CN103083091A - Inclined angle flexible needle robot auxiliary puncture system based on piezoelectric actuation - Google Patents
Inclined angle flexible needle robot auxiliary puncture system based on piezoelectric actuation Download PDFInfo
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- CN103083091A CN103083091A CN2013100318109A CN201310031810A CN103083091A CN 103083091 A CN103083091 A CN 103083091A CN 2013100318109 A CN2013100318109 A CN 2013100318109A CN 201310031810 A CN201310031810 A CN 201310031810A CN 103083091 A CN103083091 A CN 103083091A
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Abstract
The invention provides an inclined angle flexible needle robot auxiliary puncture system based on piezoelectric actuation, relates to robot auxiliary puncture systems, and aims at resolving the problems that an existing flexible needle is complex in stress, brings difficulty to trajectory planning, and does not easily guarantee moving accuracy in the moving process inside tissue. According to the inclined angle flexible needle robot auxiliary puncture system, a support piece, a lead screw tail end bearing block, a lead screw head end bearing block and a motor installation base are sequentially arranged on a platform from left to right, an inserting needle motor is arranged on the motor installation base, an output shaft of the inserting needle motor is connected with a lead screw, a guide rail is arranged on the platform, a moving nut is arranged on the lead screw, a bearing support seat is arranged on the moving nut, a sliding block is arranged on the guide rail, the bearing support seat is connected with the guide rail, a sliding block nut connecting seat is arranged on a sliding block nut connecting piece, a flexible needle fixing piece is fixedly installed on the sliding block nut connecting seat, a support sleeve is arranged at the upper end of the support piece, one end of a feeding flexible needle is arranged inside the support sleeve in a penetrated mode, and the other end of the feeding flexible needle is connected with the flexible needle fixing piece. The inclined angle flexible needle robot auxiliary puncture system is applied to robot auxiliary puncturing.
Description
Technical field
The present invention relates to a kind of inclination angle flexible needle robot assisted lancing system, be specifically related to a kind of inclination angle flexible needle robot assisted lancing system based on Piezoelectric Driving, belong to the medical robot field of Wicresoft's intervene operation.
Background technology
When being placed on kill cancer cell, traditional treatments of cancer such as excision, chemotherapy, radiotherapy also can kill in a large number the inherent shortcoming of health cell in order to overcome, become the study hotspot for the treatment of of cancer in recent years for the directed targeted therapy of cancerous cell, and intervene operation begins also more and more to be applied in actual clinical treatment.So-called intervene operation is a kind of Minimally Invasive Surgery that adopts high-tech means to carry out, and under the guiding of medical imaging device, the special accurate apparatuses such as wire catheter is incorporated in human body focus is partly diagnosed and local treatment.And traditional intervene operation adopts draw point to thrust usually, and the conduit that namely thrusts in human body is that rigidity is inflexible, and the motion path that rises in human body is straight line, easily touches the obstacle tissue therefore exist, and the property hidden is poor, has the problems such as error that are difficult for compensation.People begin to propose to replace draw point to thrust with the flexible needle that can produce serpentine track, although but the motion in tissue of existing flexible needle can be hidden the obstacle tissue, but exist stressed complexity in motor process, the trajectory planning difficulty, kinematic accuracy is difficult for the problem of assurance.
Summary of the invention
Although the objective of the invention is to hide the obstacle tissue in order to solve the motion in tissue of existing flexible needle, but exist stressed complexity in motor process, the trajectory planning difficulty, kinematic accuracy is difficult for the problem of assurance, and then a kind of inclination angle flexible needle robot assisted lancing system based on Piezoelectric Driving is provided.
technical scheme of the present invention is: a kind of inclination angle flexible needle robot assisted lancing system based on Piezoelectric Driving comprises the inserting needle motor, platform, motor mount, shaft coupling, guide rail, leading screw head shaft bearing, leading screw, travelling nut, slide block, the slider nut connector, the flexible needle fixture, the slider nut Connection Block, the piezoelectricity input connector, leading screw tail end bearing block, support member, support set, feeding flexible needle and bearing spider, support member, leading screw tail end bearing block, leading screw head shaft bearing and motor mount are successively set on platform from left to right, the inserting needle motor is arranged on motor mount, the output shaft of inserting needle motor by shaft coupling with rotatably be arranged on leading screw tail end bearing block and be connected with the leading screw that leading screw head shaft bearing is connected, guide rail is arranged on platform, and guide rail parallel is in leading screw, travelling nut is arranged on leading screw, bearing spider is arranged on travelling nut, slide block slidably is arranged on guide rail, be fixedly connected with by the slider nut connector between bearing spider and guide rail, the slider nut Connection Block is arranged on the slider nut connector, the flexible needle fixture is packed on the right-hand member outer wall of slider nut Connection Block, support set is arranged on the upper end of support member, one end of feeding flexible needle is located in support set, the other end of feeding flexible needle is connected with the flexible needle fixture by the piezoelectricity input connector
described feeding flexible needle comprises needle point, connecting rod, needle body and piezoelectric ceramics, described piezoelectric ceramics comprises first group of piezoelectric ceramics and second group of piezoelectric ceramics, have criss-cross groove on the inwall of needle body, first group of piezoelectric ceramics is in the groove that is arranged in parallel on above-below direction at needle body, second group of piezoelectric ceramics is set in parallel on left and right directions in the groove of needle body, first group of piezoelectric ceramics is positioned at the right-hand member of second group of piezoelectric ceramics, connecting rod rotatably is inserted in second group of piezoelectric ceramics, needle point is arranged on the left end of needle body and offsets with needle body, connecting rod is packed on the inwall of needle point right-hand member, the needle point left end is with 40 degree-inclination of 50 degrees angles.
The present invention compared with prior art has following effect:
1. the present invention only rotates needle point and completes the mode of circumferential rotation, has overcome flexible needle in tissue during motion, stressed complexity in organizing and the problem that causes.When flexible needle moves at organization internal, only have needle point to rotate, the friction torque of being organized is little, and the torsional deflection of flexible needle self can be ignored, and flexible needle is more easily controlled in in-house motion, and precision is up to 98%.
2. the present invention is simple in structure, is easy to realize.
Description of drawings
Fig. 1 is the structural representation of feeding flexible needle, and Fig. 2 is the main cutaway view of Fig. 1, Fig. 3 be Fig. 2 along the profile at A-A place, Fig. 4 is overall structure schematic diagram of the present invention.
The specific embodiment
the specific embodiment one: in conjunction with 1 and Fig. 4 present embodiment is described, a kind of inclination angle flexible needle robot assisted lancing system based on Piezoelectric Driving of present embodiment comprises inserting needle motor 5, platform 6, motor mount 7, shaft coupling 8, guide rail 10, leading screw head shaft bearing 11, leading screw 12, travelling nut 13, slide block 14, slider nut connector 15, flexible needle fixture 16, slider nut Connection Block 17, piezoelectricity input connector 18, leading screw tail end bearing block 19, support member 21, support set 22, feeding flexible needle 23 and bearing spider 26, support member 21, leading screw tail end bearing block 19, leading screw head shaft bearing 11 and motor mount 7 are successively set on platform 6 from left to right, inserting needle motor 5 is arranged on motor mount 7, the output shaft of inserting needle motor 5 is connected with leading screw 12 on rotatably being arranged on leading screw tail end bearing block 19 and leading screw head shaft bearing being connected by shaft coupling 8, guide rail 10 is arranged on platform 6, and guide rail 10 is parallel to leading screw 12, travelling nut 13 is arranged on leading screw 12, bearing spider 26 is arranged on travelling nut 13, slide block 14 slidably is arranged on guide rail 10, be fixedly connected with by slider nut connector 15 between bearing spider 26 and guide rail 10, slider nut Connection Block 17 is arranged on slider nut connector 15, flexible needle fixture 16 is packed on the right-hand member outer wall of slider nut Connection Block 17, support set 22 is arranged on the upper end of support member 21, one end of feeding flexible needle 23 is located in support set 22, the other end of feeding flexible needle 23 is connected with flexible needle fixture 16 by piezoelectricity input connector 18
described feeding flexible needle 23 comprises needle point 1, connecting rod 2, needle body 4 and piezoelectric ceramics 3, described piezoelectric ceramics 3 comprises first group of piezoelectric ceramics 3-1 and second group of piezoelectric ceramics 3-2, have criss-cross groove on the inwall of needle body 4, first group of piezoelectric ceramics 3-1 is being arranged in parallel on above-below direction in the groove of needle body 4, second group of piezoelectric ceramics 3-2 is set in parallel on left and right directions in the groove of needle body 4, first group of piezoelectric ceramics 3-1 is positioned at the right-hand member of second group of piezoelectric ceramics 3-2, connecting rod 2 rotatably is inserted in second group of piezoelectric ceramics 3-2, needle point 1 is arranged on the left end of needle body 4 and offsets with needle body 4, connecting rod 2 is packed on the inwall of needle point 1 right-hand member, needle point 1 left end is with 40 degree-inclination of 50 degrees angles.
Feeding flexible needle of the present invention is divided into axial feeding and circumferential rotation in in-house motion.Wherein axial feeding provides speed and the degree of depth of flexible needle in the organization internal motion, and the direction of flexible needle motion in tissue is controlled in circumferential rotation.Axial feed motion is converted in the plane mobile form by ball-screw with the rotation formula around dead axle of motor, and then promotes the axial feed of feeding flexible needle, controls the feed speed of feeding flexible needle by the velocity of rotation of controlling motor.Circumferential rotation is no longer feeding flexible needle unitary rotation, but needle point separates with needle body, needle point is connected with shearing piezoelectric ceramics in being embedded in needle body by connecting rod, the movement velocity on change piezoelectric ceramics surface can make connecting rod drive needle point and rotate to a direction, completes changing the direction of flexible needle motion by rotating needle point.
The specific embodiment two: in conjunction with Fig. 1-Fig. 3, present embodiment is described, the inclination angle of the left end of the needle point 1 of present embodiment is 45 degree.So arrange, be convenient to thrust fast and accurately tissue.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: in conjunction with Fig. 1-Fig. 3, present embodiment is described, the connecting rod 2 of present embodiment is flexible connecting rod.So arrange, due to the existence of elastic force and coefficient of friction, when shearing motion occurs piezoelectric ceramics 3, have the frictional force effect between its upper surface and connecting rod 2.When shearing motion is slower, the frictional force performance is stiction, connecting rod 2 is along with the upper surface of four piezoelectric ceramics 3 rotates, and relative motion does not occur each other, when shearing motion is very fast, the frictional force performance is kinetic force of friction, connecting rod 2 is along with the upper surface of four piezoelectric ceramics 3 rotates or rotates slower, there is each other relative motion, when piezoelectric ceramics 3 motion facing one direction very fast, when the motion of another direction was slower, connecting rod 2 can produce the trend that tip portion 1 is rotated to a direction that drives.Other composition and annexation are identical with the specific embodiment two.
The specific embodiment four: in conjunction with Fig. 1-Fig. 3, present embodiment is described, first group of piezoelectric ceramics 3-1 and second group of piezoelectric ceramics 3-2 of present embodiment are shearing piezoelectric ceramics.So arrange, the lateral shear by piezoelectric ceramics moves through connecting rod and rotates to drive needle point, reaches the purpose of controlling the flexible needle direction of motion.Other composition and annexation are identical with the specific embodiment three.
The specific embodiment five: in conjunction with Fig. 1-Fig. 3, present embodiment is described, the quantity of first group of piezoelectric ceramics 3-1 of present embodiment and the quantity of second group of piezoelectric ceramics 3-2 are two.So arrange, can guarantee that flexible needle needle point stability of rotation is accurate.Other composition and annexation are identical with the specific embodiment four.
The specific embodiment six: present embodiment is described in conjunction with Fig. 4, the inclination angle flexible needle robot assisted lancing system of present embodiment also comprises bearing gland 24, angular contact bearing 25 and locking nut 9, angular contact bearing 25 is arranged on the interior leading screw 12 of leading screw head shaft bearing 11, bearing gland 24 is arranged on the right-hand member of leading screw head shaft bearing 11, and locking nut 9 is fixed on the leading screw 12 that stretches out leading screw head shaft bearing 11 outsides.So arrange, fixing leading screw, and guarantee that guide screw movement is steadily accurate, steadily accurate in the feed motion of organization internal to reach flexible needle.Other composition and annexation are identical with the specific embodiment one or five.
The specific embodiment seven: in conjunction with Fig. 4, present embodiment is described, the inclination angle flexible needle robot assisted lancing system of present embodiment also comprises deep groove ball bearing 20, is rotatably connected by deep groove ball bearing 20 between leading screw tail end bearing block 19 and leading screw 12.So arrange, reach fixedly leading screw, and guarantee that its motion steadily accurately.Other composition and annexation are identical with the specific embodiment six.
Work process of the present invention: when flexible needle is done feed motion in tissue, when existing oblique angle and flexible needle to thrust due to needle point, needle point arranges tissue each other the effect of mutually squeezing can occur, tissue has skew force effect perpendicular to the oblique angle face to flexible needle, again due to the material behavior of flexible needle self, it is curvilinear motion at in-house motion mode, and the direction of motion is by flexible needle oblique angle direction decision.Therefore flexible needle is divided into two parts at in-house motor control, i.e. axial feeding and circumferential rotation.Wherein axial feeding is rotated by inserting needle motor 5 and is driven leading screw 12 rotations, and then make slide block 14 on the direction of guide rail 10, translational motion occur, by slide block drive that slider nut connects 15, slider nut Connection Block 17, shaft coupling 18 and feed flexible needle 23 etc. and partly complete translation, to realize the feed motion of feeding flexible needle 23.As shown in Figure 1, four piezoelectric ceramics 3 that are fixed on flexible needle inside contact with connecting rod 2 and flexible power effect each other, when passing into the voltage of certain waveform for piezoelectric ceramics 3, its upper surface will be parallel to the shearing motion of lower surface, due to the elastic force between piezoelectric ceramics 3 and connecting rod 2 and the existence of coefficient of friction, therefore there is the frictional force effect both.The shearing motion that low speed occur when piezoelectric ceramics 3 is, the frictional force between both is the stiction effect, and piezoelectric ceramics 3 can drive connecting rod and rotate, and then tip portion 1 is rotated; When the shearing motion of speed occured for piezoelectric ceramics 3, the frictional force between both was the kinetic force of friction effect, and connecting rod 2 does not move along with the motion of piezoelectric ceramics 3.When the voltage that passes into piezoelectric ceramics 3 certain waveforms, make the shearing motion of piezoelectric ceramics on both direction not synchronized, sound frictional force changes on both direction, and connecting rod 2 is rotated toward the direction, and then drives the rotation of tip portion 1.
Claims (7)
1. inclination angle flexible needle robot assisted lancing system based on Piezoelectric Driving, it is characterized in that: described inclination angle flexible needle robot assisted lancing system comprises inserting needle motor (5), platform (6), motor mount (7), shaft coupling (8), guide rail (10), leading screw head shaft bearing (11), leading screw (12), travelling nut (13), slide block (14), slider nut connector (15), flexible needle fixture (16), slider nut Connection Block (17), piezoelectricity input connector (18), leading screw tail end bearing block (19), support member (21), support set (22), feeding flexible needle (23) and bearing spider (26), support member (21), leading screw tail end bearing block (19), leading screw head shaft bearing (11) and motor mount (7) are successively set on platform (6) from left to right, inserting needle motor (5) is arranged on motor mount (7), the output shaft of inserting needle motor (5) by shaft coupling (8) with rotatably be arranged on leading screw tail end bearing block (19) and be connected 11 with leading screw head shaft bearing) on leading screw (12) be connected, guide rail (10) is arranged on platform (6), and guide rail (10) is parallel to leading screw (12), travelling nut (13) is arranged on leading screw (12), bearing spider (26) is arranged on travelling nut (13), slide block (14) slidably is arranged on guide rail (10), be fixedly connected with by slider nut connector (15) between bearing spider (26) and guide rail (10), slider nut Connection Block (17) is arranged on slider nut connector (15), flexible needle fixture (16) is packed on the right-hand member outer wall of slider nut Connection Block (17), support set (22) is arranged on the upper end of support member (21), one end of feeding flexible needle (23) is located in support set (22), the other end of feeding flexible needle (23) is connected with flexible needle fixture (16) by piezoelectricity input connector (18)
described feeding flexible needle (23) comprises needle point (1), connecting rod (2), needle body (4) and piezoelectric ceramics (3), described piezoelectric ceramics (3) comprises first group of piezoelectric ceramics (3-1) and second group of piezoelectric ceramics (3-2), have criss-cross groove on the inwall of needle body (4), first group of piezoelectric ceramics (3-1) is being arranged in parallel on above-below direction in the groove of needle body (4), second group of piezoelectric ceramics (3-2) is set in parallel on left and right directions in the groove of needle body (4), first group of piezoelectric ceramics (3-1) is positioned at the right-hand member of second group of piezoelectric ceramics (3-2), connecting rod (2) rotatably is inserted in second group of piezoelectric ceramics (3-2), needle point (1) is arranged on the left end of needle body (4) and offsets with needle body (4), connecting rod (2) is packed on the inwall of needle point (1) right-hand member, needle point (1) left end is with 40 degree-inclination of 50 degrees angles.
2. a kind of inclination angle flexible needle robot assisted lancing system based on Piezoelectric Driving according to claim 1, it is characterized in that: the inclination angle of the left end of described needle point (1) is 45 degree.
3. a kind of inclination angle flexible needle robot assisted lancing system based on Piezoelectric Driving according to claim 2, it is characterized in that: described connecting rod (2) is flexible connecting rod.
4. a kind of inclination angle flexible needle robot assisted lancing system based on Piezoelectric Driving according to claim 3, it is characterized in that: described first group of piezoelectric ceramics (3-1) and second group of piezoelectric ceramics (3-2) are shearing piezoelectric ceramics.
5. a kind of inclination angle flexible needle robot assisted lancing system based on Piezoelectric Driving according to claim 4, it is characterized in that: the quantity of the quantity of described first group of piezoelectric ceramics (3-1) and second group of piezoelectric ceramics (3-2) is two.
6. according to claim 1 or 5 described a kind of inclination angle flexible needle robot assisted lancing systems based on Piezoelectric Driving, it is characterized in that: described inclination angle flexible needle robot assisted lancing system also comprises bearing gland (24), angular contact bearing (25) and locking nut (9), angular contact bearing (25) is arranged on the interior leading screw (12) of leading screw head shaft bearing (11), bearing gland (24) is arranged on the right-hand member of leading screw head shaft bearing (11), locking nut (9) is fixed on and stretches out on the outside leading screw (12) of leading screw head shaft bearing (11).
7. a kind of inclination angle flexible needle robot assisted lancing system based on Piezoelectric Driving according to claim 6, it is characterized in that: described inclination angle flexible needle robot assisted lancing system also comprises deep groove ball bearing (20), is rotatably connected by deep groove ball bearing (20) between leading screw tail end bearing block (19) and leading screw (12).
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| CN105212997A (en) * | 2015-11-11 | 2016-01-06 | 哈尔滨理工大学 | The piercing mechanism of sleeve pipe flexible needle and piercing method |
| CN105212995A (en) * | 2015-09-25 | 2016-01-06 | 济南大学 | Linearly precisely puncture robot assisted the device for carrying out said of soft tissue targets in path |
| CN105363113A (en) * | 2015-12-09 | 2016-03-02 | 哈尔滨理工大学 | Needle feeding mechanism for sleeve-type flexible needle |
| CN106983558A (en) * | 2017-03-24 | 2017-07-28 | 西安交通大学 | A kind of mechanical arm operated for urological surgery |
| CN107257669A (en) * | 2015-02-26 | 2017-10-17 | 柯惠Lp公司 | Apparatus driver element comprising guide screw bar track |
| CN108742847A (en) * | 2018-06-12 | 2018-11-06 | 天津大学 | A kind of four-degree-of-freedom flexibility pin puncture platform that macro dynamic and fine motion combines |
| CN112370125A (en) * | 2020-11-13 | 2021-02-19 | 哈尔滨理工大学 | Winding type flexible needle puncture mechanism |
| CN112656487A (en) * | 2020-11-18 | 2021-04-16 | 哈尔滨理工大学 | Based on flexible needle puncture mechanism of parallel lead screw formula |
| CN114668464A (en) * | 2022-03-29 | 2022-06-28 | 哈尔滨理工大学 | Automatic flexible needle replacing device |
| CN114795411A (en) * | 2022-04-15 | 2022-07-29 | 哈尔滨理工大学 | Flexible needle puncture mechanism with slotting support |
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| CN107257669A (en) * | 2015-02-26 | 2017-10-17 | 柯惠Lp公司 | Apparatus driver element comprising guide screw bar track |
| CN105212995A (en) * | 2015-09-25 | 2016-01-06 | 济南大学 | Linearly precisely puncture robot assisted the device for carrying out said of soft tissue targets in path |
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| CN106983558B (en) * | 2017-03-24 | 2019-10-11 | 西安交通大学 | A kind of mechanical arm for urological surgery operation |
| CN106983558A (en) * | 2017-03-24 | 2017-07-28 | 西安交通大学 | A kind of mechanical arm operated for urological surgery |
| CN108742847A (en) * | 2018-06-12 | 2018-11-06 | 天津大学 | A kind of four-degree-of-freedom flexibility pin puncture platform that macro dynamic and fine motion combines |
| CN108742847B (en) * | 2018-06-12 | 2021-04-27 | 天津大学 | Four-degree-of-freedom flexible needle puncture platform combining macro motion and micro motion |
| CN112370125A (en) * | 2020-11-13 | 2021-02-19 | 哈尔滨理工大学 | Winding type flexible needle puncture mechanism |
| CN112656487A (en) * | 2020-11-18 | 2021-04-16 | 哈尔滨理工大学 | Based on flexible needle puncture mechanism of parallel lead screw formula |
| CN114668464A (en) * | 2022-03-29 | 2022-06-28 | 哈尔滨理工大学 | Automatic flexible needle replacing device |
| CN114668464B (en) * | 2022-03-29 | 2024-05-28 | 哈尔滨理工大学 | Automatic replacement device for flexible needle |
| CN114795411A (en) * | 2022-04-15 | 2022-07-29 | 哈尔滨理工大学 | Flexible needle puncture mechanism with slotting support |
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