HANDHELD ROBOT FOR ORTHOPEDIC SURGERY AND CONTROL METHOD THEREOF

摘要

The present invention provides a handheld robot for orthopedic surgery and a control method thereof. The handheld robot of the present invention includes a main body, a grip, a kinematic mechanism, a tool connector, a tool, a force sensor and a positioning unit. The handheld robot of the present invention combines the position/orientation information of the tool acquired by the positioning unit with the force/torque information acquired by the force sensor, and utilizes the combined information to adjust the position of the tool so as to keep the tool within the range/path of a predetermined operation plan. In this way, the precision of the orthopedic surgery can be enhanced, and the error occurred during the surgery can be minimized.

主权项

1. A handheld robot for orthopedic surgery, comprising:
a main body, having an inner space; a grip, connected at a side of the main body; a kinematic mechanism, having six degrees of freedom and disposed inside the inner space of the main body, comprising a stationary plate, a mobile plate and a plurality of actuating units; wherein, the actuating units are mounted on the stationary plate and are connected with the mobile plate via a plurality of connecting rods; a tool connector, disposed on the mobile plate; a tool, having a threaded segment and a non-threaded segment, and connected at the tool connector, wherein the threaded segment has a first diameter, the non-threaded segment has a second diameter, and the first diameter is smaller than the second diameter; a force sensor, disposed between the tool connector and the mobile plate; and a positioning unit, disposed on the mobile plate for positioning the position and orientation of the tool; wherein the force sensor measures a force, which is parallel to an axial direction of the tool, between an object and the tool, and the force sensor further measures a deviation force between the tool and the object in coordination with a difference in the diameters between the threaded segment and the non-threaded segment; wherein the handheld robot combines a position/orientation information acquired by the positioning unit with the force/deviation force information measured by the force sensor, and adjusts the position and orientation of the tool based on a combined information.