CN108175507A - Automatically control high-precision Soft tissue cutting robot - Google Patents
Automatically control high-precision Soft tissue cutting robot Download PDFInfo
- Publication number
- CN108175507A CN108175507A CN201711473019.8A CN201711473019A CN108175507A CN 108175507 A CN108175507 A CN 108175507A CN 201711473019 A CN201711473019 A CN 201711473019A CN 108175507 A CN108175507 A CN 108175507A
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- CN
- China
- Prior art keywords
- screw
- soft tissue
- stepper motor
- vertical
- horizontal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000004872 soft tissue Anatomy 0.000 title claims abstract description 41
- 238000005520 cutting process Methods 0.000 title claims abstract description 38
- 230000008878 coupling Effects 0.000 claims abstract description 17
- 238000010168 coupling process Methods 0.000 claims abstract description 17
- 238000005859 coupling reaction Methods 0.000 claims abstract description 17
- 210000001519 tissue Anatomy 0.000 claims abstract description 17
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000003746 surface roughness Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/32—Surgical robots operating autonomously
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
Abstract
The invention discloses one kind to automatically control high-precision Soft tissue cutting robot system.The robot system includes vertical guide rail fixed seat 1, vertical track 2, screw linkage nut 3, horizontal rail stepper motor fixed seat 4, screw bearing 5, horizontal rail stepper motor 6, horizontal rail 7, sliding block 8, vertical track stepper motor 9, shaft coupling 10, screw 11, operation tool holding 12, screw bearing fixed seat 13, ring flange 14, ring flange and mechanical arm mounting hole 15, cutter device chassis 16, suction catheters 17, vacuum cup 18, tissue 19 to be cut, gas-guide tube 20, vacuum air pump 21, computer 22, operation tool holding and screw linkage nut mounting hole 23, scalpel mounting hole 24, knife handle 25, knife blade 26；Robot fixed module of the present invention can effectively solve cutting problem caused by Soft Tissue Deformation, and transverse and longitudinal control module can realize the accurate control of Cutting Length and depth.The robot precision of the present invention is high, accurately regulates and controls kerf, easily controllable.
Description
Technical field
The present invention relates to one kind to automatically control high-precision Soft tissue cutting robot, belongs to robotic technology field, specifically
It is designed for robot architecture.
Background technology
Currently, the research of high-precision Soft tissue cutting robot system is automatically controlled as blank, mainly with Virtual cropping model
Based on, the Soft tissue cutting model proposed in most of documents generally mostly improves on the basis of classical deformation model, Chang Cai
It is established with the method based on grid (Mesh-based).Slicing Model for Foreign based on grid, by soft tissue object generally before emulation
Occupied three dimensions subdivision models cutting process to gather formed grid by finite element (mostly using tetrahedron)
Mesh segmentation between surgical knife tool and soft tissue geometrical model calculates (i.e. cutting between surgical knife tool cut surface and grid
Cut calculating --- Tetrahedron subdivision).Dummy modeling can not solve the problems, such as in reality organize cutting, it is difficult to by dummy model with
Reality cutting combines.
Invention content
Present invention proposition automatically controls high-precision Soft tissue cutting robot, and the robot with the structure feature can basis
Two rows of parallel vacuum cup modules independently realize the fixation of cutting organization object, are passed through according to orthogonal screw module
Stepper motor accurately controls the depth and length that scalpel is cut.Matched by the coordination between fixed platform and cutting module
It closes, can precisely be cut into the kerf of anticipation.
One kind automatically controls high-precision Soft tissue cutting robot, including vertical guide rail fixed seat, vertical track, screw
Link nut, horizontal rail stepper motor fixed seat, screw bearing, horizontal rail stepper motor, horizontal rail, sliding block, vertical
Track stepper motor, shaft coupling, screw, operation tool holding, screw bearing fixed seat, ring flange, ring flange and mechanical arm are installed
Hole, cutter device chassis, suction catheters, vacuum cup, tissue to be cut, gas-guide tube, vacuum air pump, computer, operation cutter holder
Tool and screw linkage nut mounting hole, scalpel mounting hole, knife handle, knife blade；
One kind automatically controls high-precision Soft tissue cutting robot, and support branch is fixed by the soft tissue that can configure vacuum cup
Frame and the handle of a knife fixture for installing variety classes blade of transverse and longitudinal guide rail control are formed.The quantity of sucker can be according to cut
The size conversion of tissue.
Soft tissue is fixed by the vacuum cup on device, and the number of vacuum cup may be selected according to the size of cut tissue
Amount, vacuum cup are connected by suction catheters with vacuum air pump, according to different tissues weight and the degree of roughness on surface, control
Power supply processed exports different voltage values to control air pressure in vacuum cup, so as to fixed soft tissue, reduces Soft Tissue Deformation and brings
Cutting it is difficult；
Transverse and longitudinal guide rail accurately controls the horizontal and vertical move distance of scalpel, and then the accurate length for controlling soft tissue incision
Degree and depth.Vertical track stepper motor is controlled by the program being set in advance, and stepper motor passes through with vertical track shaft coupling
Vertical guide rail fixed seat is connect with vertical guide rail screw, and vertical track shaft coupling is connected with vertical track screw, and screw, which passes through, to hang down
Screw bearing in straight guide fixed seat.Vertical guide rail screw and vertical track stepping motor synchronous rotate so that across vertical
The screw linkage nut of screw moves vertically on down-feed screw guide rail.Horizontal rail stepper motor is by being set in advance
Program controls, and stepper motor is fixed motor base by horizontal guide rail with horizontal rail shaft coupling and connect with horizontal guide rail screw,
Horizontal rail shaft coupling is connected with horizontal rail screw, and screw passes through the screw bearing on horizontal rail screw bearing fixed seat.
Horizontal guide rail screw is rotated with horizontal rail stepping motor synchronous so that the screw across horizontal lead screw links nut in level
It is moved horizontally on screw guide rail.Horizontal rail passes through the screw linkage nut and vertical rails in horizontal rail with vertical track
Vertical guide rail fixed seat connection on road is formed in the precise motion of arbitrary point in setting range, then controls the depth of cutting
And length；
Power supply is connected with vacuum air pump, and vacuum air pump is connected with tracheae, and tracheae is connect with sucker.
The advantage of the invention is that：
(1) soft tissue fixed frame can effectively solve the cutting bottleneck of Soft Tissue Deformation；
(2) vacuum cup quantity can be controlled according to soft tissue size on soft tissue fixed frame, have flexibility；
(3) cutting clamper in the range of helical pitch, can be reached arbitrary cut point, can cut setting by transverse and longitudinal direction controlling
Notch depth and length；
(4) scalpel cutting angle can adjust angle according to operation tool holding hole, be suitble to diversity cutting, be more bonded
Ordinary person operates.
Description of the drawings
Fig. 1 is the Soft tissue cutting robot overall structure diagram of the present invention；
Fig. 2 is the overall structure mark of the present invention；
Fig. 3 is the structure mark of operation tool holding；
Wherein：1- vertical guide rails fixed seat, 2- vertical tracks, 3- screws linkage nut, 4- horizontal rail stepper motors are consolidated
Reservation, 5- screws bearing, 6- horizontal rails stepper motor, 7- horizontal rails, 8- sliding blocks, 9- vertical tracks stepper motor, 10-
Shaft coupling, 11- screws, 12- operation tool holdings, 13- screws bearing fixed seat, 14- ring flanges, 15- ring flanges and mechanical arm are pacified
Fill hole, 16- cutter devices chassis, 17- suction catheters, 18- vacuum cups, 19- tissues to be cut, 20- gas-guide tubes, 21- vacuum
Air pump, 22- computers, 23- operation tool holdings and screw linkage nut mounting hole, 24- scalpels mounting hole, 25- scalpels
Handle, 26- knife blades.
Specific embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
One kind automatically controls high-precision Soft tissue cutting robot, as shown in Figures 2 and 3：Vertical guide rail fixed seat 1 is hung down
Straight rail 2, screw linkage nut 3, horizontal rail stepper motor fixed seat 4, screw bearing 5, horizontal rail stepper motor 6, water
Plate rail road 7, sliding block 8, vertical track stepper motor 9, shaft coupling 10, screw 11, operation tool holding 12, screw bearing fixed seat
13rd, ring flange 14, ring flange and mechanical arm mounting hole 15, cutter device chassis 16, suction catheters 17, vacuum cup 18, to be cut
Cut tissue 19, gas-guide tube 20, vacuum air pump 21, computer 22, operation tool holding and screw linkage nut mounting hole 23, operation
Knife mounting hole 24, knife handle 25, knife blade 26；
Cutter device is by can configure the soft tissue fixation supporting support of vacuum cup and installing for transverse and longitudinal guide rail control
The handle of a knife fixture of variety classes blade is formed.The quantity of sucker can be according to the size conversion of cut tissue.Soft tissue fixes branch
Vacuum cup on frame is installed, the quantity of vacuum cup may be selected according to the size of cut tissue, vacuum cup passes through pumping
Conduit is connected with vacuum air pump, according to different tissues weight and the degree of roughness on surface, control power supply output different voltages value
It controls the air pressure in vacuum cup, so as to fixed soft tissue, it is difficult to reduce the cutting that Soft Tissue Deformation is brought；
Transverse and longitudinal guide rail accurately controls the horizontal and vertical move distance of scalpel, and then the accurate length for controlling soft tissue incision
Degree and depth.Vertical track stepper motor is controlled by the program being set in advance, and stepper motor passes through with vertical track shaft coupling
Vertical guide rail fixed seat is connect with vertical guide rail screw, and vertical track shaft coupling is connected with vertical track screw, and screw, which passes through, to hang down
Screw bearing in straight guide fixed seat.Vertical guide rail screw and vertical track stepping motor synchronous rotate so that across vertical
The screw linkage nut of screw moves vertically on down-feed screw guide rail.Horizontal rail stepper motor is by being set in advance
Program controls, and stepper motor is fixed motor base by horizontal guide rail with horizontal rail shaft coupling and connect with horizontal guide rail screw,
Horizontal rail shaft coupling is connected with horizontal rail screw, and screw passes through the screw bearing on horizontal rail screw bearing fixed seat.
Horizontal guide rail screw is rotated with horizontal rail stepping motor synchronous so that the screw across horizontal lead screw links nut in level
It is moved horizontally on screw guide rail.Horizontal rail passes through the screw linkage nut and vertical rails in horizontal rail with vertical track
Vertical guide rail fixed seat connection on road is formed in the precise motion of arbitrary point in setting range, then controls the depth of cutting
And length；
The 6- horizontal step motors, 9- vertical step motors can be replaced according to the hardness of different cut soft tissues
The stepper motor of different size.
The 24- scalpel mounting holes position can be replaced, and control the cutting angle of scalpel.
The 18- vacuum cups specification is it can be selected that determine the specification of vacuum cup according to cut tissue.
The 2- vertical tracks, 7- horizontal rails can require to replace the guide rail of different length according to notch.
The course of work：Typical operation
Robot step motor control work, operation is accurately controlled by the velocity of rotation and turnning circle that control motor
The position of knife.By the motion control arithmetic designed in advance, the motor movement of reasonable coordination kinematic robot, make robot by
It is moved according to expected mode, cuts different depth and the notch of length.
Claims (7)
1. automatically control high-precision Soft tissue cutting robot, which is characterized in that including vertical guide rail fixed seat (1), vertical rails
Road (2), screw linkage nut (3), horizontal rail stepper motor fixed seat (4), screw bearing (5), horizontal rail stepper motor
(6), horizontal rail (7), sliding block (8), vertical track stepper motor (9), shaft coupling (10), screw (11), operation tool holding
(12), screw bearing fixed seat (13), ring flange (14), ring flange and mechanical arm mounting hole (15), cutter device chassis (16),
Suction catheters (17), vacuum cup (18), tissue (19) to be cut, gas-guide tube (20), vacuum air pump (21), computer (22) packet
Include motor program, operation tool holding and screw linkage nut mounting hole (23), scalpel mounting hole (24), knife handle (25),
Knife blade (26), controller also have motor driver.
Cutter device installs difference by what the soft tissue fixation supporting support and transverse and longitudinal guide rail that can configure vacuum cup controlled
The handle of a knife fixture of type blade is formed.The quantity of sucker can be according to the size conversion of cut tissue.On soft tissue fixing bracket
Vacuum cup is installed, the quantity of vacuum cup may be selected according to the size of cut tissue, vacuum cup passes through suction catheters
It is connected with vacuum air pump, according to different tissues weight and the degree of roughness on surface, control power supply exports different voltages value to control
So as to fixed soft tissue, it is difficult to reduce the cutting that Soft Tissue Deformation is brought for air pressure in vacuum cup processed.
Transverse and longitudinal guide rail accurately controls the horizontal and vertical move distance of scalpel, so the accurate length for controlling soft tissue incision and
Depth.Vertical track stepper motor is controlled by the program being set in advance, and stepper motor passes through vertical with vertical track shaft coupling
Guide rail fixed seat is connect with vertical guide rail screw, and vertical track shaft coupling is connected with vertical track screw, and screw is passed through and vertically led
Screw bearing in rail fixed seat.Vertical guide rail screw is rotated with vertical track stepping motor synchronous so that across down-feed screw
Screw linkage nut move vertically on down-feed screw guide rail.Horizontal rail stepper motor is by the program control being set in advance
System, stepper motor are fixed motor base by horizontal guide rail with horizontal rail shaft coupling and are connect with horizontal guide rail screw, horizontal rail
Road shaft coupling is connected with horizontal rail screw, and screw passes through the screw bearing on horizontal rail screw bearing fixed seat.Level is led
Rail screw is rotated with horizontal rail stepping motor synchronous so that the screw across horizontal lead screw links nut in horizontal lead screw guide rail
On move horizontally.Horizontal rail is vertical on vertical track by the screw linkage nut in horizontal rail with vertical track
Guide rail fixed seat connects, and is formed in the precise motion of arbitrary point in setting range, then controls the depth and length of cutting.
2. one kind according to claim 1 automatically controls high-precision Soft tissue cutting robot, which is characterized in that described
Scalpel is driven by computer (22) controlled level track stepper motor (6) and vertical track stepper motor (9), makes operation
Knife accurately reaches designated position.
3. one kind according to claim 1 automatically controls high-precision Soft tissue cutting robot, which is characterized in that described
Vacuum cup (18) according to the size and surface roughness of cut tissue, can replace quantity and the rule of vacuum cup (18)
Lattice.
4. one kind according to claim 1 automatically controls high-precision Soft tissue cutting robot, which is characterized in that the hand
Art knife mounting hole (24) has multiple, it can be achieved that operation is cut to different angle, and guarantee is more bonded the cutting gimmick of people.
5. one kind according to claim 1 automatically controls high-precision Soft tissue cutting robot, which is characterized in that described
Horizontal movement track (7), vertical movement track (2) can change horizontal movement according to practical incision length and the needs of depth
The length of track (7) and vertical movement track (2).
6. one kind according to claim 1 automatically controls high-precision Soft tissue cutting robot, which is characterized in that described
Ring flange (14) can modify to the specific location of ring flange (14) according to the fixed form of mechanical arm.
7. one kind according to claim 1 automatically controls high-precision Soft tissue cutting robot, which is characterized in that described
Horizontal rail stepper motor (6) and vertical track stepper motor (9), can be different according to the property of cut tissue, are changed to
The horizontal rail stepper motor (6) of other power and vertical track stepper motor (9).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017107700323 | 2017-08-31 | ||
| CN201710770032 | 2017-08-31 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108175507A true CN108175507A (en) | 2018-06-19 |
| CN108175507B CN108175507B (en) | 2020-09-04 |
Family
ID=62549030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711473019.8A Active CN108175507B (en) | 2017-08-31 | 2017-12-29 | Automatic control high accuracy soft tissue cutting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108175507B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109350244A (en) * | 2018-11-07 | 2019-02-19 | 北京邮电大学 | A kind of Soft tissue cutting robot system with notch separation function |
| CN114391955A (en) * | 2022-01-18 | 2022-04-26 | 北京邮电大学 | Incision closure and closure nail removal medical robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109350244A (en) * | 2018-11-07 | 2019-02-19 | 北京邮电大学 | A kind of Soft tissue cutting robot system with notch separation function |
| CN114391955A (en) * | 2022-01-18 | 2022-04-26 | 北京邮电大学 | Incision closure and closure nail removal medical robot |
| CN114391955B (en) * | 2022-01-18 | 2022-09-27 | 北京邮电大学 | Incision closure and closure nail removal medical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108175507B (en) | 2020-09-04 |
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Inventor after: Su Baiquan Inventor after: Shi Peixuan Inventor after: Cheng Bin Inventor after: Yan Hao Inventor after: Liu Wenyong Inventor after: Kuang Shaolong Inventor before: Su Baiquan Inventor before: Shi Peixuan Inventor before: Cheng Bin Inventor before: Liu Wenyong Inventor before: Kuang Shaolong |
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Application publication date: 20180619 Assignee: Beijing Kepeng Medical Equipment Co.,Ltd. Assignor: Beijing Kemai Qiyuan Technology Co.,Ltd. Contract record no.: X2023990000715 Denomination of invention: Automatic control high-precision soft tissue cutting robot Granted publication date: 20200904 License type: Common License Record date: 20230717 |
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Application publication date: 20180619 Assignee: Beijing Kepeng Medical Equipment Co.,Ltd. Assignor: Beijing Kemai Qiyuan Technology Co.,Ltd. Contract record no.: X2023990000871 Denomination of invention: Automatic control high-precision soft tissue cutting robot Granted publication date: 20200904 License type: Exclusive License Record date: 20231018 |
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| EC01 | Cancellation of recordation of patent licensing contract | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Beijing Kepeng Medical Equipment Co.,Ltd. Assignor: Beijing Kemai Qiyuan Technology Co.,Ltd. Contract record no.: X2023990000871 Date of cancellation: 20231109 |