CN108175507B - Automatic control high accuracy soft tissue cutting robot - Google Patents
Automatic control high accuracy soft tissue cutting robot Download PDFInfo
- Publication number
- CN108175507B CN108175507B CN201711473019.8A CN201711473019A CN108175507B CN 108175507 B CN108175507 B CN 108175507B CN 201711473019 A CN201711473019 A CN 201711473019A CN 108175507 B CN108175507 B CN 108175507B
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- screw rod
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- horizontal
- stepping motor
- soft tissue
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- 238000005520 cutting process Methods 0.000 title claims abstract description 51
- 210000004872 soft tissue Anatomy 0.000 title claims abstract description 42
- 210000001519 tissue Anatomy 0.000 claims abstract description 18
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 230000003746 surface roughness Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Classifications
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- 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 an automatic control high-precision soft tissue cutting robot system. The robot system comprises a vertical guide rail fixing seat 1, a vertical rail 2, a screw rod linkage nut 3, a horizontal rail stepping motor fixing seat 4, a screw rod bearing 5, a horizontal rail stepping motor 6, a horizontal rail 7, a sliding block 8, a vertical rail stepping motor 9, a coupler 10, a screw rod 11, a scalpel clamp 12, a screw rod bearing fixing seat 13, a flange plate 14, a flange plate and mechanical arm mounting hole 15, a cutting device underframe 16, an air exhaust guide pipe 17, a vacuum suction cup 18, a tissue to be cut 19, an air guide pipe 20, a vacuum air pump 21, a computer 22, a scalpel clamp and screw rod linkage nut mounting hole 23, a scalpel fixing hole 24, a scalpel handle 25 and a scalpel blade 26; the robot fixing module can effectively solve the cutting problem caused by soft tissue deformation, and the transverse and longitudinal control module can realize accurate control of cutting length and depth. The robot has high precision, accurately regulates and controls the shape of the incision, and is easy to control.
Description
Technical Field
The invention relates to an automatic control high-precision soft tissue cutting robot, belongs to the technical field of robots, and particularly relates to a robot structure design.
Background
Currently, a research of an automatic control high-precision soft tissue cutting robot system is blank, mainly a virtual cutting model is taken as a main part, most of soft tissue cutting models proposed in literature are generally improved on the basis of a classical deformation model, and are usually established by a Mesh-based method. The mesh-based cutting model generally divides the three-dimensional space occupied by the soft tissue object into meshes formed by finite element (mostly tetrahedron) sets before simulation, and models the cutting process as mesh cutting calculation between the surgical tool and the soft tissue geometric model (i.e. cutting calculation between the cutting surface of the surgical tool and the meshes-tetrahedron division). Virtual modeling cannot solve the problem of real tissue cutting, and a virtual model and real cutting are difficult to organically combine.
Disclosure of Invention
The invention provides an automatic control high-precision soft tissue cutting robot, which can automatically realize the fixation of a cutting tissue object according to two rows of parallel vacuum sucker modules and accurately control the cutting depth and length of a scalpel through a stepping motor according to mutually vertical screw rod modules. Through the cooperation between fixed platform and the cutting module, can cut out the incision shape of expectation accurately.
An automatic control high-precision soft tissue cutting robot comprises a vertical guide rail fixing seat, a vertical rail, a screw rod linkage nut, a horizontal rail stepping motor fixing seat, a screw rod bearing, a horizontal rail stepping motor, a horizontal rail, a sliding block, a vertical rail stepping motor, a coupler, a screw rod, a scalpel clamp, a screw rod bearing fixing seat, a flange plate and mechanical arm mounting hole, a cutting device underframe, an air exhaust guide pipe, a vacuum sucker, a tissue to be cut, an air guide pipe, a vacuum air pump, a computer, a scalpel clamp and screw rod linkage nut fixing hole, a scalpel handle and a scalpel blade;
an automatic control high-precision soft tissue cutting robot is composed of a soft tissue fixing and supporting bracket with a vacuum chuck and a knife handle clamp which is controlled by a transverse guide rail and a longitudinal guide rail and can be provided with different types of blades. The number of suction cups may vary depending on the size of the tissue being cut.
Soft tissue is fixed by the vacuum chucks on the device, the number of the vacuum chucks can be selected according to the size of the cut tissue, the vacuum chucks are connected with a vacuum air pump by an air exhaust guide pipe, and the power supply is controlled to output different voltage values to control the air pressure in the vacuum chucks according to different tissue weights and surface roughness, so that the soft tissue is fixed, and the cutting difficulty caused by soft tissue deformation is reduced;
the transverse and longitudinal guide rails accurately control the transverse and longitudinal movement distances of the scalpel, and further accurately control the length and depth of the soft tissue incision. The vertical track stepping motor is controlled by a preset program, the stepping motor and the vertical track coupling are connected with a vertical guide rail screw rod through a vertical guide rail fixing seat, the vertical track coupling is connected with the vertical track screw rod, and the screw rod penetrates through a screw rod bearing on the vertical guide rail fixing seat. The vertical guide rail screw rod and the vertical track stepping motor synchronously rotate, so that a screw rod linkage nut penetrating through the vertical screw rod vertically moves on the vertical screw rod guide rail. The horizontal track stepping motor is controlled by a preset program, the stepping motor and the horizontal track coupler are connected with a horizontal guide rail screw rod through a horizontal guide rail fixing motor base, the horizontal track coupler is connected with the horizontal track screw rod, and the screw rod penetrates through a screw rod bearing on a horizontal track screw rod bearing fixing base. The horizontal guide rail screw rod and the horizontal track stepping motor synchronously rotate, so that a screw rod linkage nut penetrating through the horizontal screw rod horizontally moves on the horizontal screw rod guide rail. The horizontal track and the vertical track are connected with a vertical guide rail fixing seat on the vertical track through a screw rod linkage nut on the horizontal track to form accurate movement of any point in a set range, and then the cutting depth and length are controlled;
the power supply is connected with the vacuum air pump, the vacuum air pump is connected with the air pipe, and the air pipe is connected with the sucker.
The invention has the advantages that:
(1) the soft tissue fixing frame can effectively solve the cutting bottleneck of soft tissue deformation;
(2) the number of the vacuum suction cups on the soft tissue fixing frame can be controlled according to the size of the soft tissue, and the soft tissue fixing frame has flexibility;
(3) the cutting clamp is controlled by the transverse and longitudinal directions, can reach any cutting point within the lead range, and can cut the set depth and length of the cut;
(4) the cutting angle of the scalpel can be adjusted according to the scalpel clamp hole, so that the scalpel is suitable for diversified cutting and more suitable for being operated by ordinary people.
Drawings
FIG. 1 is a schematic view of the overall structure of the soft tissue cutting robot of the present invention;
FIG. 2 is a general structural label of the present invention;
FIG. 3 is a structural reference to the scalpel holder;
wherein: 1-vertical guide rail fixing seat, 2-vertical track, 3-screw rod linkage nut, 4-horizontal track stepping motor fixing seat, 5-screw rod bearing, 6-horizontal track stepping motor, 7-horizontal track, 8-sliding block, 9-vertical track stepping motor, 10-coupler, 11-screw rod, 12-scalpel clamp, 13-screw rod bearing fixing seat, 14-flange plate, 15-flange plate and mechanical arm mounting hole, 16-cutting device underframe, 17-air exhaust conduit, 18-vacuum suction cup, 19-tissue to be cut, 20-air guide pipe, 21-vacuum air pump, 22-computer, 23-scalpel clamp and screw rod linkage nut mounting hole, 24-scalpel mounting hole, 24-screw rod linkage nut mounting hole, 25-scalpel handle, 26-scalpel blade.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
An automatically controlled high precision soft tissue cutting robot, as shown in fig. 2 and 3: the device comprises a vertical guide rail fixing seat 1, a vertical rail 2, a screw rod linkage nut 3, a horizontal rail stepping motor fixing seat 4, a screw rod bearing 5, a horizontal rail stepping motor 6, a horizontal rail 7, a sliding block 8, a vertical rail stepping motor 9, a coupler 10, a screw rod 11, a scalpel clamp 12, a screw rod bearing fixing seat 13, a flange plate 14, a flange plate and mechanical arm mounting hole 15, a cutting device chassis 16, an exhaust guide pipe 17, a vacuum suction cup 18, a tissue to be cut 19, an air guide pipe 20, a vacuum air pump 21, a computer 22, a scalpel clamp and screw rod linkage nut mounting hole 23, a scalpel mounting hole 24, a scalpel handle 25 and a scalpel blade 26;
the cutting device is composed of a soft tissue fixing and supporting bracket which can be provided with a vacuum chuck and a knife handle clamp which is controlled by a transverse guide rail and a longitudinal guide rail and can be provided with different types of blades. The number of suction cups may vary depending on the size of the tissue being cut. The soft tissue fixing bracket is provided with vacuum chucks, the number of the vacuum chucks can be selected according to the size of the cut tissue, the vacuum chucks are connected with a vacuum air pump through an air exhaust guide pipe, and a power supply is controlled to output different voltage values to control the air pressure in the vacuum chucks according to different tissue weights and surface roughness, so that the soft tissue is fixed, and the cutting difficulty caused by soft tissue deformation is reduced;
the transverse and longitudinal guide rails accurately control the transverse and longitudinal movement distances of the scalpel, and further accurately control the length and depth of the soft tissue incision. The vertical track stepping motor is controlled by a preset program, the stepping motor and the vertical track coupling are connected with a vertical guide rail screw rod through a vertical guide rail fixing seat, the vertical track coupling is connected with the vertical track screw rod, and the screw rod penetrates through a screw rod bearing on the vertical guide rail fixing seat. The vertical guide rail screw rod and the vertical track stepping motor synchronously rotate, so that a screw rod linkage nut penetrating through the vertical screw rod vertically moves on the vertical screw rod guide rail. The horizontal track stepping motor is controlled by a preset program, the stepping motor and the horizontal track coupler are connected with a horizontal guide rail screw rod through a horizontal guide rail fixing motor base, the horizontal track coupler is connected with the horizontal track screw rod, and the screw rod penetrates through a screw rod bearing on a horizontal track screw rod bearing fixing base. The horizontal guide rail screw rod and the horizontal track stepping motor synchronously rotate, so that a screw rod linkage nut penetrating through the horizontal screw rod horizontally moves on the horizontal screw rod guide rail. The horizontal track and the vertical track are connected with a vertical guide rail fixing seat on the vertical track through a screw rod linkage nut on the horizontal track to form accurate movement of any point in a set range, and then the cutting depth and length are controlled;
the 6-horizontal stepping motor and the 9-vertical stepping motor can replace stepping motors with different specifications according to the hardness of different soft tissues to be cut.
The position of the 24-scalpel fixing hole can be changed, and the cutting angle of the scalpel is controlled.
The 18-vacuum chuck gauge may be selected to determine the gauge of the vacuum chuck based on the tissue being cut.
The 2-vertical track and the 7-horizontal track can be replaced with guide rails with different lengths according to the requirements of the cut.
The working process is as follows: typical working process
The robot stepping motor controls the operation, and the position of the scalpel is accurately controlled by controlling the rotating speed and the number of rotating turns of the motor. Through a pre-designed motion control algorithm, the motor motion of the motion robot is reasonably coordinated, so that the robot moves in an expected mode to cut cuts with different depths and lengths.
Claims (7)
1. The automatic control high-precision soft tissue cutting robot is characterized by comprising a vertical guide rail fixing seat (1), a vertical rail (2), a screw rod linkage nut (3), a horizontal rail stepping motor fixing seat (4), a screw rod bearing (5), a horizontal rail stepping motor (6), a horizontal rail (7), a sliding block (8), a vertical rail stepping motor (9), a coupler (10), a screw rod (11), a scalpel clamp (12), a screw rod bearing fixing seat (13), a flange plate (14), a flange plate and mechanical arm mounting hole (15), a cutting device underframe (16), an air exhaust guide pipe (17), a vacuum suction disc (18), a tissue to be cut (19), an air guide pipe (20), a vacuum air pump (21), a computer (22) comprising a motion program, a scalpel clamp and screw rod linkage nut fixing hole (23), a scalpel fixing hole (24), The scalpel comprises a scalpel handle (25), a scalpel blade (26), a controller and a motor driver;
the cutting device consists of a soft tissue fixing and supporting bracket which can be provided with a vacuum chuck and a knife handle clamp which is controlled by a transverse guide rail and a longitudinal guide rail and can be used for installing different blades; the number of suction cups can vary according to the size of the tissue to be cut; the soft tissue fixing bracket is provided with vacuum chucks, the number of the vacuum chucks can be selected according to the size of the cut tissue, the vacuum chucks are connected with a vacuum air pump through an air exhaust guide pipe, and a power supply is controlled to output different voltage values to control the air pressure in the vacuum chucks according to different tissue weights and surface roughness, so that the soft tissue is fixed, and the cutting difficulty caused by soft tissue deformation is reduced;
the transverse and longitudinal guide rails accurately control the transverse and longitudinal movement distances of the scalpel, so that the length and depth of the soft tissue incision are accurately controlled; the vertical track stepping motor is controlled by a preset program, the stepping motor and the vertical track coupling are connected with a vertical guide rail lead screw through a vertical guide rail fixing seat, the vertical track coupling is connected with the vertical track lead screw, and the lead screw penetrates through a lead screw bearing on the vertical guide rail fixing seat; the vertical guide rail screw rod and the vertical track stepping motor synchronously rotate, so that a screw rod linkage nut penetrating through the vertical screw rod vertically moves on the vertical screw rod guide rail; the horizontal track stepping motor is controlled by a preset program, the stepping motor and the horizontal track coupler are connected with a horizontal guide rail screw rod through a horizontal guide rail fixing motor base, the horizontal track coupler is connected with the horizontal track screw rod, and the screw rod penetrates through a screw rod bearing on a horizontal track screw rod bearing fixing base; the horizontal guide rail screw rod and the horizontal track stepping motor synchronously rotate, so that a screw rod linkage nut passing through the horizontal screw rod horizontally moves on the horizontal screw rod guide rail; the horizontal track and the vertical track are connected with a vertical guide rail fixing seat on the vertical track through a screw rod linkage nut on the horizontal track, so that accurate movement of any point in a set range is formed, and then the cutting depth and length are controlled.
2. The automatic control high-precision soft tissue cutting robot according to claim 1, wherein the scalpel is driven by a horizontal track stepping motor (6) and a vertical track stepping motor (9) controlled by a computer (22) to accurately reach a designated position.
3. An automatically controlled high precision soft tissue cutting robot according to claim 1, characterized in that the vacuum cups (18) are exchangeable in number and size according to the size and surface roughness of the tissue to be cut.
4. The automatic control high-precision soft tissue cutting robot according to claim 1, wherein a plurality of scalpel fixing holes (24) are provided, so that the cutting at different angles can be realized, and the cutting method more suitable for people can be ensured.
5. The automatic control high precision soft tissue cutting robot according to claim 1, characterized in that the horizontal rail (7) and the vertical rail (2) can change the length of the horizontal rail (7) and the vertical rail (2) according to the requirements of the actual incision length and depth.
6. The automatically controlled high precision soft tissue cutting robot according to claim 1, characterized in that the flange (14) can be modified in the specific position of the flange (14) according to the fixing manner of the mechanical arm.
7. The automatically controlled high precision soft tissue cutting robot according to claim 1, characterized in that the horizontal track stepping motor (6) and the vertical track stepping motor (9) can be replaced by other power of the horizontal track stepping motor (6) and the vertical track stepping motor (9) according to the different properties of the cut tissue.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017107700323 | 2017-08-31 | ||
| CN201710770032 | 2017-08-31 |
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| Publication Number | Publication Date |
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| CN108175507A CN108175507A (en) | 2018-06-19 |
| CN108175507B true CN108175507B (en) | 2020-09-04 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109350244B (en) * | 2018-11-07 | 2021-02-26 | 北京科迈启元科技有限公司 | Soft tissue cutting robot system with incision separation function |
| CN114391955B (en) * | 2022-01-18 | 2022-09-27 | 北京邮电大学 | Incision closure and closure nail removal medical robot |
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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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