CN106580474A - Articulated thermal ablation medical auxiliary robot - Google Patents
Articulated thermal ablation medical auxiliary robot Download PDFInfo
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- CN106580474A CN106580474A CN201510684381.4A CN201510684381A CN106580474A CN 106580474 A CN106580474 A CN 106580474A CN 201510684381 A CN201510684381 A CN 201510684381A CN 106580474 A CN106580474 A CN 106580474A
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- joint
- electric cylinders
- arm
- auxiliary robot
- heating ablation
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Abstract
The invention relates to medical auxiliary equipment, in particular to an articulated thermal ablation medical auxiliary robot. The robot comprises a base, an arm, a tail end clamping jaw and a touch control display. The base is provided with a control cabinet and thermal ablation equipment. The arm is formed by sequential connection of a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint, and each joint is formed by a corresponding integrated modular motor and a connection part. The tail end clamping jaw is connected to the tail end of the arm. By design of a six-axis high-degree-of-freedom structure, the defect of failure in multi-direction positioning of tail ends of existing products is overcome; by integrated design, the defect of separation of the thermal ablation equipment and a robot body is overcome; due to integrated design of the tail end clamping jaw, requirements of cables on hollowness of the robot body are reduced, internal wiring of the cables is realized, and convenience in mounting and maintenance is achieved.
Description
Technical field
The present invention relates to a kind of medical auxiliary equipment, especially a kind of articulated type heating ablation medical treatment auxiliary robot.
Background technology
One of tumor is common malignant disease, and the reason for clinical patients death；Every year in the world because mortality of malignant tumors
Number already exceed million；Chinese Cancer Mortality is annual also in rising trend.Therefore, how to improve the treatment of tumor
Level, the quality of life of raising patient are just paid close attention to by more and more people.
Since the nineties in 20th century, the thermal ablation therapy technology with microwave as representative is rapidly growing, becomes the reliability for the treatment of tumor
Effective ways, have obtained rapid promotion and application in clinic.The technology is, under the technology guiding of image, will to puncture microwave needle
Focal tumor position is inserted into, the minimally invasive neoplasm in situ inactivation new technique of solidification zone tumor tissues necrosis completely is caused.Heat disappears at present
Melt main still guiding of the doctor according to two-dimensional ultrasonic image for the treatment of, based on personal micro-judgment, positioning is completed in three dimensions
Puncture.As two dimensional image lacks third dimension, the three-dimensional fix of puncture needle can be caused inaccurate or even offset so that be preoperative
The simulation of thermal field accurately cannot coincide in art.And need at least two doctor cooperatings, one it is entitled help pin doctor, separately
The one entitled doctor for performing an operation, such operation are very high to the level requirement of doctor.
Although there has also been now the medical auxiliary robot of Cartesian form, can only be to particular body portion during use
Positioned, it is impossible to automatic whole body positioning, and due to the number of axle it is very few, it is impossible to realize the multi-angle positioning function of end, to reality
Border application brings difficulty.
Existing product is not accounted for by heating ablation integration of equipments in adjuvant therapy device yet, and heating ablation equipment also individually will be controlled
With take up space, greatly reduce the workability of equipment.
The content of the invention
For the deficiencies in the prior art, the present invention provides a kind of positioning robot that can be used for heating ablation operation direction.
The technical scheme is that：
Articulated type heating ablation medical treatment auxiliary robot, including pedestal, arm, end claw and touch control display；
The pedestal is made up of castor and casing, and box house is provided with switch board and heating ablation equipment；
The arm be made up of the first joint, second joint, the 3rd joint, the 4th joint, the 5th joint and the 6th joint and
It is sequentially connected, each joint is made up of corresponding integrated module motor and connector respectively, so as to realize 6 degree of freedom motions；
The end claw is connected to arm end, and the end claw is for outside axle and by electric cylinders, clamp structure, photovoltaic conversion
Module, I/O expansion module, electric cylinders driver and electric cylinders installing plate composition, electric cylinders are arranged on the forward position in electric cylinders installing plate bottom,
Clamp structure is arranged on electric cylinders bottom, and electric cylinders driver is arranged on electric cylinders installing plate top and connects electric cylinders, electricity by actuating device
Pressure modular converter, I/O expansion module are placed on electric cylinders installing plate middle part；Electric cylinders provide power, photovoltaic conversion for clamp structure
Module is used for the reception and rectification of alternating current, and I/O expansion module is used for control command and is input into electric cylinders driver, electric cylinders driver
For controlling electric cylinders.
The touch control display is arranged on pedestal top.
The touch control display is arranged on pedestal by being provided with the support arm of rotating shaft, and the rotating shaft is fixed point rotating shaft, its work
With being to be adjusted to after the attitude for needing to keep attitude by pinpointing rotating shaft by support arm manually, it is easy to medical worker's operation to touch
Control display.
Handrail is installed on the pedestal side, its effect is easy for medical personnel and promotes robot.
The base bottom is provided with bedframe, and the bedframe bottom is provided with the lower margin for parking, the bedframe bottom
Portion is formed around Lifting caster component, and the castor is arranged on Lifting caster component bottom, and its effect is selected by Lifting caster
Contacted to earth using castor or lower margin contacts to earth, so as to reach the purpose of walking and parking conversion.
Beneficial effects of the present invention are：Heating ablation assist devices in the present invention, simplifies structure, high freely using 6 axles
Degree structure design, solve existing product end cannot multi-faceted positioning shortcoming；Integration Design, solve heating ablation equipment with
The detached shortcoming of robot body；End claw adopts integrated design, has both reduced the cable requirement hollow to robot body,
Cable inner cabling is realized, while facilitating installation and keeping in repair.
Description of the drawings
Fig. 1 is overall structure diagram in heating ablation medical treatment auxiliary robot of the present invention；
Fig. 2 is arm schematic diagram in heating ablation medical treatment auxiliary robot of the present invention；
Fig. 3 is pedestal schematic diagram in heating ablation medical treatment auxiliary robot of the present invention；
Fig. 4 is end claw structure schematic diagram in heating ablation medical treatment auxiliary robot of the present invention.
Fig. 5 is heating ablation medical treatment auxiliary robot application integral layout schematic diagram of the present invention
In figure：1st, pedestal；2nd, arm；3rd, end claw；4th, touch control display；5th, the first joint；6th, second
Joint；7th, the 3rd joint；8th, the 4th joint；9th, the 5th joint；10th, the 6th joint；11st, Lifting caster component；12、
Bedframe；13rd, switch board；14th, heating ablation equipment；15th, electric cylinders；16th, clamp structure；17th, voltage transformation module；
18th, I/O expansion module；19th, electric cylinders driver；20th, electric cylinders installing plate；21st, articulated type heating ablation medical treatment auxiliary robot；
22nd, patient；23rd, sick bed；24th, CT machines.
Specific embodiment
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is described further：
As shown in Figure 1,2,3, 4, articulated type heating ablation medical treatment auxiliary robot 21, including pedestal 1, arm 2, end card
Pawl 3 and touch control display 4；
The pedestal 1 is made up of the castor and casing of removable and automatic lifting, and box house is provided with switch board 13 and heat disappears
Melt equipment 14；
The arm 2 is closed by the first joint 5, second joint 6, the 3rd joint 7, the 4th joint 8, the 5th joint 9 and the 6th
Section 10 is constituted and is sequentially connected, and each joint is made up of corresponding integrated module motor and connector respectively, so as to realize 6
Individual degree of freedom motion；
The end claw 3 is connected to 20 end of arm, specifically, 20 end of arm be 10 end of the 6th joint, the handss
2 first joint of arm is arranged on pedestal 1, and the end claw 3 is connected to 10 end of the 6th joint of arm 2, the end
Claw 3 is for outside axle and by electric cylinders 15, clamp structure 16, photovoltaic conversion module 17, I/O expansion module 18, electric cylinders driver
19 and electric cylinders installing plate 20 constitute, electric cylinders 15 are arranged on the forward position in 20 bottom of electric cylinders installing plate, and clamp structure 16 is arranged on
15 bottom of electric cylinders, electric cylinders driver 19 are arranged on 20 top of electric cylinders installing plate and connect electric cylinders 15, voltage by actuating device
Modular converter 17, I/O expansion module 18 are placed on 20 middle part of electric cylinders installing plate.
The touch control display 4 is arranged on 1 top of pedestal.
The touch control display 4 is arranged on pedestal 1 by being provided with the support arm of some rotating shafts, and the rotating shaft turns for fixed point
Axle, its effect are to be adjusted to after the attitude for needing to keep attitude by pinpointing rotating shaft by support arm manually, are easy to medical worker
Operation touch control display.
The pedestal is provided with handrail on 1 side, and its effect is easy for medical personnel and promotes robot.
1 bottom of the pedestal is provided with bedframe 12, and 12 bottom of the bedframe is provided with the lower margin for parking, the bottom
12 bottom of seat frame frame is formed around Lifting caster component 11, and the castor is arranged on 11 bottom of Lifting caster component, and its effect is
Select to contact to earth using castor by Lifting caster or lower margin contacts to earth, so as to reach the purpose of walking and parking conversion.
The using method of the present invention：
As shown in Figure 5, the slice, thin piece that final application is clapped by the articulated type heating ablation medical treatment cooperation CT of auxiliary robot 21 machines 24, passes through
Magnetic orientation system is accurately positioned to 22 focus of patient on sick bed 23, and ajusts the maneuverable attitude of doctor, device end
Claw 3 clamps heating ablation pin and helps equipment, assists a physician and completes heating ablation operation.
Merely illustrating the principles of the invention described in above-described embodiment and description and most preferred embodiment, without departing from essence of the invention
On the premise of god and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within this claimed
In bright scope.
Claims (5)
1. articulated type heating ablation medical treatment auxiliary robot, including pedestal, arm, end claw and touch control display, which is special
Levy and be：The pedestal is made up of castor and casing, and box house is provided with switch board and heating ablation equipment；
The arm is sequentially connected by the first joint, second joint, the 3rd joint, the 4th joint, the 5th joint and the 6th joint
Composition, each joint is made up of corresponding integrated module motor and connector respectively；
The end claw is connected to arm end, and the end claw is for outside axle and by electric cylinders, clamp structure, photovoltaic conversion
Module, I/O expansion module, electric cylinders driver and electric cylinders installing plate composition, electric cylinders are arranged on electric cylinders installing plate bottom, clamp structure
Installed in electric cylinders bottom, electric cylinders driver is arranged on electric cylinders installing plate top and connects electric cylinders, voltage conversion mould by actuating device
Block, I/O expansion module are placed on electric cylinders installing plate middle part.
2. articulated type heating ablation according to claim 1 medical treatment auxiliary robot, it is characterised in that：The touch control shows
Show that device is arranged on pedestal by being provided with the support arm of rotating shaft, the rotating shaft is fixed point rotating shaft.
3. articulated type heating ablation according to claim 1 medical treatment auxiliary robot, it is characterised in that：On the pedestal side
Handrail is installed.
4. articulated type heating ablation according to claim 1 medical treatment auxiliary robot, it is characterised in that：The base bottom sets
There is bedframe, the bedframe bottom is provided with the lower margin for parking, and the bedframe bottom is formed around Lifting caster
Component, the castor are arranged on Lifting caster component bottom.
5. articulated type heating ablation according to claim 1 medical treatment auxiliary robot, it is characterised in that：The touch control shows
Show that device is arranged on pedestal top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510684381.4A CN106580474A (en) | 2015-10-20 | 2015-10-20 | Articulated thermal ablation medical auxiliary robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510684381.4A CN106580474A (en) | 2015-10-20 | 2015-10-20 | Articulated thermal ablation medical auxiliary robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106580474A true CN106580474A (en) | 2017-04-26 |
Family
ID=58555242
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510684381.4A Pending CN106580474A (en) | 2015-10-20 | 2015-10-20 | Articulated thermal ablation medical auxiliary robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106580474A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107157585A (en) * | 2017-07-21 | 2017-09-15 | 青岛大学附属医院 | A kind of robot of auxiliary abdominal-cavity minimal-invasion surgery |
| CN109674529A (en) * | 2019-03-02 | 2019-04-26 | 合肥赫博医疗器械有限责任公司 | A kind of hysteroscope heat setting nipper preventing tumour spread transfer |
| CN111529059A (en) * | 2020-06-11 | 2020-08-14 | 浙江大学 | Movable nanosecond pulse ablation instrument |
| CN113428826A (en) * | 2021-07-27 | 2021-09-24 | 深圳市康道智能股份有限公司 | Refueling robot, control method, system and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008045831A2 (en) * | 2006-10-12 | 2008-04-17 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic surgical system and method for automatic creation of ablation lesions |
| CN201537120U (en) * | 2009-11-27 | 2010-08-04 | 王共先 | Percutaneous puncture device with mirror holding function |
| CN101947126A (en) * | 2010-10-02 | 2011-01-19 | 上海交通大学 | Bone surgery auxiliary robot system |
| CN102499761A (en) * | 2011-11-16 | 2012-06-20 | 上海交通大学 | Positioning robot for puncture in nuclear magnetic resonance |
| CN103356295A (en) * | 2013-08-07 | 2013-10-23 | 吴开俊 | Soft lens surgery auxiliary mechanical arm system and control method thereof |
-
2015
- 2015-10-20 CN CN201510684381.4A patent/CN106580474A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008045831A2 (en) * | 2006-10-12 | 2008-04-17 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic surgical system and method for automatic creation of ablation lesions |
| CN201537120U (en) * | 2009-11-27 | 2010-08-04 | 王共先 | Percutaneous puncture device with mirror holding function |
| CN101947126A (en) * | 2010-10-02 | 2011-01-19 | 上海交通大学 | Bone surgery auxiliary robot system |
| CN102499761A (en) * | 2011-11-16 | 2012-06-20 | 上海交通大学 | Positioning robot for puncture in nuclear magnetic resonance |
| CN103356295A (en) * | 2013-08-07 | 2013-10-23 | 吴开俊 | Soft lens surgery auxiliary mechanical arm system and control method thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107157585A (en) * | 2017-07-21 | 2017-09-15 | 青岛大学附属医院 | A kind of robot of auxiliary abdominal-cavity minimal-invasion surgery |
| CN109674529A (en) * | 2019-03-02 | 2019-04-26 | 合肥赫博医疗器械有限责任公司 | A kind of hysteroscope heat setting nipper preventing tumour spread transfer |
| CN111529059A (en) * | 2020-06-11 | 2020-08-14 | 浙江大学 | Movable nanosecond pulse ablation instrument |
| CN113428826A (en) * | 2021-07-27 | 2021-09-24 | 深圳市康道智能股份有限公司 | Refueling robot, control method, system and storage medium |
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Application publication date: 20170426 |