CN108742850A - Medical robot positioning device - Google Patents
Medical robot positioning device Download PDFInfo
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- CN108742850A CN108742850A CN201810659155.4A CN201810659155A CN108742850A CN 108742850 A CN108742850 A CN 108742850A CN 201810659155 A CN201810659155 A CN 201810659155A CN 108742850 A CN108742850 A CN 108742850A
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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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
The present invention provides a kind of medical robot positioning devices, belong to medical instruments field.Medical robot positioning device includes：Positioning plate, robot body, positioning support plate is connected on robot body, positioning has the second supporting member, pin in support plate, first extensible member, one end of support element, support element is connected with robot body, and the other end of support element is ground terminal, when state of first extensible member for contraction, ground terminal is located at the side far from the first extensible member in positioning support plate；The both ends of second extensible member, the second extensible member connect control device with robot body and support element respectively, and control device is electrically connected with the first extensible member and the second extensible member respectively, and control device is for controlling the first extensible member and the movement of the second extensible member.This medical robot positioning device can make the fastness that can be held in position between positioning support plate and positioning plate, thereby may be ensured that the accurate progress of operation.
Description
Technical field
The present invention relates to medical instruments fields, in particular to a kind of medical robot positioning device.
Background technology
Since equipment is more between clinical operation, it is desirable that robot can be moved to operative space periphery in the empty window phase, in order to avoid
The operation of other surgical procedures is influenced, and positioning system in the prior art mostly uses greatly external view sensor, high speed optical
Tracing system realizes the localization method of operation consent robot device, and overall device operation is complicated, preoperative preparation time is longer, right
The study of Yu doctor, training cost are higher.
Invention content
The present invention provides a kind of medical robot positioning devices, it is intended to solve medical robot positioning dress in the prior art
Set the existing above problem.
The invention is realized in this way：
A kind of medical robot positioning device, including：
Positioning plate has the first supporting member on the positioning plate, has location hole on the positioning plate；
Robot body is connected with positioning support plate on the robot body, has second in the positioning support plate
Supporting member, first supporting member is used for and second supporting member is abutted to limit second supporting member at the positioning bottom
The movement at least three degree of freedom in plane where plate, have in the positioning support plate for and the location hole phase
To the through-hole of setting；
Pin, the pin is at least partially disposed at the side far from the positioning plate in the positioning support plate, described
Pin and via clearance cooperation, the pin and location hole transition cooperation；
The both ends of first extensible member, first extensible member are connected with the robot body and the pin respectively,
First extensible member is for controlling the pin across the through-hole and insertion or far from the location hole；
One end of support element, the support element is connected with robot body, and the other end of the support element is ground terminal, when
First extensible member for contraction state when, the ground terminal is located in the positioning support plate flexible far from described first
The side of part；
The both ends of second extensible member, second extensible member connect with the robot body and the support element respectively
Connect, second extensible member for control the support element close to or far from the robot body；
Control device, the control device are electrically connected with first extensible member and second extensible member respectively, institute
Control device is stated for controlling first extensible member and second extensible member movement.
In preferred embodiments of the present invention, first supporting member is set as groove type, and first supporting member is hanging down
It is directly upwardly extended in the side of the plane where the positioning plate, second supporting member is set as convex shaped, and described first supports
Head part is used to limit the movement of three degree of freedom of second supporting member in the plane where the positioning plate.
In preferred embodiments of the present invention, the ground terminal on the support element is set as idler wheel.
In preferred embodiments of the present invention, it is additionally provided with manipulator on the robot body, connects on the manipulator
It is connected to laser locating apparatus, the manipulator is used to the laser locating apparatus being moved to the first predeterminated position, the laser
Positioning device irradiates laser with described in determination for the second predeterminated position on first predeterminated position on workbench
The registration of first predeterminated position and second predeterminated position.
In preferred embodiments of the present invention, the clamper for medical instruments to be clamped is also associated on the manipulator.
In preferred embodiments of the present invention, the location hole is set as multiple, is spaced and sets between multiple location holes
It sets, the pin is set as multiple, is corresponded between multiple pins and multiple location holes.
In preferred embodiments of the present invention, the pin and the location hole are disposed as three, three pins
It is respectively for insertion into three location holes.
In preferred embodiments of the present invention, it is connected with guiding fixed plate between the pin and first extensible member,
It is provided with guide sleeve in the guiding fixed plate, is connected with guiding axis on first extensible member, the guiding axis and described leads
It is slidably connected to fixed plate, the guiding axis is used to guide the guiding fixed plate along the telescopic direction of first extensible member
Movement.
In preferred embodiments of the present invention, finite place piece is set, the locating part setting exists in the guiding fixed plate
The pin is provided with elastic component, the bullet close to one end of first extensible member between the pin and the locating part
Property part be used to for the pin provide elastic force far from the locating part.
In preferred embodiments of the present invention, photoelectric sensor, the photoelectric sensing are provided in the guiding fixed plate
Device is for detecting distance of the pin apart from the locating part.
The beneficial effects of the invention are as follows：
The medical robot positioning device that the present invention is obtained by above-mentioned design will position bottom first at work
Plate is fixed on preset position around workbench, and control device controls the second extensible member so that support element is far from robot sheet
Body, and control device controls the first extensible member so that and positioning supporting part is close to robot body, at this point, connecing on support element
The remotely located support plate of ground terminal, then pushes robot body so that the second supporting member and positioning plate in positioning support plate
On the first supporting member abut, so as to robot body carry out coarse positioning, then control the second extensible member so that support
Part is moved towards close to the direction of robot body so that positioning the distance between support plate and positioning plate are maintained at certain
Distance, such as between 2-3mm, the first extensible member is controlled later so that pin passes through through-hole and is inserted into the inside of location hole,
Medical robot is accurately positioned so as to realize so that movement quilt of the medical robot on the face where positioning plate
Limitation, then controls the first extensible member again so that is bonded to each other between positioning support plate and positioning plate, can make positioning branch
The fastness that can be held in position between fagging and positioning plate thereby may be ensured that the accurate progress of operation.
Description of the drawings
It, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of embodiment of the present invention
Attached drawing be briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not to be seen as
It is the restriction to range, it for those of ordinary skill in the art, without creative efforts, can be with root
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of the medical robot positioning device of embodiment of the present invention offer in the operating condition；
Fig. 2 is the structural schematic diagram at the first visual angle of the medical robot positioning device that embodiment of the present invention provides；
Fig. 3 is the structural schematic diagram at the second visual angle of the medical robot positioning device that embodiment of the present invention provides；
Fig. 4 is the structural representation of the positioning supporting part in the medical robot positioning device that embodiment of the present invention provides
Figure；
Fig. 5 is the structural schematic diagram of the positioning plate in the medical robot positioning device that embodiment of the present invention provides；
Fig. 6 is the structural representation of the first extensible member in the medical robot positioning device that embodiment of the present invention provides
Figure；
Fig. 7 is the structural schematic diagram of the pin in the medical robot positioning device that embodiment of the present invention provides.
Fig. 8 be embodiment of the present invention provide medical robot positioning device in laser locating apparatus in working condition
Under structural schematic diagram.
Icon：100- medical robot positioning devices；110- robot bodies；The first extensible members of 111-；112- second stretches
Contracting part；113- support elements；114- positions support plate；1141- through-holes；The second supporting members of 1142-；115- positioning plates；1151- is fixed
Position hole；The first supporting members of 1152-；116- guiding axis；117- guide sleeves；118- is oriented to fixed plate；120- photoelectric sensors；121-
Pin；122- elastic components；123- locating parts；200- workbenches；210- third predeterminated positions.
Specific implementation mode
To keep the purpose, technical scheme and advantage of embodiment of the present invention clearer, implement below in conjunction with the present invention
The technical solution in embodiment of the present invention is clearly and completely described in attached drawing in mode, it is clear that described reality
The mode of applying is some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
The every other embodiment that domain those of ordinary skill is obtained without creative efforts, belongs to the present invention
The range of protection.Therefore, the detailed description of the embodiments of the present invention to providing in the accompanying drawings is not intended to limit and wants below
The scope of the present invention of protection is sought, but is merely representative of the selected embodiment of the present invention.Based on the embodiment in the present invention,
The every other embodiment that those of ordinary skill in the art are obtained without creative efforts belongs to this
Invent the range of protection.
In the description of the present invention, it is to be understood that, the term of indicating position or position relationship is based on shown in attached drawing
Orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, do not indicate or imply the indicated equipment
Or element must have a particular orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be on or below second feature
Be in direct contact including the first and second features, can also include the first and second features not be in direct contact but by them it
Between other characterisation contact.Moreover, fisrt feature is on second feature, top and above include fisrt feature second spy
Right over sign and oblique upper, or be merely representative of fisrt feature level height and be higher than second feature.Fisrt feature second feature it
Under, lower section and fisrt feature included below are immediately below second feature and obliquely downward, or be merely representative of fisrt feature level height
Less than second feature.
Embodiment one
A kind of medical robot positioning device 100 is present embodiments provided, Fig. 8, this medical robot are please referred to Fig.1
Positioning device 100 includes：
Positioning plate 115 has the first supporting member 1152 on positioning plate 115, has location hole on positioning plate 115
1151；
Robot body 110 is connected with positioning support plate 114 on robot body 110, and positioning has in support plate 114
Second supporting member 1142, the first supporting member 1152 is used for and the second supporting member 1142 is abutted to limit the second supporting member 1142 fixed
The movement at least three degree of freedom in plane where the bottom plate 115 of position, positions in support plate 114 to have and is used for and location hole
1151 through-holes 1141 being oppositely arranged；
Pin 121, pin 121 are at least partially disposed at the side of remotely located bottom plate 115 in positioning support plate 114, pin
121 and 1141 clearance fit of through-hole, pin 121 and 1151 transition of location hole cooperation；
The both ends of first extensible member 111, the first extensible member 111 are connected with robot body 110 and pin 121 respectively,
First extensible member 111 is for controlling pin 121 across through-hole 1141 and insertion or remotely located hole 1151；
Support element 113, one end of support element 113 and robot body 110 connect, and the other end of support element 113 is ground connection
End, when state of first extensible member 111 for contraction, ground terminal is located in positioning support plate 114 far from the first extensible member 111
Side；
The both ends of second extensible member 112, the second extensible member 112 connect with robot body 110 and support element 113 respectively
It connects, the second extensible member 112 is for controlling support element 113 close to or far from robot body 110；
Control device, control device are electrically connected with the first extensible member 111 and the second extensible member 112 respectively, control device
For controlling the first extensible member 111 and the movement of the second extensible member 112.
Positioning plate 115 is fixed on preset position around workbench 200 first, control device control second is flexible
Part 112 so that support element 113 is far from robot body 110, and control device controls the first extensible member 111 so that positioning branch
Support member 113 is close to robot body 110, at this point, the remotely located support plate 114 of ground terminal on support element 113, then pushes machine
Device human body 110 so that the first supporting member on the second supporting member 1142 and positioning plate 115 in positioning support plate 114
1152 abut, and so as to carry out coarse positioning to robot body 110, then control the second extensible member 112 so that support element
113 towards close to the movement of the direction of robot body 110 so that positioning the distance between support plate 114 and positioning plate 115 are protected
It holds in a certain distance, such as between 2-3mm, controls the first extensible member 111 later so that pin 121 passes through through-hole 1141
And it is inserted into the inside of location hole 1151, medical robot is accurately positioned so as to realize so that medical robot exists
The movement on face where positioning plate 115 is limited, and then controls the first extensible member 111 again so that positioning 114 He of support plate
It is bonded to each other between positioning plate 115, can to position can be held in position between support plate 114 and positioning plate 115
Fastness thereby may be ensured that the accurate progress of operation.
Specifically, in the present embodiment, the first extensible member 111 and the second extensible member 112 are disposed as electric cylinders.
Electric cylinders are that the rotary motion of servo motor is converted to the modular product of servo motor and leading screw integrated design
Be in line movement, while by servo motor optimum benefits, that is, precise rotation controls, accurate revolution controls and accurate torque
Control is transformed into precise speed control, Accurate Position Control and the control of accurate thrust；Realize high-precision linear motion series
Completely new revolutionary character product.
Certainly, in other examples, the first extensible member 111 and the second extensible member 112 can also use cylinder, oil cylinder
Etc. others can carry out the flexible and device of command range.
Specifically, in the present embodiment, the first extensible member 111 and the second extensible member 112 are all made of electric cylinders.
Specifically, in the present embodiment, one kind in control device PC, PLC or microcontroller.
PC, PLC and microcontroller are the device of control electric cylinders commonly used in this field, specific structure and user
Formula is the prior art, and details are not described herein.
Optionally, in the present embodiment, the first supporting member 1152 is set as groove type, the first supporting member 1152 perpendicular to
The side of plane where positioning plate 115 upwardly extends, and the second supporting member 1142 is set as convex shaped, and the first supporting member 1152 is used
In the movement for limiting three degree of freedom of second supporting member 1142 in the plane where positioning plate 115.
When the second supporting member 1142 of convex shaped is inserted into the first 1152 inside of supporting member of groove type, first supports
Head part 1152 generates restriction effect to the movement of the second supporting member 1142, and the second supporting member 1142 can be prevented in positioning plate
The movement of the three degree of freedom in plane where 115, so that the second supporting member 1142 can only be along a freedom
The direction of degree moves, and during the second supporting member 1142 and the first supporting member 1152 keep abutting, the second supporting member
1142 and first being oppositely arranged between supporting member 1152 be kept fixed, so as to positioning supporting part 113 and positioning plate
Coarse positioning is carried out between 115.
Optionally, in the present embodiment, the ground terminal on support element 113 is set as idler wheel.
Using idler wheel as support end, it can effectively lower institute during being moved between support element 113 and ground
The frictional force being subject to reduces the manpower that medical staff's mobile robot ontology 110 is consumed.
Optionally, in the present embodiment, it is additionally provided with manipulator on robot body 110, laser is connected on manipulator
Positioning device, manipulator are used to laser locating apparatus being moved to the first predeterminated position, and laser locating apparatus is used for pre- first
If the second predeterminated position irradiation laser on position on workbench 200 is to determine the first predeterminated position and the second predeterminated position
Registration.
Laser locating apparatus is moved to by the laser locating apparatus on manipulator using manipulator at work
One predetermined position, then laser locating apparatus emit laser, towards the direction of workbench 200 on irradiate, and workbench
There is the second predeterminated position, by the coincidence for determining hot spot and second predeterminated position of the laser on workbench 200 on 200
Degree, it may be determined that the registration of the first predeterminated position and the second predeterminated position, if the first predeterminated position and the second predeterminated position
It overlaps, then shows the position accurate positioning of manipulator, if the first predeterminated position and the second predeterminated position are misaligned, show machine
The position position inaccurate of tool hand.
In the present embodiment, workbench 200 can be the curative activities platforms such as CT/PET-CT, MRI.
Optionally, in the present embodiment, the clamper for medical instruments to be clamped is also associated on manipulator.
Different medical instruments can be clamped by clamper, the progress of different curative activities may be implemented.
Optionally, in the present embodiment, location hole 1151 is set as multiple, and setting is spaced between multiple location holes 1151,
Pin 121 is set as multiple, is corresponded between multiple pins 121 and multiple location holes 1151.
It cooperates between multiple location holes 1151 and multiple pins 121, can make positioning supporting part 113 and positioning bottom
Positioning between plate 115 is more accurate.
Optionally, in the present embodiment, pin 121 and location hole 1151 are disposed as three, and three pins 121 are used respectively
In being inserted into three location holes 1151.
Three pins 121 can ensure to position the accuracy being mutually located between support plate 114 and positioning plate 115.
Optionally, in the present embodiment, it is connected between pin 121 and the first extensible member 111 and is oriented to fixed plate 118, led
It is provided with guide sleeve 117 in fixed plate 118, guiding axis 116, guiding axis 116 and fixed guide are connected on the first extensible member 111
Fixed board 118 is slidably connected, and guiding axis 116 is used to guide the telescopic direction fortune for being oriented to fixed plate 118 along the first extensible member 111
It is dynamic.
A displacement being shaped as, Ke Yishi can be carried out along the telescopic direction of the first extensible member 111 by being oriented to fixed plate 118
When present three pins 121 are inserted into location hole 1151, be oriented to fixed plate 118 direction can lean under gravity
The direction movement of nearly positioning plate 115, so that it is close to each other between guiding fixed plate 118 and positioning plate 115, such as
When fruit has at least one pin 121 to be not inserted into location hole 1151, positioning can be directed away from by being oriented to fixed plate 118
The direction of bottom plate 115 moves certain distance, so as to prevent the either pin 121 that is stuck of pin 121 to be stressed concentration
The case where being damaged.
Optionally, in the present embodiment, finite place piece 123 is set in guide positioning plate, and locating part 123 is arranged in pin
121, close to one end of the first extensible member 111, are provided with elastic component 122 between pin 121 and locating part 123, elastic component 122 is used
In providing elastic force far from locating part 123 for pin 121.
Locating part 123 in guide positioning plate can make the end position phase that on elastic component 122 and locating part 123 connects
To fixation, and on elastic component 122 and one end of the connection of pin 121 can provide for pin 121 and be directed away from 123 direction of locating part
The elastic force of movement is inserted into so that pin 121 is maintained at the position being located remotely from each other with locating part 123 in pin 121
When in location hole 1151, pin 121 may remain in the position being located remotely from each other with locating part 123, not have in pin 121
When being inserted into location hole 1151, pin 121 may with positioning plate 115 abut together with, this when, if pin
121 near location hole 1151, it is only necessary to shake robot body 110 i.e. using the elastic force of elastic component 122 by pin
121 are inserted into the inside of location hole 1151, very easy to use.
Optionally, in the present embodiment, photoelectric sensor 120, the photoelectric transfer are provided in the guiding fixed plate 118
Sensor 120 is for detecting distance of the pin 121 apart from the locating part 123.
Specifically, photoelectric sensor 120 is fixed in guide positioning plate, photoelectric sensor 120 is from 121 side of pin
Direction is detected pin 121, and photoelectric sensor 120 is when pin 121 is inserted into location hole 1151, photoelectricity
Sensor 120 can't detect the presence of pin 121, and together with being abutted with positioning plate 115 when photoelectric sensor 120, at this time
Elastic component 122 is shunk, and pin 121 is close to the direction of locating part 123, at this point, photoelectric sensor 120 can detect pin 121,
So as to realize the detection of the distance to pin 121 apart from locating part 123.
In the case where detecting pin 121, illustrates that pin 121 is closer apart from the distance of locating part 123, need to shake at this time
Pin 121 is inserted into the inside of location hole 1151 by mobile robot ontology 110 under the action of the elastic force of elastic component 122,
Realize the positioning to robot body 110.
The operation principle of medical robot positioning device 100 provided in this embodiment is that at work, will determine first
Position bottom plate 115 is fixed on preset position around workbench 200, and control device controls the second extensible member 112 so that support element
113 far from robot body 110, and control device controls the first extensible member 111 so that positioning supporting part 113 is close to machine
Human body 110, at this point, the remotely located support plate 114 of the ground terminal on support element 113, then pushes robot body 110, make
The first supporting member 1152 that must be positioned on the second supporting member 1142 and the positioning plate 115 in support plate 114 abuts, so as to
Coarse positioning is carried out to robot body 110, then controls the second extensible member 112 so that support element 113 is towards close to robot sheet
The direction of body 110 moves so that and positioning the distance between support plate 114 and positioning plate 115 maintain a certain distance, such as
Between 2-3mm, the first extensible member 111 is controlled later so that pin 121 passes through through-hole 1141 and is inserted into the interior of location hole 1151
Portion is accurately positioned medical robot so as to realize so that medical robot is on the face where positioning plate 115
Movement is limited, and then controls the first extensible member 111 again so that is mutually pasted between positioning support plate 114 and positioning plate 115
It closes, can to position the fastness that can be held in position between support plate 114 and positioning plate 115, then pass through machinery again
Laser locating apparatus is moved to the first predeterminated position by hand, by determining second on laser locating apparatus and workbench 200
The coincidence degree of predeterminated position, it may be determined that whether the relative position between manipulator and workbench 200 is accurate, so as to
Ensure the accurate progress of operation.
Embodiment two
A kind of medical robot localization method is present embodiments provided, it is fixed using the medical robot provided in embodiment one
Position device 100, this method include：
S1, positioning plate 115 is fixed on third predeterminated position 210；
S2, by the positioning support plate 114 on robot body 110 and the positioning plate 115 at third predeterminated position 210 into
Row coarse positioning；
S3, positioning support plate 114 is passed through to be inserted into the location hole 1151 on positioning plate 115 pin 121；
S4, the manipulator on medical robot is moved to the first predeterminated position；
S5, the position relationship that the second predeterminated position on manipulator and workbench 200 is determined by laser locating apparatus.
Wherein, in the present embodiment, it is to pass through positioning to support pin 121 by the way of controlling the first extensible member 111
Plate 114 is inserted into the location hole 1151 on positioning plate 115.
Wherein, in the present embodiment, positioning support plate 114 is passed through to be inserted into the positioning on positioning plate 115 pin 121
Further include the second extensible member 112 of control so that positioning the distance between support plate 114 and positioning plate 115 before in hole 1151
It is maintained between 2~3mm.
Between positioning the distance between support plate 114 and positioning plate 115 are maintained at 2~3mm, it can make pin
121 are inserted into location hole 1151, and the relative position between support plate and positioning plate 115 can also carry out it is micro-
It adjusts, pin 121 can be facilitated to enter the inside of location hole 1151.
Wherein, in the present embodiment, positioning support plate 114 is passed through to be inserted into the positioning on positioning plate 115 pin 121
After in hole 1151, further include controlling the second extensible member 112 so that between positioning support plate 114 and positioning plate 115 mutually
Fitting.
After pin 121 is inserted into location hole 1151, position opposite between support plate 114 and positioning plate 115
Position has been obtained for determining, is not necessarily to carry out in the relative position between positioning support plate 114 and positioning plate 115 at this time micro-
It adjusts, is bonded to each other between support plate 114 and positioning plate 115 to position, can effectively improve positioning support plate 114 and positioning
The stationarity positioned between bottom plate 115.
Wherein, in the present embodiment, by mutually abutting the first supporting member 1152 and the second supporting member 1142, by machine
Positioning plate 115 at positioning support plate 114 and third predeterminated position 210 on human body 110 carries out coarse positioning.
When first supporting member 1152 and the second supporting member 1142 mutually abut, support plate 114 and positioning plate are positioned
Position between 115 can obtain one and be relatively fixed, at this point, the position between positioning support plate 114 and positioning plate 115
A coarse positioning is obtained.
Wherein, in the present embodiment, it controls guide sleeve 117 by the first extensible member 111 to be inserted into through-hole 1141, continue
Pin 121 is inserted into location hole 1151 by the first extensible member 111.
Pin 121 is inserted into the inside of location hole 1151 using the first extensible member 111, it, can be to fixed using pin 121
Position between position support plate 114 and positioning plate 115 is fixed.
The operation principle of medical robot localization method provided in this embodiment is, when in use, first to machine
Positioning support plate 114 and positioning plate 115 on human body 110 carry out coarse positioning, in coarse positioning and then pass through pin 121
The mode being inserted into location hole 1151 is accurately positioned positioning support plate 114 and positioning plate 115, then by that will cure
The manipulator treated in robot is moved to the first predeterminated position, determine that manipulator is moved to using laser locating apparatus later the
Position relationship between one predeterminated position and the second predeterminated position, to determine it is default whether manipulator has been shifted exactly to first
Position, so that the position registration of manipulator.
It these are only the preferred embodiment of the present invention, be not intended to restrict the invention, for the technology of this field
For personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of medical robot positioning device, which is characterized in that including：
Positioning plate has the first supporting member on the positioning plate, has location hole on the positioning plate；
Robot body is connected with positioning support plate on the robot body, has second to support in the positioning support plate
Part, first supporting member is used for and second supporting member is abutted to limit second supporting member in the positioning plate institute
Plane at least three degree of freedom on movement, have in the positioning support plate for and the location hole be opposite sets
The through-hole set；
Pin, the pin are at least partially disposed at the side far from the positioning plate in the positioning support plate, the pin
Coordinate with the via clearance, the pin and location hole transition cooperation；
The both ends of first extensible member, first extensible member are connected with the robot body and the pin respectively, described
First extensible member is for controlling the pin across the through-hole and insertion or far from the location hole；
One end of support element, the support element is connected with robot body, and the other end of the support element is ground terminal, when described
First extensible member for contraction state when, the ground terminal is located in the positioning support plate far from first extensible member
Side；
The both ends of second extensible member, second extensible member are connected with the robot body and the support element respectively, institute
State the second extensible member for control the support element close to or far from the robot body；
Control device, the control device are electrically connected with first extensible member and second extensible member respectively, the control
Device processed is for controlling first extensible member and second extensible member movement.
2. medical robot positioning device according to claim 1, which is characterized in that first supporting member is set as recessed
Flute profile, first supporting member are upwardly extended perpendicular to the side of the plane where the positioning plate, second supporting member
It is set as convex shaped, first supporting member is for limiting second supporting member in the plane where the positioning plate
The movement of three degree of freedom.
3. medical robot positioning device according to claim 1, which is characterized in that the ground connection on the support element
End is set as idler wheel.
4. medical robot positioning device according to claim 1, which is characterized in that also set up on the robot body
There is manipulator, laser locating apparatus is connected on the manipulator, the manipulator is for moving the laser locating apparatus
To the first predeterminated position, the laser locating apparatus is preset for second on first predeterminated position on workbench
Laser is irradiated with the registration of determination first predeterminated position and second predeterminated position in position.
5. medical robot positioning device according to claim 4, which is characterized in that be also associated with use on the manipulator
In the clamper of clamping medical instruments.
6. medical robot positioning device according to claim 1, which is characterized in that the location hole is set as multiple,
Setting is spaced between multiple location holes, the pin is set as multiple, multiple pins and multiple location holes it
Between correspond.
7. medical robot positioning device according to claim 6, which is characterized in that the pin and the location hole are equal
Three are set as, three pins are respectively for insertion into three location holes.
8. medical robot positioning device according to claim 1, which is characterized in that the pin and described first stretches
It is connected with guiding fixed plate between part, guide sleeve is provided in the guiding fixed plate, is connected with and leads on first extensible member
To axis, the guiding axis and the guiding fixed plate are slidably connected, the guiding axis for guide the guiding fixed plate along
The telescopic direction of first extensible member moves.
9. medical robot positioning device according to claim 8, which is characterized in that be provided in the guiding fixed plate
Locating part, the locating part are arranged in the pin close to one end of first extensible member, the pin and the locating part
Between be provided with elastic component, the elastic component is used to provide elastic force far from the locating part for the pin.
10. medical robot positioning device according to claim 9, which is characterized in that be arranged in the guiding fixed plate
There is photoelectric sensor, the photoelectric sensor is for detecting distance of the pin apart from the locating part.
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| CN108742850B (en) | 2023-09-29 |
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