CN109045485A - A kind of laser therapy machine people's system - Google Patents
A kind of laser therapy machine people's system Download PDFInfo
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- CN109045485A CN109045485A CN201811179555.1A CN201811179555A CN109045485A CN 109045485 A CN109045485 A CN 109045485A CN 201811179555 A CN201811179555 A CN 201811179555A CN 109045485 A CN109045485 A CN 109045485A
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- mechanical arm
- ccd camera
- laser
- camera
- motor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N5/067—Radiation therapy using light using laser light
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Laser Surgery Devices (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
The invention discloses a kind of laser therapy machine people's systems.The robot system includes laser 1, connecting line 2, computer 3, mechanical arm support frame 4, mechanical arm attachment base 5, optical fiber 6, mechanical arm 7, mechanical arm terminal connector 8, abnormal structure 9, abnormal structure 10, abnormal structure 11, normal tissue 12, camera chassis 13, connecting line 14, connecting line 15, connecting line 16, motor 17, screw rod 18, sliding block 19, laser optical path adjusts system 20, motor 21, screw rod 22, sliding block 23, depth transducer 24, CCD camera 25, CCD camera 26, camera tripod 27, CCD camera 28, CCD camera 29, camera tripod 30.The laser optical path adjustment system and depth transducer of robot system of the present invention have Telescopic.Robot system of the invention can realize that the automation to abnormal structure is treated, while therapeutic domain is wide.
Description
Technical field
The present invention relates to a kind of laser therapy machine people's systems, belong to medical robot technical field, specially robot
System design.
Background technique
Laser is a kind of effective clinical treatment means.Currently, the laser therapy method of manual mode of operation, needs doctor
According to the patient's lesion being visually observed, laser terminal is manipulated by hand, treatment is irradiated to target pathological tissues, meanwhile, in real time
Laser radiation effect is observed, irradiated site, irradiation time and irradiation power etc. are adjusted according to radiation response in real time.This side
Formula has the following problems: since precision hand-manipulated is low, causing to be difficult to realize to treat in high precision.
Core reference document: author=Thaysen-Petersen, D., Barbet-Pfeilsticker, M.,
Beerwerth, F., Nash, J.F., Philipsen, P.A., Staubach, P., Haedersdal, M. }, thesis topic=
{Quantitative assessment of growing hair counts,thickness and colour during
and after treatments with a low‐fluence,home‐device laser:a randomized
Controlled trial }, periodical title={ British Journal of Dermatology }, time={ 2014 }, page
Code={ 151-159 }.
Summary of the invention
The present invention proposes a kind of laser therapy machine people's system, and the robot with the structure feature is sentenced by CCD camera
Determine laser optical path adjustment system, depth transducer and the space coordinate of abnormal structure and be transferred to computer, while generating exception
Tissue surface profile information, the depth transducer of mechanical arm front end carry out depth scan to abnormal structure and obtain depth information, control
So that laser facula generates movement on abnormal structure surface, laser facula thermal field generated leads to tissue for the movement of mechanical arm processed
The treatment to abnormal structure is completed in necrosis.
A kind of laser therapy machine people's system, including laser, computer, mechanical arm support frame, mechanical arm attachment base, light
Fine, one or more mechanical arms, mechanical arm terminal connector, a plurality of connecting line, multiple abnormal structures, normal tissue, camera bottom
Frame, multiple motors, multiple screw rods, multiple sliding blocks, laser optical path adjust system, depth transducer, multiple CCD cameras, Duo Gexiang
Machine support frame；
A kind of laser therapy machine people's system is made of control section and execution part.Mechanical arm bottom is connect with mechanical arm
Seat is fixedly connected, and mechanical arm attachment base is fixedly connected with mechanical arm support frame, for guaranteeing the steady operation of mechanical arm.Mechanical arm
Terminal is fixedly connected with mechanical arm terminal connector, for installing telescopic device, laser optical path adjustment system and depth transducer.
Multiple motors, multiple screw rods and multiple sliding blocks are respectively fixedly connected with, and are assembled into two sets of telescopic devices, realize that the front and back of sliding block is moved
It is dynamic.Two sets of telescopic devices are fixedly connected with mechanical arm terminal connector.Laser optical path adjustment system is fixedly connected with sliding block.Depth
Sensor is fixedly connected with sliding block.
Laser is connect with optical fiber one end, is placed near mechanical arm support frame.The optical fiber other end and laser optical path adjust
System connection, obtains laser beam.
Multiple camera tripods are fixedly connected with camera chassis, are assembled into CCD camera bracket.Multiple CCD cameras pass through certainly
Band mechanical structure is fixedly connected with CCD camera bracket.Multiple CCD cameras are connect with computer, are used for transmission laser optical path adjustment
System, depth transducer and abnormal structure's space coordinate.
Computer is connect with mechanical arm, multiple motors, depth transducer and CCD camera by a plurality of connecting line, guarantees to swash
The stable operation of light medical robotic system.
The present invention has the advantages that
(1) back-and-forth motion that laser optical path adjusts system and depth transducer is adjusted by telescopic device；
(2) the achievable laser to abnormal structure of the system is treated automatically.
Detailed description of the invention
Fig. 1 is a kind of laser therapy machine people's system；
Fig. 2 is mechanical arm terminal telescopic device schematic diagram；
Fig. 3 is CCD camera schematic diagram；
Wherein: 1- laser, 2- connecting line, 3- computer, 4- mechanical arm support frame, 5- mechanical arm attachment base, 6- optical fiber,
7- mechanical arm, 8- mechanical arm terminal connector, 9- abnormal structure, 10- abnormal structure, 11- abnormal structure, 12- normal tissue,
13- camera chassis, 14- connecting line, 15- connecting line, 16- connecting line, 17- motor, 18- screw rod, 19- sliding block, 20- laser optical path
Adjustment system, 21- motor, 22- screw rod, 23- sliding block, 24- depth transducer, 25-CCD camera, 26-CCD camera, 27- camera
Support frame, 28-CCD camera, 29-CCD camera, 30- camera tripod.
Specific embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
The present invention is a kind of laser therapy machine people's system, as shown in Figure 1, include laser 1, connecting line 2, computer 3,
Mechanical arm support frame 4, mechanical arm attachment base 5, optical fiber 6, mechanical arm 7, mechanical arm terminal connector 8, abnormal structure 9, abnormal group
Knit 10, abnormal structure 11, normal tissue 12, camera chassis 13, connecting line 14, connecting line 15, connecting line 16, motor 17, screw rod
18, sliding block 19, laser optical path adjust system 20, motor 21, screw rod 22, sliding block 23, depth transducer 24, CCD camera 25, CCD
Camera 26, camera tripod 27, CCD camera 28, CCD camera 29, camera tripod 30.
A kind of laser therapy machine people's system is made of control section and execution part.7 bottom of mechanical arm and mechanical arm connect
Joint chair 5 is fixedly connected, and mechanical arm attachment base 5 is fixedly connected with mechanical arm support frame 4, for guaranteeing the steady operation of mechanical arm 7.
7 terminal of mechanical arm is fixedly connected with mechanical arm terminal connector 8, for installing telescopic device, laser optical path adjustment 20 and of system
Depth transducer 24.Motor 17, screw rod 18 and sliding block 19 connect, and motor 21, screw rod 22 and sliding block 23 connect, and are assembled into two sets and stretch
Compression apparatus realizes the back-and-forth motion of sliding block.Two sets of telescopic devices are fixedly connected with mechanical arm terminal connector 8.Laser optical path tune
Whole system 20 is fixedly connected with sliding block 19.Depth transducer 24 is fixedly connected with sliding block 23.
Laser 1 is connect with 6 one end of optical fiber, is placed near mechanical arm support frame 4.5 other end of optical fiber and laser optical path
Adjustment system 20 connects, and obtains laser beam.
Camera tripod 27, camera tripod 30 are fixedly connected with camera chassis 13, are assembled into CCD camera bracket.CCD phase
Machine 25 and CCD camera 26 are fixedly connected by included mechanical structure with camera tripod 27, and CCD camera 28 and CCD camera 29 are logical
Included mechanical structure is crossed to be fixedly connected with camera tripod 30.CCD camera 25, CCD camera 26, CCD camera 28 and CCD camera 29
It is connect with computer, is used for transmission laser optical path adjustment system, depth transducer and abnormal structure's space coordinate.
Computer 3 and mechanical arm 7, motor 17, motor 21, depth transducer 24, CCD camera 25, CCD camera 26, CCD phase
Machine 28 and CCD camera 29 connect, and guarantee the stable operation of laser medicine machine people's system.
Laser medicine machine people's system passes through change laser 1 and machine in the case where keeping structure type constant
7 structural parameters of tool arm realize the treatment to abnormal structure.
Different models can be selected in the case where guaranteeing laser output power and use demand in the laser 1.
The model of the computer 3 and configuration can be according to mechanical arm 7, motor 17, motor 21, depth transducers 24, CCD
Camera 25, CCD camera 26, the demand of CCD camera 28 and CCD camera 29 are selected.
The mechanical arm support frame 4 and mechanical arm attachment base 5 according to 7 bottom size of mechanical arm and weight be designed with
Selection.
The optical fiber 6 can carry out selection model according to the wavelength and power of laser.
The mechanical arm 7 chooses the model with different freedom degrees according to specific requirements, meets space tracking movement need
It asks；There are two telescopic devices for 7 terminal of mechanical arm dress, adjust system 20 with laser optical path and depth transducer 24 is fixedly connected,
Two mechanical arms can be used, connect depth transducer 24 in one mechanical arm of terminal location, another mechanical arm connects laser light
Road adjusts system 20.
The mechanical arm terminal connector 8 can be according to the telescopic device specific size and weight of design, mechanical arm terminal
Bolt hole position is designed with size.
Camera chassis 13, camera tripod 27 and the camera tripod 30 can according to the model of CCD camera with again
Amount is designed.
Motor 17, screw rod 18 and the sliding block 19, motor 21, screw rod 22 and sliding block 23 are assembled into two sets of telescopic devices；
Direct current permanent magnet motor, DC brushless motor or stepper motor can be used in motor 17 and motor 21；Sliding block 19 and laser optical path tune
Whole system 20 is fixedly connected, and sliding block 23 is fixedly connected with depth transducer 24, realizes that laser optical path adjustment system 20 and depth pass
The back-and-forth motion of sensor 24；Telescopic device can be used other mechanical structures and achieve the goal, such as gear & rack structure, worm and gear knot
Structure etc..
The laser optical path adjustment system 20 is according to optical maser wavelength and power, the specification selection model and design of optical fiber.
The optionally connected touch of depth transducer 24 or contactless model.
CCD camera 25, CCD camera 26, CCD camera 28 and the CCD camera 29 is according to abnormal structure 9, abnormal structure
10 and abnormal structure 11 size selection respective model and quantity, it is transmission laser optical path adjustment system 20, depth transducer 24, different
Often tissue 9, abnormal structure 10 and the space coordinate of abnormal structure 11 are to computer.
The course of work:
The work of laser medicine machine people's system electrification, CCD camera determine laser optical path adjustment system, depth transducer and different
The space coordinate often organized simultaneously is transferred to computer.
The movement of computer coordinated control motor 21 controls the back-and-forth motion of sliding block 13, and depth transducer 24 is driven to move,
Abnormal tissue areas is identified and is scanned, and result is transferred to computer.After the end of scan, computer control motor 21 retracts depth
Spend sensor.After depth transducer retracts, computer controls motor 17 and stretches out, and controls the back-and-forth motion of sliding block 19, drives laser
Optical path adjusts system 20 and moves
Computer controlled laser adjusts system by laser optical path and stablizes outgoing laser beam, and mechanical arm is along by planning
The movement of laser irradiation space tracking, realize multifreedom motion in fixed space, complete treatment of the laser beam to abnormal structure.
Claims (12)
1. a kind of laser therapy machine people's system, which is characterized in that including laser (1), connecting line (2), computer (3), machine
Tool arm support frame (4), mechanical arm attachment base (5), optical fiber (6), mechanical arm (7), mechanical arm terminal connector (8), abnormal structure
(9), abnormal structure (10), abnormal structure (11), normal tissue (12), camera chassis (13), connecting line (14), connecting line
(15), connecting line (16), motor (17), screw rod (18), sliding block (19), laser optical path adjust system (20), motor (21), screw rod
(22), sliding block (23), depth transducer (24), CCD camera (25), CCD camera (26), camera tripod (27), CCD camera
(28), CCD camera (29), camera tripod (30).
A kind of laser therapy machine people's system is made of control section and execution part.Mechanical arm (7) bottom is connect with mechanical arm
Seat (5) is fixedly connected, and mechanical arm attachment base (5) is fixedly connected with mechanical arm support frame (4), for guaranteeing the steady of mechanical arm (7)
Fixed work.Mechanical arm (7) terminal is fixedly connected with mechanical arm terminal connector (8), for installing telescopic device, laser optical path tune
Whole system (20) and depth transducer (24).Motor (17), screw rod (18) and sliding block (19) connection, motor (21), screw rod (22)
It is connected with sliding block (23), is assembled into two sets of telescopic devices, realizes the back-and-forth motion of sliding block.Two sets of telescopic devices and mechanical arm terminal
Connector (8) is fixedly connected.Laser optical path adjustment system (20) is fixedly connected with sliding block (19).Depth transducer (24) and sliding block
(23) it is fixedly connected.
Laser (1) is connect with optical fiber (6) one end, is placed near mechanical arm support frame (4).Optical fiber (5) other end and laser
Optical path adjusts system (20) connection, obtains laser beam.
Camera tripod (27), camera tripod (30) are fixedly connected with camera chassis (13), are assembled into CCD camera bracket.CCD
Camera (25) and CCD camera (26) are fixedly connected by included mechanical structure with camera tripod (27), CCD camera (28) and
CCD camera (29) is fixedly connected by included mechanical structure with camera tripod (30).CCD camera (25), CCD camera (26),
CCD camera (28) and CCD camera (29) are connect with computer, are used for transmission laser optical path adjustment system, depth transducer and different
Normal organization space coordinate.
Computer (3) and mechanical arm (7), motor (17), motor (21), depth transducer (24), CCD camera (25), CCD camera
(26), CCD camera (28) and CCD camera (29) connection, guarantee the stable operation of laser medicine machine people's system.
2. a kind of laser therapy machine people's system according to claim 1, which is characterized in that the laser (1) exists
Guarantee that different models can be selected in the case where laser output power and use demand.
3. a kind of laser therapy machine people's system according to claim 1, which is characterized in that the computer (3)
Model can be according to mechanical arm (7), motor (17), motor (21), depth transducer (24), CCD camera (25), CCD phase with configuration
The demand of machine (26), CCD camera (28) and CCD camera (29) is selected.
4. a kind of laser therapy machine people's system according to claim 1, which is characterized in that the mechanical arm support frame
(4) and mechanical arm attachment base (5) is designed according to mechanical arm (7) bottom size and weight and selection.
5. a kind of laser therapy machine people's system according to claim 1, which is characterized in that the optical fiber (6) can be with
Selection model is carried out according to the wavelength of laser and power.
6. a kind of laser therapy machine people's system according to claim 1, which is characterized in that the mechanical arm (7) according to
The model with different freedom degrees is chosen according to specific requirements, meets space tracking motion requirement；There are two mechanical arm (7) terminal dresses
Telescopic device is fixedly connected with laser optical path adjustment system (20) and depth transducer (24), it is possible to use two mechanical arms,
One mechanical arm connection depth transducer (24) of terminal location, another mechanical arm connect laser optical path adjustment system (20).
7. a kind of laser therapy machine people's system according to claim 1, which is characterized in that the mechanical arm terminal connects
Fitting (8) can be designed according to the telescopic device specific size and weight of design, mechanical arm terminal bolt hole position with size.
8. a kind of laser therapy machine people's system according to claim 1, which is characterized in that the camera chassis
(13), camera tripod (27) and camera tripod (30) can be designed according to the model and weight of CCD camera.
9. a kind of laser therapy machine people's system according to claim 1, which is characterized in that the motor (17), silk
Bar (18) and sliding block (19), motor (21), screw rod (22) and sliding block (23) are assembled into two sets of telescopic devices；Motor (17) and motor
(21) direct current permanent magnet motor, DC brushless motor or stepper motor can be used；Sliding block (19) and laser optical path adjust system
(20) it is fixedly connected, sliding block (23) is fixedly connected with depth transducer (24), realizes laser optical path adjustment system (20) and depth
The back-and-forth motion of sensor (24)；Telescopic device can be used other mechanical structures and achieve the goal, such as gear & rack structure, worm gear snail
Rod structure etc..
10. a kind of laser therapy machine people's system according to claim 1, which is characterized in that the laser optical path tune
Whole system (20) is according to optical maser wavelength and power, the specification selection model and design of optical fiber.
11. a kind of laser therapy machine people's system according to claim 1, which is characterized in that the depth transducer
(24) optionally connected touch or contactless model.
12. a kind of laser therapy machine people's system according to claim 1, which is characterized in that the CCD camera
(25), CCD camera (26), CCD camera (28) and CCD camera (29) are according to abnormal structure (9), abnormal structure (10) and abnormal group
Knit the size selection respective model and quantity of (11), transmission laser optical path adjustment system (20), depth transducer (24), abnormal group
The space coordinate of (9), abnormal structure (10) and abnormal structure (11) is knitted to computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811179555.1A CN109045485B (en) | 2018-10-10 | 2018-10-10 | Laser treatment robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811179555.1A CN109045485B (en) | 2018-10-10 | 2018-10-10 | Laser treatment robot system |
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| Publication Number | Publication Date |
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| CN109045485A true CN109045485A (en) | 2018-12-21 |
| CN109045485B CN109045485B (en) | 2021-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811179555.1A Active CN109045485B (en) | 2018-10-10 | 2018-10-10 | Laser treatment robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114288567A (en) * | 2022-01-05 | 2022-04-08 | 北京邮电大学 | Robot system capable of performing physical action on biological body surface and tissues below biological body surface |
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|---|---|---|---|---|
| US20080033513A1 (en) * | 2004-07-15 | 2008-02-07 | Meddynamics Ltd. | Directed Energy for Point Oriented Medical Treatment |
| CN104970919A (en) * | 2015-08-06 | 2015-10-14 | 上海交通大学医学院附属第九人民医院 | Precontrol type laser surgery system and control method thereof |
| CN105288865A (en) * | 2015-11-10 | 2016-02-03 | 康健 | Skin laser treatment auxiliary robot and auxiliary method thereof |
| CN105363135A (en) * | 2014-11-18 | 2016-03-02 | 朴仁培 | Handpiece laser treating apparatus capable of adjusting fiber length |
-
2018
- 2018-10-10 CN CN201811179555.1A patent/CN109045485B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080033513A1 (en) * | 2004-07-15 | 2008-02-07 | Meddynamics Ltd. | Directed Energy for Point Oriented Medical Treatment |
| CN105363135A (en) * | 2014-11-18 | 2016-03-02 | 朴仁培 | Handpiece laser treating apparatus capable of adjusting fiber length |
| CN104970919A (en) * | 2015-08-06 | 2015-10-14 | 上海交通大学医学院附属第九人民医院 | Precontrol type laser surgery system and control method thereof |
| CN105288865A (en) * | 2015-11-10 | 2016-02-03 | 康健 | Skin laser treatment auxiliary robot and auxiliary method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114288567A (en) * | 2022-01-05 | 2022-04-08 | 北京邮电大学 | Robot system capable of performing physical action on biological body surface and tissues below biological body surface |
| CN114288567B (en) * | 2022-01-05 | 2022-08-30 | 北京邮电大学 | Robot system capable of performing physical action on biological body surface and tissues below biological body surface |
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| Publication number | Publication date |
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| CN109045485B (en) | 2021-12-14 |
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