CN201230906Y - Six freedom degrees trailing type medical support robot - Google Patents

Abstract

A six-degree-of-freedom follow-up medical support robot, mainly composed of a robot body (1), a bionic manipulator (2), a bionic manipulator (3) and a control device (4), wherein the top of the column (13) is provided with The bionic mechanical arm (2) can rotate around the axis of the column (13), and the lower end of the bionic mechanical arm (2) is provided with a chuck (31), a chuck rotation adjustment device (32), a fixed shaft (33) and a sensor A bionic manipulator (3) composed of a tracking control device (34), wherein the sensing tracking control device (34) realizes the control functions of its swing optocoupler (346) and telescopic optocoupler (360). The utility model has the advantages of simple structure, compact structure and low cost, and makes the minimally invasive treatment more precise, dexterous and safe.

Description

Six degrees of freedom follow-up medical support robot

technical field

The utility model relates to a medical robot, in particular to a robot capable of supporting an electrode needle used in minimally invasive surgery for microwave ablation of liver tumors guided by ultrasound.

Background technique

With the rapid development of computer and microelectronic technology and medical science, medical robots with various purposes are being used more and more widely in the medical field. In the mid-1990s, a brain surgery robot developed by a British medical robotics company could use "intelligent" software to propose the best route to cut into a tumor, minimizing damage to surrounding healthy tissue. In May 1998, doctors from Germany and France worked together to successfully perform a valve repair operation on a heart patient with a remote control robot system. Foreign countries have also developed robots for gallbladder surgery. A new type of gastrointestinal endoscopy device recently developed by Israel's Given Imaging Company will help people realize their long-held dream: to send a "micro-robot" into the human body to take images and help doctors determine the location of gastrointestinal diseases.

Surgical operations require robots with various functions, especially the application of minimally invasive surgical techniques is becoming more and more extensive, and medical robots for various purposes are needed to cooperate. At present, the electrode needles used in the minimally invasive surgery of microwave ablation of liver tumors under the guidance of ultrasound, because the needle tip is deep in the lesion, the entire electrode needle will move with the patient's breathing movement during the operation, so a specialized doctor is required Hold the electrode needle to ensure that its relative position with the lesion is fixed. This not only increases the labor intensity of doctors, but also some human factors, such as hand shaking and inaccurate grasp of strength, will affect the accuracy of ablation. Therefore, it is imperative to design medical support robots.

Contents of the invention

According to the background technology, the purpose of this utility model is to provide a robot body, a bionic manipulator and a bionic manipulator. The bionic manipulator can complete three-dimensional positioning and automatic locking. Needle movement, a six-degree-of-freedom follow-up medical support robot that can read the control panel and sensor signals on the robot body. In order to achieve the above object, the utility model is achieved through the following technical solutions:

A six-degree-of-freedom follow-up medical support robot, mainly composed of a robot body (1), a bionic manipulator (2), a bionic manipulator (3) and a control device (4), wherein: a robot with casters (111) Base (11), control box (12) and column (13) form robot body (1), be provided with at the top of column (13) by swivel arm (21), height adjusting arm (22), elbow (23) The bionic mechanical arm (2) formed with the handle (24) can rotate around the column axis of the column (13) as a whole; the parallel four-bar linkage mechanism is installed in the height adjustment arm (22), so that the elbow (23) can always be kept The state perpendicular to the ground; the lower end of the bionic mechanical arm (2) is provided with a chuck (31), a chuck rotation adjustment device (32), a fixed shaft (33), a sensor tracking control device (34), and a swing motor The bionic manipulator (3) composed of cylinder body (35) and telescopic mechanism (36), wherein a group of height adjustment springs (351) fixed on both sides of the swing motor cylinder body (35) can go up and down around the spring shaft core (352). Movement: a sensor tracking control device (34) consisting of a left and right swing optocoupler and a telescopic optocoupler, including a pendulum shaft (341), a Z-shaped plate (342), a dial shaft (343), and a swing stopper (344) , swing optocoupler seat (345), swing optocoupler (346), guide rail pair (347), telescopic baffle (348), telescopic optocoupler seat (349), telescopic optocoupler (360) and baffle pendulum shaft (361 ); a control panel (121) is set on the control box (12), in which a PLC controller, a two-dimensional displacement sensing circuit, a reset circuit and a servo motor drive circuit are mainly arranged.

Due to the adoption of the above-mentioned technical scheme, the utility model has the following advantages and effects:

1. The utility model can complete three-dimensional positioning and automatic locking of the mechanical arm. The bionic manipulator can complete the three-dimensional movement of the electrode needle following the breathing movement of the patient. The sensing system is sensitive and can realize tactile sensing, which is beneficial to work in a small surgical space.

2. The mechanism of this utility model is light and flexible, and the sensor is sensitive. There are small wheels under the machine base, which can be placed at any position around the hospital bed according to the needs of the operation, and are easy to use.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the utility model

Fig. 2 is a schematic sectional view of the structure of the utility model bionic manipulator

Fig. 3 is a schematic diagram of the swing motor cylinder and the height adjustment device of the utility model

Fig. 4 is the schematic diagram of the utility model control device

Fig. 5 is the work flowchart of the utility model control device

Fig. 6 is the working flow diagram of the utility model

Detailed ways

As shown in Figures 1 to 3, a six-degree-of-freedom follow-up medical support robot is mainly composed of a robot body 1, a bionic manipulator 2, a bionic manipulator 3 and a control device 4, wherein: a base with casters 111 11. The control box 12 and the column 13 form the robot body 1. On the top of the column 13, there is a bionic mechanical arm 2 composed of a rotating arm 21, a height adjustment arm 22, an elbow 23 and a handle 24. The whole body can be wound around the column 13. The column axis rotates; the height adjustment arm 22 is equipped with a parallel four-bar linkage mechanism, which can keep the elbow 23 in a state perpendicular to the ground; the lower end of the bionic mechanical arm 2 is provided with a chuck 31 and a chuck rotation adjustment device 32, A bionic manipulator 3 composed of a fixed shaft 33, a sensor tracking control device 34, a swing motor barrel 35 and a telescopic mechanism 36, wherein a group of height adjustment springs 351 fixed on both sides of the swing motor barrel 35 can be wound around the spring shaft core 352, Downward movement; the sensor tracking control device 34 is composed of a left and right swing optocoupler and a telescopic optocoupler, including a pendulum shaft 341, a Z-shaped plate 342, a dial shaft 343, a swing stopper 344, a swing optocoupler seat 345, and a swing light Coupler 346, guide rail pair 347, telescopic baffle 348, telescopic optocoupler seat 349, telescopic photocoupler 360 and baffle pendulum shaft 361; Control panel 121 is set on control box 12, is mainly provided with PLC controller therein, two-dimensional Displacement sensing circuit, reset circuit and servo motor drive circuit.

It is also known that the bionic manipulator 2 uses a parallel four-bar mechanism and a built-in compression spring to ensure the dynamic balance of the manipulator during movement, so that the bionic manipulator 2 can achieve three-dimensional positioning and automatic locking.

The rotation adjustment device 32 is threaded and embedded with a pressure spring, so that the collet 31 can rotate around it, and can be automatically locked at any position, so as to support the microwave ablation needle in different insertion directions during the operation. The fixed shaft 33 can make the collet 31 easy to disassemble and realize preoperative disinfection.

The sensor tracking control device 34 controls the motion of the bionic manipulator, which can realize tracking support. When the electrode needle swings left and right with the patient's breathing, the movement of the electrode needle is transmitted to the chuck 31, and the chuck 31 can swing left and right around the swing shaft 341, thereby driving the Z-shaped plate 342 fixedly connected to it to swing left and right, and the Z-shaped plate 342 The left and right swings drive the dial shaft 343 clamped in the middle of the Z-shaped plate 342 and the swing stopper 344 fixedly connected to the dial shaft 343 to swing left and right around the stopper swing shaft 341. When the swing stopper 344 is not blocked and fixed on the swing optocoupler seat When the swing optocoupler 346 on the 345, the electrode needle swings passively with breathing; when the swing range is large and the swing stopper 344 covers a certain side of the swing optocoupler 346, the swing optocoupler 346 will send a signal to the swing motor through the control circuit , the oscillating motor moves, driving the electrode needle to actively move with the breathing; when the electrode needle moves back and forth with the patient’s breathing, the movement of the electrode needle is transmitted to the chuck 31, and the chuck 31 moves back and forth, because the guide rail pair 347 and the moving block 362 are in the During the operation, it is fixedly connected with the collet 31. At this time, the telescopic blocking piece 348 and the guide rail pair 347 move back and forth together. The breath moves passively in the front and back directions. When the telescopic range is large and the movable block 362 covers the telescopic optocoupler 360 on one side, the telescopic photocoupler 360 will send a signal to the telescopic motor through the control circuit, and the telescopic motor will move to drive the electrode needle to follow breathing exercise. Therefore, in the left-right and front-back directions, the movement of the electrode needle with breathing can be divided into two parts, passive follow and active follow.

It can be seen from Figure 3 that when the electrode needle moves up and down with the patient's breathing, a group of height adjustment springs 351 fixed on both sides of the swing motor cylinder 35 can move up and down around the spring core 352, so that the movement of the electrode needle is consistent with the patient's breathing .

As can be seen from Figure 4, the sensor tracking control system of the present invention is mainly composed of a photoelectric sensor system, a PLC controller, a control panel, and an interface circuit for a telescopic motor and a swing motor. The doctor can manipulate the control panel to realize the reset of the telescopic motor and the swing motor, and realize the manual tracking and automatic tracking of the supporting robot.

The working process of the microcomputer measurement and control system of the medical support robot is shown in Figure 5. First, set the parameters of the control panel, such as manual expansion, left and right swing and reset, motor speed adjustment, etc., so that the medical support robot is in the best working state (including bionic manipulators, manipulators, etc.) position and various circuit parameters); after the panel parameters are set, the automatic support will be performed. At this time, the two-dimensional sensing signal processing unit of the support robot will control the force according to the magnitude and rhythm of the patient's breathing movement and other movements felt by the manipulator. The signal is converted into an electrical signal and transmitted to the servo motor drive unit, and the drive device drives the servo motor to move, so as to cooperate with the patient's breathing and realize automatic support.

The entire operation process is shown in Figure 6. After the operation starts, the doctor manually pulls the handle 7, and then the bionic robot arm completes the three-dimensional rough positioning and automatic locking in the operation space, and then turns on the power switch on the control box to reset the robot first. , and then set the tracking switch to the "manual" position, and carry out the preliminary positioning of the bionic manipulator in the operation space, so that the chuck 11 reaches the top of the electrode needle, and the doctor assists the chuck 11 to clamp the electrode needle, and sets the tracking switch to "automatic". "files. When the electrode needle deviates with the patient's breathing, the chuck 11 can move without hindrance within a certain distance, and the light shield connected to the other end of the chuck 11 shifts, causing the relative position of the corresponding optocoupler to change. The signal of this change is transmitted to the control box 2, and the PLC controls the action of the swing or telescopic motor, and the chuck 11 supports the electrode needle accordingly.

Claims (1)

1. A six-degree-of-freedom follow-up medical support robot, mainly composed of a robot body (1), a bionic manipulator (2), a bionic manipulator (3) and a control device (4), characterized in that: The base (11) of (111), control box (12) and column (13) form robot body (1), be provided with by swivel arm (21), height adjustment arm (22), bend at the top of column (13). The bionic mechanical arm (2) that head (23) and handle (24) are formed can rotate around the column axis of column (13); 23) Always maintain a state perpendicular to the ground; the lower end of the bionic mechanical arm (2) is provided with a chuck (31), a chuck rotation adjustment device (32), a fixed shaft (33), a sensor tracking control device (34) ), a bionic manipulator (3) composed of a swing motor cylinder (35) and a telescopic mechanism (36), wherein a group of height adjustment springs (351) fixed on both sides of the swing motor cylinder (35) can be wound around the spring shaft core (352 ) to move up and down; the sensor tracking control device (34) is composed of a left and right swing optocoupler device and a telescopic optocoupler device, including a pendulum shaft (341), a Z-shaped plate (342), a dial shaft (343), and a swing gear Sheet (344), swing optocoupler seat (345), swing optocoupler (346), guide rail pair (347), telescopic baffle (348), telescopic photocoupler seat (349), telescopic photocoupler (360) and baffle A pendulum shaft (361); a control panel (121) is set on the control box (12), in which a PLC controller, a two-dimensional displacement sensing circuit, a reset circuit and a servo motor drive circuit are mainly arranged.

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