CN109009444A - A kind of electromagnetic type force feedback puncturing operation auxiliary device and robot puncturing system - Google Patents
A kind of electromagnetic type force feedback puncturing operation auxiliary device and robot puncturing system Download PDFInfo
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- CN109009444A CN109009444A CN201810971749.9A CN201810971749A CN109009444A CN 109009444 A CN109009444 A CN 109009444A CN 201810971749 A CN201810971749 A CN 201810971749A CN 109009444 A CN109009444 A CN 109009444A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
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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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- 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
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Abstract
The invention discloses a kind of electromagnetic type force feedback puncturing operation auxiliary devices, including processor, puncture needle device and force-feedback control device；Puncturing needle device includes puncture needle and electric cylinder, the needle body of puncture needle is connected on the sliding block of electric cylinder, and sliding block is equipped with the force snesor for detecting puncture needle resistance signal when puncturing inserting needle, the driving end of electric cylinder, the output end of force snesor are electrically connected with processor respectively；Force-feedback control device includes handle and electromagnetic brake, handle is connected to the braking axis connection of electromagnetic brake, and handle is equipped with the angular displacement sensor for detecting handle rotational displacement signal, electromagnetic brake, angular displacement sensor output end are electrically connected with processor respectively.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 electromagnetic 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 electromagnetic 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 electromagnetic type force feedback puncturing operation auxiliary dress
It sets, including processor, puncture needle device and force-feedback control device；
The puncture needle device includes puncture needle and electric cylinder, and the needle body of the puncture needle is connected to the cunning of the electric cylinder
On block, and the sliding block is equipped with the force snesor for detecting puncture needle resistance signal when puncturing inserting needle, the electricity
The driving end of dynamic cylinder, the output end of the force snesor are electrically connected with the processor respectively；
The force-feedback control device includes handle and electromagnetic brake, and one end of the handle is connected to the electromagnetic system
The braking axis connection of dynamic device, and one end of the handle is equipped with the angular displacement for detecting the handle rotational displacement signal
Sensor, the driving end of the electromagnetic brake, the angular displacement sensor output end are electrically connected with the processor respectively.
Preferably, the electric cylinder includes motor, cylinder body, screw rod, interior magnetic slider and sliding block；
The screw rod is set in the cavity of the cylinder body, and one end of the screw rod is rotatably connected to the cylinder body
On the side wall of one end, the other end side wall that the other end of the screw rod passes through the cylinder body is connected in the shaft of the motor；
The interior magnetic slider is movably attached on the screw rod, and the material of the sliding block is magnetic material, described
Sliding block and the interior magnetic slider magnetic absorption are simultaneously connected on the cylinder body, and the puncture needle can be driven along the cylinder body
Axial back and forth movement.
Preferably, the angular displacement sensor includes encoder.
Preferably, the force-feedback control device further includes mounting rack, and the electromagnetic brake is mounted on described
On mounting rack.
Preferably, the centerline axis parallel of the central axis of the puncture needle and the cylinder body, and the puncture
The tip of needle 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 slide block, institute
Puncture needle is stated to be removably mounted on the needle holder.
Preferably, one end of the electric 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, display device and such as above-mentioned electromagnetic type force feedback puncturing operation auxiliary device；
The other end of the electric 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 position sensor, and the position sensor is mounted on
On the sliding block, 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 following beneficial effects:
The puncture inserting needle movement for puncturing needle device is manipulated by the force-feedback control device, doctor shakes the hand
Handle is so that the angular displacement sensor detects the angular displacement signal of the handle and is transmitted to the processor, by the processing
Device carries out signal processing and sends corresponding instruction to the electric cylinder according to treated data, to drive on the electric cylinder
Slide block movement, thus drive the puncture needle toward patients surgery position move, and then realize puncturing operation machine manipulation,
Operative doctor can be effectively prevented to be chronically exposed under the irradiation of X-ray machine, ensure the health and safety of doctor.
Wherein, when the electromagnetic 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 are rotated by the handle to drive the puncture needle on the electric cylinder to carry out
Lancing motion.
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 the resistance of expansion and the tissue that swells, the puncture needle will receive a reversed puncture force, the size of puncture force
The processor is detected and fed back to by the force snesor, carried out signal processing by the processor and is counted according to treated
Corresponding instruction is sent according to the electromagnetic brake, to drive the brake axle of the electromagnetic brake to rotate, so that institute
Stating handle, rotationally opposite direction turns an angle toward doctor, and then resistance that can be certain to physician feedback by the handle
Power, convenient for doctor according to the size of resistance regulation puncture force.In this way, doctor can effectively experience puncture by the handle
The size of power has effectively achieved force feedback of puncture needle during inserting needle, grasps puncture needle in inserting needle convenient for operative doctor
The size of power in the process, and then the surgical environments of virtual reality are conducive to provide, reduce the risk of puncturing operation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the electromagnetic type force feedback puncturing operation auxiliary device of the embodiment of the present invention one；
Fig. 2 is the structural schematic diagram of the puncture needle device of the embodiment of the present invention one；
Fig. 3 is the structural schematic diagram of the force-feedback control 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, electromagnetic brake；13, encoder；14, mounting rack；
2, needle device is punctured；21, puncture needle；22, motor；23, sliding block；24, screw rod；25, interior magnetic slider；26, needle is held
Device；27, guide groove；28, cylinder body；
3, manipulator；31, connecting flange；
4, station；41, camera；42, display device；
5, force snesor；51, position sensor；
6, processor.
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 electromagnetic type force feedback puncturing operation auxiliary device, including
Processor 6 punctures needle device 2 and force-feedback control device 1；
The puncture needle device 2 includes puncture needle 21 and electric cylinder, and the needle body of the puncture needle 21 is connected to described electronic
On the sliding block 23 of cylinder, and the sliding block 23 is equipped with the power for detecting the puncture needle 21 resistance signal when puncturing inserting needle and passes
Sensor 5, the driving end of the electric cylinder, the output end of the force snesor 5 are electrically connected with the processor 6 respectively；
The force-feedback control device 1 includes handle 11 and electromagnetic brake 12, and one end of the handle 11 is connected to institute
The braking axis connection of electromagnetic brake 12 is stated, and one end of the handle 11 is equipped with for detecting the 11 angle of rotation position of handle
The angular displacement sensor of shifting signal, the driving end of the electromagnetic brake 12, the angular displacement sensor output end respectively with institute
State the electrical connection of processor 6.
In the present embodiment, the puncture inserting needle for puncturing needle device 2 is manipulated by the force-feedback control device 1 to transport
Dynamic, doctor shakes the handle 11 so that the angular displacement sensor detects the angular displacement signal of the handle 11 and is transmitted to
The processor 6 carries out signal processing from the processor 6 and data is corresponding to electric cylinder transmission according to treated
Instruction, to drive the sliding block 23 on the electric cylinder to move, so that the puncture needle 21 is driven to move toward patients surgery position, into
And the machine manipulation of puncturing operation is realized, can be effectively prevented from operative doctor is chronically exposed under the irradiation of X-ray machine, ensures
The health and safety of doctor.
Wherein, when the electromagnetic 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 are rotated by the handle 11 to drive the puncture on the electric cylinder
Needle 21 carries out lancing motion.
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, puncture force
Size detect and feed back to the processor 6 by the force snesor 5, signal processing and basis are carried out by the processor 6
Data that treated send corresponding instruction to the electromagnetic brake 12, to drive the brake axle of the electromagnetic brake 12 to turn
Dynamic, so that the handle 11 is toward doctor, rotationally opposite direction turns an angle, and then can be to by the handle 11
The certain resistance of physician feedback, convenient for doctor according to the size of resistance regulation puncture force.In this way, doctor passes through 11 energy of handle
Enough sizes for effectively experiencing puncture force, have effectively achieved force feedback of the puncture needle 21 during inserting needle, convenient for operation
Doctor grasps the size of power during inserting needle of puncture needle 21, and then is conducive to provide the surgical environments of virtual reality, and reduction is worn
The risk of needle-holding hand art.
Fig. 2 is referred to, in embodiments of the present invention, the electric cylinder includes motor 22, cylinder body 28, screw rod 24, interior magnetism
Sliding block 25 and sliding block 23；
The screw rod 24 is set in the cavity of the cylinder body 28, and one end of the screw rod 24 be rotatably connected to it is described
On one end side wall of cylinder body 28, the other end side wall that the other end of the screw rod 24 passes through the cylinder body 28 is connected to the motor
In 22 shaft；
The interior magnetic slider 25 is movably attached on the screw rod 24, and the material of the sliding block 23 is magnetic material
Matter, the sliding block 23 and interior 25 magnetic absorption of magnetic slider are simultaneously connected on the cylinder body 28, and can drive the puncture
Axial back and forth movement of the needle 21 along the cylinder body 28.
In the present embodiment, the electric cylinder drives the screw rod 24 when receiving the control signal of the processor 6
It is rotated in the cylinder body 28, so that axial progress one-way movement of the interior magnetic slider 25 along the screw rod 24, and by
It is magnetic material in the material of the sliding block 23, the sliding block 23 can closely magnetic absorption exists with the interior magnetic slider 25
Together, then the sliding block 23 and interior 25 cooperative motion of magnetic slider, to realize the puncture needle 21 in the electric cylinder
On lancing motion.
Wherein, the cylinder body 28 is sealing structure, is equipped with lubricating oil in the cylinder body 28, is being turned with reducing the screw rod 24
The resistance being subject to when dynamic, to be conducive to improve the performance of the electric cylinder and guarantee what the puncture needle 21 was driven by electric cylinder
Reliability.
In embodiments of the present invention, preferably, the angular displacement sensor includes but is not limited to encoder 13, described
Angular displacement signal or straight-line displacement can be converted to electric signal by encoder 13, thus the handle 11 that will test in real time
Rotational displacement signal be sent to the processor 6, the processor 6 according to preset program by rotational displacement signal into
Row amplification and signal processing drive the puncture needle 21 to be corresponded to according to the angular displacement signal to control the electric cylinder
Lancing motion.Certainly, the angular displacement sensor further includes photoelectric sensor, photoelectric encoder 13 etc., herein without superfluous
It states.
Fig. 3 is referred to, in embodiments of the present invention, stating force-feedback control device 1 further includes mounting rack 14, the electromagnetic system
Dynamic device 12 is mounted on the mounting rack 14.In the present embodiment, the electromagnetic brake 12 can pass through the installation to fixation
On station 4, with the fixation force-feedback control device 1, to improve the reliability of the handle 11.
Fig. 2 is referred to, in embodiments of the present invention, the central axis of the central axis of the puncture needle 21 and the cylinder body 28
Line is parallel, and the tip of the puncture needle 21 is consistent with the direction of motion of the magnetic slider 23, consequently facilitating doctor is passing through
When the handle 11 rotates, manipulates the puncture needle 21 and moved toward the direction that sliding block 23 slides, be conducive to doctor preferably
The motion state of the puncture needle 21 is held, and then is conducive to improve procedure efficiency and reduces surgical risk.
Fig. 2 is referred to, in embodiments of the present invention, the puncture needle device 2 further includes needle holder 26, the needle holder 26
It is fixed on the sliding block 23, 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.
Fig. 2 is referred to, in embodiments of the present invention, one end of the electric cylinder is equipped with guide groove 27, the puncture needle
21 are 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, another aspect of the present invention provides a kind of robot puncturing system, including manipulator 3, behaviour
Make platform 4, camera 41, display device 42 and such as above-mentioned electromagnetic type force feedback puncturing operation auxiliary device；
The other end of the electric cylinder is mounted on the mechanical arm of the manipulator 3 by connecting flange 31, and the power is anti-
It presents control device 1, the display device 42 to be set on the station 4, the camera 41 is mounted on the connecting flange
On 31, and the motion range of the puncture needle 21 is located in the shooting area of the camera 41；
The processor 6 is electrically connected with the camera 41 and the display device 42 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 41 is used to shoot the image of puncturing operation, and is in real time transferred to image by the processor 6
In the display device 42, in order to which doctor is operated by the image in the display device 42.
The display device 42 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. 5, in embodiments of the present invention, the robot puncturing system further includes position sensor 51,
The position sensor 51 is mounted on the sliding block 23, and the position sensor 51 is electrically connected with the processor 6.
In the present embodiment, the puncture force signal measured by the force snesor 5 and the position sensor 51 and position
Shifting signal, and signal enhanced processing is carried out by the processor 6, thus shown on the screen of the industrial personal computer, with
Surgical data is observed convenient for doctor, 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 is controlled by the processor 6 on the station 4
The manipulator 3 is made by the operative site of the mobile and close patient of puncture needle device 2；
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 42 by the camera 41, and doctor passes through observation institute
The image stated in display device 42 carries out puncturing operation operation；
Doctor holds the handle 11 and slowly rotates 11 certain angle of handle, so that the angular displacement sensor is examined
It measures the angular displacement signal of the handle 11 and is transmitted to the processor 6, signal processing and basis are carried out by the processor 6
Data that treated send corresponding instruction to the electric cylinder, to drive the sliding block 23 on the electric cylinder to move, thus band
It moves the puncture needle 21 to move toward patients surgery position, and then realizes the machine manipulation of puncturing operation, can be effectively prevented from
Operative doctor is chronically exposed under the irradiation of X-ray machine, ensures the health and safety of doctor.
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, puncture force
Size detect and feed back to the processor 6 by the force snesor 5, signal processing and basis are carried out by the processor 6
Data that treated send corresponding instruction to the electromagnetic brake 12, to drive the brake axle of the electromagnetic brake 12 to turn
Dynamic, so that the handle 11 is toward doctor, rotationally opposite direction turns an angle, and then can be to by the handle 11
The certain resistance of physician feedback, convenient for doctor according to the size of resistance regulation puncture force.
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 electromagnetic type force feedback puncturing operation auxiliary devices, including processor 6, puncture needle
Device 2 and force-feedback control device 1；The puncture needle device 2 includes puncture needle 21 and electric cylinder, the needle of the puncture needle 21
Body is connected on the sliding block 23 of the electric cylinder, and the sliding block 23 is equipped with and is puncturing inserting needle for detecting the puncture needle 21
When resistance signal force snesor 5, the electric cylinder driving end, the force snesor 5 output end respectively with the processing
Device 6 is electrically connected；The force-feedback control device 1 includes handle 11 and electromagnetic brake 12, and one end of the handle 11 is connected to
The braking axis connection of the electromagnetic brake 12, and one end of the handle 11 is equipped with for detecting 11 angle of rotation of handle
The angular displacement sensor of displacement signal, the driving end of the electromagnetic brake 12, the angular displacement sensor output end respectively with
The processor 6 is electrically connected.
Compared with the prior art, the invention has the following beneficial effects:
(1) it manipulates the puncture inserting needle for puncturing needle device 2 by the force-feedback control device 1 to move, doctor shakes
The handle 11 is so that the angular displacement sensor detects the angular displacement signal of the handle 11 and is transmitted to the processor
6, signal processing is carried out from the processor 6 and sends corresponding instruction to the electric cylinder according to treated data, to drive
The sliding block 23 moved on the electric cylinder moves, so that the puncture needle 21 be driven to move toward patients surgery position, and then realizes
The machine of puncturing operation manipulates, and can be effectively prevented from operative doctor and be chronically exposed under the irradiation of X-ray machine, ensures that doctor's is strong
Health and safety.
(2) when the electromagnetic 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 are rotated by the handle 11 to drive the puncture needle on the electric cylinder
21 carry out lancing motion.
(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, wear
The size of thorn power detects and feeds back to the processor 6 by the force snesor 5, carries out signal processing simultaneously by the processor 6
Corresponding instruction is sent to the electromagnetic brake 12 according to treated data, to drive the braking of the electromagnetic brake 12
Axis rotation, so that the handle 11 is toward doctor, rotationally opposite direction turns an angle, and then passes through 11 energy of handle
Enough resistances certain to physician feedback, convenient for doctor according to the size of resistance regulation puncture force.
(4) doctor can effectively experience the size of puncture force by the handle 11, have effectively achieved puncture needle
The size of power during inserting needle of puncture needle 21 is grasped in 21 force feedback during inserting needle convenient for operative doctor, and then advantageous
In providing the surgical environments of virtual reality, the risk of puncturing operation is reduced.
(5) cylinder body 28 of the electric cylinder is sealing structure, lubricating oil is equipped in the cylinder body 28, to reduce the screw rod
24 in rotation the resistances that are subject to, to be conducive to improve the performance of the electric cylinder and guarantee the puncture needle 21 by electric cylinder
The reliability of driving.
It (6) can be by the puncture needle after completing an operation by the fixed puncture needle 21 of the needle holder 26
21 disassemble from the needle holder 26, and change the puncture needle 21 of disinfection, thus be conducive to improve product practicability and
Convenience is also beneficial to improve the service life of product.
(7) guide groove 27 has guiding role, is conducive to the puncture needle 21 is avoided to occur in puncturing operation curved
It is bent and danger is caused to patient, to effectively improve the reliability for puncturing needle device 2.
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 electromagnetic type force feedback puncturing operation auxiliary device, which is characterized in that including processor, puncture needle device and power
Feed back control system；
The puncture needle device includes puncture needle and electric cylinder, and the needle body of the puncture needle is connected to the sliding block of the electric cylinder
On, and the sliding block is equipped with the force snesor for detecting puncture needle resistance signal when puncturing inserting needle, it is described electronic
The driving end of cylinder, the output end of the force snesor are electrically connected with the processor respectively；
The force-feedback control device includes handle and electromagnetic brake, and one end of the handle is connected to the electromagnetic brake
Braking axis connection, and one end of the handle is equipped with angle displacement transducer for detecting the handle rotational displacement signal
Device, the driving end of the electromagnetic brake, the angular displacement sensor output end are electrically connected with the processor respectively.
2. electromagnetic type force feedback puncturing operation auxiliary device as described in claim 1, which is characterized in that the electric cylinder includes
Motor, cylinder body, screw rod, interior magnetic slider and the sliding block；
The screw rod is set in the cavity of the cylinder body, and one end of the screw rod is rotatably connected to one end of the cylinder body
On side wall, the other end side wall that the other end of the screw rod passes through the cylinder body is connected in the shaft of the motor；
The interior magnetic slider is movably attached on the screw rod, and the material of the sliding block is magnetic material, the sliding block
With the interior magnetic slider magnetic absorption and be connected on the cylinder body, and the puncture needle can be driven along the axial direction of the cylinder body
Back and forth movement.
3. electromagnetic type force feedback puncturing operation auxiliary device as described in claim 1, which is characterized in that the angle displacement transducer
Device includes encoder.
4. electromagnetic 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, and the electromagnetic brake is mounted on the mounting rack.
5. electromagnetic 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 cylinder body, and the direction of motion one at the tip of the puncture needle and the magnetic slider
It causes.
6. electromagnetic 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 on the slide block, and the puncture needle is removably mounted on the needle holder.
7. electromagnetic type force feedback puncturing operation auxiliary device as described in claim 1 or 6, which is characterized in that the electric cylinder
One end be equipped with guide groove, the puncture needle is movably threaded through in the guide groove.
8. a kind of robot puncturing system, which is characterized in that including manipulator, station, camera, display device and such as power
Benefit requires 1~7 described in any item electromagnetic type force feedback puncturing operation auxiliary devices；
The other end of the electric 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.
9. robot puncturing system as claimed in claim 8, which is characterized in that the robot puncturing system further includes position
Sensor, the position sensor is installed on the slide block, and the position sensor is electrically connected with the processor.
10. robot puncturing system as claimed in claim 8, which is characterized in that the display device includes industrial personal computer.
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