CN109045485B - Laser treatment robot system - Google Patents

Laser treatment robot system Download PDF

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Publication number
CN109045485B
CN109045485B CN201811179555.1A CN201811179555A CN109045485B CN 109045485 B CN109045485 B CN 109045485B CN 201811179555 A CN201811179555 A CN 201811179555A CN 109045485 B CN109045485 B CN 109045485B
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ccd camera
laser
mechanical arm
motor
depth sensor
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CN109045485A (en
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苏柏泉
闫昊
吴凡
封晔
弓艺
刘文勇
匡绍龙
汤劼
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Beijing University of Posts and Telecommunications
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Beijing University of Posts and Telecommunications
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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
    • 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 laser treatment robot system. The robot system comprises a laser 1, a connecting line 2, a computer 3, a mechanical arm supporting frame 4, a mechanical arm connecting seat 5, an optical fiber 6, a mechanical arm 7, a mechanical arm terminal connecting piece 8, an abnormal tissue 9, an abnormal tissue 10, an abnormal tissue 11, a normal tissue 12, a camera underframe 13, a connecting line 14, a connecting line 15, a connecting line 16, a motor 17, a screw rod 18, a sliding block 19, a laser light path adjusting system 20, a motor 21, a screw rod 22, a sliding block 23, a depth sensor 24, a CCD camera 25, a CCD camera 26, a camera supporting frame 27, a CCD camera 28, a CCD camera 29 and a camera supporting frame 30. The laser light path adjusting system and the depth sensor of the robot system have the telescopic function. The robot system can realize automatic treatment of abnormal tissues, and has a wide treatment range.

Description

Laser treatment robot system
Technical Field
The invention relates to a laser treatment robot system, belongs to the technical field of medical robots, and particularly relates to a robot system design.
Background
Laser light is an effective clinical treatment. At present, the laser treatment method of the manual operation mode needs a doctor to manually control the laser terminal to irradiate and treat target pathological tissues according to pathological changes of a patient observed by eyes, and meanwhile, the laser irradiation treatment effect is observed in real time, and the irradiation part, the irradiation time, the irradiation power and the like are adjusted in real time according to the irradiation effect. This approach has the following problems: due to the low precision of manual operation, it is difficult to achieve high precision treatment.
Core references: the author is { Thaysen-Petersen, D., Barbet-Pfeisilkinker, M., Beerwerth, F., Nash, J.F., Philipsen, P.A., Staubach, P., Haederdandal, M. }, the article title is { Quantitative assessment of growing hair counters, clinical and colour duration and after trees with a low-flow time, home-device laser: a random controlled trial }, the Journal name is { British Journal of Dermatology }, year {2014}, the page code is { 159 one.
Disclosure of Invention
The invention provides a laser treatment robot system, a robot with the structural characteristics judges space coordinates of a laser light path adjusting system, a depth sensor and abnormal tissues through a CCD camera and transmits the space coordinates to a computer, surface contour information of the abnormal tissues is generated at the same time, the depth sensor at the front end of a mechanical arm carries out depth scanning on the abnormal tissues to obtain depth information, the motion of the mechanical arm is controlled to enable laser spots to move on the surfaces of the abnormal tissues, a thermal field generated by the laser spots causes tissue necrosis, and treatment of the abnormal tissues is completed.
A laser treatment robot system comprises a laser, a computer, a mechanical arm supporting frame, a mechanical arm connecting seat, optical fibers, one or more mechanical arms, a mechanical arm terminal connecting piece, a plurality of connecting wires, a plurality of abnormal tissues, normal tissues, a camera underframe, a plurality of motors, a plurality of lead screws, a plurality of sliding blocks, a laser light path adjusting system, a depth sensor, a plurality of CCD cameras and a plurality of camera supporting frames;
a laser treatment robot system is composed of a control section and an execution section. The bottom of the mechanical arm is fixedly connected with the mechanical arm connecting seat, and the mechanical arm connecting seat is fixedly connected with the mechanical arm supporting frame and used for ensuring the stable work of the mechanical arm. And the mechanical arm terminal is fixedly connected with the mechanical arm terminal connecting piece and used for installing a telescopic device, a laser light path adjusting system and a depth sensor. The motors, the screw rods and the sliding blocks are respectively and fixedly connected and assembled into two sets of telescopic devices, so that the sliding blocks can move back and forth. And the two sets of telescopic devices are fixedly connected with the mechanical arm terminal connecting piece. The laser light path adjusting system is fixedly connected with the sliding block. The depth sensor is fixedly connected with the sliding block.
The laser is connected with one end of the optical fiber and is placed near the mechanical arm support frame. The other end of the optical fiber is connected with a laser path adjusting system to obtain a laser beam.
A plurality of camera support frames and camera chassis fixed connection assemble CCD camera support. The CCD cameras are fixedly connected with the CCD camera bracket through a self-contained mechanical structure. The CCD cameras are connected with a computer and used for transmitting the laser light path adjusting system, the depth sensor and the spatial coordinates of the abnormal tissues.
The computer is connected with the mechanical arm, the motors, the depth sensor and the CCD camera through the connecting lines, so that stable operation of the laser medical robot system is guaranteed.
The invention has the advantages that:
(1) the front and back movement of the laser light path adjusting system and the depth sensor can be adjusted through the telescopic device;
(2) the system can complete automatic laser treatment of abnormal tissues.
Drawings
FIG. 1 is a laser treatment robotic system;
FIG. 2 is a schematic view of a robot arm terminal telescoping device;
FIG. 3 is a schematic view of a CCD camera;
wherein: 1-laser, 2-first connecting wire, 3-computer, 4-mechanical arm support frame, 5-mechanical arm connecting seat, 6-optical fiber, 7-mechanical arm, 8-mechanical arm terminal connecting piece, 9-first abnormal tissue, 10-second abnormal tissue, 11-third abnormal tissue, 12-normal tissue, 13-camera underframe, 14-second connecting wire, 15-third connecting wire, 16-fourth connecting wire, 17-first motor, 18-first screw rod, 19-first slide block, 20-laser light path adjusting system, 21-second motor, 22-second screw rod, 23-second slide block, 24-depth sensor, 25-first CCD camera, 26-second CCD camera, 27-first camera support frame, 28-third CCD camera, 29-fourth CCD camera, 30-second camera support frame.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The invention relates to a laser treatment robot system, which comprises a laser 1, a first connecting wire 2, a computer 3, a mechanical arm supporting frame 4, a mechanical arm connecting seat 5, an optical fiber 6, a mechanical arm 7, a mechanical arm terminal connecting piece 8, a first abnormal tissue 9, a second abnormal tissue 10, a third abnormal tissue 11, a normal tissue 12, a camera underframe 13, a second connecting wire 14, a third connecting wire 15, a fourth connecting wire 16, a first motor 17, a first screw rod 18, a first sliding block 19, a laser light path adjusting system 20, a second motor 21, a second screw rod 22, a second sliding block 23, a depth sensor 24, a first CCD camera 25, a second CCD camera 26, a first camera supporting frame 27, a third CCD camera 28, a fourth CCD camera 29 and a second camera supporting frame 30, wherein the first connecting wire, the mechanical arm connecting seat, the optical fiber and the second connecting wire are connected with the laser light path adjusting system.
A laser treatment robot system is composed of a control section and an execution section. The bottom of the mechanical arm 7 is fixedly connected with a mechanical arm connecting seat 5, and the mechanical arm connecting seat 5 is fixedly connected with a mechanical arm supporting frame 4 and used for ensuring the stable work of the mechanical arm 7. And the terminal of the mechanical arm 7 is fixedly connected with a mechanical arm terminal connecting piece 8 and used for installing a telescopic device, a laser light path adjusting system 20 and a depth sensor 24. The first motor 17, the first screw rod 18 and the first slide block 19 are connected, and the second motor 21, the second screw rod 22 and the second slide block 23 are connected and assembled into two sets of telescopic devices to realize the back and forth movement of the slide blocks. And the two sets of telescopic devices are fixedly connected with the mechanical arm terminal connecting piece 8. The laser light path adjusting system 20 is fixedly connected with the first slider 19. The depth sensor 24 is fixedly connected to the second slide 23.
The laser 1 is connected with one end of an optical fiber 6 and is arranged near the mechanical arm support frame 4. The other end of the optical fiber 5 is connected with a laser path adjusting system 20 to obtain a laser beam.
The first camera support frame 27 and the second camera support frame 30 are fixedly connected with the camera chassis 13 and assembled into a CCD camera stand. The first CCD camera 25 and the second CCD camera 26 are fixedly connected with the first camera support frame 27 through self-contained mechanical structures, and the third CCD camera 28 and the fourth CCD camera 29 are fixedly connected with the second camera support frame 30 through self-contained mechanical structures. The first CCD camera 25, the second CCD camera 26, the third CCD camera 28 and the fourth CCD camera 29 are connected with a computer and used for transmitting the laser light path adjusting system, the depth sensor and the spatial coordinates of the abnormal tissue.
The computer 3 is connected with the mechanical arm 7, the first motor 17, the second motor 21, the depth sensor 24, the first CCD camera 25, the second CCD camera 26, the third CCD camera 28 and the fourth CCD camera 29, so that stable operation of the laser medical robot system is guaranteed.
The laser medical robot system realizes the treatment of abnormal tissues by changing the structural parameters of the laser 1 and the mechanical arm 7 under the condition of keeping the structural form unchanged.
The laser 1 can be selected to be of different models under the condition of ensuring the laser output power and the use requirement.
The model and configuration of the computer 3 can be selected according to the requirements of the mechanical arm 7, the first motor 17, the second motor 21, the depth sensor 24, the first CCD camera 25, the second CCD camera 26, the third CCD camera 28 and the fourth CCD camera 29.
The mechanical arm support frame 4 and the mechanical arm connecting seat 5 are designed and selected according to the size and the weight of the bottom of the mechanical arm 7.
The type of the optical fiber 6 can be selected according to the wavelength and the power of the laser.
The mechanical arm 7 selects models with different degrees of freedom according to specific requirements, so that the space track motion requirements are met; two telescopic devices are arranged at the terminal of the mechanical arm 7 and are fixedly connected with the laser light path adjusting system 20 and the depth sensor 24, or two mechanical arms can be used, one mechanical arm is connected with the depth sensor 24 at the terminal position, and the other mechanical arm is connected with the laser light path adjusting system 20.
The mechanical arm terminal connecting piece 8 can be designed according to the specific size and weight of a designed telescopic device and the position and size of a bolt hole of a mechanical arm terminal.
The camera chassis 13, the first camera support 27 and the second camera support 30 may be designed according to the model and weight of the CCD camera.
The first motor 17, the first screw rod 18 and the first slide block 19, and the second motor 21, the second screw rod 22 and the second slide block 23 are assembled into two sets of telescopic devices;
the first motor 17 and the second motor 21 can adopt a direct current permanent magnet motor, a direct current brushless motor or a stepping motor; the first slide block 19 is fixedly connected with the laser light path adjusting system 20, and the second slide block 23 is fixedly connected with the depth sensor 24, so that the laser light path adjusting system 20 and the depth sensor 24 can move back and forth; the telescopic device can achieve the purpose by adopting other mechanical structures, such as a gear rack structure, a worm and gear structure and the like.
The laser light path adjusting system 20 selects the model and design according to the laser wavelength, power and specification of the optical fiber.
The depth sensor 24 may be of a contact or non-contact type.
The first CCD camera 25, the second CCD camera 26, the third CCD camera 28 and the fourth CCD camera 29 select corresponding models and numbers according to the sizes of the first abnormal tissue 9, the second abnormal tissue 10 and the third abnormal tissue 11, and transmit the space coordinates of the laser path adjusting system 20, the depth sensor 24, the first abnormal tissue 9, the second abnormal tissue 10 and the third abnormal tissue 11 to the computer.
The working process is as follows:
the laser medical robot system is electrified to work, and the CCD camera judges the space coordinates of the laser light path adjusting system, the depth sensor and the abnormal tissue and transmits the space coordinates to the computer.
The computer coordinately controls the movement of the second motor 21, controls the back and forth movement of the sliding block 13, drives the depth sensor 24 to move, identifies and scans abnormal tissue areas, and transmits the result to the computer. After the scan is complete, the computer controls the second motor 21 to retract the depth sensor. After the depth sensor retracts, the computer controls the first motor 17 to extend out, controls the first sliding block 19 to move back and forth, and drives the laser light path adjusting system 20 to move.
The computer controls the laser to stably output laser beams through the laser light path adjusting system, and the mechanical arm moves along the planned laser irradiation space track to realize multi-degree-of-freedom movement in a fixed space and complete the treatment of abnormal tissues by the laser beams.

Claims (12)

1. The laser treatment robot system is characterized by comprising a laser (1), a first connecting line (2), a computer (3), a mechanical arm supporting frame (4), a mechanical arm connecting seat (5), an optical fiber (6), a mechanical arm (7), a mechanical arm terminal connecting piece (8), a first abnormal tissue (9), a second abnormal tissue (10), a third abnormal tissue (11), a normal tissue (12), a camera chassis (13), a second connecting line (14), a third connecting line (15), a fourth connecting line (16), a first motor (17), a first lead screw (18), a first sliding block (19), a laser light path adjusting system (20), a second motor (21), a second lead screw (22), a second sliding block (23), a depth sensor (24), a first CCD camera (25), a second CCD camera (26), a first camera supporting frame (27), A third CCD camera (28), a fourth CCD camera (29) and a second camera support frame (30);
a laser treatment robot system is composed of a control part and an execution part; the bottom of the mechanical arm (7) is fixedly connected with a mechanical arm connecting seat (5), and the mechanical arm connecting seat (5) is fixedly connected with a mechanical arm supporting frame (4) and used for ensuring the stable work of the mechanical arm (7); the terminal of the mechanical arm (7) is fixedly connected with a mechanical arm terminal connecting piece (8) and used for installing a telescopic device, a laser light path adjusting system (20) and a depth sensor (24); the first motor (17) and the first screw rod (18) are connected with the first sliding block (19), and the second motor (21) and the second screw rod (22) are connected with the second sliding block (23) and assembled into two sets of telescopic devices to realize the forward and backward movement of the sliding block; the two sets of telescopic devices are fixedly connected with the mechanical arm terminal connecting piece (8); the laser light path adjusting system (20) is fixedly connected with the first sliding block (19); the depth sensor (24) is fixedly connected with the second sliding block (23);
the laser (1) is connected with one end of the optical fiber (6) and is placed near the mechanical arm support frame (4); the other end of the optical fiber (6) is connected with a laser path adjusting system (20) to obtain a laser beam;
the first camera support frame (27) and the second camera support frame (30) are fixedly connected with the camera underframe (13) and assembled into a CCD camera support; the first CCD camera (25) and the second CCD camera (26) are fixedly connected with a first camera support frame (27) through a self-contained mechanical structure, and the third CCD camera (28) and the fourth CCD camera (29) are fixedly connected with a second camera support frame (30) through a self-contained mechanical structure; the first CCD camera (25), the second CCD camera (26), the third CCD camera (28) and the fourth CCD camera (29) are connected with a computer and used for transmitting a laser light path adjusting system, a depth sensor and abnormal tissue space coordinates;
the computer (3) is connected with the mechanical arm (7), the first motor (17), the second motor (21), the depth sensor (24), the first CCD camera (25), the second CCD camera (26), the third CCD camera (28) and the fourth CCD camera (29), so that stable operation of the laser medical robot system is guaranteed;
the CCD camera judges the space coordinates of the laser light path adjusting system, the depth sensor and the abnormal tissue and transmits the space coordinates to the computer; the computer coordinately controls the motion of the second motor (21), controls the back and forth movement of the second sliding block (23), drives the depth sensor (24) to move, identifies and scans abnormal tissue areas, and transmits the result to the computer; after the scanning is finished, the computer controls the second motor (21) to retract to the depth sensor; after the depth sensor retracts, the computer controls the second motor (21) to extend out, controls the first sliding block (19) to move back and forth, and drives the laser light path adjusting system (20) to move; the computer controls the laser to stably output laser beams through the laser light path adjusting system, and the mechanical arm moves along the planned laser irradiation space track to realize multi-degree-of-freedom movement in a fixed space and complete the treatment of abnormal tissues by the laser beams.
2. A laser treatment robot system according to claim 1, characterized in that the laser (1) can be selected from different models while ensuring laser output power and usage requirements.
3. The laser treatment robot system according to claim 1, wherein the type and configuration of the computer (3) is selected according to the requirements of the robot arm (7), the first motor (17), the second motor (21), the depth sensor (24), the first CCD camera (25), the second CCD camera (26), the third CCD camera (28) and the fourth CCD camera (29).
4. The laser treatment robot system according to claim 1, wherein the robot arm support frame (4) and the robot arm connecting base (5) are designed and selected according to the bottom size and weight of the robot arm (7).
5. A laser treatment robot system according to claim 1, characterized in that the optical fiber (6) is of a type selected according to the wavelength and power of the laser.
6. The laser treatment robot system according to claim 1, wherein the mechanical arm (7) is selected from models with different degrees of freedom according to specific requirements to meet the requirements of space trajectory movement; two telescoping devices are installed at the terminal of the mechanical arm (7) and are fixedly connected with the laser light path adjusting system (20) and the depth sensor (24), two mechanical arms can be used, one mechanical arm is connected with the depth sensor (24) at the terminal position, and the other mechanical arm is connected with the laser light path adjusting system (20).
7. The laser treatment robot system according to claim 1, wherein the terminal arm connecting member (8) is designed according to the specific size and weight of the telescopic device, the position and size of the terminal arm bolt hole.
8. The laser treatment robot system according to claim 1, wherein the camera chassis (13), the first camera support (27) and the second camera support (30) are designed according to the model and weight of the CCD camera.
9. The laser treatment robot system according to claim 1, characterized in that the first motor (17), the first lead screw (18) and the first slide block (19), the second motor (21), the second lead screw (22) and the second slide block (23) are assembled into two sets of telescoping devices; the first motor (17) and the second motor (21) can adopt a direct current permanent magnet motor, a direct current brushless motor or a stepping motor; the first sliding block (19) is fixedly connected with the laser light path adjusting system (20), the second sliding block (23) is fixedly connected with the depth sensor (24), the front and back movement of the laser light path adjusting system (20) and the depth sensor (24) is achieved, and the telescopic device can also adopt one of a gear and rack structure and a worm and gear structure to achieve the purpose.
10. The laser treatment robot system according to claim 1, wherein the laser path adjusting system (20) selects a model and a design according to laser wavelength and power, and specification of the optical fiber.
11. A laser treatment robot system according to claim 1, characterized in that the depth sensor (24) is of a contact or contactless type.
12. The laser treatment robot system according to claim 1, wherein the first CCD camera (25), the second CCD camera (26), the third CCD camera (28) and the fourth CCD camera (29) select corresponding models and numbers according to the sizes of the first abnormal tissue (9), the second abnormal tissue (10) and the third abnormal tissue (11), and transmit the space coordinates of the laser light path adjusting system (20), the depth sensor (24), the first abnormal tissue (9), the second abnormal tissue (10) and the third abnormal tissue (11) to the computer.
CN201811179555.1A 2018-10-10 2018-10-10 Laser treatment robot system Active CN109045485B (en)

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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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US20080033513A1 (en) * 2004-07-15 2008-02-07 Meddynamics Ltd. Directed Energy for Point Oriented Medical Treatment
KR101510133B1 (en) * 2014-11-18 2015-04-09 (주)휴레이저 Handpiece treatment apparatus capable of adjusting length of optical fiber
CN104970919B (en) * 2015-08-06 2018-02-13 上海交通大学医学院附属第九人民医院 Pre-control formula laser surgery system and its control method
CN105288865B (en) * 2015-11-10 2018-05-18 康健 Skin laser treatment auxiliary robot and its householder method

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