凡在本实用新型的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本实用新型的保护范围之内。

Claims (10)

  1. 开颅机器人，其特征在于，包括：
    安装座，用于定位安装在所需的位置处；
    移动机构，所述移动机构与所述安装座可移动的连接，用于相对于所述安装座进行相对运动；
    颅钻，所述颅钻与所述移动机构连接，用于被所述移动机构移动至预设位置后对开颅对象实施开颅操作；
    控制装置，所述控制装置设于所述颅钻上，并分别与所述移动机构、所述颅钻电连接，以用于控制所述移动机构将所述颅钻移动至所述预设位置处以及控制所述颅钻对开颅对象实施开颅操作。
  2. 如权利要求1所述的开颅机器人，其特征在于：所述移动机构包括可绕所述安装座的中心线旋转并与所述安装座连接的旋转模组、及转动设于所述旋转模组上机械臂；所述颅钻转动设于所述机械臂上。
  3. 如权利要求2所述的开颅机器人，其特征在于：所述机械臂包括转动设于所述旋转模组上的第一连接构件、转动设于所述第一连接构件上的第二连接构件、及转动设于所述第二连接构件上的第三连接构件，所述颅钻转动设于所述第三连接构件上。
  4. 如权利要求3所述的开颅机器人，其特征在于：所述第一连接构件包括与所述旋转模组转动连接的第一连接杆件、设于所述旋转模组上并与所述第一连接杆件连接以驱动所述第一连接杆件转动的第一驱动源。
  5. 如权利要求3所述的开颅机器人，其特征在于：所述第二连接构件包括与所述第一连接构件转动连接的第二连接杆件、设于所述第一连接构件上并与所述第二连接杆件连接以驱动所述第二连接杆件转动的第二驱动源。
  6. 如权利要求3所述的开颅机器人，其特征在于：所述第三连接构件包括与所述第二连接构件转动连接的第三连接杆件、设于所述第二连接构件上并与 所述第三连接杆件连接以驱动所述第三连接杆件转动的第三驱动源。
  7. 如权利要求2所述的开颅机器人，其特征在于：所述旋转模组包括一旋转气缸，所述旋转气缸的旋转端与所述安装座连接。
  8. 如权利要求2所述的开颅机器人，其特征在于：所述颅钻包括转动设于所述机械臂上的箱体、固定于所述箱体上的钻头、及固定于所述箱体上以用于对所述钻头工作时进行冷却降温的喷液枪头。
  9. 如权利要求1-8任意一项所述的开颅机器人，其特征在于：所述安装座包括底座及与所述底座相连的支柱，所述移动机构移动设于所述支柱上。
  10. 如权利要求8所述的开颅机器人，其特征在于：所述钻头的直径小于2.5mm。
PCT/CN2017/087160 2017-01-09 2017-06-05 开颅机器人 Ceased WO2018126607A1 (zh)

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