Two-degree-of-freedom end executive device

Abstract

The invention relates to the technical field of medical robots, and discloses a two-degree-of-freedom end executive device which comprises a first driving assembly, a second driving assembly and a mounting assembly. The first driving assembly is provided with a first moving part making reciprocating movement in a first direction. The second driving assembly is arranged on the first moving part and is provided with a second moving part which reciprocates along a second direction forming an included angle with the first direction. The mounting assembly is arranged on the second moving part and is used for fixedly mounting an ultrasonic knife. The invention provides a two-degree-of-freedom end execution device mounted at the tail end of a six-axis mechanical arm, and due to the fact that a cone plate resection operation has high requirements for real-time performance, a mechanical arm controller is large in calculation task and relatively poor in real-time performance, an independent microcontroller is selected to control movement of a two-degree-of-freedom driving assembly, the movement track of an ultrasonic osteotome is accurately controlled, a cone plate is cut, and the ultrasonic osteotome is ensured to be positioned reliably.

Description

Technical field [0001] The present invention relates to the technical field of medical robots, and in particular to a two-degree-of-degree end executing device. Background technique [0002] The cone plate resection is an important means of treating spine common diseases such as spinal stenosis. In this operation, the doctor needs long-term hand-held instruments to precipit the cone, which is easy to cause fatigue, which affects the accuracy of the surgical, and even leads to the hard film. Tearing, etc. occurs. There is no such problem, and there is a significant advantage and great development potential in the complex and high-hard surgery of the laminar decompression. [0003] As a new type of industrial robot, the six-degree of industrial robots, the obstacle to human-machine collaboration, its groundbreaking product performance and extensive application areas opened the new era of development. Currently collaborative robots are widely used in medical industries, electronic i...

AI Technical Summary

Problems solved by technology

[0008] (1) When the ultrasonic scalpel is used in the medical operation of the existing plan, because the operation environment requires a sterile environment, the existing mechanism cannot add a sterile cover, which brings great difficulties to disinfection and has adverse effects on the operation and patients

[0009] (2) The loading and unloading of the ultrasonic scalpel in the existing scheme is relatively complicated, and external tools are required, which is time-consuming and laborious in the process of surgical preparation

[0010] (3) The accuracy is poor. If there is a slight fluctuation in the spatial position of the spine, the change in the position of the spine will cause the actual position to deviate from the planned point, which may cause damage to important organs such as the spinal cord, nerves, large blood vessels, lungs, and even the heart, resulting in serious injuries. medical malpractice

[0011] (4) The preload of the force sensor cannot be adjusted

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