CN111631818B - End calibration device of orthopaedic surgery robot - Google Patents
End calibration device of orthopaedic surgery robot Download PDFInfo
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- CN111631818B CN111631818B CN202010496844.5A CN202010496844A CN111631818B CN 111631818 B CN111631818 B CN 111631818B CN 202010496844 A CN202010496844 A CN 202010496844A CN 111631818 B CN111631818 B CN 111631818B
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
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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
- A61B34/30—Surgical robots
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Abstract
本发明公开了骨科手术机器人末端标定装置，本发明涉及骨科医疗器械技术领域。通过标定反光球基座构件包括标定反光球基座主体，标定反光球基座主体的内部位于标定反光球基座上沉槽的圆心处开设有标定反光球基座球体限位槽，标定反光球基座主体的内部位于标定反光球基座球体限位槽的圆心处底部开设有标定反光球基座快装半球部，标定反光球基座快装半球部的最大直径小于标定反光球基座球体限位槽的直径大小，标定反光球基座主体的底部安装有标定反光球基座固定块。现在的标定装置只需要标定一次，这样就可以避开操作者手术过程中，由于矩阵固定所产生的干扰，进而整个手术的时间能够充分节约。
The invention discloses a terminal calibration device of an orthopedic surgical robot, and relates to the technical field of orthopedic medical instruments. The base member of the calibrated reflective ball base includes the main body of the calibrated reflective ball base, and the inside of the calibrated reflective ball base body is located at the center of the sink groove on the calibrated reflective ball base. The inside of the base body is located at the center of the circle limit groove of the calibration reflective ball base, and the bottom of the calibration reflective ball base is provided with a quick-install hemisphere. The diameter of the limit groove is determined, and the bottom of the main body of the calibrated reflective ball base is installed with a fixed block for the calibrated reflective ball base. The current calibration device only needs to be calibrated once, so that the interference caused by the fixed matrix during the operation of the operator can be avoided, and the time of the entire operation can be fully saved.
Description
Technical Field
The invention relates to the technical field of orthopedic medical instruments, in particular to a tail end calibration device of an orthopedic surgery robot.
Background
Orthopedic instruments generally refer to specialized medical instruments specifically used for orthopedic surgery. The food and drug administration is classified into the following parts: one type; two types and three types. Mainly divided into orthopaedics knife, orthopaedics scissors, orthopaedics forceps, orthopaedics hook, orthopaedics needle, orthopaedics scraper, orthopaedics awl, orthopaedics drill, orthopaedics saw, orthopaedics chisel, orthopaedics file/shovel, orthopaedics active instrument and the like according to the use and performance.
The traditional calibration reflecting ball component and the calibration reflecting ball base component are complex and complicated to install, waste is caused to the preparation time of the operation, and the problem of delaying the optimal operation time is solved.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the tail end calibration device of the orthopedic surgery robot, which can realize quick installation between the calibration reflective ball component and the calibration reflective ball base component, has better stability and saves the surgery time.
In order to achieve the purpose, the invention is realized by the following technical scheme: the end calibration device of the orthopedic surgery robot comprises a calibration matrix base, wherein a convex cylinder is fixedly installed on the lower side of the middle intersecting section of a calibration reflective ball component, a countersunk threaded through hole is formed in the middle intersecting section of the calibration matrix base, a fastening screw is arranged in the countersunk threaded through hole of the calibration matrix base, four ports of the calibration matrix base are connected with four calibration matrix base fixing and supporting upright posts, the four ports of the calibration matrix base are provided with the calibration reflective ball base component through the four calibration matrix base fixing and supporting upright posts, a calibration reflective ball component is arranged above the four calibration reflective ball base components, a cross-shaped rotating fast-assembling component is installed below the calibration matrix base through the convex cylinder, the countersunk threaded through hole and the fastening screw which are arranged on the lower side of the calibration matrix base, and a drill rod end is slidably installed below the cross-shaped rotating fast-assembling component, the drilling rod elastic limiting block is sleeved at the bottom of the tail end of the drilling rod, a spring is arranged inside the drilling rod elastic limiting block, and a limiting nut is arranged at the bottom end of the spring, which is located outside the drilling rod elastic limiting block in a threaded mode.
The calibrated reflective ball component comprises a calibrated reflective ball upper part limiting circular plate, a calibrated reflective ball upper part is arranged on the upper side of the calibrated reflective ball upper part limiting circular plate, and a calibrated reflective ball lower quick-assembly body is arranged on the lower side of the calibrated reflective ball upper part limiting circular plate.
The base component of the calibration reflecting ball comprises a base main body of the calibration reflecting ball, a large port of the base main body of the calibration reflecting ball is provided with a sunken groove of the base of the calibration reflecting ball, a calibrated reflecting ball pedestal sphere limiting groove is arranged in the calibrated reflecting ball pedestal main body and positioned at the center of the sunken groove on the calibrated reflecting ball pedestal, the bottom of the inner part of the base main body of the calibrated reflecting ball, which is positioned at the circle center of the ball limiting groove of the base main body of the calibrated reflecting ball, is provided with a quick-mounting semispherical part of the base of the calibrated reflecting ball, the arc diameter of the lower quick-assembly body of the calibrated reflecting ball is equal to the arc diameter of the semi-spherical part of the quick-assembly base of the calibrated reflecting ball, the maximum diameter of the quick-mounting hemispherical part of the calibrated reflecting ball base is smaller than the diameter of the limiting groove of the sphere of the calibrated reflecting ball base, the bottom of the calibration reflecting ball base main body is provided with a calibration reflecting ball base fixing block, and a mounting circular hole is formed in the calibration reflecting ball base fixing block.
Preferably, the cross-shaped rotary fast-assembly member comprises a cross-shaped rotary fast-assembly upper main body, a ball spring assembly and a cross-shaped rotary fast-assembly lower main body, the top end of the cross-shaped rotary quick-mounting upper main body is fixedly provided with a cross-shaped rotary quick-mounting upper main body mounting block, the upper top end of the cross-shaped rotating quick-mounting upper main body mounting block is provided with a threaded hole, the bottom of the cross-shaped rotating quick-mounting upper main body is fixedly provided with a rotating circular fixture block, the circumferential surface of the rotary round fixture block is provided with a plurality of limiting grooves, the upper part of the cross-shaped rotary quick-mounting lower main body is provided with a limiting round block, the upper side of the circle center of the limiting round block is provided with a guide rod, the upper part of the limiting round block is provided with a plurality of arc limiting grooves and inclined sliding guide grooves, and the number of the arc limiting grooves and the inclined guide sliding grooves is equal to that of the limiting grooves and the ball spring assemblies, and the bottom of the cross rotating quick-mounting lower main body is provided with a cross guide rod.
Preferably, the bottom circle center of the tail end of the drill rod body is provided with a lower threaded connecting column, the surface of the tail end of the drill rod body is provided with a plurality of semicircular grooves, and one side, located on the semicircular grooves, of the surface of the tail end of the drill rod body is provided with a plurality of through circular holes.
Preferably, the drill rod elastic limiting block comprises a drill rod elastic limiting block main body, a plurality of limiting cylinders are installed on the upper portion of the drill rod elastic limiting block main body, a lower limiting wall is installed at the bottom of the drill rod elastic limiting block main body, a guide round hole is formed in the center of the drill rod elastic limiting block main body, the inner diameter of the lower limiting wall is larger than the diameter of the guide round hole, and the outer diameter of the lower limiting wall is larger than the diameter of the drill rod elastic limiting block main body.
Preferably, the calibration matrix base fixed support column comprises a calibration matrix base fixed support column main body, the upper part of the main body of the fixed supporting upright post of the calibration matrix base is provided with a fixed supporting upright post connecting rod, the lower part of the main body of the fixed supporting upright post of the calibration matrix base is fixedly provided with a fixed supporting upright post auxiliary matching rod, the bottom of the auxiliary matching rod of the fixed support upright post is provided with a threaded rod of the fixed support upright post, the diameter of the auxiliary matching rod of the fixed support upright post is larger than that of the main body of the fixed support upright post of the calibration matrix base, the diameter of the main body of the fixed supporting upright post of the calibration matrix base is smaller than that of the connecting rod of the fixed supporting upright post, the diameter of the fixed support upright post connecting rod is smaller than that of the fixed support upright post auxiliary matching rod, and the diameter of the fixed support upright post threaded rod is smaller than that of the fixed support upright post auxiliary matching rod.
Preferably, threaded mounting hole sites are formed in four ports of the calibration matrix base, and the four ports of the calibration matrix base are provided with the calibration matrix base fixing support columns through the formed threaded ports and the fixing support column threaded rods matched with the threaded ports.
Preferably, the mounting round hole formed in the fixed block of the calibrated reflective ball base is a stepped round hole, the diameter of the upper stepped round hole is in interference fit with the connecting rod of the fixed support upright, and the diameter of the lower stepped round hole is in interference fit with the auxiliary fit rod of the fixed support upright.
Preferably, the rotating round fixture block is arranged inside the limiting round block, the ball body of the ball spring assembly is arranged in the circular arc limiting groove on the limiting round block, and the spring body of the ball spring assembly is arranged inside the limiting groove.
Preferably, the diameter of the arc of the lower quick-assembly body of the calibrated reflective ball is equal to the diameter of the arc of the quick-assembly semispherical part of the base of the calibrated reflective ball.
Preferably, the calibrated reflective ball member and the calibrated reflective ball base member are bonded by medical adhesive.
Advantageous effects
The invention provides a tail end calibration device of an orthopedic surgery robot. Compared with the prior art, the method has the following beneficial effects:
1. the orthopedic surgery robot tail end calibration device comprises a calibration reflecting ball upper part limiting circular plate through a calibration reflecting ball component, a calibration reflecting ball upper part is arranged on the upper side of the calibration reflecting ball upper part limiting circular plate, a calibration reflecting ball lower fast-assembling body is arranged on the lower side of the calibration reflecting ball upper part limiting circular plate, a calibration matrix base fixing and supporting upright post comprises a calibration matrix base fixing and supporting upright post main body, a fixing and supporting upright post connecting rod is arranged on the upper part of the calibration matrix base fixing and supporting upright post main body, a fixing and supporting upright post auxiliary matching rod is fixedly arranged on the lower part of the calibration matrix base fixing and supporting upright post main body, a fixing and supporting upright post threaded rod is arranged at the bottom of the fixing and supporting upright post auxiliary matching rod, the diameter of the fixing and supporting upright post auxiliary matching rod is larger than that of the calibration matrix base fixing and supporting upright post main, the diameter of the fixed support upright post connecting rod is smaller than that of the fixed support upright post auxiliary matching rod, and the diameter of the fixed support upright post threaded rod is smaller than that of the fixed support upright post auxiliary matching rod, so that quick installation can be realized between the calibration reflective ball component and the calibration reflective ball base component, and better stability is realized.
2. A tail end calibration device of an orthopedic surgery robot comprises a calibration reflecting ball base main body through a calibration reflecting ball base component, wherein a large port of the calibration reflecting ball base main body is provided with a calibration reflecting ball base upper sunken groove, the interior of the calibration reflecting ball base main body is provided with a calibration reflecting ball base sphere limiting groove at the circle center of the calibration reflecting ball base upper sunken groove, the bottom of the interior of the calibration reflecting ball base main body at the circle center of the calibration reflecting ball base sphere limiting groove is provided with a calibration reflecting ball base fast-assembling semispherical part, the maximum diameter of the calibration reflecting ball base fast-assembling semispherical part is smaller than the diameter of the calibration reflecting ball base sphere limiting groove, the bottom of the calibration reflecting ball base main body is provided with a calibration reflecting ball base fixing block, and the interior of the calibration reflecting ball base fixing block is provided with a mounting round hole, so that the, therefore, the interference generated by the matrix fixation in the operation process of an operator can be avoided, and the time of the whole operation can be fully saved.
3. The end calibration device of the orthopaedic surgical robot comprises a cross-shaped rotating fast-assembly upper main body, a ball spring assembly and a cross-shaped rotating fast-assembly lower main body through a cross-shaped rotating fast-assembly component, wherein a cross-shaped rotating fast-assembly upper main body mounting block is fixedly mounted at the top end of the cross-shaped rotating fast-assembly upper main body, a threaded hole is formed in the upper top end of the cross-shaped rotating fast-assembly upper main body mounting block, a rotating circular fixture block is fixedly mounted at the bottom of the cross-shaped rotating fast-assembly upper main body, a plurality of limiting grooves are formed in the circumferential surface of the rotating circular fixture block, a limiting circular block is mounted at the upper part of the cross-shaped rotating fast-assembly lower main body, a guide rod is mounted at the upper side of the circle center of the limiting circular block, a plurality of circular arc limiting grooves and inclined guide grooves are formed in the upper part of the limiting circular block, the upper side can be exposed through rotation even if the shielding object exists, and therefore the shielding object can be calibrated.
4. A raised cylinder is fixedly installed on the lower side of a middle intersecting section of a calibration reflecting ball component, a countersunk threaded through hole is formed in the middle intersecting section of a calibration matrix base, a fastening screw is arranged in the countersunk threaded through hole of the calibration matrix base, four ports of the calibration matrix base are connected with four calibration matrix base fixing and supporting upright posts, four ports of the calibration matrix base are provided with the calibration reflecting ball base component through the four calibration matrix base fixing and supporting upright posts, a calibration reflecting ball component is arranged above the four calibration reflecting ball base components, a cross-shaped rotating fast-assembling component is installed below the calibration matrix base through the raised cylinder arranged on the lower side of the calibration matrix base, the set countersunk threaded through hole and the fastening screw, and a drill rod tail end is slidably installed below the cross-shaped rotating fast-assembling component, the bottom at the end of the drill rod is sleeved with a drill rod elasticity limiting block, a spring is arranged inside the drill rod elasticity limiting block, and a limiting nut is arranged outside the drill rod elasticity limiting block at the bottom end of the spring in a threaded mode, so that the whole structure is simple, and the later maintenance and use are facilitated.
5. Terminal calibration device of orthopedic surgery robot, the installation round hole of seting up through the inside of maring reflection of light ball base fixed block is the ladder round hole, goes up for interference fit between ladder round hole diameter and the fixed stay stand connecting rod, is interference fit between lower ladder round hole diameter and the supplementary cooperation pole of fixed stay stand for mark reflection of light ball base component is more swift to the installation of maring the matrix base, and is stable, and the precision is better.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an exploded view of the structure of the present invention;
FIG. 3 is a structural front view of a calibrated reflective ball component according to the present invention;
FIG. 4 is a schematic structural diagram of a base member for calibrating a reflective sphere according to the present invention;
FIG. 5 is a schematic structural view of a cross-shaped rotating quick-assembly member according to the present invention;
FIG. 6 is a schematic view of the end structure of the drill rod of the present invention;
FIG. 7 is a schematic structural view of a drill rod elastic limiting block according to the present invention;
FIG. 8 is a schematic view of a fixed support column of the calibration matrix base according to the present invention.
In the figure: 1. calibrating a reflective ball component; 101. calibrating a reflecting ball upper part; 102. calibrating a limiting circular plate of the upper piece of the light reflecting ball; 103. calibrating the lower fast-assembly body of the reflecting ball; 2. calibrating a reflective ball base component; 201. calibrating a reflecting ball base main body; 202. calibrating an upper sink groove of the reflecting ball base; 203. calibrating a ball limiting groove of the reflecting ball base; 204. calibrating a quick-mounting semispherical part of a reflecting ball base; 205. calibrating a fixed block of a reflecting ball base; 3. calibrating a matrix base; 4. a cross rotating fast-assembling member; 401. the cross-shaped rotating fast-assembly upper main body; 402. the cross rotating quick mounting device is provided with a main body mounting block; 403. a threaded hole; 404. rotating the round fixture block; 405. a limiting groove; 406. a ball spring assembly; 407. a guide bar; 408. a circular arc limiting groove; 409. the inclined guide chute; 410. a restriction round block; 411. the lower main body is rotationally and quickly mounted in a cross manner; 412. a cross guide bar; 5. the end of a drill rod; 501. a drill rod end body; 502. a circular hole is formed; 503. a semicircular groove; 504. a lower threaded connecting post; 6. an elastic limiting block of the drill rod; 601. a drill rod elastic limiting block main body; 602. a restraining cylinder; 603. a lower limiting wall; 604. a guide circular hole; 7. a spring; 8. a restraining nut; 9. calibrating a matrix base to fix a support upright post; 901. fixing a support upright post connecting rod; 902. calibrating a matrix base to fix and support the upright post main body; 903. fixing the support upright post auxiliary matching rod; 904. fixing a support upright post threaded rod; 10. and (5) fastening the screw.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-2, the present invention provides a technical solution: the orthopedic surgery robot tail end calibration device comprises a calibration matrix base 3, a calibration reflective ball base component (2) is fixedly installed on the lower side of a middle intersecting section of the calibration reflective ball component 1, a countersunk threaded through hole is formed in the middle intersecting section of the calibration matrix base 3, a fastening screw 10 is arranged in the countersunk threaded through hole of the calibration matrix base 3, four ports of the calibration matrix base 3 are connected with four calibration matrix base fixing and supporting upright posts 9, the four ports of the calibration matrix base 3 are provided with the calibration reflective ball base component 2 through the four calibration matrix base fixing and supporting upright posts 9, the calibration reflective ball component 1 is arranged above the four calibration reflective ball base components 2, the calibration reflective ball component 1 and the calibration reflective ball base component 2 are bonded through medical adhesive, the lower side of the calibration matrix base 3 is bonded through a convex cylinder arranged on the lower side of the calibration matrix base 3, The rotary fast-assembling component 4 of cross is installed to the countersunk head screw thread through-hole and fastening screw 10 of seting up, and the below slidable mounting of the rotary fast-assembling component 4 of cross has drilling rod end 5, and drilling rod elasticity stopper 6 has been cup jointed to the bottom of drilling rod end 5, and the inside of drilling rod elasticity stopper 6 is provided with spring 7, and the outside that the bottom of spring 7 is located drilling rod elasticity stopper 6 is provided with restriction nut 8 with the screw thread mode.
Referring to fig. 3, the calibrated reflective ball component 1 includes a calibrated reflective ball upper limiting circular plate 102, a calibrated reflective ball upper 101 is disposed on the upper side of the calibrated reflective ball upper limiting circular plate 102, and a calibrated reflective ball lower quick-assembling body 103 is disposed on the lower side of the calibrated reflective ball upper limiting circular plate 102.
Referring to fig. 3-4, the calibrated reflective ball base member 2 includes a calibrated reflective ball base main body 201, a calibrated reflective ball base upper sunken groove 202 is formed at a large end of the calibrated reflective ball base main body 201, a calibrated reflective ball base sphere limiting groove 203 is formed at a position, located at a center of the calibrated reflective ball base upper sunken groove 202, inside the calibrated reflective ball base main body 201, a calibrated reflective ball base fast-assembling semispherical part 204 is formed at a bottom of the calibrated reflective ball base main body 201, located at a center of the calibrated reflective ball base sphere limiting groove 203, a maximum diameter of the calibrated reflective ball base fast-assembling semispherical part 204 is smaller than a diameter of the calibrated reflective ball base sphere limiting groove 203, a calibrated reflective ball base fixing block 205 is mounted at a bottom of the calibrated reflective ball base main body 201, a mounting circular hole is formed inside the calibrated reflective ball base fast-assembling fixing block 205, and a circular arc diameter of the calibrated reflective ball lower semispherical part 103 is equal to a circular.
Referring to fig. 1 and 8, the calibration matrix base fixed support column 9 includes a calibration matrix base fixed support column main body 902, a fixed support column connecting rod 901 is installed on the upper portion of the calibration matrix base fixed support column main body 902, a fixed support column auxiliary engaging rod 903 is fixedly installed on the lower portion of the calibration matrix base fixed support column main body 902, a fixed support column threaded rod 904 is disposed at the bottom of the fixed support column auxiliary engaging rod 903, the diameter of the fixed support column auxiliary engaging rod 903 is larger than that of the calibration matrix base fixed support column main body 902, the diameter of the calibration matrix base fixed support column main body 902 is smaller than that of the fixed support column connecting rod 901, the diameter of the fixed support column connecting rod 901 is smaller than that of the fixed support column auxiliary engaging rod 903, the diameter of the fixed support column threaded rod 904 is smaller than that of the fixed support column auxiliary engaging rod 903, the four ports of the calibration matrix base 3 are provided with threaded mounting hole sites, the four ports of the calibration matrix base 3 are provided with a calibration matrix base fixed support upright 9 through the provided threaded ports and fixed support upright threaded rods 904 matched with the threaded ports, the mounting round holes formed in the interior of the calibration reflective ball base fixed block 205 are stepped round holes, the diameters of the upper stepped round holes and the fixed support upright connecting rods 901 are in interference fit, the diameters of the lower stepped round holes and the fixed support upright auxiliary fit rods 903 are in interference fit, the mounting round holes formed in the interior of the calibration reflective ball base fixed block 205 are stepped round holes, the diameters of the upper stepped round holes and the fixed support upright connecting rods 901 are in interference fit, and the diameters of the lower stepped round holes and the fixed support upright auxiliary fit rods 903 are in interference fit.
Thus, the installation of the base component 2 for calibrating the reflecting ball and the base component 3 for calibrating the matrix is convenient, and the quick installation of the base component 2 for calibrating the reflecting ball by the component 1 for calibrating the reflecting ball is also convenient.
Example 2
Referring to fig. 1-2, the present invention provides a technical solution: the orthopedic surgery robot tail end calibration device comprises a calibration matrix base 3, a calibration reflective ball base component (2) is fixedly installed on the lower side of a middle intersecting section of the calibration reflective ball component 1, a countersunk threaded through hole is formed in the middle intersecting section of the calibration matrix base 3, a fastening screw 10 is arranged in the countersunk threaded through hole of the calibration matrix base 3, four ports of the calibration matrix base 3 are connected with four calibration matrix base fixing and supporting upright posts 9, the four ports of the calibration matrix base 3 are provided with the calibration reflective ball base component 2 through the four calibration matrix base fixing and supporting upright posts 9, the calibration reflective ball component 1 is arranged above the four calibration reflective ball base components 2, the calibration reflective ball component 1 and the calibration reflective ball base component 2 are bonded through medical adhesive, the lower side of the calibration matrix base 3 is bonded through a convex cylinder arranged on the lower side of the calibration matrix base 3, The rotary fast-assembling component 4 of cross is installed to the countersunk head screw thread through-hole and fastening screw 10 of seting up, and the below slidable mounting of the rotary fast-assembling component 4 of cross has drilling rod end 5, and drilling rod elasticity stopper 6 has been cup jointed to the bottom of drilling rod end 5, and the inside of drilling rod elasticity stopper 6 is provided with spring 7, and the outside that the bottom of spring 7 is located drilling rod elasticity stopper 6 is provided with restriction nut 8 with the screw thread mode.
Referring to fig. 3, the calibrated reflective ball component 1 includes a calibrated reflective ball upper limiting circular plate 102, a calibrated reflective ball upper 101 is disposed on the upper side of the calibrated reflective ball upper limiting circular plate 102, and a calibrated reflective ball lower quick-assembling body 103 is disposed on the lower side of the calibrated reflective ball upper limiting circular plate 102.
Referring to fig. 3-4, the calibrated reflecting ball base member 2 includes a calibrated reflecting ball base main body 201, a calibrated reflecting ball base upper sink 202 is disposed at a large end of the calibrated reflecting ball base main body 201, a calibrated reflecting ball base sphere limiting groove 203 is disposed at a center of the calibrated reflecting ball base upper sink 202 inside the calibrated reflecting ball base main body 201, a calibrated reflecting ball base fast-assembling semispherical part 204 is disposed at a bottom of the calibrated reflecting ball base sphere limiting groove 203 inside the calibrated reflecting ball base main body 201, a circular arc diameter of the calibrated reflecting ball lower fast-assembling body 103 is equal to a circular arc diameter of the calibrated reflecting ball base fast-assembling semispherical part 204, a maximum diameter of the calibrated reflecting ball base fast-assembling semispherical part 204 is smaller than a diameter of the calibrated reflecting ball base sphere limiting groove 203, a calibrated reflecting ball base fixing block 205 is disposed at a bottom of the calibrated reflecting ball base main body 201, the inside of the base fixed block 205 of the calibrated reflective ball is provided with a mounting circular hole, and the diameter of the circular arc of the lower quick-assembly body 103 of the calibrated reflective ball is equal to the diameter of the circular arc of the quick-assembly semispherical part 204 of the base of the calibrated reflective ball.
Referring to fig. 5, the cross-shaped rotating fast-assembling member 4 includes a cross-shaped rotating fast-assembling upper main body 401, a ball spring assembly 406 and a cross-shaped rotating fast-assembling lower main body 411, a cross-shaped rotating fast-assembling upper main body mounting block 402 is fixedly mounted at the top end of the cross-shaped rotating fast-assembling upper main body 401, a threaded hole 403 is formed at the top end of the cross-shaped rotating fast-assembling upper main body mounting block 402, a rotating circular fixture block 404 is fixedly mounted at the bottom of the cross-shaped rotating fast-assembling upper main body 401, a plurality of limiting grooves 405 are formed on the circumferential surface of the rotating circular fixture block 404, a limiting circular block 410 is mounted at the upper portion of the cross-shaped rotating fast-assembling lower main body 411, a guide rod 407 is mounted at the upper side of the center of the circle of the limiting circular block 410, a plurality of arc limiting grooves 408 and inclined guide grooves 409 are formed at the upper portion of the limiting circular block 410, the number of the arc limiting grooves 408 and, the rotary knob 404 is disposed inside the restriction knob 410, the ball of the ball spring assembly 406 is disposed in the circular arc restriction groove 408 of the restriction knob 410, and the spring body of the ball spring assembly 406 is disposed inside the restriction groove 405.
Referring to fig. 6, the drill rod end 5 includes a drill rod end main body 501, a lower threaded connection column 504 is installed at a center of a bottom circle of the drill rod end main body 501, a plurality of semicircular grooves 503 are formed in the surface of the drill rod end main body 501, and a plurality of through circular holes 502 are formed in one side of the surface of the drill rod end main body 501, which is located on the semicircular grooves 503.
Referring to fig. 7, the drill rod elastic limiting block 6 includes a drill rod elastic limiting block main body 601, a plurality of limiting cylinders 602 are installed on the upper portion of the drill rod elastic limiting block main body 601, a lower limiting wall 603 is installed at the bottom of the drill rod elastic limiting block main body 601, a guiding circular hole 604 is formed in the center of the drill rod elastic limiting block main body 601, the inner diameter of the lower limiting wall 603 is larger than the diameter of the guiding circular hole 604, and the outer diameter of the lower limiting wall 603 is larger than the diameter of the drill rod elastic limiting block main body 601.
This ensures that the upper side can be exposed by rotation even if a shield is present, so that it can be tracked in a calibrated manner.
In the embodiment, the calibration is only needed once, then the cross calibration matrix can be removed, and the next position can be tracked through the algorithm, so that the interference generated by the matrix fixation in the operation process of an operator can be avoided; and the time of the whole operation can be fully saved.
When the calibration device is used, the existing calibration technology tracks the tail end in real time through a calibration matrix fixed on a sleeve during calibration, the position of the whole tail end is obtained through analysis, the calibration matrix cannot be shielded, otherwise, the position of the operation tail end is lost, and due to the fact that the calibration matrix is fixed, care needs to be taken in the whole operation process, an operator cannot interfere with the calibration matrix in the operation process, actual operation use time is influenced, and the optimal operation time is delayed. The cross-shaped rotating fast-assembly member 4 at the bottom of the calibration matrix base 3 is improved, the cross-shaped guide rod 412 is additionally arranged at the bottom of the cross-shaped rotating fast-assembly lower main body 411, the number of the cross-shaped guide rods 412 is equal to the number of the through round holes 502 and the semicircular grooves 503 on the tail end 5 of the drill rod, the cross-shaped guide rod 412 is slightly pressed downwards from the groove, the outer wall of the cross-shaped guide rod 412 is in contact with the upper part of the limiting cylinder 602, after the cross-shaped guide rod 412 is pressed downwards, the drill rod elastic limiting block main body 601 applies pressure to the spring 7, the bottom of the spring 7 is limited by the lower threaded connecting column 504 arranged on the tail end 5 of the drill rod, so that the limiting cylinder 602 can drive the drill rod elastic limiting block main body 601 to move downwards with elastic pressure, when the cross-shaped guide rod 412 is at the bottom, the cross-shaped guide rod 412, the limiting cylinder 602 returns under the action of the spring 7, so that the limiting locking of the cross-shaped guide rod 412 is ensured, and the quick installation is realized;
since the traditional position is fixed after installation, the calibrated reflective ball member 1 on the calibration matrix base 3 is determined and fixed, and since the use conditions of external equipment and space are different, the required arrangement angle of the calibration matrix base 3 needs to be finely adjusted to ensure real-time tracking calibration, the upper part of the cross-shaped rotating quick-assembly lower main body 411 is additionally provided with a guide rod 407, the guide rod 407 is installed in the cross-shaped rotating quick-assembly upper main body 401 in a penetrating manner, the bottom of the cross-shaped rotating quick-assembly upper main body 401 is provided with a rotating circular fixture block 404, the rotating circular fixture block 404 is provided with a limiting groove 405, the surface of the limiting circular block 410 is provided with an arc limiting groove 408 and an inclined guide chute 409, and the inclined guide chute 409 is arranged on the side of the arc limiting groove 408 in a tangent manner, so that after the upper cross-shaped rotating upper main body 401 rotates towards one direction, the ball spring assembly 406 moves from the inclined slide guide slot 409 to the other inclined slide guide slot 409 under the action of the arc limiting slot 408, and the spring body of the ball spring assembly 406 can restore the ball body on the ball spring assembly 406, but the ball spring assembly cannot rotate in the opposite direction, so that the calibration matrix base 3 can drive the whole upper side to perform fine adjustment in angle, and the upper side can be exposed through rotation even if a shielding object exists, and thus the calibration matrix can be calibrated.
Claims (8)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010496844.5A CN111631818B (en) | 2020-06-03 | 2020-06-03 | End calibration device of orthopaedic surgery robot |
| PCT/CN2020/133635 WO2021243990A1 (en) | 2020-06-03 | 2020-12-03 | End calibration device for orthopedic surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010496844.5A CN111631818B (en) | 2020-06-03 | 2020-06-03 | End calibration device of orthopaedic surgery robot |
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| Publication Number | Publication Date |
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| CN111631818A CN111631818A (en) | 2020-09-08 |
| CN111631818B true CN111631818B (en) | 2021-01-29 |
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| CN202010496844.5A Active CN111631818B (en) | 2020-06-03 | 2020-06-03 | End calibration device of orthopaedic surgery robot |
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| CN (1) | CN111631818B (en) |
| WO (1) | WO2021243990A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111631818B (en) * | 2020-06-03 | 2021-01-29 | 杭州键嘉机器人有限公司 | End calibration device of orthopaedic surgery robot |
| CN112716605B (en) * | 2021-03-31 | 2021-06-11 | 上海龙慧医疗科技有限公司 | Two-way self-locking lever of ball socket type positioner |
| CN112959309B (en) * | 2021-04-01 | 2022-04-05 | 杭州键嘉机器人有限公司 | Tool for searching mechanical arm working point and registering mechanical arm |
| CN113133830A (en) * | 2021-05-21 | 2021-07-20 | 上海电气集团股份有限公司 | Planar target ball, target ball assembly and optical tracker |
| CN115284292B (en) * | 2022-08-19 | 2025-11-07 | 亿嘉和科技股份有限公司 | Laser camera-based mechanical arm hand-eye calibration method and device |
| CN116019555A (en) * | 2023-02-08 | 2023-04-28 | 苏州微创畅行机器人有限公司 | Optical Target Fixation Components |
| CN118304000B (en) * | 2024-04-08 | 2025-09-30 | 福州大学 | A ureteroscopic surgical robot with multi-instrument collaborative operation |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111631818A (en) | 2020-09-08 |
| WO2021243990A1 (en) | 2021-12-09 |
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