CN108742850B - Medical robot positioning device - Google Patents
Medical robot positioning device Download PDFInfo
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- CN108742850B CN108742850B CN201810659155.4A CN201810659155A CN108742850B CN 108742850 B CN108742850 B CN 108742850B CN 201810659155 A CN201810659155 A CN 201810659155A CN 108742850 B CN108742850 B CN 108742850B
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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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Abstract
The invention provides a medical robot positioning device, and belongs to the field of medical instruments. The medical robot positioning device includes: the robot comprises a positioning bottom plate, a robot body, a positioning support plate, a first telescopic piece, a support piece and a second telescopic piece, wherein the positioning support plate is provided with a second propping piece, a pin, the first telescopic piece and the support piece; the two ends of the second telescopic piece are respectively connected with the robot body and the supporting piece by the control device, the control device is respectively electrically connected with the first telescopic piece and the second telescopic piece, and the control device is used for controlling the movement of the first telescopic piece and the second telescopic piece. The medical robot positioning device can keep the positioning firmness between the positioning support plate and the positioning bottom plate, thereby ensuring the accurate operation.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a medical robot positioning device.
Background
Because of more clinical operation room equipment, the robot is required to move to the periphery of an operation space in the window period so as not to influence the operation of other operation processes, and most of positioning systems in the prior art adopt an external vision sensor and a high-speed optical tracking system to realize the positioning method of the preoperative robot equipment, so that the whole equipment is complex in operation, the preoperative preparation time is long, and the study and training cost for doctors is high.
Disclosure of Invention
The invention provides a medical robot positioning device, which aims to solve the problems of the medical robot positioning device in the prior art.
The invention is realized in the following way:
a medical robotic positioning device, comprising:
the positioning bottom plate is provided with a first propping piece and a positioning hole;
the robot comprises a robot body, wherein a positioning support plate is connected to the robot body, a second propping piece is arranged on the positioning support plate, the first propping piece is used for propping against the second propping piece to limit the movement of the second propping piece on at least three degrees of freedom on a plane where the positioning bottom plate is located, and a through hole which is arranged opposite to the positioning hole is formed in the positioning support plate;
the pin is at least partially positioned on one side, far away from the positioning bottom plate, of the positioning support plate, the pin is in clearance fit with the through hole, and the pin is in transition fit with the positioning hole;
the two ends of the first telescopic piece are respectively connected with the robot body and the pin, and the first telescopic piece is used for controlling the pin to pass through the through hole and to be inserted into or far away from the positioning hole;
the robot comprises a positioning support plate, a first telescopic piece, a second telescopic piece, a support piece and a robot body, wherein one end of the support piece is connected with the robot body, the other end of the support piece is a grounding end, and when the first telescopic piece is in a contracted state, the grounding end is positioned on one side, far away from the first telescopic piece, of the positioning support plate;
the two ends of the second telescopic piece are respectively connected with the robot body and the supporting piece, and the second telescopic piece is used for controlling the supporting piece to be close to or far away from the robot body;
the control device is electrically connected with the first telescopic piece and the second telescopic piece respectively and is used for controlling the first telescopic piece and the second telescopic piece to move.
In a preferred embodiment of the invention, the first abutment member is provided in the form of a groove, which extends in a direction perpendicular to the plane of the positioning base plate, and the second abutment member is provided in the form of a protrusion, which is intended to limit the movement of the second abutment member in three degrees of freedom in the plane of the positioning base plate.
In a preferred embodiment of the invention, the ground contact end on the support is provided as a roller.
In a preferred embodiment of the present invention, a manipulator is further disposed on the robot body, and the manipulator is connected with a laser positioning device, and is configured to move the laser positioning device to a first preset position, and the laser positioning device is configured to irradiate laser on the first preset position to a second preset position on the working platform so as to determine a coincidence ratio between the first preset position and the second preset position.
In a preferred embodiment of the invention, a gripper for gripping the medical appliance is further connected to the manipulator.
In a preferred embodiment of the present invention, a plurality of positioning holes are provided at intervals, a plurality of pins are provided, and a plurality of pins and a plurality of positioning holes are in one-to-one correspondence.
In a preferred embodiment of the present invention, the pins and the positioning holes are three, and the three pins are respectively inserted into the three positioning holes.
In a preferred embodiment of the present invention, a guide fixing plate is connected between the pin and the first telescopic member, a guide sleeve is disposed on the guide fixing plate, a guide shaft is connected to the first telescopic member, the guide shaft is slidably connected to the guide fixing plate, and the guide shaft is used for guiding the guide fixing plate to move along the telescopic direction of the first telescopic member.
In a preferred embodiment of the present invention, the guide fixing plate is provided with a limiting member, the limiting member is disposed at one end of the pin, which is close to the first telescopic member, an elastic member is disposed between the pin and the limiting member, and the elastic member is used for providing elastic force for the pin, which is far away from the limiting member.
In a preferred embodiment of the present invention, a photoelectric sensor is disposed on the guiding fixing plate, and the photoelectric sensor is used for detecting a distance between the pin and the limiting member.
The beneficial effects of the invention are as follows:
according to the medical robot positioning device obtained through the design, when the medical robot positioning device works, the positioning bottom plate is firstly fixed at a preset position around the working platform, the control device controls the second telescopic piece to enable the supporting piece to be far away from the robot body, the control device controls the first telescopic piece to enable the positioning supporting piece to be close to the robot body, at the moment, the grounding end on the supporting piece is far away from the positioning supporting plate, then the robot body is pushed, the second abutting piece on the positioning supporting plate is abutted with the first abutting piece on the positioning bottom plate, thus the robot body can be roughly positioned, then the second telescopic piece is controlled to enable the supporting piece to move towards the direction close to the robot body, the distance between the positioning supporting plate and the positioning bottom plate is kept at a certain distance, for example, 2-3mm, then the first telescopic piece is controlled to enable pins to pass through the through holes and be inserted into the positioning holes, the medical robot can be precisely positioned, the medical robot can be limited in the surface where the positioning bottom plate is located, then the first telescopic piece is controlled, the positioning bottom plate and the positioning bottom plate can be firmly positioned.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a medical robot positioning device according to an embodiment of the present invention in a working state;
FIG. 2 is a schematic view of a medical robotic positioning device according to an embodiment of the present invention;
FIG. 3 is a schematic view of a medical robotic positioning apparatus according to a second embodiment of the present invention;
FIG. 4 is a schematic view of the structure of a positioning support in a medical robot positioning apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a positioning base plate in the medical robot positioning device according to the embodiment of the present invention;
fig. 6 is a schematic structural view of a first telescopic member in the medical robot positioning apparatus according to the embodiment of the present invention;
fig. 7 is a schematic structural view of a pin in the medical robot positioning apparatus according to the embodiment of the present invention.
Fig. 8 is a schematic structural view of a laser positioning device in a medical robot positioning device according to an embodiment of the present invention in an operating state.
Icon: 100-a medical robotic positioning device; 110-robot body; 111-a first telescoping member; 112-a second telescoping member; 113-a support; 114-positioning a support plate; 1141-a through hole; 1142-a second abutment; 115-positioning a bottom plate; 1151-positioning holes; 1152-a first abutment; 116-guiding shaft; 117-guide sleeve; 118-guiding the fixed plate; 120-a photosensor; 121-pins; 122-an elastic member; 123-limiting pieces; 200-a working platform; 210-a third preset position.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "orientation" or "positional relationship" are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and to simplify the description, rather than to indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature may include first and second features directly contacting each other, either above or below a second feature, or through additional features contacting each other, rather than directly contacting each other. Moreover, the first feature being above, over, and on the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being below, beneath, and beneath the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is less level than the second feature.
Example 1
The present embodiment provides a medical robot positioning apparatus 100, referring to fig. 1 to 8, the medical robot positioning apparatus 100 includes:
the positioning base plate 115, the positioning base plate 115 is provided with a first propping piece 1152, and the positioning base plate 115 is provided with a positioning hole 1151;
the robot body 110, the robot body 110 is connected with a positioning support plate 114, the positioning support plate 114 is provided with a second propping piece 1142, the first propping piece 1152 is used for propping against the second propping piece 1142 to limit the movement of the second propping piece 1142 in at least three degrees of freedom on the plane of the positioning bottom plate 115, and the positioning support plate 114 is provided with a through hole 1141 which is used for being arranged opposite to the positioning hole 1151;
the pin 121, the pin 121 is located at least partially on one side of the positioning support plate 114 far away from the positioning bottom plate 115, the pin 121 is in clearance fit with the through hole 1141, and the pin 121 is in transition fit with the positioning hole 1151;
the first telescopic piece 111, two ends of the first telescopic piece 111 are respectively connected with the robot body 110 and the pin 121, and the first telescopic piece 111 is used for controlling the pin 121 to pass through the through hole 1141 and be inserted into or far away from the positioning hole 1151;
the support member 113, one end of the support member 113 is connected with the robot body 110, the other end of the support member 113 is a grounding end, and when the first telescopic member 111 is in a contracted state, the grounding end is positioned on one side of the positioning support plate 114 far away from the first telescopic member 111;
the second telescopic piece 112, two ends of the second telescopic piece 112 are respectively connected with the robot body 110 and the supporting piece 113, and the second telescopic piece 112 is used for controlling the supporting piece 113 to be close to or far from the robot body 110;
and the control device is electrically connected with the first telescopic piece 111 and the second telescopic piece 112 respectively and is used for controlling the first telescopic piece 111 and the second telescopic piece 112 to move.
The positioning base plate 115 is fixed at a preset position around the working platform 200, the control device controls the second telescopic member 112 to enable the supporting member 113 to be far away from the robot body 110, and controls the first telescopic member 111 to enable the positioning supporting member 113 to be close to the robot body 110, at this time, the grounding end on the supporting member 113 is far away from the positioning supporting plate 114, then the robot body 110 is pushed so that the second abutting member 1142 on the positioning supporting plate 114 abuts against the first abutting member 1152 on the positioning base plate 115, thus coarse positioning can be performed on the robot body 110, then the second telescopic member 112 is controlled to enable the supporting member 113 to move towards a direction close to the robot body 110, so that the distance between the positioning supporting plate 114 and the positioning base plate 115 is kept at a certain distance, for example, 2-3mm, then the first telescopic member 111 is controlled to enable the pin 121 to pass through the through hole 1141 and be inserted into the positioning hole 1151, thus accurate positioning of the medical robot can be achieved, the movement of the medical robot on the surface on which the positioning base plate 115 is located is limited, then the first telescopic member 111 is controlled to enable the positioning base plate 114 and the positioning base plate 115 to be firmly positioned, thus ensuring that the positioning base plate 114 and the positioning base plate 115 can be firmly positioned.
Specifically, in the present embodiment, the first telescopic member 111 and the second telescopic member 112 are each provided as an electric cylinder.
The electric cylinder is a modularized product which integrates the servo motor and the screw rod, converts the rotary motion of the servo motor into linear motion, and simultaneously converts the optimal advantages of the servo motor, namely, precise rotational speed control and precise torque control into precise speed control, precise position control and precise thrust control; realizing a brand new revolutionary product of high-precision linear motion series.
Of course, in other embodiments, the first telescopic member 111 and the second telescopic member 112 may be other devices that can be telescopic to control the distance, such as a cylinder or an oil cylinder.
Specifically, in the present embodiment, the first telescopic member 111 and the second telescopic member 112 each employ an electric cylinder.
Specifically, in this embodiment, the control device is one of a PC, a PLC, or a single chip microcomputer.
PC, PLC and singlechip are all the device of control jar that is commonly used in the art, and its specific structure and mode of use are prior art, and are not repeated here.
Alternatively, in the present embodiment, the first abutment 1152 is configured as a groove, the first abutment 1152 extends in a direction perpendicular to the plane of the positioning floor 115, the second abutment 1142 is configured as a protrusion, and the first abutment 1152 is configured to limit three degrees of freedom of movement of the second abutment 1142 in the plane of the positioning floor 115.
When the convex second abutment 1142 is inserted into the groove-shaped first abutment 1152, the first abutment 1152 limits the movement of the second abutment 1142, preventing the movement of the second abutment 1142 in three degrees of freedom in the plane of the positioning plate 115, so that the second abutment 1142 can move only in one degree of freedom, while the relative arrangement between the second abutment 1142 and the first abutment 1152 remains fixed during the abutment of the second abutment 1142 with the first abutment 1152, thus allowing coarse positioning between the positioning support 113 and the positioning plate 115.
Alternatively, in the present embodiment, the ground contact end on the support 113 is provided as a roller.
By adopting the roller as the supporting end, the friction force applied to the ground during the movement between the supporting member 113 and the ground can be effectively reduced, and the manpower consumed by the medical staff for moving the robot body 110 can be reduced.
Optionally, in this embodiment, a manipulator is further provided on the robot body 110, and the manipulator is connected with a laser positioning device, and is configured to move the laser positioning device to a first preset position, and the laser positioning device is configured to irradiate laser on the first preset position to a second preset position on the working platform 200 so as to determine a coincidence ratio between the first preset position and the second preset position.
The laser positioning device on the manipulator moves the laser positioning device to a first preset position by using the manipulator when working, then the laser positioning device emits laser to irradiate towards the direction of the working platform 200, the working platform 200 is provided with a second preset position, the coincidence ratio of the first preset position and the second preset position can be determined by determining the coincidence ratio of a light spot of the laser on the working platform 200 and the second preset position, if the first preset position and the second preset position coincide, the position positioning of the manipulator is accurate, and if the first preset position and the second preset position do not coincide, the position positioning of the manipulator is inaccurate.
In this embodiment, the work platform 200 may be a medical work platform such as CT/PET-CT or MRI.
Optionally, in this embodiment, a gripper for gripping the medical device is further connected to the manipulator.
Different medical appliances can be clamped through the clamp holder, and different medical works can be realized.
Alternatively, in the present embodiment, a plurality of positioning holes 1151 are provided at intervals, a plurality of pins 121 are provided, and a plurality of pins 121 and a plurality of positioning holes 1151 are in one-to-one correspondence.
The plurality of positioning holes 1151 and the plurality of pins 121 cooperate with each other to provide more accurate positioning between the positioning support 113 and the positioning floor 115.
Alternatively, in the present embodiment, the pins 121 and the positioning holes 1151 are each provided in three, and the three pins 121 are respectively inserted into the three positioning holes 1151.
The three pins 121 ensure the accuracy of the mutual positioning between the positioning support plate 114 and the positioning base plate 115.
Optionally, in this embodiment, a guiding fixing plate 118 is connected between the pin 121 and the first telescopic member 111, a guiding sleeve 117 is disposed on the guiding fixing plate 118, a guiding shaft 116 is connected to the first telescopic member 111, the guiding shaft 116 is slidably connected to the guiding fixing plate 118, and the guiding shaft 116 is used for guiding the guiding fixing plate 118 to move along the telescopic direction of the first telescopic member 111.
The guide fixing plate 118 can perform displacement in a certain manner along the telescopic direction of the first telescopic member 111, so that when three pins 121 are inserted into the positioning holes 1151, the guide fixing plate 118 moves towards a direction close to the positioning bottom plate 115 under the action of gravity, so that the guide fixing plate 118 and the positioning bottom plate 115 can be close to each other, and if at least one pin 121 is not inserted into the positioning holes 1151, the guide fixing plate 118 can move towards a direction far away from the positioning bottom plate 115 for a certain distance, thereby preventing the pins 121 from being clamped or the pins 121 from being damaged due to stress concentration.
Optionally, in this embodiment, a limiting member 123 is disposed on the guiding positioning plate, the limiting member 123 is disposed at one end of the pin 121 near the first telescopic member 111, an elastic member 122 is disposed between the pin 121 and the limiting member 123, and the elastic member 122 is used for providing elastic force for the pin 121 far away from the limiting member 123.
The position of one end of the elastic member 122 connected with the limiting member 123 on the guiding locating plate can be relatively fixed, and one end of the elastic member 122 connected with the pin 121 can provide elastic force for the pin 121 to move towards the direction away from the limiting member 123, so that the pin 121 can be kept at the position away from the limiting member 123, when the pin 121 is inserted into the locating hole 1151, the pin 121 can be kept at the position away from the limiting member 123, when the pin 121 is not inserted into the locating hole 1151, the pin 121 can be abutted with the locating bottom plate 115, and when the pin 121 is near the locating hole 1151, the pin 121 can be inserted into the locating hole 1151 only by shaking the robot body 110 by using the elastic force of the elastic member 122, so that the guiding locating plate is very convenient to use.
Optionally, in this embodiment, a photoelectric sensor 120 is disposed on the guiding fixing plate 118, and the photoelectric sensor 120 is configured to detect a distance between the pin 121 and the limiting member 123.
Specifically, the photoelectric sensor 120 is fixed on the guiding locating plate, the photoelectric sensor 120 detects the pin 121 from the direction of the side face of the pin 121, and when the pin 121 is inserted into the locating hole 1151, the photoelectric sensor 120 cannot detect the existence of the pin 121, and when the photoelectric sensor 120 is abutted to the locating base plate 115, the elastic piece 122 contracts at this time, the pin 121 approaches to the direction of the limiting piece 123, and at this time, the photoelectric sensor 120 can detect the pin 121, so that the detection of the distance between the pin 121 and the limiting piece 123 can be realized.
When the pin 121 is detected, it is indicated that the pin 121 is closer to the stopper 123, and at this time, the robot body 110 needs to be rocked, and the pin 121 is inserted into the positioning hole 1151 by the elastic force of the elastic member 122, so that the positioning of the robot body 110 is achieved.
The working principle of the medical robot positioning device 100 provided in this embodiment is that, when working, the positioning base plate 115 is first fixed at a preset position around the working platform 200, the control device controls the second telescopic member 112 so that the supporting member 113 is far away from the robot body 110, and the control device controls the first telescopic member 111 so that the positioning supporting member 113 is close to the robot body 110, at this time, the grounding end on the supporting member 113 is far away from the positioning support plate 114, then the robot body 110 is pushed, so that the second abutting member 1142 on the positioning support plate 114 abuts against the first abutting member 1152 on the positioning base plate 115, thereby coarse positioning can be performed on the robot body 110, then the second telescopic member 112 is controlled so that the supporting member 113 moves towards a direction close to the robot body 110, so that a certain distance is kept between the positioning support plate 114 and the positioning base plate 115, for example, between 2 mm and 3mm, then the first telescopic member 111 is controlled so that the pin 121 passes through the through hole 1141 and is inserted into the positioning hole 1151, thereby realizing accurate positioning of the medical robot, limiting the movement of the medical robot on the surface where the positioning base plate 115 is located, then the first telescopic member 111 is controlled so that the positioning support plate 114 and the positioning base plate 115 are mutually attached, thereby keeping the positioning firmness between the positioning support plate 114 and the positioning base plate 115, then the laser positioning device is moved to a first preset position by the manipulator, and by determining the overlapping degree of a second preset position on the laser positioning device and the working platform 200, whether the relative position between the manipulator and the working platform 200 is accurate or not can be determined, thereby ensuring accurate operation.
Example two
The present embodiment provides a medical robot positioning method, which adopts the medical robot positioning apparatus 100 provided in the first embodiment, the method including:
s1, fixing the positioning bottom plate 115 at a third preset position 210;
s2, roughly positioning the positioning support plate 114 on the robot body 110 and the positioning bottom plate 115 at a third preset position 210;
s3, inserting the pin 121 into the positioning hole 1151 on the positioning base plate 115 through the positioning support plate 114;
s4, moving the manipulator on the medical robot to a first preset position;
s5, determining the position relation between the manipulator and a second preset position on the working platform 200 through the laser positioning device.
In this embodiment, the pin 121 is inserted into the positioning hole 1151 on the positioning base 115 through the positioning support plate 114 by controlling the first telescopic member 111.
Wherein, in the present embodiment, before inserting the pin 121 into the positioning hole 1151 on the positioning base 115 through the positioning support plate 114, controlling the second telescopic member 112 so that the distance between the positioning support plate 114 and the positioning base 115 is maintained between 2-3mm is further included.
Keeping the distance between the positioning support plate 114 and the positioning base plate 115 between 2-3mm allows the pin 121 to be inserted into the positioning hole 1151, and the relative position between the support plate and the positioning base plate 115 can also be fine-tuned to facilitate entry of the pin 121 into the positioning hole 1151.
In this embodiment, after the pin 121 is inserted into the positioning hole 1151 on the positioning base 115 through the positioning support plate 114, the second telescopic member 112 is controlled so that the positioning support plate 114 and the positioning base 115 are attached to each other.
After the pins 121 are inserted into the positioning holes 1151, the relative positions between the positioning support plate 114 and the positioning base plate 115 have been determined, and at this time, fine adjustment of the relative positions between the positioning support plate 114 and the positioning base plate 115 is not required, so that the positioning support plate 114 and the positioning base plate 115 are mutually attached, and the positioning fixability between the positioning support plate 114 and the positioning base plate 115 can be effectively improved.
In the present embodiment, the positioning support plate 114 on the robot body 110 and the positioning base plate 115 at the third preset position 210 are roughly positioned by abutting the first abutting piece 1152 and the second abutting piece 1142 against each other.
When the first abutting member 1152 and the second abutting member 1142 abut against each other, the position between the positioning support plate 114 and the positioning base 115 can be fixed relatively, and at this time, the position between the positioning support plate 114 and the positioning base 115 can be roughly positioned.
In this embodiment, the guide sleeve 117 is controlled to be inserted into the through hole 1141 by the first telescopic member 111, and the pin 121 is continuously inserted into the positioning hole 1151 by the first telescopic member 111.
The pin 121 is inserted into the positioning hole 1151 by the first telescopic member 111, and the position between the positioning support plate 114 and the positioning base plate 115 can be fixed by the pin 121.
The working principle of the medical robot positioning method provided in this embodiment is that, when in use, the positioning support plate 114 and the positioning bottom plate 115 on the robot body 110 are first coarsely positioned, after coarse positioning, the positioning support plate 114 and the positioning bottom plate 115 are precisely positioned by inserting the pins 121 into the positioning holes 1151, then the manipulator on the medical robot is moved to a first preset position, and then the positional relationship between the first preset position and the second preset position to which the manipulator is moved is determined by using the laser positioning device, so as to determine whether the manipulator is accurately moved to the first preset position, thereby the position positioning of the manipulator can be precise.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A medical robotic positioning device, comprising:
the positioning bottom plate is provided with a first propping piece and a positioning hole;
the robot comprises a robot body, wherein a positioning support plate is connected to the robot body, a second propping piece is arranged on the positioning support plate, the first propping piece is used for propping against the second propping piece to limit the movement of the second propping piece on at least three degrees of freedom on a plane where the positioning bottom plate is located, and a through hole which is arranged opposite to the positioning hole is formed in the positioning support plate;
the pin is at least partially positioned on one side, far away from the positioning bottom plate, of the positioning support plate, the pin is in clearance fit with the through hole, and the pin is in transition fit with the positioning hole;
the two ends of the first telescopic piece are respectively connected with the robot body and the pin, and the first telescopic piece is used for controlling the pin to pass through the through hole and to be inserted into or far away from the positioning hole;
the robot comprises a positioning support plate, a first telescopic piece, a second telescopic piece, a support piece and a robot body, wherein one end of the support piece is connected with the robot body, the other end of the support piece is a grounding end, and when the first telescopic piece is in a contracted state, the grounding end is positioned on one side, far away from the first telescopic piece, of the positioning support plate;
the two ends of the second telescopic piece are respectively connected with the robot body and the supporting piece, and the second telescopic piece is used for controlling the supporting piece to be close to or far away from the robot body;
the control device is electrically connected with the first telescopic piece and the second telescopic piece respectively and is used for controlling the first telescopic piece and the second telescopic piece to move.
2. The medical robot positioning device according to claim 1, wherein the first abutment member is provided in a groove shape, the first abutment member extends in a direction perpendicular to a plane in which the positioning base plate is located, the second abutment member is provided in a convex shape, and the first abutment member is configured to restrict movement of the second abutment member in three degrees of freedom in the plane in which the positioning base plate is located.
3. The medical robotic positioning device according to claim 1, wherein the ground engaging end on the support member is configured as a roller.
4. The medical robot positioning device according to claim 1, wherein a manipulator is further provided on the robot body, the manipulator is connected with a laser positioning device, the manipulator is configured to move the laser positioning device to a first preset position, and the laser positioning device is configured to irradiate laser on the first preset position to a second preset position on the working platform so as to determine the coincidence ratio between the first preset position and the second preset position.
5. The medical robot positioning apparatus of claim 4, wherein a gripper for gripping medical instruments is further attached to the manipulator.
6. The medical robot positioning device according to claim 1, wherein a plurality of positioning holes are provided, a plurality of positioning holes are provided at intervals, a plurality of pins are provided, and a plurality of pins are in one-to-one correspondence with a plurality of positioning holes.
7. The medical robot positioning device of claim 6, wherein the pins and the positioning holes are each provided in three, and the three pins are respectively inserted into the three positioning holes.
8. The medical robot positioning device according to claim 1, wherein a guide fixing plate is connected between the pin and the first telescopic member, a guide sleeve is arranged on the guide fixing plate, a guide shaft is connected to the first telescopic member, the guide shaft is slidably connected with the guide fixing plate, and the guide shaft is used for guiding the guide fixing plate to move along the telescopic direction of the first telescopic member.
9. The medical robot positioning device according to claim 8, wherein a limiting member is disposed on the guide fixing plate, the limiting member is disposed at one end of the pin, which is close to the first telescopic member, an elastic member is disposed between the pin and the limiting member, and the elastic member is used for providing elastic force for the pin to be far away from the limiting member.
10. The medical robot positioning device of claim 9, wherein the guide fixing plate is provided with a photoelectric sensor for detecting a distance of the pin from the stopper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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