CN103536366A - Automatic anchor jaw support device for flexible minimally invasive surgery mechanical arm - Google Patents
Automatic anchor jaw support device for flexible minimally invasive surgery mechanical arm Download PDFInfo
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- CN103536366A CN103536366A CN201310501084.2A CN201310501084A CN103536366A CN 103536366 A CN103536366 A CN 103536366A CN 201310501084 A CN201310501084 A CN 201310501084A CN 103536366 A CN103536366 A CN 103536366A
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- anchor fluke
- mechanical hand
- anchor
- minimally invasive
- invasive surgery
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Abstract
The invention relates to an automatic anchor jaw support device for a flexible minimally invasive surgery mechanical arm. The automatic anchor jaw support device provides operation support points for a mechanical arm body which is a flexible hollow tube. The device comprises an anchor jaw, a metal heating wire, a temperature sensor, a distance sensor and a controller. The anchor jaw can open and close according to temperature and is attached to the outer surface of the tail end of the mechanical arm body. The metal heating wire is disposed in the flexible hollow tube and is attached to the anchor jaw with the tube between each other. The controller is respectively connected with the metal heating wire, the temperature sensor and the distance sensor. Compared with the prior art, the automatic anchor jaw support device has the advantages that anchor points are locked on bones by controlling automatic open and close of the anchor jaw, the tail end of the mechanical arm body can achieve high rigidity so as to allow the tail end executing parts to perform surgeries, and the device is safe, reliable, fast to adjust, high in controllability, and the like.
Description
Technical field
The present invention relates to operating robot field, especially relate to a kind of automatic anchor fluke bracing or strutting arrangement for flexible Minimally Invasive Surgery mechanical hand, be applicable in surgery mechanical hands that the manual operation risks such as spinal column, tumor, orthopaedics, cervical operation are larger.
Background technology
Flexible Minimally Invasive Surgery mechanical hand, the operating part that belongs to continuous robot, flexible robot can be submissive and changes flexibly self shape, thereby can change self shape according to the situation of Environment Obstacles thing, for the narrow and small environment of work space and non-structure environment, there is unique adaptive capacity, can in actual operation, avoid the nervous tissue easily it being damaged, and easy and simple to handle, the easy left-hand seat of doctor and precision and accuracy can reach higher level, in Minimally Invasive Surgery field, have very large development potentiality.Continuous flexible robot is as an important branch of operating robot, is one of the focus of various countries experts and scholars' concern to its research always.In recent years, flexible robot's research has obtained considerable progress, and wherein more external research institutions rely on ample capital and advanced technology, has obtained development faster in this field.As, the ROBODOC robot system of U.S. Computer Motion company release in 1992, to develop and form in traditional industry Fundamentals of Robot Techniques, can complete the operations such as hipbone replacement, hipbone displacement and reparation and knee prosthesis, its control mode is to carry out 3D modeling and surgery planning according to CT image, and the data of all needs are provided for performing the operation.1994, the operating robot of U.S. Computer Motion company development, it adopts automated optical location endoscopic system, it can imitate the function of human arm, and the needs of paraprofessional personnel manually being controlled to endoscope have been cancelled, provide than manual control more accurately, more consistent camera motion, for doctor provides direct, stable surgical field of view.Thereupon, more ripe advanced person's robot assisted minimally invasive surgery system is the Da Vinci system of American I ntuitive Surgical company, it comprises that a doctor controls platform, Multifunctional surgical bed, various operating theater instruments and image processing equipment, succeeding in developing of this mechanical system, broken through first the restriction that traditional Minimally Invasive Surgery exists, with the better stability of higher precision, having substituted traditional Minimally Invasive Surgery, is the once innovation of micro-wound operation robot.At home, robot research institute of BJ University of Aeronautics & Astronautics and PLA General Hospital joint development have gone out department of cerebral surgery mechanical arm system and have assisted Bratn Stereotactic, and its system is mainly partly comprised of image capturing transmission, virtual operation planning, intelligent machine arm, bracing or strutting arrangement etc.By the accurate positioning operation point of these equipment, reconstruction of three-dimensional focus region, completes rapidly apparatus guiding work, to complete fast operation.This method can better reduce operation wound, and for patient saves a lot of miseries, and in operating process, its precision is higher, and the probability of sequela can be less.
In minimally invasive spine surgical, minimally invasive spine surgical mechanical hand is comprised of the circular arc compo pipe that is processed as in advance a certain bending radius, this kind of concentric tube continuous robot controls the curvature movement of continuous robot by changing the relative angle of two compo pipe bending directions, its size is very little, adopt the manufacture of superelastic nickel titanium alloy material, material has good biocompatibility, radiopacity, nuclear magnetic resonance, NMR without characteristics such as impact property, shape memory effect, super-elasticity and dampings.By whole continuous modification, reach the object of input and output campaign, the member that continuous robot forms is structure member and drive disk assembly, thereby physical dimension can be enough little.But, this continuous flexible manipulator has the weakness that distal point amount of deflection is large, bearing capacity is little, make it in application, exist the flexible operating part locus positioning precision of mechanical hand not high, and minimally invasive spine surgical is for the higher contradictory problems of position accuracy demand of operation point.
Summary of the invention
Object of the present invention is exactly to provide a kind of safe and reliable in order to overcome the defect of above-mentioned prior art existence, adjust rapidly, the automatic anchor fluke bracing or strutting arrangement for flexible Minimally Invasive Surgery mechanical hand that controllability is strong, this device is in conjunction with certain algorithm controls anchor fluke automatic open-close, when operation, automatically select anchor point to be locked on skeleton, thereby making mechanical hand body tip can obtain higher rigidity facilitates end execution unit to carry out operative process, and by the real time data feedback control of sensor, reduce better the injury of operating theater instruments to human body, guaranteed the safety of operating theater instruments, real-time and stability.
Object of the present invention can be achieved through the following technical solutions: a kind of automatic anchor fluke bracing or strutting arrangement for flexible Minimally Invasive Surgery mechanical hand, for mechanical hand body provides the operation strong point, it is characterized in that, described mechanical hand body is flexible hollow tube, described device comprises anchor fluke, METAL HEATING PROCESS silk, temperature sensor, range sensor and controller, described anchor fluke can automatic open-close according to temperature, be attached to the outer surface of mechanical hand body tip, described METAL HEATING PROCESS silk is placed in flexible hollow tube, and across tube wall and anchor fluke laminating, described temperature sensor is located on anchor fluke, and be connected with METAL HEATING PROCESS silk through tube wall, described range sensor is connected with anchor fluke, described controller respectively with METAL HEATING PROCESS silk, temperature sensor is connected with range sensor,
When no power heats, anchor fluke closure is attached to the outer surface of mechanical hand body tip, does not disturb mechanical hand body to enter body operation working space; After mechanical hand target approach operation point, range sensor is automatically measured the distance of each anchor fluke skeleton nearest with it and is fed back to controller, the anchor fluke of the most close skeleton of controller intelligent selection position is also controlled METAL HEATING PROCESS silk it is heated, anchor fluke starts to open, the ambient temperature at temperature sensor measurement anchor fluke place also feeds back to controller, controller is controlled the temperature of heating anchor fluke, after reaching predetermined temperature, heating stops heating, anchor fluke anchor after opening is on skeleton, for mechanical hand body increases the strong point.
Described anchor fluke and this external surface of mechanical hand adopt blind riveting to fix.
Described anchor fluke adopts nickel titanium alloy.
Described anchor fluke is provided with 2 to 5, along circumferentially distributing and be attached on the outer surface of mechanical hand body tip.
Described anchor fluke is containing anchor thorn, and its shape is to learn according to simulation of human body, according to the design of skeleton local form, makes anchor fluke to live skeleton by anchor, improves dynamics and steadiness that anchor fluke supports.
Described range sensor is infrared sensor.
Described preset temperature is 40 ℃.
Anchor fluke enters in human body and arrives after target operation point, controller is controlled METAL HEATING PROCESS silk it is heated, its temperature of temperature sensor meeting real time record that now anchor fluke connects, when reaching 40 ℃, (body cavity normal temperature is 38 ℃ of left and right, deformation temperature can be by adding a certain proportion of copper coin usually to change its hot activation temperature when manufacturing nitinol alloy wire, both can avoid it to start ahead of time distortion for prefabricated 40 ℃, can avoid again excess Temperature that tissue is caused and burnt) left and right start distortion, this Time Controller is controlled anchor fluke heating-up temperature and is maintained 40 ℃, can be by its anchor on skeleton after anchor fluke distortion, play fixing effect, after operation finishes, stop immediately the heating to METAL HEATING PROCESS silk, anchor fluke just can return to the initial condition being fitted on mechanical hand.
Compared with prior art, the present invention has the following advantages:
1, anchor fluke adopts nickel-titanium alloy material to make, and can make full use of the shape memory effect of Nitinol, and that has improved anchor fluke can be handling, and nickel-titanium alloy material has above restore funcitonss millions of times, has guaranteed that anchor fluke is durable in use;
2, before heating, anchor fluke closure is attached to this external surface of mechanical hand, has reduced obstacle when mechanical hand body enters human body, thereby reduced anchor fluke, injures with the operation that contacting of tissue and nervus vasculairs etc. alleviated patient, avoids staying postoperative complication;
3, anchor fluke is directly fixed on this external surface of mechanical hand by rivet, avoids entering anchor fluke in the process in body operation space at mechanical hand body and changes with respect to the position of mechanical hand body;
4, mechanical hand body arrives after impact point, by sensor by data feedback in controller, according to its algorithm, automatically realize the opening and closing movement of anchor fluke, thereby simplicity and safety that manually-operated intervention has improved operation have been reduced, and adopt temperature sensor to control heating-up temperature, can avoid excess Temperature infringement tissue, cause wound.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the front view of anchor fluke of the present invention;
Fig. 3 is the state diagram that anchor fluke of the present invention launches.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.Below, for introducing the preferred embodiments of the present invention, this part is only to illustrate of the present invention, but not restriction to the present invention and application or purposes.Other embodiment drawing according to the present invention, belongs to technological innovation scope of the present invention too.
As depicted in figs. 1 and 2, a kind of automatic anchor fluke bracing or strutting arrangement that is applied to minimally invasive spine surgical mechanical hand, for mechanical hand body 1 provides the operation strong point, it is characterized in that, described mechanical hand body 1 is Nitinol flexible hollow tube, described device comprises anchor fluke 2, METAL HEATING PROCESS silk 3, temperature sensor 4, infrared sensor 5 and controller, described anchor fluke adopts nickel-titanium alloy material manufacture, can automatic open-close according to temperature, described anchor fluke 2 is provided with 2 to 5, along being circumferentially attached to the outer surface of mechanical hand body tip, and adopt blind riveting to fix with this external surface of mechanical hand, described METAL HEATING PROCESS silk 3 is placed in flexible hollow tube, and across tube wall and anchor fluke 2 laminatings, described temperature sensor 4 is located on anchor fluke 2, and be connected with METAL HEATING PROCESS silk 3 through tube wall, described infrared sensor 5 is connected with anchor fluke 2, described controller respectively with METAL HEATING PROCESS silk 3, temperature sensor 4 is connected with infrared sensor 5, described anchor fluke 2 is containing anchor thorn, its shape is to learn according to simulation of human body, according to skeleton local form, design, make anchor fluke 2 to live skeleton by anchor, improve dynamics and steadiness that anchor fluke 2 supports.
As shown in Figure 1, under duty not during energising heating, anchor fluke closure is attached to flexible mechanical on hand, does not disturb mechanical hand body to enter body operation working space, when mechanical hand body tip arrives after target operation point, infrared sensor detects anchor fluke everywhere from the distance of its nearest skeleton and transmits data to controller, controller intelligent selection finds from the anchor fluke of skeleton proximal most position, METAL HEATING PROCESS silk in heated mechanical hands body flexible hollow tube subsequently, anchor fluke starts to open, the ambient temperature at temperature sensor measurement anchor fluke place also feeds back to controller, controller is controlled the temperature of heating anchor fluke, after reaching predetermined temperature, heating stops heating, the anchor fluke anchor now opening is lived skeleton, reach mechanical hand automatic anchor and lived the object of skeleton, thereby play the effect that increases the rigidity of mechanical hand body tip instrumentation and the motility of operation technique.State that anchor fluke anchor is lived skeleton as shown in Figure 3, has shown three situations under anchor fluke in working order in figure, A represents skeleton.
Anchor fluke of the present invention can closure be attached to this external surface of mechanical hand under idle state, and mechanical hand enters in the process of body operation working space can avoid the barriers such as nervous tissue preferably, does not injure human body; In the time of in working order, utilize the shape memory characteristic of nickel-titanium alloy material, automatic searching skeleton contact anchor point in nondestructive flexible manipulator crawlway, the algorithm positioning supports anchor fluke that adopts global path and local paths planning to combine.Orthopaedics class Minimally Invasive Surgery is the same with other Minimally Invasive Surgerys, because operative incision is little, visual area is limited, mechanical hand should have good compliance and dexterity, and after reaching surgery location, can complete the going round and round a millstone of osseous tissue, clamp and grab, cut and the operation technique such as scrape, the present invention, by the real time data feedback control of sensor, has reduced the injury of operating theater instruments to human body better, has guaranteed safety, real-time and the stability of operating theater instruments.
Claims (7)
1. the automatic anchor fluke bracing or strutting arrangement for flexible Minimally Invasive Surgery mechanical hand, for mechanical hand body provides the operation strong point, it is characterized in that, described mechanical hand body is flexible hollow tube, described device comprises anchor fluke, METAL HEATING PROCESS silk, temperature sensor, range sensor and controller, described anchor fluke is attached to the outer surface of mechanical hand body tip, described METAL HEATING PROCESS silk is placed in flexible hollow tube, and across tube wall and anchor fluke laminating, described temperature sensor is located on anchor fluke, and be connected with METAL HEATING PROCESS silk through tube wall, described range sensor is connected with anchor fluke, described controller respectively with METAL HEATING PROCESS silk, temperature sensor is connected with range sensor,
When no power heats, anchor fluke closure is attached to the outer surface of mechanical hand body tip, does not disturb mechanical hand body to enter body operation working space; After mechanical hand target approach operation point, range sensor is automatically measured the distance of each anchor fluke skeleton nearest with it and is fed back to controller, the anchor fluke of the most close skeleton of controller intelligent selection position is also controlled METAL HEATING PROCESS silk it is heated, anchor fluke starts to open, the ambient temperature at temperature sensor measurement anchor fluke place also feeds back to controller, controller is controlled the temperature of heating anchor fluke, when reaching preset temperature, heating stops heating and being incubated, anchor fluke anchor after opening is on skeleton, for mechanical hand body increases the strong point.
2. a kind of automatic anchor fluke bracing or strutting arrangement for flexible Minimally Invasive Surgery mechanical hand according to claim 1, is characterized in that, described anchor fluke and this external surface of mechanical hand adopt blind riveting to fix.
3. a kind of automatic anchor fluke bracing or strutting arrangement for flexible Minimally Invasive Surgery mechanical hand according to claim 1, it is characterized in that, described anchor fluke adopts nickel titanium alloy, by adding a certain proportion of copper coin usually to make nitinol alloy wire be out of shape when reaching preset temperature in Nitinol.
4. a kind of automatic anchor fluke bracing or strutting arrangement for flexible Minimally Invasive Surgery mechanical hand according to claim 1, is characterized in that, described anchor fluke is provided with 2 to 5, along circumferentially distributing and be attached on the outer surface of mechanical hand body tip.
5. a kind of automatic anchor fluke bracing or strutting arrangement for flexible Minimally Invasive Surgery mechanical hand according to claim 1, it is characterized in that, described anchor fluke, its shape is to learn according to simulation of human body, according to skeleton local form, design, make anchor fluke to live skeleton by anchor, improve dynamics and steadiness that anchor fluke supports.
6. a kind of automatic anchor fluke bracing or strutting arrangement for flexible Minimally Invasive Surgery mechanical hand according to claim 1, is characterized in that, described range sensor is infrared sensor.
7. a kind of automatic anchor fluke bracing or strutting arrangement for flexible Minimally Invasive Surgery mechanical hand according to claim 3, is characterized in that, described preset temperature is 40 ℃.
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| CN201310501084.2A CN103536366B (en) | 2013-10-22 | 2013-10-22 | A kind of automatic anchor jaw support device for flexible Minimally Invasive Surgery mechanical hand |
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| CN201310501084.2A CN103536366B (en) | 2013-10-22 | 2013-10-22 | A kind of automatic anchor jaw support device for flexible Minimally Invasive Surgery mechanical hand |
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| CN103536366A true CN103536366A (en) | 2014-01-29 |
| CN103536366B CN103536366B (en) | 2015-08-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018041162A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Flexible continuous body structure capable of realizing posture feedback |
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| CN1399531A (en) * | 1999-10-27 | 2003-02-26 | 阿特里泰克公司 | Barrier device for ostium of left atrial appendage |
| US20100234834A1 (en) * | 2006-07-04 | 2010-09-16 | Bracco Imaging S.P.A. | Device for localized thermal ablation of biological tissues, particularly tumoral tissues or the like |
| CN201939323U (en) * | 2010-12-27 | 2011-08-24 | 王萍 | Novel cervical dilating device |
| WO2012083993A1 (en) * | 2010-12-23 | 2012-06-28 | R & M Consulting And Trading Gmbh & Co. Kg | (partial) device for preventing incontinence having a fastening apparatus for stationary implantation in body tissue |
| US20120172690A1 (en) * | 2010-12-29 | 2012-07-05 | Medtronic, Inc. | Implantable medical device fixation |
| CN102579157A (en) * | 2012-02-22 | 2012-07-18 | 上海交通大学 | Novel bionic skeletal muscle based on shape memory alloy driving |
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2013
- 2013-10-22 CN CN201310501084.2A patent/CN103536366B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1399531A (en) * | 1999-10-27 | 2003-02-26 | 阿特里泰克公司 | Barrier device for ostium of left atrial appendage |
| US20100234834A1 (en) * | 2006-07-04 | 2010-09-16 | Bracco Imaging S.P.A. | Device for localized thermal ablation of biological tissues, particularly tumoral tissues or the like |
| WO2012083993A1 (en) * | 2010-12-23 | 2012-06-28 | R & M Consulting And Trading Gmbh & Co. Kg | (partial) device for preventing incontinence having a fastening apparatus for stationary implantation in body tissue |
| CN201939323U (en) * | 2010-12-27 | 2011-08-24 | 王萍 | Novel cervical dilating device |
| US20120172690A1 (en) * | 2010-12-29 | 2012-07-05 | Medtronic, Inc. | Implantable medical device fixation |
| CN102579157A (en) * | 2012-02-22 | 2012-07-18 | 上海交通大学 | Novel bionic skeletal muscle based on shape memory alloy driving |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018041162A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Flexible continuous body structure capable of realizing posture feedback |
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Granted publication date: 20150819 Termination date: 20181022 |