CN109009444B - Electromagnetic force feedback puncture operation auxiliary device and robot puncture system - Google Patents
Electromagnetic force feedback puncture operation auxiliary device and robot puncture system Download PDFInfo
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- CN109009444B CN109009444B CN201810971749.9A CN201810971749A CN109009444B CN 109009444 B CN109009444 B CN 109009444B CN 201810971749 A CN201810971749 A CN 201810971749A CN 109009444 B CN109009444 B CN 109009444B
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- puncture
- puncture needle
- needle
- force feedback
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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
Abstract
The invention discloses an electromagnetic force feedback puncture operation auxiliary device, which comprises a processor, a puncture needle device and a force feedback control device, wherein the processor is connected with the puncture needle device; the puncture needle device comprises a puncture needle and an electric cylinder, a needle body of the puncture needle is connected to a sliding block of the electric cylinder, a force sensor for detecting a resistance signal of the puncture needle when the puncture needle is inserted into the needle is arranged on the sliding block, and the driving end of the electric cylinder and the output end of the force sensor are respectively and electrically connected with the processor; the force feedback control device comprises a handle and an electromagnetic brake, wherein the handle is connected with a brake shaft of the electromagnetic brake, an angular displacement sensor for detecting a handle rotation angular displacement signal is arranged on the handle, and the output ends of the electromagnetic brake and the angular displacement sensor are respectively and electrically connected with the processor. The invention can effectively realize the force feedback of the puncture needle in the needle inserting process, and is convenient for operators to grasp the force of the puncture needle in the needle inserting process, thereby being beneficial to providing a virtual and real operation environment and reducing the risk of puncture operation.
Description
Technical Field
The invention relates to the technical field of automation, in particular to an electromagnetic force feedback puncture operation auxiliary device and a robot puncture system.
Background
At present, a puncture operation belongs to a minimally invasive operation, such as percutaneous kidney puncture operation, percutaneous neurosurgery puncture operation, percutaneous orthopedics puncture operation and the like, and is used for establishing an artificial channel for entering a body cavity. In the puncture operation, the puncture needle is mainly penetrated into the body cavity through the incision of the skin of a patient, a doctor is usually required to hold the puncture needle and apply a large puncture operation force to overcome the resistance of puncturing and cutting the tissue and the resistance of expanding and swelling the tissue, and as the manual puncture of the doctor is required to be carried out by means of an X-ray machine, the doctor can be exposed to the irradiation of X-rays, and the puncture process can influence the physical health of the doctor to a certain extent.
In order to ensure the health of medical staff, the puncture operation robot replaces the manual operation of doctors, the doctors can be far away from the X-ray machine, under the protection of a lead screen, on one hand, the operation condition is observed through the display screen, and on the other hand, the operation table controls the robot to operate the puncture needle to execute the puncture operation.
However, although this kind of puncture operation robot can replace doctor's manual operation puncture operation, when carrying out the puncture operation, doctor can't feel the change of its dynamics of pjncture needle in the process of penetrating the body wall and entering the body cavity, only rely on the human eye to observe the image on the display screen, lead to doctor can only control the degree of pjncture needle's entering body cavity through the operation panel, and can't grasp the magnitude of pjncture needle in the process of inserting the needle power, can not all-round grasp the operation situation. This not only results in a more difficult operation of such a puncture procedure, but also still presents a certain risk of the procedure.
Disclosure of Invention
The embodiment of the invention provides an electromagnetic force feedback puncture operation auxiliary device and a robot puncture system, which are used for solving the technical problem that the existing puncture operation robot cannot feed back the force of a puncture needle in the needle inserting process to an operator, so that the force feedback of the puncture needle in the needle inserting process is effectively realized, the operator can grasp the force of the puncture needle in the needle inserting process conveniently, the virtual and real operation environment can be provided, and the risk of the puncture operation can be reduced.
In order to solve the technical problems, the invention provides an electromagnetic force feedback puncture operation auxiliary device, which comprises a processor, a puncture needle device and a force feedback control device;
the puncture needle device comprises a puncture needle and an electric cylinder, a needle body of the puncture needle is connected to a sliding block of the electric cylinder, a force sensor for detecting a resistance signal of the puncture needle during needle insertion is arranged on the sliding block, and a driving end of the electric cylinder and an output end of the force sensor are respectively and electrically connected with the processor;
the force feedback control device comprises a handle and an electromagnetic brake, one end of the handle is connected with a brake shaft of the electromagnetic brake, an angular displacement sensor for detecting a handle rotation angular displacement signal is arranged at one end of the handle, and the driving end of the electromagnetic brake and the output end of the angular displacement sensor are respectively and electrically connected with the processor.
As a preferable scheme, the electric cylinder comprises a motor, a cylinder body, a screw rod, an inner magnetic sliding block and a sliding block;
the screw rod is arranged in the cavity of the cylinder body, one end of the screw rod is rotatably connected to one end side wall of the cylinder body, and the other end of the screw rod penetrates through the other end side wall of the cylinder body to be connected to the rotating shaft of the motor;
the inner magnetic sliding block is movably connected to the screw rod, the sliding block is made of magnetic materials, the sliding block and the inner magnetic sliding block are magnetically attracted and connected to the cylinder body, and the puncture needle can be driven to reciprocate along the axial direction of the cylinder body.
Preferably, the angular displacement sensor comprises an encoder.
Preferably, the force feedback control device further comprises a mounting frame, and the electromagnetic brake is mounted on the mounting frame.
Preferably, the central axis of the puncture needle is parallel to the central axis of the cylinder body, and the tip of the puncture needle is consistent with the movement direction of the magnetic sliding block.
Preferably, the puncture needle device further comprises a needle holder fixed to the slider, and the puncture needle is detachably mounted on the needle holder.
Preferably, a guide groove is formed in one end of the electric cylinder, and the puncture needle is movably arranged in the guide groove in a penetrating mode.
In order to solve the technical problems, another aspect of the present invention provides a robotic puncture system, including a manipulator, an operation console, a camera, a display device, and an electromagnetic force feedback puncture operation assisting device as described above;
the other end of the electric cylinder is arranged on a mechanical arm of the mechanical arm through a connecting flange, the force feedback control device and the display device are both arranged on the operation table, the camera is arranged on the connecting flange, and the movement range of the puncture needle is positioned in a shooting area of the camera;
the processor is electrically connected with the camera and the display device respectively.
Preferably, the robot puncture system further comprises a position sensor, wherein the position sensor is mounted on the sliding block, and the position sensor is electrically connected with the processor.
Preferably, the display device comprises an industrial personal computer.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the force feedback control device is used for controlling the puncture needle of the puncture needle device to move, a doctor shakes the handle so that the angular displacement sensor detects an angular displacement signal of the handle and transmits the angular displacement signal to the processor, the processor performs signal processing and sends corresponding instructions to the electric cylinder according to processed data so as to drive the sliding block on the electric cylinder to move, thereby driving the puncture needle to move towards the operation part of a patient, further realizing the machine control of the puncture operation, effectively avoiding long-term exposure of the doctor to the irradiation of an X-ray machine and guaranteeing the health and safety of the doctor.
When the electromagnetic force feedback puncture operation auxiliary device is applied to puncture operation, the puncture needle device and the force feedback control device are placed on a mechanical arm, a telescopic fixed rod and the like to be fixed, the tip of the puncture needle is aligned to the operation position of a patient, and a doctor rotates through the handle to drive the puncture needle on the electric cylinder to perform puncture movement.
When the puncture needle penetrates through the body wall and enters the body cavity, as the puncture needle needs to overcome the resistance of puncturing and cutting the tissue and the resistance of expanding and swelling the tissue, the puncture needle can receive a reverse puncture force, the puncture force is detected by the force sensor and fed back to the processor, the processor processes signals and sends corresponding instructions to the electromagnetic brake according to processed data, so that the brake shaft of the electromagnetic brake is driven to rotate, the handle rotates reversely to a certain angle towards a doctor, and the handle can feed back a certain resistance to the doctor, so that the doctor can adjust the puncture force according to the resistance. Thus, a doctor can practically feel the puncture force through the handle, the force feedback of the puncture needle in the needle inserting process is effectively realized, the operator can grasp the force of the puncture needle in the needle inserting process conveniently, the virtual and real operation environment is provided, and the risk of the puncture operation is reduced.
Drawings
FIG. 1 is a schematic structural view of an electromagnetic force feedback puncture operation assisting device according to a first embodiment of the present invention;
FIG. 2 is a schematic view showing the structure of a lancet device according to the first embodiment of the present invention;
FIG. 3 is a schematic diagram of a force feedback control device according to a first embodiment of the present invention;
FIG. 4 is a schematic diagram of a robotic lancing system according to a second embodiment of the present invention;
FIG. 5 is a schematic view of a robotic lancing system according to a third embodiment of the present invention;
wherein, the reference numerals in the specification and the drawings are as follows:
1. a force feedback control device; 11. a handle; 12. an electromagnetic brake; 13. an encoder; 14. a mounting frame;
2. a puncture needle device; 21. a puncture needle; 22. a motor; 23. a slide block; 24. a screw rod; 25. an inner magnetic slider; 26. a needle holder; 27. a guide groove; 28. a cylinder;
3. a manipulator; 31. a connecting flange;
4. an operation table; 41. a camera; 42. a display device;
5. a force sensor; 51. a position sensor;
6. a processor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a preferred embodiment of the present invention provides an electromagnetic force feedback puncture operation assisting device, which comprises a processor 6, a puncture needle device 2 and a force feedback control device 1;
the puncture needle device 2 comprises a puncture needle 21 and an electric cylinder, wherein a needle body of the puncture needle 21 is connected to a sliding block 23 of the electric cylinder, a force sensor 5 for detecting a resistance signal of the puncture needle 21 during needle insertion is arranged on the sliding block 23, and a driving end of the electric cylinder and an output end of the force sensor 5 are respectively and electrically connected with the processor 6;
the force feedback control device 1 comprises a handle 11 and an electromagnetic brake 12, one end of the handle 11 is connected with a brake shaft of the electromagnetic brake 12, an angular displacement sensor for detecting a rotational angular displacement signal of the handle 11 is arranged at one end of the handle 11, and the driving end of the electromagnetic brake 12 and the output end of the angular displacement sensor are respectively and electrically connected with the processor 6.
In this embodiment, the force feedback control device 1 is used to control the puncture needle of the puncture needle device 2 to move, so that the doctor shakes the handle 11 to make the angular displacement sensor detect the angular displacement signal of the handle 11 and transmit the signal to the processor 6, the processor 6 processes the signal and sends a corresponding instruction to the electric cylinder according to the processed data, so as to drive the slider 23 on the electric cylinder to move, thereby driving the puncture needle 21 to move towards the operation site of the patient, further realizing the machine control of the puncture operation, effectively avoiding the long-term exposure of the doctor to the irradiation of the X-ray machine, and guaranteeing the health and safety of the doctor.
When the electromagnetic force feedback puncture operation assisting device is applied to a puncture operation, the puncture needle device 2 and the force feedback control device 1 are placed on a mechanical arm, a telescopic fixed rod and the like to be fixed, the tip of the puncture needle 21 is aligned to an operation position of a patient, and a doctor rotates through the handle 11 to drive the puncture needle 21 on the electric cylinder to perform puncture movement.
When the puncture needle 21 penetrates the body wall and enters the body cavity, as the puncture needle 21 needs to overcome the resistance of puncturing and cutting the tissue and the resistance of expanding and swelling the tissue, the puncture needle 21 can receive a reverse puncture force, the puncture force is detected by the force sensor 5 and fed back to the processor 6, the processor 6 processes signals and sends corresponding instructions to the electromagnetic brake 12 according to the processed data so as to drive the brake shaft of the electromagnetic brake 12 to rotate, so that the handle 11 rotates reversely to a certain angle towards the doctor, and the handle 11 can feed back a certain resistance to the doctor, thereby being convenient for the doctor to adjust the puncture force according to the resistance. Thus, a doctor can practically feel the puncture force through the handle 11, effectively realizes the force feedback of the puncture needle 21 in the needle inserting process, is convenient for the doctor to master the force of the puncture needle 21 in the needle inserting process, and is further beneficial to providing a virtual and real operation environment and reducing the risk of puncture operation.
Referring to fig. 2, in the embodiment of the present invention, the electric cylinder includes a motor 22, a cylinder 28, a screw 24, an inner magnetic slider 25, and a slider 23;
the screw rod 24 is arranged in the cavity of the cylinder 28, one end of the screw rod 24 is rotatably connected to one end side wall of the cylinder 28, and the other end of the screw rod 24 penetrates through the other end side wall of the cylinder 28 and is connected to the rotating shaft of the motor 22;
the inner magnetic sliding block 25 is movably connected to the screw rod 24, the sliding block 23 is made of a magnetic material, the sliding block 23 and the inner magnetic sliding block 25 are magnetically attracted and connected to the cylinder 28, and the puncture needle 21 can be driven to reciprocate along the axial direction of the cylinder 28.
In this embodiment, when the electric cylinder receives the control signal of the processor 6, the screw rod 24 is driven to rotate in the cylinder 28, so that the inner magnetic slider 25 moves unidirectionally along the axial direction of the screw rod 24, and since the slider 23 is made of a magnetic material, the slider 23 can be closely magnetically adsorbed to the inner magnetic slider 25, so that the slider 23 and the inner magnetic slider 25 cooperatively move, thereby realizing the puncturing movement of the puncture needle 21 on the electric cylinder.
The cylinder body 28 is of a sealing structure, and lubricating oil is arranged in the cylinder body 28 so as to reduce the resistance of the screw rod 24 during rotation, thereby being beneficial to improving the performance of the electric cylinder and ensuring the reliability of the puncture needle 21 driven by the electric cylinder.
In the embodiment of the present invention, preferably, the angular displacement sensor includes, but is not limited to, an encoder 13, where the encoder 13 is capable of converting an angular displacement signal or a linear displacement into an electrical signal, so as to send the detected rotational angular displacement signal of the handle 11 to the processor 6 in real time, and the processor 6 amplifies and processes the rotational angular displacement signal according to a preset program, so as to control the electric cylinder to drive the puncture needle 21 to perform a corresponding puncture motion according to the angular displacement signal. Of course, the angular displacement sensor further includes a photoelectric sensor, a photoelectric encoder 13, and the like, which are not described herein.
Referring to fig. 3, in the embodiment of the present invention, the force feedback control device 1 further includes a mounting frame 14, and the electromagnetic brake 12 is mounted on the mounting frame 14. In the present embodiment, the electromagnetic brake 12 can be fixed to the operation table 4 by the mounting to fix the force feedback control device 1, thereby improving the reliability of the handle 11.
Referring to fig. 2, in the embodiment of the present invention, the central axis of the puncture needle 21 is parallel to the central axis of the cylinder 28, and the tip of the puncture needle 21 is consistent with the movement direction of the magnetic slider 23, so that when the handle 11 rotates, a doctor can conveniently control the puncture needle 21 to move in the sliding direction of the slider 23, which is beneficial for the doctor to better grasp the movement state of the puncture needle 21, and further is beneficial for improving the operation efficiency and reducing the risk of the operation.
Referring to fig. 2, in the embodiment of the present invention, the puncture needle device 2 further includes a needle holder 26, the needle holder 26 is fixed on the slider 23, and the puncture needle 21 is detachably mounted on the needle holder 26.
In this embodiment, the needle holder 26 is used for fixing the puncture needle 21, and the puncture needle 21 can be detached from the needle holder 26 and replaced with a sterilized puncture needle 21 each time after one operation is completed, thereby being beneficial to improving the practicality and convenience of the product and prolonging the service life of the product.
Referring to fig. 2, in the embodiment of the present invention, a guiding groove 27 is provided at one end of the electric cylinder, and the puncture needle 21 is movably inserted into the guiding groove 27.
In this embodiment, the guiding groove 27 has a guiding function, which is advantageous in preventing the puncture needle 21 from being bent during the puncture operation to cause danger to the patient, thereby effectively improving the reliability of the puncture needle device 2.
Referring to fig. 4 and 5, another aspect of the present invention provides a robotic puncture system, which includes a manipulator 3, an operation table 4, a camera 41, a display device 42, and an electromagnetic force feedback puncture operation assisting device as described above;
the other end of the electric cylinder is mounted on a mechanical arm of the mechanical arm 3 through a connecting flange 31, the force feedback control device 1 and the display device 42 are both arranged on the operation table 4, the camera 41 is mounted on the connecting flange 31, and the movement range of the puncture needle 21 is positioned in a shooting area of the camera 41;
the processor 6 is electrically connected to the camera 41 and the display device 42, respectively.
In this embodiment, the manipulator 3 is configured to move the puncture needle device 2 to a set position according to a preset procedure, so as to facilitate the puncture operation performed by the puncture needle 21.
The operation table 4 is a working table for a doctor to perform an operation, and can be arranged outside an operation room, the puncture needle device 2 and the manipulator 3 are arranged in the operation room, the puncture needle device 2 and the force feedback control device 1 are connected through the fluid pipeline, the doctor operates the manipulator 3 and the force feedback control device 1 on the operation table 4 outside the operation room, and the exposure of the traditional Chinese medicine growing period of the operation to the irradiation of an X-ray machine can be effectively avoided, so that the health and safety of the doctor are ensured.
The camera 41 is used for capturing images of the puncture operation and transmitting the images to the display device 42 through the processor 6 in real time, so that a doctor can perform the operation through the images on the display device 42.
The display device 42 includes, but is not limited to, an industrial personal computer for displaying information such as images, sensor signals, etc.
Referring to fig. 1 and 5, in the embodiment of the present invention, the robotic puncture system further includes a position sensor 51, the position sensor 51 is mounted on the slider 23, and the position sensor 51 is electrically connected to the processor 6.
In this embodiment, the puncture force signal and the displacement signal measured by the force sensor 5 and the position sensor 51 are amplified by the processor 6, so as to be displayed on the screen of the industrial personal computer, so that a doctor can observe the operation data, and further comprehensively grasp the progress of the operation.
Referring to fig. 4 and 5, in the embodiment of the present invention, the working principle of the robotic puncture system is as follows:
when the puncture operation is performed, the doctor and the patient are respectively positioned, and the doctor controls the manipulator 3 to move the puncture needle device 2 to be close to the operation site of the patient through the processor 6 on the operation table 4;
then the manipulator 3 is powered off so as to avoid operation accidents caused by the failure of the manipulator 3 due to unstable commercial power;
the camera 41 transmits the image information acquired in real time to the display device 42, and a doctor performs a puncture operation by observing the image on the display device 42;
the doctor holds the handle 11 and slowly rotates the handle 11 by a certain angle, so that the angular displacement sensor detects an angular displacement signal of the handle 11 and transmits the signal to the processor 6, the processor 6 processes the signal and sends corresponding instructions to the electric cylinder according to processed data, so as to drive the sliding block 23 on the electric cylinder to move, thereby driving the puncture needle 21 to move towards the operation part of the patient, further realizing the machine control of the puncture operation, effectively avoiding the long-term exposure of the operator to the irradiation of an X-ray machine, and guaranteeing the health and safety of the doctor.
When the puncture needle 21 penetrates the body wall and enters the body cavity, as the puncture needle 21 needs to overcome the resistance of puncturing and cutting the tissue and the resistance of expanding and swelling the tissue, the puncture needle 21 can receive a reverse puncture force, the puncture force is detected by the force sensor 5 and fed back to the processor 6, the processor 6 processes signals and sends corresponding instructions to the electromagnetic brake 12 according to the processed data so as to drive the brake shaft of the electromagnetic brake 12 to rotate, so that the handle 11 rotates reversely to a certain angle towards the doctor, and the handle 11 can feed back a certain resistance to the doctor, thereby being convenient for the doctor to adjust the puncture force according to the resistance.
Thus, a doctor can practically feel the puncture force through the handle 11, effectively realizes the force feedback of the puncture needle 21 in the needle inserting process, is convenient for the doctor to master the force of the puncture needle 21 in the needle inserting process, and is further beneficial to providing a virtual and real operation environment and reducing the risk of puncture operation.
In summary, the invention provides an electromagnetic force feedback puncture operation auxiliary device, which comprises a processor 6, a puncture needle device 2 and a force feedback control device 1; the puncture needle device 2 comprises a puncture needle 21 and an electric cylinder, wherein a needle body of the puncture needle 21 is connected to a sliding block 23 of the electric cylinder, a force sensor 5 for detecting a resistance signal of the puncture needle 21 during needle insertion is arranged on the sliding block 23, and a driving end of the electric cylinder and an output end of the force sensor 5 are respectively and electrically connected with the processor 6; the force feedback control device 1 comprises a handle 11 and an electromagnetic brake 12, one end of the handle 11 is connected with a brake shaft of the electromagnetic brake 12, an angular displacement sensor for detecting a rotational angular displacement signal of the handle 11 is arranged at one end of the handle 11, and the driving end of the electromagnetic brake 12 and the output end of the angular displacement sensor are respectively and electrically connected with the processor 6.
Compared with the prior art, the invention has the following beneficial effects:
(1) The force feedback control device 1 is used for controlling the puncture needle of the puncture needle device 2 to move, a doctor shakes the handle 11 so that the angular displacement sensor detects an angular displacement signal of the handle 11 and transmits the angular displacement signal to the processor 6, the processor 6 performs signal processing and sends corresponding instructions to the electric cylinder according to processed data so as to drive the sliding block 23 on the electric cylinder to move, thereby driving the puncture needle 21 to move towards the operation position of a patient, further realizing the machine control of the puncture operation, effectively avoiding long-term exposure of the operator to the irradiation of an X-ray machine, and guaranteeing the health and safety of the doctor.
(2) When the electromagnetic force feedback puncture operation auxiliary device is applied to a puncture operation, the puncture needle device 2 and the force feedback control device 1 are placed on a mechanical arm, a telescopic fixed rod and the like to be fixed, the tip of the puncture needle 21 is aligned to the operation position of a patient, and a doctor rotates through the handle 11 to drive the puncture needle 21 on the electric cylinder to perform puncture movement.
(3) When the puncture needle 21 penetrates the body wall and enters the body cavity, as the puncture needle 21 needs to overcome the resistance of puncturing and cutting the tissue and the resistance of expanding and swelling the tissue, the puncture needle 21 can receive a reverse puncture force, the puncture force is detected by the force sensor 5 and fed back to the processor 6, the processor 6 processes signals and sends corresponding instructions to the electromagnetic brake 12 according to the processed data so as to drive the brake shaft of the electromagnetic brake 12 to rotate, so that the handle 11 rotates reversely to a certain angle towards the doctor, and the handle 11 can feed back a certain resistance to the doctor, thereby being convenient for the doctor to adjust the puncture force according to the resistance.
(4) The doctor can really feel the puncture force through the handle 11, so that the force feedback of the puncture needle 21 in the needle inserting process is effectively realized, the doctor can grasp the force of the puncture needle 21 in the needle inserting process conveniently, the virtual and real operation environment is provided, and the risk of the puncture operation is reduced.
(5) The cylinder body 28 of the electric cylinder is of a sealing structure, and lubricating oil is arranged in the cylinder body 28 so as to reduce the resistance of the screw rod 24 during rotation, thereby being beneficial to improving the performance of the electric cylinder and ensuring the reliability of the puncture needle 21 driven by the electric cylinder.
(6) The puncture needle 21 is fixed by the needle holder 26, and the puncture needle 21 can be detached from the needle holder 26 and replaced with the sterilized puncture needle 21 after one operation is completed, so that the practicability and convenience of the product are improved, and the service life of the product is prolonged.
(7) The guide groove 27 has a guiding function, which is beneficial to avoiding the puncture needle 21 from bending during the puncture operation to cause danger to the patient, thereby effectively improving the reliability of the puncture needle device 2.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (9)
1. An electromagnetic force feedback puncture operation auxiliary device is characterized by comprising a processor, a puncture needle device and a force feedback control device;
the puncture needle device comprises a puncture needle and an electric cylinder, a needle body of the puncture needle is connected to a sliding block of the electric cylinder, a force sensor for detecting a resistance signal of the puncture needle during needle insertion is arranged on the sliding block, and a driving end of the electric cylinder and an output end of the force sensor are respectively and electrically connected with the processor;
the force feedback control device comprises a handle and an electromagnetic brake, one end of the handle is connected with a brake shaft of the electromagnetic brake, an angular displacement sensor for detecting a handle rotation angular displacement signal is arranged at one end of the handle, and the driving end of the electromagnetic brake and the output end of the angular displacement sensor are respectively and electrically connected with the processor;
the electric cylinder comprises a motor, a cylinder body, a screw rod, an inner magnetic sliding block and the sliding block;
the screw rod is arranged in the cavity of the cylinder body, one end of the screw rod is rotatably connected to one end side wall of the cylinder body, and the other end of the screw rod penetrates through the other end side wall of the cylinder body to be connected to the rotating shaft of the motor;
the inner magnetic sliding block is movably connected to the screw rod, the sliding block is made of magnetic materials, the sliding block and the inner magnetic sliding block are magnetically attracted and connected to the cylinder body, and the puncture needle can be driven to reciprocate along the axial direction of the cylinder body.
2. The electromagnetic force feedback lancing surgical auxiliary device of claim 1, wherein the angular displacement sensor comprises an encoder.
3. The electromagnetic force feedback lancing surgical auxiliary device of claim 1, wherein the force feedback control device further comprises a mounting frame on which the electromagnetic brake is mounted.
4. The electromagnetic force feedback puncture surgical assist device of claim 1, wherein a central axis of the puncture needle is parallel to a central axis of the cylinder, and a tip of the puncture needle coincides with a direction of movement of the slider.
5. The electromagnetic force feedback puncture surgical assist device of claim 1, wherein the puncture needle device further comprises a needle holder, the needle holder being secured to the slider, the puncture needle being removably mounted to the needle holder.
6. The electromagnetic force feedback puncture surgical auxiliary device according to claim 1 or 5, wherein a guide groove is provided at one end of the electric cylinder, and the puncture needle is movably inserted into the guide groove.
7. A robotic puncture system comprising a manipulator, an operating table, a camera, a display device, and an electromagnetic force feedback puncture surgical assistance device according to any one of claims 1 to 6;
the other end of the electric cylinder is arranged on a mechanical arm of the mechanical arm through a connecting flange, the force feedback control device and the display device are both arranged on the operation table, the camera is arranged on the connecting flange, and the movement range of the puncture needle is positioned in a shooting area of the camera;
the processor is electrically connected with the camera and the display device respectively.
8. The robotic lancing system of claim 7, further comprising a position sensor mounted on the slider and electrically connected to the processor.
9. The robotic puncture system according to claim 7, wherein the display device comprises an industrial personal computer.
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| CN201810971749.9A CN109009444B (en) | 2018-08-23 | 2018-08-23 | Electromagnetic force feedback puncture operation auxiliary device and robot puncture system |
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| CN201810971749.9A CN109009444B (en) | 2018-08-23 | 2018-08-23 | Electromagnetic force feedback puncture operation auxiliary device and robot puncture system |
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| CN109009444B true CN109009444B (en) | 2023-09-01 |
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| CN109846533B (en) * | 2019-02-12 | 2021-01-08 | 北京理工大学 | Device for fixing puncture needle |
| CN109793573A (en) * | 2019-02-12 | 2019-05-24 | 北京理工大学 | Arm end device and the lung puncture robot for using the device |
| CN110037793B (en) * | 2019-05-27 | 2024-02-20 | 海南省妇幼保健院 | Necrotic tissue drainage device used after tumor microwave ablation |
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