CN108742847A - A kind of four-degree-of-freedom flexibility pin puncture platform that macro dynamic and fine motion combines - Google Patents
A kind of four-degree-of-freedom flexibility pin puncture platform that macro dynamic and fine motion combines Download PDFInfo
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- CN108742847A CN108742847A CN201810603146.3A CN201810603146A CN108742847A CN 108742847 A CN108742847 A CN 108742847A CN 201810603146 A CN201810603146 A CN 201810603146A CN 108742847 A CN108742847 A CN 108742847A
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
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- Surgery (AREA)
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- Engineering & Computer Science (AREA)
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- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a kind of four-degree-of-freedom flexibility pin puncture platforms that macro dynamic and fine motion combines, including pedestal, guide rail, sliding block, linear motor stator electric, linear motor rotor, Z axis platform, XY platforms, electric rotating machine, shaft coupling, gusset, mounting base and flexible needle；Guide rail is symmetrically arranged on the both sides at the top of pedestal, and linear motor stator electric is installed between guide rail, and linear motor rotor is flush-mounted in linear motor stator electric top and the bottom gap, and two side rails slidably connect the sliding block respectively；Two side slides are symmetrically distributed in Z axis platform both sides and are connect with Z axis platform by bolt；XY platforms are connected by bolt with the Z axis platform；XY platforms include X-axis piezoelectric ceramic actuator, X-axis pretension bolt, Y-axis piezoelectric ceramic actuator, Y-axis pretension bolt, X-axis transmission mechanism, Y-axis transmission mechanism and XY platform end executive items.The platform uses macro micro- combination for the first time, can realize macroscopic view puncture and microcosmic adjustment, has both positioning, puncture and tuning function.
Description
Technical field
The invention belongs to medical instruments fields, and in particular to macro move of one kind is combined with fine motion, has puncture and polarization
The four-degree-of-freedom flexibility pin puncture platform of energy.
Background technology
In recent years, with the rise of minimally invasive intervention medical treatment, high-end micro-wound operation robot is gradually widely used in curing
Learn the every field of surgical operation.Applied to the minimally invasive medical robot of percutaneous puncture operation, end effector part is often inclined
Thin longer beveled tip flexible needle.Conventional rigid needle can not avoid important organ and tissue in piercing process, however the flexible needle
Due to stronger controllability, receiving and being widely used.It therefore, can be by establishing suitable kinematics model and manipulation
Strategy makes the flexible needle reach effective target area.As the important component for executing flexible needle movement, macro micro- combination
Four-degree-of-freedom puncture platform will play the role of vital.Four-degree-of-freedom, which punctures platform, can realize that Z axis drives flexible needle to wear
The macroscopic motion of thorn and X-axis and Y-axis drive the microscopic motion that flexible needle adjustment X/Y plane punctures, can be with by electric rotating machine
The rotation for controlling flexible needle axial direction, by the synergistic effect of the 4DOF, the targeting of flexible needle punctures precision and is carried significantly
It is high.
The puncture platform of existing flexible needle is mostly realized by two-freedom, the feeding of Z axis and the rotation of flexible needle axial direction
Turn.However, it is such puncture platform when operate beveled tip flexible needle more than the puncture of flexible needle can occur deform, and cannot lead to
The error compensation for crossing suitable piloting strategies to be deformed.The puncture of other scholar's same design four-degree-of-freedom is flat
Platform, however be mostly the degree of freedom there was only the X-axis Y-axis Z axis of macroscopic view and rotated in an axial direction, such puncture platform can play flexibility
The positioning action of needle, but when the case where flexible needle deformation has occurred in piercing process, can not by the fine tuning of X-axis and Y-axis, into
Row error compensation.Therefore design a kind of macro micro- combination have both positioning and the four-degree-of-freedom of tuning performance punctures platform for improving
It is most important that the targeting of flexible needle punctures precision.
Invention content
Purpose of the invention is to overcome the shortcomings in the prior art, provides a kind of four freedom that macro dynamic and fine motion combines
The flexible pin puncture platform of degree, the platform use macro micro- combination for the first time, can realize macroscopic view puncture and microcosmic adjustment, have both positioning,
Puncture and tuning function.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of four-degree-of-freedom flexibility pin puncture platform that macro dynamic and fine motion combines, including pedestal, guide rail, sliding block, straight-line electric
Machine stator, linear motor rotor, Z axis platform, XY platforms, electric rotating machine, shaft coupling, gusset, mounting base and flexible needle；
The guide rail is symmetrically arranged on the both sides at the top of the pedestal, and the linear motor stator electric is installed between guide rail,
The linear motor rotor is flush-mounted in linear motor stator electric top and the bottom gap, and two side rails slidably connect the cunning respectively
Block；Two side slides are symmetrically distributed in Z axis platform both sides and are connect with Z axis platform by bolt；The XY platforms pass through spiral shell
Bolt is connected with the Z axis platform；
The XY platforms include X-axis piezoelectric ceramic actuator, X-axis pretension bolt, Y-axis piezoelectric ceramic actuator, Y-axis preload
Bolt, X-axis transmission mechanism, Y-axis transmission mechanism and XY platform end executive items, X-axis piezoelectric ceramic actuator are pre- by the X-axis
Tight bolt is connected with the X-axis transmission mechanism, and Y-axis piezoelectric ceramic actuator is driven by the Y-axis pretension bolt and the Y-axis
Mechanism connects；
The X-axis transmission mechanism includes X-axis double parallel mechanism and X-axis living hinge, and the Y-axis transmission mechanism includes Y-axis
Double parallel mechanism and Y-axis living hinge, the X-axis transmission mechanism are held with the Y-axis transmission mechanism by the XY platform ends
Row part is connected with the electric rotating machine, and the electric rotating machine is installed on the inside of the XY platform ends executive item, and passes through institute
XY platform end executive item axial gaps are stated with the shaft coupling to be connected；The flexible needle is connected with the shaft coupling, institute
It states gusset to be bolted with the mounting base, the mounting base is installed on the Z axis platform by bolt and puts down with the XY
Platform.
Further, X-axis double parallel mechanism and Y-axis double parallel mechanism are made of plate hinge, the X-axis
Living hinge and the Y-axis living hinge are made of 4 straight circle hinges.
Further, for the XY stage+modules on the Z axis platform, the Z axis platform is macro for realizing flexible needle Z-direction
It is dynamic, it is driven by the linear motor being made of the linear motor stator electric and the linear motor rotor；The XY platforms are used for
Realize flexible needle X to Y-direction fine motion, pass through the X-axis piezoelectric ceramic actuator and Y-axis piezoelectric ceramic actuator driving；Pass through
The axial rotation of flexible needle can be achieved in the electric rotating machine driving.
Further, X-axis double parallel mechanism, X-axis living hinge, Y-axis double parallel mechanism, Y-axis living hinge, XY are flat
Platform end-effector is an integral molding structure.
Compared with prior art, advantageous effect caused by technical scheme of the present invention is：
1. the present invention using it is macro it is dynamic be combined with fine motion, propose a kind of realization flexible needle that meets in piercing process in X/Y plane
The platform of position micro adjusting, compensate at present puncture platform can not provide finely tuned in operating process to shortcoming, can make soft
Property needle realize more accurately targeting puncture.
2. the piezoelectric ceramic driven device of accurate micro-nano field operation is introduced into medical instruments field by the present invention for the first time
Flexible pin puncture platform, as flexible needle execute puncture behavior Novel platform, advanced kinematics model can be promoted indirectly
Foundation, realize piercing process in X (Y) axis intervention, manipulation flexible needle avoid critical organ and tissue, precisely reach targeting district
Domain.
3. the XY platforms of the used fine motion of the present invention include X-axis double parallel mechanism, X-axis living hinge, Y-axis double parallel machine
Structure, Y-axis living hinge, XY platform end executive items are integrally formed structures, and whole system is made to have compact-sized, volume
It is small, light weight, it is easy to control the features such as, can be effectively ensured X/Y plane movement high-precision, play the role of good fine adjustment.
4. Z axis platform of the present invention and the electric rotating machine for being installed on the XY platform ends executive item, Neng Goutong
Control duty ratio ratio is crossed, the effective bending property for adjusting flexible needle realizes the puncture path of variable curvature.
5. the linear motor of the present invention being made of with linear motor rotor linear motor stator electric is compared with being usually used in
The electric rotating machine for puncturing platform, eliminates the machine driving link between motor to workbench, brings former electric rotating machine and drives
The advantages that high-speed response that flowing mode is unable to reach, high-precision, movement peace and quiet low noise.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the part-structure schematic diagram of the present invention；
Fig. 3 is the structural schematic diagram of XY platforms in the present invention.
Specific implementation mode
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and coordinate attached drawing
Detailed description are as follows：
~Fig. 3 is please referred to Fig.1, the embodiment of the present invention protects a kind of four-degree-of-freedom flexibility pin puncture that macro dynamic and fine motion combines
Platform, including pedestal 1, guide rail 5, sliding block 2, linear motor stator electric 4, linear motor rotor 3, Z axis platform 9, XY platforms 8, X-axis pressure
Electroceramics driver 8-8, X-axis pretension bolt 8-9, X-axis double parallel mechanism 8-5, X-axis living hinge 8-6, Y-axis piezoelectric ceramics drive
Dynamic device 8-2, Y-axis pretension bolt 8-1, Y-axis double parallel mechanism 8-3, Y-axis living hinge 8-4, XY platform end executive item 8-7, rotation
Rotating motor 10, rotating machine coupling 7, gusset 11, mounting base 12, flexible needle 6.
In the present embodiment, pedestal 1 is rectangular flat, and guide rail 5 is symmetrically arranged on the both sides at 1 top of rectangular susceptor, straight-line electric
Machine stator 4 is installed on 1 top of rectangular susceptor close to a side rails 5, and linear motor rotor 3 is flush-mounted in about 4 linear motor stator electric
Portion gap, two side slides 2 are connected with two side rails 5.Z axis platform 9 is connected by bolt with two side slides 2, and two break away
Block 2 is symmetrically distributed in 9 lower section both sides of Z axis platform.XY platforms 8 are connected by bolt with Z axis platform 9.X-axis Piezoelectric Ceramic
Device 8-8 and Y-axis piezoelectric ceramic actuator 8-2 is mounted on X-axis driver by X-axis pretension bolt 8-9 and Y-axis pretension bolt 8-1
In structure and Y-axis transmission mechanism.X-axis transmission mechanism includes X-axis double parallel mechanism 8-5 and X-axis living hinge 8-6, Y-axis transmission mechanism
Including Y-axis double parallel mechanism 8-3 and Y-axis living hinge 8-4, the present embodiment ZhongXZhou double parallels mechanism 8-5 and Y-axis double parallel machine
Structure 8-3 is made of plate hinge, and X-axis living hinge 8-6 and Y-axis living hinge 8-4 are made of 4 straight circle hinges.
X-axis transmission mechanism is connected by XY platform end executive item 8-7 with electric rotating machine 10 with Y-axis transmission mechanism, rotation
Rotating motor 10 is installed on the inside of XY platform end executive items 8-7, and passes through XY platform ends executive item 8-7 axial gaps and shaft coupling
Device 7 is connected.Flexible needle 6 is connected with shaft coupling 7, and gusset 11 is bolted with mounting base 12, and mounting base 12 passes through spiral shell
Bolt is installed on Z axis platform 9 and XY platforms 8.X-axis double parallel mechanism 8-5, X-axis living hinge 8-6 in XY platforms 8, Y-axis double flat
Row mechanism 8-3, Y-axis living hinge 8-4, XY platform end executive item 8-7 are an integral molding structure.
Working principle of the invention is as follows：
When 3 both ends of linear motor rotor apply alternating voltage, linear motor rotor 3 is in the magnetic field of linear motor stator electric 4
Under effect, the sliding block 2 of 9 both sides of Z axis platform is driven to be slided along guide rail 5, since Z axis platform 9 and XY platforms 8 are installed on one,
XY platforms 8 are dragged simultaneously to be moved along Z-direction, is installed on the flexible needle 6 of XY platform end executive items 8-7 in XY platforms 8
Drive under, along Z-direction realize feed motion.When needing to carry out flexible needle the position adjustment of X-direction, X-axis piezoelectricity
The both ends ceramic driver 8-8 apply driving voltage, and X-axis piezoelectric ceramic actuator 8-8 will extend and push X-axis double parallel mechanism 8-
5 are deformed, which drives to XY platform end executive item 8-7 by X-axis living hinge 8-6, and then flexible needle obtains X axis
Displacement when X-axis displacement generates, not will produce the displacement of Y-axis, realized decoupling due to the reversed limitation of Y-axis double parallel mechanism 8-3.
When needing to carry out flexible needle 6 the position adjustment of Y-direction, the both ends Y-axis piezoelectric ceramic actuator 8-2 apply driving voltage, Y-axis
Piezoelectric ceramic actuator 8-2 will extend and Y-axis double parallel mechanism 8-3 pushed to be deformed, and the deformation is by Y-axis living hinge 8-4
Drive to XY platform end executive item 8-7, and then flexible needle 6 obtains Y-axis displacement, it is reversed due to X-axis double parallel mechanism 8-5
Limitation when Y-axis generates displacement, not will produce the displacement of X-axis, realize decoupling.When needs carry out the directions XY to flexible needle simultaneously
When position adjusts, X-axis piezoelectric ceramic actuator 8-2, the Y-axis both ends piezoelectric ceramic actuator 8-8 apply driving voltage simultaneously, and XY is flat
Platform end-effector 8-7 will be moved along X-axis Y-axis both direction simultaneously, realize the XY axial displacements adjustment of flexible needle.When needing to adjust
When flexible needle flexuosity, applies driving voltage by starting electric rotating machine 10, and be installed on being determined by linear motor for Z axis platform
Son is adjusted together with the linear motor of linear motor rotor composition, controls duty ratio ratio, realizes the variable curvature of flexible pin puncture
Track.When flexible needle and XY platforms are by the extruding force interacted with soft tissue, the muscle that is installed between XY platforms 8 and Z axis platform 9
Plate 11 plays the role of fixed XY platforms 8 so that overall deformation does not occur for XY platforms 8, keeps certain rigidity.
The present invention is not limited to embodiments described above.Above the description of specific implementation mode is intended to describe and say
Bright technical scheme of the present invention, the above mentioned embodiment is only schematical, is not restrictive.This is not being departed from
In the case of invention objective and scope of the claimed protection, those skilled in the art may be used also under the inspiration of the present invention
The specific transformation of many forms is made, within these are all belonged to the scope of protection of the present invention.
Claims (4)
1. a kind of four-degree-of-freedom flexibility pin puncture platform that macro dynamic and fine motion combines, which is characterized in that including pedestal, guide rail, cunning
Block, linear motor stator electric, linear motor rotor, Z axis platform, XY platforms, electric rotating machine, shaft coupling, gusset, mounting base and flexibility
Needle；
The guide rail is symmetrically arranged on the both sides at the top of the pedestal, and the linear motor stator electric is installed between guide rail, described
Linear motor rotor is flush-mounted in linear motor stator electric top and the bottom gap, and two side rails slidably connect the sliding block respectively；Two
Side slide is symmetrically distributed in Z axis platform both sides and is connect with Z axis platform by bolt；The XY platforms pass through bolt and institute
Z axis platform is stated to be connected；
The XY platforms include X-axis piezoelectric ceramic actuator, X-axis pretension bolt, Y-axis piezoelectric ceramic actuator, Y-axis preload spiral shell
Bolt, X-axis transmission mechanism, Y-axis transmission mechanism and XY platform end executive items, X-axis piezoelectric ceramic actuator are pre-tightened by the X-axis
Bolt is connected with the X-axis transmission mechanism, and Y-axis piezoelectric ceramic actuator passes through the Y-axis pretension bolt and the Y-axis driver
Structure connects；
The X-axis transmission mechanism includes X-axis double parallel mechanism and X-axis living hinge, and the Y-axis transmission mechanism includes Y-axis double flat
Row mechanism and Y-axis living hinge, the X-axis transmission mechanism pass through the XY platform ends executive item with the Y-axis transmission mechanism
It is connected with the electric rotating machine, the electric rotating machine is installed on the inside of the XY platform ends executive item, and passes through the XY
Platform end executive item axial gap is connected with the shaft coupling；The flexible needle is connected with the shaft coupling, the muscle
Plate is bolted with the mounting base, and the mounting base is installed on the Z axis platform and the XY platforms by bolt.
2. a kind of four-degree-of-freedom flexibility pin puncture platform that macro dynamic and fine motion combines according to claim 1, which is characterized in that
X-axis double parallel mechanism and Y-axis double parallel mechanism are made of plate hinge, the X-axis living hinge and the Y-axis
Living hinge is made of 4 straight circle hinges.
3. a kind of four-degree-of-freedom flexibility pin puncture platform that macro dynamic and fine motion combines according to claim 1, which is characterized in that
The XY stage+modules are on the Z axis platform, and the Z axis platform is macro dynamic for realizing flexible needle Z-direction, by by the straight line
The linear motor of motor stator and linear motor rotor composition drives；The XY platforms for realizing flexible needle X to and Y-direction
Fine motion is driven by the X-axis piezoelectric ceramic actuator and Y-axis piezoelectric ceramic actuator；It can by electric rotating machine driving
Realize the axial rotation of flexible needle.
4. a kind of four-degree-of-freedom flexibility pin puncture platform that macro dynamic and fine motion combines according to claim 1, which is characterized in that
X-axis double parallel mechanism, X-axis living hinge, Y-axis double parallel mechanism, Y-axis living hinge, XY platform end executive items are
Integrated formed structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810603146.3A CN108742847B (en) | 2018-06-12 | 2018-06-12 | Four-degree-of-freedom flexible needle puncture platform combining macro motion and micro motion |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810603146.3A CN108742847B (en) | 2018-06-12 | 2018-06-12 | Four-degree-of-freedom flexible needle puncture platform combining macro motion and micro motion |
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| Publication Number | Publication Date |
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| CN108742847A true CN108742847A (en) | 2018-11-06 |
| CN108742847B CN108742847B (en) | 2021-04-27 |
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Cited By (7)
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|---|---|---|---|---|
| CN110353813A (en) * | 2019-07-01 | 2019-10-22 | 中奕智创医疗科技有限公司 | A kind of puncture ancillary equipment |
| CN110897720A (en) * | 2019-12-16 | 2020-03-24 | 杨锐 | Medical treatment operation robot surgical instruments translation unit |
| CN112169159A (en) * | 2020-11-04 | 2021-01-05 | 哈尔滨理工大学 | Hand-held electric particle implantation device driven by linear motor |
| CN112206406A (en) * | 2020-11-11 | 2021-01-12 | 哈尔滨理工大学 | Linear motor driven hand-held electric particle implantation gun |
| CN113208735A (en) * | 2021-05-25 | 2021-08-06 | 哈尔滨理工大学 | Flexible needle puncturing mechanism for tail end of mechanical arm |
| CN113693670A (en) * | 2021-07-16 | 2021-11-26 | 深圳市鑫君特智能医疗器械有限公司 | Nail placing device and system for orthopedics department |
| CN115634014A (en) * | 2021-07-19 | 2023-01-24 | 佛山市柏康机器人技术有限公司 | Traction type flexible needle puncture posture adjusting mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110353813A (en) * | 2019-07-01 | 2019-10-22 | 中奕智创医疗科技有限公司 | A kind of puncture ancillary equipment |
| CN110897720A (en) * | 2019-12-16 | 2020-03-24 | 杨锐 | Medical treatment operation robot surgical instruments translation unit |
| CN110897720B (en) * | 2019-12-16 | 2020-07-07 | 青岛大学附属医院 | Medical treatment operation robot surgical instruments translation unit |
| CN112169159A (en) * | 2020-11-04 | 2021-01-05 | 哈尔滨理工大学 | Hand-held electric particle implantation device driven by linear motor |
| CN112206406A (en) * | 2020-11-11 | 2021-01-12 | 哈尔滨理工大学 | Linear motor driven hand-held electric particle implantation gun |
| CN113208735A (en) * | 2021-05-25 | 2021-08-06 | 哈尔滨理工大学 | Flexible needle puncturing mechanism for tail end of mechanical arm |
| CN113208735B (en) * | 2021-05-25 | 2022-06-10 | 哈尔滨理工大学 | Flexible needle puncturing mechanism for tail end of mechanical arm |
| CN113693670A (en) * | 2021-07-16 | 2021-11-26 | 深圳市鑫君特智能医疗器械有限公司 | Nail placing device and system for orthopedics department |
| CN113693670B (en) * | 2021-07-16 | 2023-09-01 | 深圳市鑫君特智能医疗器械有限公司 | Orthopedic nail placing device and system |
| CN115634014A (en) * | 2021-07-19 | 2023-01-24 | 佛山市柏康机器人技术有限公司 | Traction type flexible needle puncture posture adjusting mechanism |
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