CN108186121B

CN108186121B - Surgical follow-up robot arm

Info

Publication number: CN108186121B
Application number: CN201810013776.5A
Authority: CN
Inventors: 苏风波
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-01-08
Filing date: 2018-01-08
Publication date: 2020-09-11
Anticipated expiration: 2038-01-08
Also published as: CN108186121A

Abstract

A servo-actuated mechanical arm for surgery, especially the auxiliary mechanical arm used in the medical treatment of general surgery wound operation, features that it is matched with multiple joints, pressure-sensitive sensor, servo-actuated target and receiving module are used, and PLC control is used to realize single operation.

Description

Surgical follow-up robot arm

Technical Field

The invention relates to the field of surgery, in particular to a surgical operation robot arm.

Background

In recent years, surgical robots are gradually introduced into surgical operations, and robot-assisted surgical operations are realized by using high-precision navigation positioning, and these devices often adopt expensive optical and image positioning systems and devices thereof, and complex algorithms, and the applications of the systems are also often applied to the fields of tumor operations and the like; among the general surgery wound operation process, often need other devices such as fixed wound surface and gauze, need other medical personnel to come the auxiliary operation this moment, not only consume manpower and materials, can bring moreover because cooperation and subjectivity between medical personnel bring the operation error, bring very big inconvenience for patient and medical personnel.

Disclosure of Invention

The invention aims to provide an auxiliary robot arm for performing surgical operations, particularly for performing wound operation medical treatment in general surgery, which can realize the operation by a single person and can realize the function of moving along with a wound surface with low cost and high precision. The specific technical scheme is as follows:

a surgical follow-up robot arm comprises a first arm, a second arm and a third arm, wherein the first arm is connected with a fixing device through a first joint, the first arm and the second arm are connected through a second joint, the second arm and the third arm are connected through a third joint, the third arm is connected with an annular frame through a fourth joint, the second joint and the third joint are both provided with a horizontal servo motor and a vertical servo motor, and the fourth joint is provided with a vertical servo motor and a torsion servo motor; a plurality of extending arms extending obliquely downwards are uniformly distributed around the annular frame, the included angle between each extending arm and the wound surface is alpha, alpha is more than 0 degree and less than 45 degrees, a contact soft pad is arranged at the end part of each extending arm, and a pressure-sensitive sensor is arranged inside each contact soft pad; a servo positioning disc is arranged right above the annular frame and connected with a connecting arm through a fifth joint A, the connecting arm is fixedly connected to the third arm, the fifth joint A is provided with a vertical servo motor A and a torsion servo motor A and is respectively synchronous with the vertical servo motor and the torsion servo motor of the fourth joint, and the servo positioning disc is always in parallel alignment with the annular frame; the bottom of the follow-up positioning disc is provided with a follow-up receiving module and is matched with a follow-up target module, and the follow-up target module is fixed near the wound surface; the device also comprises a Programmable Logic Controller (PLC), and the joint linkage is controlled through the information of the pressure-sensitive sensor and the follow-up receiving module, so that the annular support is always opposite to and parallel to the wound surface and is always kept at a fixed distance.

Further, when the average value of all the pressure-sensitive sensors is larger than or smaller than a critical value, the PLC controls the vertical servo motors of the second joint and the third joint to be linked, so that the annular frame ascends or descends until the average value of the pressure-sensitive sensors is equal to the critical value; meanwhile, the follow-up receiving module follows the follow-up target module and controls the horizontal servo motors and the linkage of the second joint and the third joint through the PLC, so that the annular frame is opposite to the wound surface.

Furthermore, the follow-up receiving module and the follow-up target module are respectively provided with an ultrasonic module and a wireless receiving and transmitting module, the direction and the distance are confirmed through the ultrasonic module, and the communication between the follow-up receiving module and the follow-up target module is realized through the wireless receiving and transmitting module.

Furthermore, the number of the extending arms is one, the connecting extension line of the contact point of the fourth joint and the annular frame and the circle center of the annular frame is an X axis, a straight line passing through the circle center vertically is a Y axis, the extending arms are distributed on the annular frame in a pairwise symmetry manner on the X axis and the Y axis, when the average values of the pressure-sensitive sensors of the extending arms on the two sides of the X axis are unequal, the PLC controls the torsion servo motor to rotate until the average values of the pressure-sensitive sensors of the extending arms on the two sides of the X axis are equal; when the average values of the pressure-sensitive sensors of the extension arms on the two sides of the Y axis are unequal, the PLC controls the vertical servo motors of the second joint, the third joint and the fourth joint to be linked until the average values of the pressure-sensitive sensors of the extension arms on the two sides of the Y axis are equal.

Further, when the wound surface translates, the follow-up target module also translates synchronously, the follow-up receiving module receives translation information of the direction and the distance of the follow-up target module through the wireless receiving and sending module and sends the information to the PLC, and the PLC controls the horizontal servo motors and the linkage of the second joint and the third joint until the follow-up modules are opposite to the wound surface with the positioning follow-up disc and drives the annular frame to be opposite to the wound surface.

Furthermore, the annular frame is provided with an annular lamp tube.

Furthermore, a camera is arranged on the annular frame, the camera is connected to a network, real-time remote consultation can be carried out through a network terminal system, and the camera can control the guide rail surrounding the annular frame to rotate through the network terminal system.

Furthermore, the first joint is provided with a horizontal mechanical rotating shaft and a vertical mechanical rotating shaft, a telescopic device is arranged on the first arm, an elastic button is arranged on the telescopic device, the horizontal mechanical rotating shaft and the vertical mechanical rotating shaft can be manually rotated when the elastic button is pressed down, the telescopic device can be adjusted simultaneously, and when the elastic button is bounced, the horizontal mechanical rotating shaft and the vertical mechanical rotating shaft of the first joint and the telescopic device are locked by a mechanical locking device.

Further, the fixing mode of the follow-up target module is pasting.

Furthermore, the annular frame is composed of two semicircular frames, one ends of the two semicircular frames are connected and fixed on the fourth joint through a pin shaft, and the other ends of the two semicircular frames are connected through an annular buckle, so that the annular frame can be enlarged and reduced.

The invention has the following technical effects:

the function of realizing the movement along with the wound surface with low cost and high precision is realized by the cooperation of the pressure-sensitive sensor and the follow-up positioning device, and an expensive ghost and complex image navigation device is not required to be arranged; by adopting a plurality of pressure-sensitive sensors, not only is the precision high, but also the multi-dimensional movement following function of the wound surface is realized; the position adjustment is realized by linkage of the joint servo motors, and the device has the advantages of high precision, high speed and compact and simple structure; the servo positioning disc and the annular frame are always in parallel alignment through synchronization of the servo motor, so that when a servo target module is positioned by adopting ultrasonic waves, only two-dimensional plane positioning is needed, a coordinate system does not need to be reconstructed, the algorithm is simple, and the equipment cost is low; the included angle between the extending arm and the wound surface is more than 0 degree and less than alpha and less than 45 degrees, thereby facilitating the operation space; the rotation of the camera can be remotely controlled, so that the wound surface can be observed in multiple angles, and the remote real-time consultation effect is improved; the mechanical rotating shaft, the telescopic device, the elastic button and the mechanical locking device are further arranged, the initial positioning and the position locking are achieved, the cost is low, and the use is convenient.

Drawings

FIG. 1 is a schematic view of a surgical robot of the present invention;

FIG. 2 is a plan view of the ring frame structure of the surgical robot arm of the present invention;

Detailed Description

The following description of preferred embodiments will provide further details of the present invention.

As shown in fig. 1 and 2, the surgical follow-up robot arm of the present invention comprises a first arm 1, a second arm 2, a third arm 3, wherein the first arm 1 is connected with a fixing device through a first joint 4, the first arm 1 and the second arm 2 are connected through a second joint 5, the second arm 2 and the third arm 3 are connected through a third joint 6, the third arm 3 is connected with a ring frame 8 through a fourth joint 7, the second joint 5 and the third joint 6 are both provided with horizontal servo motors 5-1 and 6-1 and vertical servo motors 5-2 and 6-2, and the fourth joint 7 is provided with a vertical servo motor 7-2 and a torsion servo motor 7-3; a plurality of extension arms 10 extending obliquely downwards are uniformly distributed around the annular frame 8, the included angle between each extension arm 10 and the wound surface is alpha, alpha is more than 0 degree and less than 45 degrees, a contact soft pad 11 is arranged at the end part of each extension arm 10, and a pressure-sensitive sensor is arranged inside each contact soft pad 11; a follow-up positioning disc 12 is arranged right above the annular frame 8, the follow-up positioning disc 12 is connected with a connecting arm 3-1 through a fifth joint 7A, the connecting arm 3-1 is fixedly connected to the third arm 3, the fifth joint 7A is provided with a vertical servo motor 7A-2 and a torsion servo motor 7A-3, and the vertical servo motor 7A-2 and the torsion servo motor 7A-3 are respectively synchronous with the vertical servo motor 7-2 and the torsion servo motor 7-3 of the fourth joint 7, so that the follow-up positioning disc 12 is always in parallel dead against the annular frame 8; a follow-up receiving module 13 is arranged at the bottom of the follow-up positioning disc 12, and a follow-up target module 14 is arranged, and the follow-up target module 14 is fixed near the wound surface; the device also comprises a PLC (programmable logic controller), wherein the joint linkage is controlled through the information of the pressure-sensitive sensor and the follow-up receiving module, so that the annular support 8 is always opposite to and parallel to the wound surface and is always kept at a fixed distance. The joint is provided with a rotating shaft and an angle sensor corresponding to the servo motor and used for providing rotation angle information, namely the horizontal servo motor is provided with a horizontal rotating shaft and a horizontal angle sensor, the vertical servo motor is provided with a vertical rotating shaft and a vertical angle sensor, and the torsion servo motor is provided with a torsion rotating shaft and a torsion angle sensor.

When the average value of all the pressure-sensitive sensors is greater than or less than a critical value, the PLC controls the vertical servo motors 5-2 and 6-2 of the second joint 5 and the third joint 6 to be linked, so that the annular frame 8 ascends or descends until the average value of the pressure-sensitive sensors is equal to the critical value; meanwhile, the follow-up receiving module 13 controls the horizontal servo motors 5-1 and 6-1 of the second joint 5 and the third joint 6 to be linked through following the follow-up target module 14 and the PLC, so that the annular frame 8 is opposite to the wound surface.

The follow-up receiving module 13 and the follow-up target module 14 are both provided with an ultrasonic module and a wireless transceiver module, the direction and distance are confirmed through the ultrasonic module, and the communication between the follow-up receiving module 13 and the follow-up target module 14 is realized through the wireless transceiver module. The wireless transceiver module can adopt a 2.4G wireless module, and the ultrasonic module is synchronous due to the fifth joint and the fourth joint, so that the plane extended by the follow-up receiving module 13 is always parallel to the plane extended by the annular frame 8, only plane displacement information is needed, the algorithm can be greatly simplified, the ultrasonic module is not high in precision, the whole accurate positioning can be realized, and the cost is saved.

In this embodiment, the number of the extension arms 10 is 8 (or other numbers), the connection extension line of the contact point of the fourth joint 7 and the annular frame 8 and the circle center of the annular frame 8 is an X axis, a straight line passing through the circle center vertically is a Y axis, the extension arms are symmetric in pairs and uniformly distributed on the annular frame 8 about the X axis and the Y axis, when the average values of the pressure-sensitive sensors of the extension arms on both sides of the X axis are unequal, the PLC controls the torsion servo motor 7-3 to rotate until the average values of the pressure-sensitive sensors of the extension arms on both sides of the X axis are equal; when the average values of the pressure-sensitive sensors of the extension arms on the two sides of the Y axis are unequal, the PLC controls the vertical servo motors of the second joint 5, the third joint 6 and the fourth joint 7 to be linked until the average values of the pressure-sensitive sensors of the extension arms on the two sides of the Y axis are equal.

When the wound surface translates, the follow-up target module 14 also translates synchronously, the follow-up receiving module 13 receives the translation information of the direction and the distance of the follow-up target module 14 through the wireless transceiver module and sends the information to the PLC, and the PLC controls the horizontal servo motors (5-1 and 6-1) of the second joint 5 and the third joint 6 to be linked until the horizontal servo motors are opposite to the wound surface with the positioning follow-up disc 12 and drives the annular frame 8 to be opposite to the wound surface.

The annular frame 8 is provided with an annular lamp tube 8-1.

The annular frame 8 is provided with a camera 8-2, the camera 8-2 is connected to a network and can be used for real-time remote consultation through a network terminal system, and the camera 8-2 can control the guide rail surrounding the annular frame 8 to rotate through the network terminal system.

The first joint 4 is provided with a horizontal mechanical rotating shaft 4-1 and a vertical mechanical rotating shaft 4-2, the first arm 1 is provided with a telescopic device 1-1, the telescopic device 1-1 is provided with an elastic button 1-2, the horizontal mechanical rotating shaft 4-1 and the vertical mechanical rotating shaft 4-2 can be manually rotated when the elastic button is pressed down, the telescopic device 1-1 can be simultaneously adjusted, and when the elastic button is bounced, the horizontal mechanical rotating shaft 4-1 and the vertical mechanical rotating shaft 4-2 of the first joint 4 and the telescopic device 1-1 are locked by a mechanical locking device.

The fixing mode of the follow-up target module 14 is pasting.

The annular frame 8 is composed of two semicircular frames, one ends of the two semicircular frames are connected and fixed on the fourth joint 7 through pin shafts, and the other ends of the two semicircular frames are connected through annular buckles, so that the annular frame 8 can be enlarged and reduced.

When the device is used, the elastic button is pressed down at first, the annular frame is manually moved to the position near the wound surface, and then the PLC controls the servo motors of the electric joints to enable the annular frame 8 to be always opposite to and parallel to the wound surface and to be always kept at a fixed distance.

The invention has been described in an illustrative manner, and it is to be understood that the invention is not limited to the specific embodiments described above, but is intended to cover various modifications, which may be made by the methods and technical solutions of the invention, or may be applied to other applications without modification.

Claims

1. A surgical follow-up robot arm comprises a first arm (1), a second arm (2) and a third arm (3), wherein the first arm (1) is connected with a fixing device through a first joint (4), the first arm (1) and the second arm (2) are connected through a second joint (5), the second arm (2) and the third arm (3) are connected through a third joint (6), the third arm (3) is connected with an annular frame (8) through a fourth joint (7), the second joint (5) and the third joint (6) are respectively provided with a horizontal servo motor (5-1, 6-1) and a vertical servo motor (5-2, 6-2), and the fourth joint (7) is provided with a vertical servo motor (7-2) and a torsional servo motor (7-3); a plurality of extending arms (10) extending downwards in an inclined mode are uniformly distributed around the annular frame (8), included angles between the extending arms (10) and a wound surface are alpha, alpha is more than 0 degree and less than 45 degrees, a contact soft pad (11) is arranged at the end portions of the extending arms (10), and a pressure-sensitive sensor is arranged inside the contact soft pad (11); a follow-up positioning disc (12) is arranged right above the annular frame (8), the follow-up positioning disc (12) is connected with a connecting arm (3-1) through a fifth joint (7A), the connecting arm (3-1) is fixedly connected to the third arm (3), the fifth joint (7A) is provided with a vertical servo motor (7A-2) and a torsion servo motor (7A-3) and is respectively synchronous with the vertical servo motor (7-2) and the torsion servo motor (7-3) of the fourth joint (7), and the follow-up positioning disc (12) is always in parallel dead against the annular frame (8); a follow-up receiving module (13) is arranged at the bottom of the follow-up positioning disc (12), a follow-up target module (14) is matched with the follow-up receiving module, and the follow-up target module (14) is fixed near the wound surface; the device also comprises a Programmable Logic Controller (PLC), and the joint linkage is controlled through the information of the pressure-sensitive sensor and the follow-up receiving module, so that the annular frame (8) is always opposite to and parallel to the wound surface and is always kept at a fixed distance.

2. The surgical slave robot arm according to claim 1, wherein when the average value of all the pressure-sensitive sensors is greater than or less than a critical value, the PLC controls the vertical servomotors (5-2, 6-2) of the second joint (5) and the third joint (6) to be interlocked so that the ring frame (8) is raised or lowered until the average value of the pressure-sensitive sensors is equal to the critical value; meanwhile, the follow-up receiving module (13) is used for controlling the horizontal servo motors (5-1 and 6-1) of the second joint (5) and the third joint (6) to be linked through following the follow-up target module (14) and the PLC, so that the annular frame (8) is opposite to the wound surface.

3. The surgical follow-up robot arm according to claim 2, wherein the follow-up reception module (13) and the follow-up target module (14) are each provided with an ultrasonic module by which confirmation of direction and distance is achieved and a wireless transceiver module by which communication between the follow-up reception module (13) and the follow-up target module (14) is achieved.

4. The surgical follow-up robot arm according to claim 1, wherein the number of the extension arms (10) is 8, the connecting extension line of the contact point of the fourth joint (7) and the annular frame (8) and the circle center of the annular frame (8) is an X axis, a straight line passing through the circle center vertically is a Y axis, the extension arms are in pairwise symmetry with the X axis and the Y axis and are uniformly distributed on the annular frame (8), when the average values of the pressure-sensitive sensors of the extension arms on both sides of the X axis are unequal, the PLC controls the torsion servo motors (7-3) of the fourth joint (7) to rotate until the average values of the pressure-sensitive sensors of the extension arms on both sides of the X axis are equal; when the average values of the pressure-sensitive sensors of the extension arms on the two sides of the Y axis are unequal, the PLC controls the vertical servo motors of the second joint (5), the third joint (6) and the fourth joint (7) to be linked until the average values of the pressure-sensitive sensors of the extension arms on the two sides of the Y axis are equal.

5. The surgical follow-up robot arm as claimed in claim 3, wherein when the wound surface translates, the follow-up target module (14) also translates synchronously, the follow-up receiving module (13) receives the translation information of the direction and distance of the follow-up target module (14) through the wireless transceiver module and sends the information to the PLC, and the PLC controls the horizontal servo motors (5-1 and 6-1) of the second joint (5) and the third joint (6) to link until the follow-up positioning disc (12) faces the wound surface and drives the annular frame (8) to face the wound surface.

6. The surgical follow-up robot arm according to claim 1, the annular frame (8) having an annular light tube (8-1) thereon.

7. The surgical follow-up robot arm as claimed in claim 1, wherein a camera (8-2) is arranged on the annular frame (8), the camera (8-2) is connected to a network, real-time remote consultation can be carried out through a network terminal system, and the camera (8-2) controls the guide rail around the annular frame (8) to rotate through the network terminal system.

8. The surgical follow-up robot arm according to claim 1, wherein the first joint (4) has a horizontal mechanical rotating shaft (4-1) and a vertical mechanical rotating shaft (4-2), the first arm (1) is provided with a telescopic device (1-1), the telescopic device (1-1) is provided with an elastic button (1-2), when the elastic button is pressed down, the horizontal mechanical rotating shaft (4-1) and the vertical mechanical rotating shaft (4-2) can be manually rotated, and the telescopic device (1-1) is adjusted at the same time, when the elastic button is bounced up, the horizontal mechanical rotating shaft (4-1) and the vertical mechanical rotating shaft (4-2) of the first joint (4) and the telescopic device (1-1) are locked by a mechanical locking device.

9. The surgical follow-up robot arm according to claim 1, wherein the follow-up target module (14) is fixed in a manner of being pasted.

10. The surgical slave robot arm according to claim 1, wherein said annular frame (8) is composed of two semicircular frames, one end of which is connected and fixed to said fourth joint (7) by a pin and the other end is connected by an annular buckle, thereby enabling said annular frame (8) to be enlarged or reduced.