CN108852514A - A kind of fluid-type force feedback puncturing operation auxiliary device and robot puncturing system - Google Patents
A kind of fluid-type force feedback puncturing operation auxiliary device and robot puncturing system Download PDFInfo
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- CN108852514A CN108852514A CN201810971750.1A CN201810971750A CN108852514A CN 108852514 A CN108852514 A CN 108852514A CN 201810971750 A CN201810971750 A CN 201810971750A CN 108852514 A CN108852514 A CN 108852514A
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- bar cylinder
- fluid
- puncture needle
- force
- puncturing
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
-
- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention discloses a kind of fluid-type force feedback puncturing operation auxiliary devices, including puncture needle device and force-feedback control device；Puncturing needle device includes puncture needle, magnetic slider and without bar cylinder, and puncture needle is mounted in magnetic slider, and magnetic slider with magnetic piston magnetic absorption by being connected on no bar cylinder；Force-feedback control device includes handle, piston rod and has bar cylinder, and one end of piston rod is connected to having on bar piston in bar cylinder, and piston rod is extended with the open at one end of bar cylinder and is connected on handle；No bar cylinder is equipped with the first fluid outlet being connected to respectively with inner cavity of cylinder and first fluid entrance, and the puncture force of the puncture needle passes through on the flow feedback to the handle having in bar cylinder and the no bar cylinder.The present invention can effectively realize force feedback of puncture needle during inserting needle, and the size of puncture needle power during inserting needle is grasped convenient for operative doctor, to be conducive to provide the surgical environments of virtual reality, and reduces the risk of puncturing operation.
Description
Technical field
The present invention relates to field of automation technology, more particularly, to a kind of fluid-type force feedback puncturing operation auxiliary device and
Robot puncturing system.
Background technique
Currently, puncturing operation belongs to a kind of Minimally Invasive Surgery, such as percutaneous renal puncture operation, the centesis of nerve surgery, warp
Osteoderm section centesis etc., for establishing the artificial channel for entering body cavity.In puncturing operation, mainly by puncture needle in patient's skin
The incision of skin penetrates body wall and enters body cavity, it usually needs doctor holds puncture needle and applies biggish puncture procedure power, is used for
The resistance for puncturing and cutting open tissue, and the resistance of expansion and the tissue that swells are overcome, since the artificial puncture of doctor is needed by X
Ray machine carries out, and doctor can be exposed under the irradiation of X-ray line, and puncture process influences whether the body of operative doctor to a certain extent
Health.
For the health for guaranteeing medical staff, puncturing operation robot replaces the manual operation of doctor, and doctor can be remote
From X-ray machine, under the protection of lead shield, surgery situation is on the one hand observed by display screen, machine is on the other hand controlled by station
Device people manipulates puncture needle and executes puncturing operation movement.
Although being worn however, this puncturing operation robot can replace doctor that puncturing operation is manually operated
When needle-holding hand art, doctor can not but perceive the size variation of puncture needle its dynamics during penetrating body wall and entering body cavity, only
The image on eye-observation display screen is only relied upon, causes doctor that can only control the journey into body cavity of puncture needle by station
Degree, and can not grasp the size of puncture needle power during inserting needle, grasp operative status that cannot be comprehensive.This does not only result in this
The operation difficulty of kind puncturing operation is larger, and still has certain surgical risk.
Summary of the invention
The embodiment of the invention provides a kind of fluid-type force feedback puncturing operation auxiliary device and robot puncturing system, with
Existing puncturing operation robot is solved to ask without normal direction operative doctor feedback puncture needle technology of the size of power during inserting needle
Topic grasps puncture needle in inserting needle process convenient for operative doctor to effectively realize force feedback of puncture needle during inserting needle
The size of middle power, and then the surgical environments of virtual reality are conducive to provide, reduce the risk of puncturing operation.
In order to solve the above-mentioned technical problem, one aspect of the present invention provides a kind of fluid-type force feedback puncturing operation auxiliary dress
It sets, including punctures needle device and force-feedback control device；
The puncture needle device includes puncture needle, magnetic slider and without bar cylinder, and the puncture needle is mounted on described magnetic sliding
On block, magnetic piston is equipped in the cylinder barrel of the no bar cylinder, the magnetic slider with the magnetic piston magnetic absorption by connecting
It connects on the no bar cylinder, and the puncture needle can be driven along the axial back and forth movement of the no bar cylinder；
The force-feedback control device includes handle, piston rod and has bar cylinder, and one end of the piston rod is connected to described
There is having on bar piston in bar cylinder, has the open at one end of bar cylinder described in the other end stretching of the piston rod and be connected to the hand
On handle；
The no bar cylinder is equipped with the first fluid outlet being connected to respectively with the inner cavity of cylinder and first fluid entrance, institute
Bar cylinder is stated to be equipped with respectively with the second fluid outlet for having bar cylinder inner cavity to be connected to and second fluid entrance, it is described first-class
Body outlet be connected to by fluid circuit with the second fluid entrance, and the first fluid entrance passes through fluid circuit and described the
Two fluid outlets, the puncture force of the puncture needle is by the flow feedback having in bar cylinder and the no bar cylinder described in
On handle.
Preferably, the force-feedback control device further includes mounting rack, described to have bar cylinder to be mounted on the installation
On frame.
Preferably, described to there is bar cylinder to be connected by a hinge on the top of the mounting rack, and the mounting rack
Top be equipped with for there is the locking mechanism between bar cylinder and the mounting rack described in fixed.
Preferably, the centerline axis parallel of the central axis of the puncture needle and the no bar cylinder, and described wear
The tip of pricker is consistent with the direction of motion of the magnetic slider.
Preferably, the puncture needle device further includes needle holder, and the needle holder is fixed on the magnetic slider
On, the puncture needle is removably mounted on the needle holder.
Preferably, one end of the no bar cylinder is equipped with guide groove, and the puncture needle is movably threaded through institute
It states in guide groove.
In order to solve the above-mentioned technical problem, another aspect of the present invention provides a kind of robot puncturing system, including machinery
Hand, station, camera, processor, display device and such as above-mentioned fluid-type force feedback puncturing operation auxiliary device；
The other end of the no bar cylinder is mounted on the mechanical arm of the manipulator by connecting flange, the force feedback control
Device processed, the display device are set on the station, and the camera is mounted on the connecting flange, and described are worn
The motion range of pricker is located in the shooting area of the camera；
The processor is electrically connected with the camera and the display device respectively.
Preferably, the robot puncturing system further includes the puncture force signal for detecting the puncture needle
Force snesor, the force snesor are electrically connected with the processor.
Preferably, the robot puncturing system further includes position sensor, and the position sensor is mounted on
In the magnetic slider, and the position sensor is electrically connected with the processor.
Preferably, the display device includes industrial personal computer.
Compared with the prior art, the embodiment of the present invention has the advantages that：
By the power transfer principle for having bar cylinder, the no bar cylinder and internal flow, the no bar cylinder and described have
Bar cylinder is communicated as one by fluid circuit, when the Fluid pressure having in bar cylinder changes, the no bar cylinder and institute
The synchronous variation of hydraulic/pneumatic of bar cylinder is stated, so that having in bar cylinder described in the power transmitting promotion by Fluid pressure has bar living
Capable movement is filled in, to drive the magnetic slider and the puncture needle being connected in the magnetic slider along the axial direction of the no bar cylinder
Back and forth movement, and then the machine manipulation of puncturing operation is realized, operative doctor can be effectively prevented from and be chronically exposed to X-ray machine
Under irradiation, the health and safety of doctor is ensured.
Wherein, when the fluid-type force feedback puncturing operation auxiliary device is applied to puncturing operation, by the puncture needle
Device and the force-feedback control device, which are seated on the positions such as mechanical arm, telescopic fixing rod, to be fixed, and makes the puncture
The operative site of the tip alignment patient of needle, doctor is by having bar piston so that the stream for having bar cylinder described in handle promotion
Body pressure changes, and the movement of the puncture needle on the no bar cylinder is driven using the power transmitting of fluid.
When the puncture needle is penetrating body wall and enters body cavity, tissue is punctured and cut open since puncture needle needs overcome
Resistance, and expansion and the tissue that swells resistance, the puncture needle will receive a reversed puncture force, and puncture force can lead to
The fluid crossed in the no bar cylinder is transmitted on the fluid having in bar cylinder, thus the handle that feedback is held to doctor
On, in this way, doctor can effectively experience the size of puncture force by the handle, puncture needle is had effectively achieved in inserting needle
Force feedback in the process, the size of puncture needle power during inserting needle is grasped convenient for operative doctor, and then is conducive to provide virtual
True surgical environments reduce the risk of puncturing operation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the fluid-type force feedback puncturing operation auxiliary device of the embodiment of the present invention one；
Fig. 2 is the structural schematic diagram of the force-feedback control device of the embodiment of the present invention one；
Fig. 3 is the structural schematic diagram of the puncture needle device of the embodiment of the present invention one；
Fig. 4 is the structural schematic diagram of the robot puncturing system of the embodiment of the present invention two；
Fig. 5 is the structural schematic diagram of the robot puncturing system of the embodiment of the present invention three；
Wherein, the appended drawing reference in Figure of description is as follows：
1, force-feedback control device；11, handle；12, piston rod；13, there is bar cylinder；14, second fluid exports；15, second
Fluid inlet；16, there is bar piston；17, mounting rack；
2, needle device is punctured；21, puncture needle；22, magnetic slider；23, without bar cylinder；24, first fluid exports；25, first
Fluid inlet；26, needle holder；27, guide groove；
3, manipulator；31, connecting flange；
4, station；41, processor；42, camera；43, display device；
5, force snesor；51, position sensor.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Figure 1, the preferred embodiment of the present invention provides a kind of fluid-type force feedback puncturing operation auxiliary device, including
Puncture needle device 2 and force-feedback control device 1；
For the puncture needle device 2 including puncture needle 21, magnetic slider 22 and without bar cylinder 23, the puncture needle 21 is mounted on institute
State in magnetic slider 22, in the cylinder barrel of the no bar cylinder 23 be equipped with magnetic piston, the magnetic slider 22 by with the magnetism
Piston magnetic absorption is connected on the no bar cylinder 23, and the puncture needle 21 can be driven along the axial round-trip of the no bar cylinder 23
Movement；
The force-feedback control device 1 includes handle 11, piston rod 12 and has bar cylinder 13, and one end of the piston rod 12 connects
Connecing has having on bar piston 16 in bar cylinder described, has the open at one end of bar cylinder 13 described in the other end stretching of the piston rod 12
And it is connected on the handle 11；
The no bar cylinder is equipped with the first fluid outlet 24 being connected to respectively with the inner cavity of cylinder and first fluid entrance
25, described have bar cylinder to be equipped with the second fluid for having bar cylinder inner cavity be connected to described respectively to export 14 and second fluid entrance 15,
The first fluid outlet 24 is connected to by fluid circuit with the second fluid entrance 15, and the first fluid entrance 25 passes through
Fluid circuit is connected to second fluid outlet 14, and the puncture force of the puncture needle 21 has bar cylinder and the no bar by described
On flow feedback to the handle 11 in cylinder 23.
In embodiments of the present invention, it is transmitted by the power for having bar cylinder 13, the no bar cylinder 23 and internal flow former
Reason, the no bar cylinder 23 and it is described there is bar cylinder 13 to be communicated as one by fluid circuit, when the fluid pressure having in bar cylinder 13
When power changes, the no bar cylinder 23 is synchronous with the hydraulic/pneumatic for having bar cylinder 13 to be changed, to pass through Fluid pressure
Having in bar cylinder 13 described in power transmitting promotion has bar piston 16 to be moved, to drive the magnetic slider 22 and be connected to described
Puncture needle 21 in magnetic slider 22 and then realizes the machine behaviour of puncturing operation along the axial back and forth movement of the no bar cylinder 23
Control, can be effectively prevented from operative doctor and be chronically exposed under the irradiation of X-ray machine, ensure the health and safety of doctor.
Wherein, when the fluid-type force feedback puncturing operation auxiliary device is applied to puncturing operation, by the puncture needle
Device 2 and the force-feedback control device 1, which are seated on the positions such as mechanical arm, telescopic fixing rod, to be fixed, and makes described wear
The operative site of the tip alignment patient of pricker 21, doctor is pushed by the handle 11 described has bar piston 16 so that described have
The Fluid pressure of bar cylinder 13 changes, and the fortune of the puncture needle 21 on the no bar cylinder 23 is driven using the power transmitting of fluid
It is dynamic.
When the puncture needle 21 is penetrating body wall and enters body cavity, punctures and cut open since the puncture needle 21 needs overcome
The resistance of tissue, and the resistance of expansion and the tissue that swells, the puncture needle 21 will receive a reversed puncture force, and puncture
Power can be transmitted on the fluid having in bar cylinder by the fluid in the no bar cylinder 23, thus the institute that feedback is held to doctor
It states on handle 11, in this way, doctor can effectively experience the size of puncture force by the handle 11, has effectively achieved and wear
Force feedback of the pricker 21 during inserting needle grasps the size of power during inserting needle of puncture needle 21 convenient for operative doctor, in turn
The surgical environments of virtual reality are conducive to provide, the risk of puncturing operation is reduced.
Referring to Figure 1, in embodiments of the present invention, in order to make structure rationalization, the central axis of the puncture needle 21 with
The centerline axis parallel of the no bar cylinder 23, and the direction of motion one at the tip of the puncture needle 21 and the magnetic slider 22
Cause, consequently facilitating doctor by the handle 11 push it is described have bar piston 16 when, manipulate that the puncture needle 21 is past and doctor
The consistent direction of thrust moved, be conducive to the motion state that doctor preferably holds the puncture needle 21, and then advantageous
In raising procedure efficiency and reduce surgical risk.
It should be understood that gas or liquid can be used as the fluid having in bar cylinder and the no bar cylinder 23, liquid can
To be the medicinal waters such as distilled water.Using gas or liquid realize fluid-type force feedback puncturing operation auxiliary device force feedback function
Scheme be within the scope of the invention.
Referring to Figure 1 and Fig. 2, in embodiments of the present invention, the force-feedback control device 1 further includes mounting rack 17, institute
Bar cylinder has been stated to be mounted on the mounting rack 17.In the present embodiment, it is described have bar cylinder can by it is described installation to be fixed on behaviour
Make on platform 4, with the fixation force-feedback control device 1, improves the reliability of the handle 11.
Preferably, described to there is bar cylinder to be connected by a hinge on the top of the mounting rack 17, and the mounting rack 17
Top is equipped with for there is the locking mechanism between bar cylinder and the mounting rack described in fixation.
It should be understood that influence since body posture, seat height are low etc., doctor is in need to be found and is most suitable for oneself and carries out hand
The font that handle 11 operates, and it is described there is bar cylinder to be connected by a hinge on the top of the mounting rack 17, therefore, doctor is adjustable
The angle having between bar cylinder and desktop or horizontal plane, to find the angle for being most suitable for itself, thus be conducive to avoid because
The phenomenon that 11 position of handle leads to doctor's misoperation, so be conducive to improve the force-feedback control device 1 reliability and
Flexibility reaches so that doctor adjusts the angle between 11 device of force-feedback control handle and horizontal line according to self-demand
To optimal operation experience effect.
Referring to Figure 1 and Fig. 3, in embodiments of the present invention, the puncture needle device 2 further includes needle holder 26, described to hold
Needle device 26 is fixed in the magnetic slider 22, and the puncture needle 21 is removably mounted on the needle holder 26.
In the present embodiment, the needle holder 26 is used to fix the puncture needle 21, and after completing an operation, can
The puncture needle 21 is disassembled from the needle holder 26, and changes the puncture needle 21 of disinfection, is produced to be conducive to improve
The practicability and convenience of product are also beneficial to improve the service life of product.
Referring to Figure 1 and Fig. 3, in embodiments of the present invention, one end of the no bar cylinder 23 is equipped with guide groove 27, described
Puncture needle 21 is movably threaded through in the guide groove 27.
In the present embodiment, the guide groove 27 has guiding role, is conducive to that the puncture needle 21 is avoided to puncture hand
It bends in art and danger is caused to patient, to effectively improve the reliability for puncturing needle device 2.
Fig. 4 and Fig. 5 are referred to, the present invention provides a kind of robot puncturing system, including manipulator 3, station 4, is taken the photograph
As first 42, processor 41, display device 43 and such as above-mentioned fluid-type force feedback puncturing operation auxiliary device；
The other end of the no bar cylinder 23 is mounted on the mechanical arm of the manipulator 3 by connecting flange 31, the power
Feed back control system 1, the display device 43 are set on the station 4, and the camera 42 is mounted on the connection method
On orchid 31, and the motion range of the puncture needle 21 is located in the shooting area of the camera 42；
The processor 41 is electrically connected with the camera 42 and the display device 43 respectively.
In the present embodiment, the manipulator 3 is used to that the puncture needle device 2 to be moved to setting according to preset program
Position on, in order to the puncture needle 21 carry out puncturing operation.
The station 4 is the workbench that doctor performs the operation, and may be provided at out operating-room, 2 He of puncture needle device
The manipulator 3 is then set in operating room, passes through the stream between the puncture needle device 2 and the force-feedback control device 1
Body pipeline is attached, and doctor operates the manipulator 3 and the force-feedback control device 1 on the station 4 of out operating-room,
Can be effectively prevented from operation Chinese medicine growth period be exposed to the irradiation of X-ray machine, to ensure the health and safety of doctor.
The camera 42 is used to shoot the image of puncturing operation, and is in real time transferred to image by the processor 41
In the display device 43, in order to which doctor is operated by the image in the display device 43.
The display device 43 includes but is not limited to industrial personal computer, and the industrial personal computer is for showing image, sensor signal etc.
Information.
Referring to Figure 1 and Fig. 3, in embodiments of the present invention, the robot puncturing system further includes described for detecting
The force snesor 5 of the puncture force signal of puncture needle 21, the force snesor 5 are electrically connected with the processor 41.
The robot puncturing system further includes position sensor 51, and the position sensor 51 is mounted on described magnetic sliding
On block 22, and the position sensor 51 is electrically connected with the processor 41.
In the present embodiment, the force signal and displacement measured by the force snesor 5 and the position sensor 51 are believed
Number, and signal enhanced processing is carried out by the processor 41, thus shown on the screen of the industrial personal computer, in order to
Doctor observes surgical data, and then grasps Advances of operative technique situation comprehensively.
Fig. 4 and Fig. 5 are referred to, in embodiments of the present invention, the working principle of the robot puncturing system is as follows：
When puncturing operation carries out, on your marks by doctor and patient, and doctor passes through the controller control on the station 4
The manipulator 3 is by puncture needle device 2 movement and close to the operative site of patient；
Then the manipulator 3 is powered off, causes the manipulator 3 to break down and cause hand to avoid alternating current is unstable
Art accident；
Real-time acquired image information is transmitted to the display device 43 by the camera 42, and doctor passes through observation institute
The image stated in display device 43 carries out puncturing operation operation；
Doctor, which holds described in the handle 11 and promotion, has bar piston 16 so that the Fluid pressure for having bar cylinder 13
Variation, fluid are entered in the no bar cylinder 23 by the fluid circuit, drive the no bar cylinder using the power transmitting of fluid
The movement of the puncture needle 21 on 23；
When the puncture needle 21 is penetrating body wall and enters body cavity, punctures and cut open since the puncture needle 21 needs overcome
The resistance of tissue, and the resistance of expansion and the tissue that swells, the puncture needle 21 will receive a reversed puncture force, and puncture
Power can be transmitted on the fluid having in bar cylinder by the fluid in the no bar cylinder 23, thus the institute that feedback is held to doctor
It states on handle 11；
In this way, doctor can effectively experience the size of puncture force by the handle 11, puncture is had effectively achieved
The size of power during inserting needle of puncture needle 21, Jin Eryou are grasped in force feedback of the needle 21 during inserting needle convenient for operative doctor
Conducive to the surgical environments of virtual reality are provided, the risk of puncturing operation is reduced.
To sum up, the present invention provides a kind of fluid-type force feedback puncturing operation auxiliary devices, including puncture needle device 2 and power
Feed back control system 1；The puncture needle device 2 including puncture needle 21, magnetic slider 22 and without bar cylinder 23, pacify by the puncture needle 21
In the magnetic slider 22, in the cylinder barrel of the no bar cylinder 23 be equipped with magnetic piston, the magnetic slider 22 by with institute
It states magnetic piston magnetic absorption to be connected on the no bar cylinder 23, and the puncture needle 21 can be driven along the axis of the no bar cylinder 23
To back and forth movement；The force-feedback control device 1 is including handle 11, piston rod 12 and has bar cylinder 13, and the one of the piston rod 12
There is having on bar piston 16 in bar cylinder at end described in being connected to, and has one end of bar cylinder 13 described in the other end stretching of the piston rod 12
It is open and is connected on the handle 11；The no bar cylinder is equipped with the first fluid outlet being connected to respectively with the inner cavity of cylinder
24 and first fluid entrance 25, it is described have bar cylinder be equipped with exported respectively with the second fluid for thering is bar cylinder inner cavity be connected to 14 and
Second fluid entrance 15, first fluid outlet 24 are connected to by fluid circuit with the second fluid entrance 15, and described the
One fluid inlet 25 is connected to by fluid circuit with second fluid outlet 14, and the puncture force of the puncture needle 21 passes through described
Have on the flow feedback to the handle 11 in bar cylinder and the no bar cylinder 23.
Compared with the prior art, the present invention has the advantages that：
(1) pass through the power transfer principle for having bar cylinder 13, the no bar cylinder 23 and internal flow, the no bar cylinder 23
There is bar cylinder 13 to be communicated as one by fluid circuit with described, when the Fluid pressure having in bar cylinder 13 changes, institute
The variation synchronous with the hydraulic/pneumatic for having bar cylinder 13 of no bar cylinder 23 is stated, thus described in the power transmitting promotion by Fluid pressure
Having in bar cylinder 13 has bar piston 16 to be moved, to drive the magnetic slider 22 and be connected in the magnetic slider 22
Puncture needle 21 along the no bar cylinder 23 axial back and forth movement, and then realize puncturing operation machine manipulation, can be effectively
It avoids operative doctor from being chronically exposed under the irradiation of X-ray machine, ensures the health and safety of doctor.
(2) when the fluid-type force feedback puncturing operation auxiliary device is applied to puncturing operation, the puncture needle is filled
Set 2 and the force-feedback control device 1 be seated on the positions such as mechanical arm, telescopic fixing rod and fixed, and make the puncture
The operative site of the tip alignment patient of needle 21, doctor is pushed by the handle 11 described has bar piston 16 so that described have bar
The Fluid pressure of cylinder 13 changes, and the movement of the puncture needle 21 on the no bar cylinder 23 is driven using the power transmitting of fluid.
(3) when the puncture needle 21 is penetrating body wall and enters body cavity, due to the puncture needle 21 needs overcome puncture and
The resistance of tissue is cut open, and the resistance of expansion and the tissue that swells, the puncture needle 21 will receive a reversed puncture force, and
Puncture force can be transmitted on the fluid having in bar cylinder by the fluid in the no bar cylinder 23, so that feedback is hand-held to doctor
The handle 11 on, in this way, doctor can effectively experience the size of puncture force by the handle 11, effectively realize
The size of puncture needle 21 power during inserting needle is grasped in force feedback of the puncture needle 21 during inserting needle convenient for operative doctor,
And then the surgical environments of virtual reality are conducive to provide, reduce the risk of puncturing operation.
(4) present invention is realized and is punctured by two fluid cylinder connection structures by using fluid (such as air and water) medium
Force feedback in surgical procedure.
(5) the puncture needle device 2 is used as thrust cylinder using the no bar cylinder 23, and the puncture needle 21 is pushed to be transported
It is dynamic, be conducive to avoid to generate pollution there is a phenomenon where fluid leaks.
(6) the puncture needle device 2 is led using the fixed puncture needle 21 of the needle holder 26, the help of guide groove 27
To, so as to avoid the bending of puncture needle 21 described in puncture process, thus effectively improve it is described puncture needle device 2 can
By property.
(7) force snesor 5, the position sensor 51 and the camera are mounted on the puncture needle device 2
42, signal can be acquired and shown in the display device 43, in order to doctor by the image in the display device 43 into
Row surgical procedure.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of fluid-type force feedback puncturing operation auxiliary device, which is characterized in that including puncturing needle device and force-feedback control
Device；
The puncture needle device includes puncture needle, magnetic slider and without bar cylinder, and the puncture needle is mounted in the magnetic slider,
Magnetic piston is equipped in the cylinder barrel of the no bar cylinder, the magnetic slider is by being connected to institute with the magnetic piston magnetic absorption
It states on no bar cylinder, and the puncture needle can be driven along the axial back and forth movement of the no bar cylinder；
The force-feedback control device includes handle, piston rod and has a bar cylinder, and one end of the piston rod, which is connected to, described has bar
Having on bar piston in cylinder, the other end of the piston rod stretch out described in have the open at one end of bar cylinder and be connected to the handle
On；
The no bar cylinder is equipped with the first fluid outlet being connected to respectively with the inner cavity of cylinder and first fluid entrance, described to have
Bar cylinder is equipped with to be gone out with the second fluid outlet for having bar cylinder inner cavity to be connected to and second fluid entrance, the first fluid respectively
Mouth is connected to by fluid circuit with the second fluid entrance, and the first fluid entrance passes through fluid circuit and the second
The puncture force of body outlet, the puncture needle passes through the flow feedback having in bar cylinder and the no bar cylinder to the handle
On.
2. fluid-type force feedback puncturing operation auxiliary device as described in claim 1, which is characterized in that the force-feedback control
Device further includes mounting rack, described to have bar cylinder to be mounted on the mounting rack.
3. fluid-type force feedback puncturing operation auxiliary device as claimed in claim 2, which is characterized in that described to there is bar cylinder to pass through
Be hingedly connected on the top of the mounting rack, and the top of the mounting rack be equipped with for have described in fixed bar cylinder with it is described
Locking mechanism between mounting rack.
4. fluid-type force feedback puncturing operation auxiliary device as described in claim 1, which is characterized in that in the puncture needle
The centerline axis parallel of mandrel line and the no bar cylinder, and the direction of motion one at the tip of the puncture needle and the magnetic slider
It causes.
5. fluid-type force feedback puncturing operation auxiliary device as described in claim 1, which is characterized in that the puncture needle device
It further include needle holder, the needle holder is fixed in the magnetic slider, and the puncture needle, which is removably mounted on, described holds needle
On device.
6. fluid-type force feedback puncturing operation auxiliary device as claimed in claim 1 or 5, which is characterized in that the no bar cylinder
One end be equipped with guide groove, the puncture needle is movably threaded through in the guide groove.
7. a kind of robot puncturing system, which is characterized in that including manipulator, station, camera, processor, display device
And fluid-type force feedback puncturing operation auxiliary device as described in any one of claims 1 to 6；
The other end of the no bar cylinder is mounted on the mechanical arm of the manipulator by connecting flange, the force-feedback control dress
Set, the display device is set on the station, the camera is mounted on the connecting flange, and the puncture needle
Motion range be located in the shooting area of the camera；
The processor is electrically connected with the camera and the display device respectively.
8. robot puncturing system as claimed in claim 7, which is characterized in that the robot puncturing system further includes being used for
The force snesor of the puncture force signal of the puncture needle is detected, the force snesor is electrically connected with the processor.
9. robot puncturing system as claimed in claim 7, which is characterized in that the robot puncturing system further includes position
Sensor, the position sensor are mounted in the magnetic slider, and the position sensor is electrically connected with the processor.
10. robot puncturing system as claimed in claim 7, which is characterized in that the display device includes industrial personal computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810971750.1A CN108852514B (en) | 2018-08-23 | 2018-08-23 | Fluid type force feedback puncture operation auxiliary device and robot puncture system |
Applications Claiming Priority (1)
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| CN111281549A (en) * | 2020-03-27 | 2020-06-16 | 杨红伟 | Jaw stripper of cosmetic plastic surgery robot |
| CN113171177A (en) * | 2021-04-07 | 2021-07-27 | 上海交通大学 | Human-computer interaction control method and system capable of capturing breakthrough sensation of lumbar puncture tissue layer |
| CN113884421A (en) * | 2020-07-03 | 2022-01-04 | 中国石油化工股份有限公司 | Device and method for observing light hydrocarbon dissipated from rock core |
| WO2022161499A1 (en) * | 2021-02-01 | 2022-08-04 | 武汉联影智融医疗科技有限公司 | Master manipulator manipulation device for robot |
| WO2022188543A1 (en) * | 2021-03-09 | 2022-09-15 | 孙殿珉 | Tactile medium for precise control and clamping device for narrow cavity using tactile medium |
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