CN109091233A - Puncturing operation robot based on series and parallel structure - Google Patents
Puncturing operation robot based on series and parallel structure Download PDFInfo
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- CN109091233A CN109091233A CN201810927501.2A CN201810927501A CN109091233A CN 109091233 A CN109091233 A CN 109091233A CN 201810927501 A CN201810927501 A CN 201810927501A CN 109091233 A CN109091233 A CN 109091233A
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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
- A61B17/3403—Needle locating or guiding means
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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
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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
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The invention belongs to technical field of medical equipment more particularly to a kind of puncturing operation robots based on series and parallel structure, including pedestal, pose adjustment mechanism and needling mechanism；Pose adjustment mechanism includes being fixedly installed on pedestal and the first actuator along the x axis side by side and the second actuator and being slidably mounted on pedestal and third actuator side by side and fourth drive member along the y axis, third actuator is connect with the driving end of the first actuator, and fourth drive member is connect with the driving end of the second actuator；The inserting needle that needling mechanism is used to execute puncture needle acts and is passed through with the withdraw of the needle the first universal joint and the second universal joint and connect respectively with the driving end of third actuator and fourth drive member.The movement of puncturing operation robot is controlled by five freedom degrees of serial-parallel mirror type structure and is realized, the adjustment of puncture needle pose and inserting needle can be automatically performed, and realizes autonomous puncture operation, overall structure is simple, small in size, use is extremely convenient, and doctor can be assisted to complete puncturing operation.
Description
Technical field
The invention belongs to technical field of medical equipment more particularly to a kind of puncturing operation machines based on series and parallel structure
People.
Background technique
With progress, the development of medical technology and the beneficial fusion of technology between the two of science and technology, robot is auxiliary
Percutaneous puncture operation is helped to be widely used in the fields such as image guiding puncture and ablation.In addition, MRI image is with its soft group
Knit imaging clearly, it is radiationless the advantages that as robot puncturing operation important image bootmode.For MRI image guidance
Puncturing operation robot, since MRI ring is swept, cavity space is narrow, and robot compact-sized must can just efficiently accomplish puncturing operation behaviour
Make, meanwhile, the nuclear-magnetism environment of MRI is also required to the driving method of robot and structural material meets nuclear-magnetism compatibility requirements.
Currently, in the market there are mainly three types of existing puncturing operation robots, first, commercialized nuclear-magnetism is compatible to puncture hand
There is the INNOMOTION of Germany in art robot, uses cascaded structure, and there are five freedom degrees, using manual inserting needle mode, however
This kind of puncturing operation robot is not able to satisfy the automatic requirement for executing puncturing operation operation.Second, Publication No.
The Chinese patent of CN104739512A discloses " the thoracentesis operating robot to navigate based on CT or MRI image ", the machine
People uses cascaded structure, and there are six freedom degrees, it can be achieved that automatic inserting needle, but structure is complex, and is driven using motor,
It is not able to satisfy nuclear-magnetism compatibility requirements.Third, the Chinese patent of Publication No. CN106388939A disclose a kind of " magnetic resonance compatible
Pneumatic puncturing operation robot ", which uses cascaded structure, there are six freedom degree, driven using cylinder, can be real
Now automatic inserting needle, but equally exist the problem of structure is complicated.
Generally existing structure is complicated, robot is larger-size asks for the compatible puncturing operation robot of existing nuclear-magnetism at present
It inscribes, the Chinese patent of the compatible puncturing operation robot INNOMOTION of commercial nuclear-magnetism, Publication No. CN104739512A
The Chinese patent of " the thoracentesis operating robot to be navigated based on CT or MRI image " and Publication No. CN106388939A
" a kind of pneumatic puncturing operation robot of magnetic resonance compatible " has that structure property compact to design is bad, and machine human body
Product is larger, greatly reduces the convenience that puncturing operation robot sweeps intracavitary arrangement in nuclear-magnetism ring.
Summary of the invention
The purpose of the present invention is to provide a kind of puncturing operation robot based on series and parallel structure, it is intended to solve existing skill
There are structural volumes to cause greatly using there are not convenient technical problems for puncturing operation robot in art.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of puncturing operation machine based on series and parallel structure
Device people, comprising:
Pedestal；
Pose adjustment mechanism, including being installed on the pedestal and the first actuator for arranging and second drives along the x axis
Moving part and the third actuator and fourth drive member arranged along the y axis, the third actuator and first actuator
The connection of driving end, the fourth drive member connect with the driving end of second actuator；
Needling mechanism, inserting needle and the withdraw of the needle for executing puncture needle act, and pass through the first universal joint and the second universal joint
It is connect respectively with the driving end at the driving end of the third actuator and the fourth drive member.
Preferably, the pedestal includes bottom plate and two side frames, the bottom plate include the first mounting portion interconnected and
Second mounting portion, two side frames are arranged at intervals on second mounting portion；First actuator and described second drives
Moving part arranges in up and down direction and is each attached on first mounting portion that the third actuator and the fourth drive member are in
Up and down direction arranges and is slidably connected between two side frames that the driving end of the third actuator and the described 4th drives
The driving end of part both passes through one of them described side frame.
Preferably, the outside of the third actuator is equipped with the first valve jacket, and the first shell is arranged there are two arranged for interval
The first slide plate, the outside of the fourth drive member is equipped with the second valve jacket, and the second shell is arranged that there are two spaced apart the
Two slide plates；Two side frames are respectively equipped under position corresponds in the first guide groove arranged in the up-down direction and the second guide groove, described
First slide plate is slidably connected with first guide groove, and second slide plate is slidably connected with second guide groove, and described first drives
The driving end of moving part is connect with first valve jacket, and the driving end of second actuator is connect with second valve jacket.
Preferably, the pose adjustment mechanism further includes first laser distance measuring sensor and second laser distance measuring sensor,
The first laser distance measuring sensor and the second laser distance measuring sensor are arranged in up and down direction and are each attached to described the
On one mounting portion, the first laser distance measuring sensor is electrically connected with first actuator and passes through transmitting laser to described the
It is reflected on one valve jacket to measure the distance value of first valve jacket, the second laser distance measuring sensor and described second drive
Moving part is electrically connected and passes through transmitting laser to the second shell and puts on and reflected to measure the distance value of second valve jacket.
Preferably, the pose adjustment mechanism further includes third laser range sensor 27 and the 4th laser ranging sensing
Device, the driving end of the third actuator are equipped with first baffle, and the driving end of the fourth drive member is equipped with second baffle,
The third laser range sensor 27 is fixed on the side of first valve jacket and is electrically connected and leads to the third actuator
It crosses on transmitting laser to the first baffle and is reflected to measure the distance value of the first baffle, the 4th laser ranging
Sensor is fixed on the side of second valve jacket and is electrically connected with the fourth drive member and passes through transmitting laser to described the
It is reflected on two baffles to measure the distance value of the second baffle.
Preferably, first actuator and second actuator are cylinder, and the cylinder includes as driving end
Piston rod；Or first actuator and second actuator are linear mould group, the linear mould group includes conduct
Drive the slide plate at end.
Preferably, the third actuator and the fourth drive member are cylinder, and the cylinder includes as driving end
Piston rod；Or the third actuator and the fourth drive member are linear mould group, the linear mould group includes conduct
Drive the slide plate at end.
Preferably, the needling mechanism includes puncture needle and the 5th actuator, and the 5th actuator passes through described first
Universal joint and second universal joint are connect with the driving end at the driving end of the third actuator and fourth drive member respectively, institute
Puncture needle is stated to connect with the driving end of the 5th actuator.
Preferably, the driving end of the 5th actuator is equipped with third baffle, and the outside of the 5th actuator is equipped with
Third valve jacket, the third valve jacket by first universal joint and second universal joint respectively with the third actuator
Driving end is connected with the driving end of the fourth drive member, and the third valve jacket is equipped with the 5th laser range sensor, described
5th laser range sensor is fixed on the side of the third valve jacket and is electrically connected with the 5th actuator and passes through transmitting
It is reflected on laser to the third baffle to measure the position quantity at the driving end of the 5th actuator.
Preferably, the needling mechanism further includes puncture needle fixed frame, and the side of the third valve jacket is equipped with slideway, is punctured
Needle fixed frame is slidably connected on the slideway, and the driving end of one end of the puncture needle fixed frame and the 5th actuator
Connection, the puncture needle are connect with the other end of the puncture needle fixed frame.
Preferably, the 5th actuator is cylinder, and the cylinder includes the piston rod as driving end；Or described
Five actuators are linear mould group, and the linear mould group includes the slide plate as driving end.
Beneficial effects of the present invention: the puncturing operation robot of the invention based on series and parallel structure, mainly include pedestal,
The setting of pose adjustment mechanism and needling mechanism, pedestal provides the installation site and motion guide of pose adjustment mechanism, pose tune
Complete machine structure is the four-degree-of-freedom mechanism of serial-parallel mirror, is made of two groups of concatenated actuators, two groups of actuators respectively include parallel connection
The first actuator and the second actuator and parallel connection third actuator and fourth drive member, as a result, by the first actuator,
Second actuator, third actuator and fourth drive member complete the position of puncture needle and the adjustment of posture jointly, and needling mechanism
It is then connected on the driving end of the third actuator of pose adjustment mechanism and the driving end of fourth drive member, it is possible thereby to complete to wear
The inserting needle of pricker and the withdraw of the needle act.The entire exercise of puncturing operation robot passes through five freedom degree controls of serial-parallel mirror type structure
System is realized, the adjustment of puncture needle pose and inserting needle can be automatically performed, and realizes autonomous puncture operation, and overall structure is simple, small in size, is made
With extremely facilitating, doctor can be assisted to complete puncturing operation under nuclear-magnetism environment.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the structural schematic diagram one of the puncturing operation robot provided in an embodiment of the present invention based on series and parallel structure.
Fig. 2 is the structural schematic diagram two of the puncturing operation robot provided in an embodiment of the present invention based on series and parallel structure.
Fig. 3 is that the STRUCTURE DECOMPOSITION of the puncturing operation robot provided in an embodiment of the present invention based on series and parallel structure is illustrated
Figure.
Fig. 4 is the structural representation of the pedestal of the puncturing operation robot provided in an embodiment of the present invention based on series and parallel structure
Figure.
Wherein, each appended drawing reference in figure:
10-11-bottom plates of pedestal
12-side frame 20-pose adjustment mechanisms
21-the first the 22-the second actuator of actuator
23-third 24-fourth drive members of actuator
25-first laser distance measuring sensor 26-second laser distance measuring sensors
27-the 28-the four laser range sensors of third laser range sensor
30-31-puncture needles of needling mechanism
32-the five 33-third baffle of actuator
34-the five laser range sensor 35-third valve jacket
36-puncture needle 37-cover boards of fixed frame
111-the first the 112-the second mounting portion of mounting portion
113-the first the 114-the second support portion of support portion
121-the first the 122-the second guide groove of guide groove
123-the first empty avoiding notch the 124-the second empty avoiding notch
211-the first the 221-the second connector of connector
231-the first the 232-the first slide plate of valve jacket
233-the 241-the second valve jackets of first baffle
242-the second 243-second baffle of slide plate
351-the first the 352-the second universal joint of universal joint
353-slideways.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment that Fig. 1~4 is described is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " length ", " width ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
As shown in Figures 1 to 3, a kind of puncturing operation robot based on series and parallel structure provided in an embodiment of the present invention,
Overall structure is simple, small in size, and use is extremely convenient, especially suitable for the soft tissue puncturing operation under MRI navigation, has extremely
Few five freedom degrees can be automatically performed the adjustment of 31 pose of puncture needle and inserting needle, realize autonomous puncture operation.
Specifically, puncturing operation robot includes pedestal 10, pose adjustment mechanism 20 and needling mechanism 30.Specifically, it wears
It pierces robot and forms modularized design, be shaped to by three big module groups, respectively pedestal 10, pose adjustment mechanism 20 and inserting needle
Mechanism 30, pedestal 10 are to provide the structure of support and installation, and needling mechanism 30 is used to execute the inserting needle of puncture needle 31 and the withdraw of the needle is moved
Make, and pose adjustment mechanism 20 is then realized to the position of needling mechanism 30 and the adjustment of posture, that is, is realized to needling mechanism 30
The position of puncture needle 31 and the adjustment of posture.
Wherein, there are four freedom degrees for the tool of pose adjustment mechanism 20, and needling mechanism 30 has one degree of freedom, so that
Entire puncturing operation robot at least can be realized the activity in five freedom degrees, can as needed by puncture needle 31 adjust to
Suitable position and it is adjusted to suitable posture.
Further, as shown in Figures 1 to 3, pose adjustment mechanism 20 includes being installed on the pedestal 10 and along the x axis
The first actuator 21 and the second actuator 22 of arrangement and the third actuator 23 and fourth drive member arranged along the y axis
24, the third actuator 23 is connect with the driving end of first actuator 21, the fourth drive member 24 and described second
The driving end of actuator 22 connects；Specifically, the first actuator 21 and the second actuator 22 and third actuator 23 and the 4th
Actuator 24 is installed on pedestal 10.Wherein, the first actuator 21 and the second actuator 22 are fixedly mounted on pedestal 10, and
Third actuator 23 and fourth drive member 24 are then connect with pedestal 10 by way of being slidably connected and realize and be mounted on pedestal 10
On.First actuator 21 and the second about 22 actuator are arranged in parallel and can realize driving third actuator 23 and the respectively
Four actuators 24 are moved along X-direction, and third actuator 23 and about 24 fourth drive member are arranged in parallel and can be real
The now movement of driving needling mechanism 30 realization Y direction jointly.
Wherein, above-mentioned X-axis and Y-axis are suitable position, that is, the first actuator 21 defined and the second actuator 22 are set
When setting the X-axis of the moving direction in direction and its driving end, then the setting direction of third actuator 23 and fourth drive member 24
The as moving direction at Y-axis and its driving end is also Y-axis.
Wherein, the first actuator 21 and the second actuator 22 arrangement form parallel-connection structure, similarly, third actuator 23 and the
Four actuators 24, which are arranged, also forms parallel-connection structure, and the first actuator 21 and the second actuator 22 that are arranged in parallel and parallel arrangement
Third actuator 23 and fourth drive member 24 between then form cascaded structure, in this way, making entire 20 shape of pose adjustment mechanism
Bunchiness and hybrid connected structure, and there are four freedom degrees for tool.
Further, needling mechanism 30 is used to execute the inserting needle of puncture needle 31 and the withdraw of the needle acts, and passes through the first universal joint
351 and second universal joint 352 respectively with the third actuator 23 driving end and the fourth drive member 24 driving end connect
It connects.Under the control driving of above-mentioned pose adjustment mechanism 20, which can realize position in four freedom degrees
Adjustment and variation, and its own have one for control puncture needle 31 realize inserting needle and the withdraw of the needle freedom degree, then should
Freedom degree cooperates 20 co- controlling puncture needle 31 of pose adjustment mechanism to realize that auxiliary doctor completes puncturing operation.Also, due into
Needle mechanism 30 by two universal joints, i.e. the first universal joint 351 and the second universal joint 352 respectively with third actuator 23 and the 4th
Actuator 24 connects, in this way, third actuator 23 and fourth drive member 24 can drive individually or simultaneously needling mechanism 30 whole
Body is acted without interfering, such as when third actuator 23 drives needling mechanism 30 to act, needling mechanism 30 can
With with the second universal joint 352 swing position as basic point, similarly, when third actuator 23 drives needling mechanism 30 to act, into
Needle mechanism 30 can be with the first universal joint 351 swing position as basic point, and mutually non-interference, movement freely, can be adjusted to
In various postures.
The structure of the puncturing operation robot to provided in an embodiment of the present invention based on series and parallel structure is made further below
Illustrate: it mainly includes pedestal 10, pose adjustment mechanism 20 and needling mechanism 30, and the setting of pedestal 10 provides pose adjustment mechanism
20 installation site and motion guide, pose adjustment mechanism 20 is the four-degree-of-freedom mechanism of serial-parallel mirror, by two groups of concatenated drives
Moving part composition, two groups of actuators respectively include the third driving of the first actuator 21 and the second actuator 22 and parallel connection in parallel
Part 23 and fourth drive member 24 pass through the first actuator 21, the second actuator 22, third actuator 23 and the 4th driving as a result,
Part 24 completes the position of puncture needle 31 and the adjustment of posture jointly, and needling mechanism 30 is then connected on the of pose adjustment mechanism 20
On the driving end of three actuators 23 and the driving end of fourth drive member 24, it is possible thereby to complete puncture needle 31 inserting needle and the withdraw of the needle it is dynamic
Make.The entire exercise of puncturing operation robot is controlled by five freedom degrees of serial-parallel mirror type structure and is realized, can be automatically performed
The adjustment of 31 pose of puncture needle and inserting needle realize autonomous puncture operation, and overall structure is simple, and small in size, use is extremely convenient, can
Doctor is assisted to complete puncturing operation under nuclear-magnetism environment.
In the present embodiment, as shown in figure 3, the first actuator 21 and the second actuator 22 are arranged in parallel, the first actuator 21
The position of the needling mechanism 30 of achievable puncturing operation robot along the x axis is moved synchronously with the second actuator 22 to adjust, the
One actuator 21 and 22 asynchronous movement of the second actuator can realize appearance of the needling mechanism 30 around Y direction of puncturing operation robot
State adjustment.Third actuator 23 and fourth drive member 24 are arranged in parallel, and are driven in the Y-axis direction with the first actuator 21 and second
Moving part 22 is connected in series, and third actuator 23 moves synchronously the inserting needle machine of achievable puncturing operation robot with fourth drive member 24
The position adjustment of structure 30 along the y axis, two third actuators 23 can realize puncturing operation machine with 24 asynchronous movement of fourth drive member
Pose adjustment of the needling mechanism 30 of device people around X-direction.Four actuators form serial-parallel mirror structure, extremely compact realization
The position of the needling mechanism 30 of puncturing operation robot and pose adjustment.
Wherein, puncturing operation robot can be external on computer equal controller when in use, pass through robot etc.
Control device controls the puncturing operation movement that puncturing operation machine realizes automation.
In the present embodiment, it is preferable that first actuator 21 and second actuator 22 are cylinder, the cylinder
Including the piston rod as driving end；The puncturing operation robot of such structure can satisfy nuclear-magnetism compatibility requirements.And it uses
The advantage that cylinder has speed fast, high-efficient as actuator.Structure is extremely simple simultaneously, using the piston rod of cylinder as driving
End is connect with other component.Further, the first connection can be passed through as the piston rod of the cylinder of the first actuator 21
Part 211 connect (such as third actuator 23) with other component, and similarly, the piston rod of the cylinder as the second actuator 22 can be with
(such as fourth drive member 24) is connect with other component by the second connector 221.
Alternatively, in other embodiments, first actuator 21 and second actuator 22 are linear mould group, institute
Stating linear mould group includes the slide plate as driving end.Motor in linear mould group uses ultrasound electric machine, so can equally make
Puncturing operation robot can satisfy nuclear-magnetism compatibility requirements.
Similarly, in the present embodiment, it is preferable that the third actuator 23 and the fourth drive member 24 are cylinder, institute
Stating cylinder includes the piston rod as driving end.Alternatively, in other embodiments, the third actuator 23 and the 4 wheel driven
Moving part 24 is linear mould group, and the linear mould group includes the slide plate as driving end.
Further, the first actuator 21 and the second actuator 22 of parallel arrangement preferably use identical structure, such as
Cylinder or linear mould group.The third actuator 23 and fourth drive member 24 of parallel arrangement preferably use identical structure, such as
Cylinder or linear mould group.First actuator 21, the second actuator 22, third actuator 23 and fourth drive member 24 can also be equal
Using cylinder or linear mould group.
In the present embodiment, as shown in figures 1-4, the pedestal 10 includes bottom plate 11 and two side frames 12, wherein preferably,
Bottom plate 11 and two side frames 12 are integrally formed, and certainly, two side frames 12 can also be fixed on by welding on bottom plate 11,
And it is spaced setting.The bottom plate 11 includes the first mounting portion 111 interconnected and the second mounting portion 112, two sides
Frame 12 is arranged at intervals on second mounting portion 112；Preferably, the first mounting portion 111 and the second mounting portion 112 are integrally formed
And bottom plate 11 is formed, it is of course also possible to use the mode of splicing or welding is by the first mounting portion 111 and the second mounting portion 112
It is fixedly connected and forms bottom plate 11.Bottom plate 11 and two side frames 12 can be manufactured using metalwork.
More specifically, first actuator 21 and second actuator 22 are arranged in up and down direction and are each attached to institute
It states on the first mounting portion 111, the third actuator 23 and the fourth drive member 24 are arranged and are slidably connected in up and down direction
Between two side frames 12, the driving end of the third actuator 23 and the driving end of the fourth drive member 24 are both passed through
One of them described side frame 12.I.e. third actuator 23 may be implemented sliding on side frame 12 under the driving of the first actuator 21
Dynamic, equally, fourth drive member 24 may be implemented to slide on side frame 12 under the driving of the second actuator 22.And third actuator
23 and the driving end of fourth drive member 24 may be implemented at least across one of side frame 12 through universal joint and needling mechanism
30 connections, and the movement at the driving end of third actuator 23 and fourth drive member 24 is avoided to be interfered by side frame 12.
Further, as shown in Figures 1 to 3, at least one side frame 12 offers respectively for the driving of third actuator 23
End be pierced by and for fourth drive member 24 driving end the first empty avoiding notch 123 and the second empty avoiding notch 124 that are pierced by.
Further, the first mounting portion 111 is equipped with the both ends and second for fixing the first actuator 21 respectively and drives
First support portion 113 and the second support portion 114 at the both ends of moving part 22, the first support portion 113 and the second support portion 114 interval are set
It sets.
In the present embodiment, as shown in Figures 1 to 3, the outside of the third actuator 23 is equipped with the first valve jacket 231, and described the
One valve jacket 231 is set there are two spaced apart first slide plate 232, and the outside of the fourth drive member 24 is equipped with the second valve jacket 241,
Second valve jacket 241 is set there are two spaced apart second slide plate 242；Two side frames 12 are respectively equipped under the correspondence of position
In the first guide groove 121 arranged in the up-down direction and the second guide groove 122, the first guide groove 121 and the second guide groove 122 are arranged in parallel.I.e.
Be equipped with the first guide groove 121 and the second guide groove 122 being arranged in parallel up and down on each side frame 12, and two side frames 12 be arranged the
One guide groove 121 is all in the same horizontal plane, and the second guide groove 122 of setting is all in the same horizontal plane.
Further, as shown in Figures 1 to 3, first slide plate 232 is slidably connected with first guide groove 121, and described
Two slide plates 242 are slidably connected with second guide groove 122, the driving end of first actuator 21 and first valve jacket 231
Connection, the driving end of second actuator 22 is connect with second valve jacket 241.Specifically, pass through the first slide plate 232 and
One guide groove 121 is slidably connected, and so aloows first shell set 231 to slide along the first guide groove 121, similarly, passes through
Second slide plate 242 is slidably connected with the second guide groove 122, that is, aloows second shell set 241 sliding along the second guide groove 122
It is dynamic.And the first valve jacket 231 is used to install for third actuator 23 to fix, and the second valve jacket 241 is then for for fourth drive member 24
Installation is fixed, in this way under the driving of the first actuator 21 and the second actuator 22, third actuator 23 and fourth drive member 24
It can be slided respectively along the first guide groove 121 being parallel to each other and the second guide groove 122, that is, realize and move along the x axis.
In the present embodiment, as shown in Figures 1 to 3, the pose adjustment mechanism 20 further includes first laser distance measuring sensor 25
With second laser distance measuring sensor 26, laser range sensor includes laser diode, and when work is first aligned by laser diode
Objective emission laser pulse, laser is scattered to all directions after target reflects, and some scattered light returns to transducer receivers, such as
This realizes measurement target range.The first laser distance measuring sensor 25 and the second laser distance measuring sensor 26 are in upper and lower
To arranging and be each attached on first mounting portion 111, the first laser distance measuring sensor 25 and first actuator
21 are electrically connected and by being reflected on transmitting laser to first valve jacket 231 to measure the distance of first valve jacket 231
Value, the second laser distance measuring sensor 26 are electrically connected with second actuator 22 and by transmitting laser to the second shell
It is reflected on set 241 to measure the distance value of second valve jacket 241, and then feedback signal is to the first actuator 21, first
Actuator 21, which may determine that, continues to drive or stop driving.Wherein, first laser distance measuring sensor 25 and second laser ranging
Sensor 26 is each attached on the first mounting portion 111 of the bottom plate 11 of pedestal 10, can be sensed in this way to avoid first laser ranging
Device 25 and second laser distance measuring sensor 26 will not be followed by the first actuator 21 and the driving end of the second actuator 22 is mobile.Such as
This design can measure the first valve jacket 231 under the driving of the first actuator 21 along X by first laser distance measuring sensor 25
The mobile distance of axis direction, and then judge the displacement of third actuator 23, and then feedback signal is to the second actuator 22, second
Actuator 22, which may determine that, continues to drive or stop driving.Similarly, the can be measured by second laser distance measuring sensor 26
The distance that two valve jackets 241 move under the driving of the second actuator 22 along X-direction, and then judge the position of fourth drive member 24
Shifting amount, and then can be realized the displacement for more intelligently controlling needling mechanism 30, realize the appearance for preferably adjusting needling mechanism 30
State.
In the present embodiment, as shown in Figures 1 to 3, the pose adjustment mechanism 20 further includes third laser range sensor 27
With the 4th laser range sensor 28, the driving end of the third actuator 23 is equipped with first baffle 233, the 4th driving
The driving end of part 24 is equipped with second baffle 243, and the third laser range sensor 27 is fixed on first valve jacket 231
Side and be electrically connected with the third actuator 23 and by transmitting laser to the first baffle 233 on reflected to measure
The distance value of the first baffle 233, and then feedback signal, to third actuator 23, third actuator 23, which may determine that, to be continued to drive
Dynamic or stop driving, the 4th laser range sensor 28 is fixed on the side of second valve jacket 241 and with described the
Four actuators 24 are electrically connected and by being reflected on transmitting laser to the second baffle 243 to measure the second baffle
243 distance value, and then feedback signal, to fourth drive member 24, fourth drive member 24, which may determine that, to be continued to drive or stops driving
It is dynamic.
Wherein, third laser range sensor 27 and the 4th laser range sensor 28 are separately fixed at the first valve jacket 231
It is moved with the driving end that can be followed by third actuator 23 on the second valve jacket 241 to avoid third laser range sensor 27, with
And the driving end for avoiding the 4th equal sensor of Laser Measuring from being followed by fourth drive member 24 is mobile.It is designed in this way, third can be passed through
Laser range sensor 27 measures the distance that first baffle 233 moves under the driving of third actuator 23 along Y direction, into
And judge the displacement of needling mechanism 30 under the driving of third actuator 23 along the y axis.Similarly, the 4th Laser Measuring can be passed through
The distance that second baffle 243 moves under the driving of fourth drive member 24 along Y direction is measured away from sensor 28, and then is judged
Displacement of the needling mechanism 30 under the driving of fourth drive member 24, and then can be realized and more intelligently control needling mechanism 30
The posture for preferably adjusting needling mechanism 30 is realized in displacement.
In the present embodiment, the needling mechanism 30 includes puncture needle 31 and the 5th actuator 32, the 5th actuator 32
Pass through first universal joint 351 and second universal joint 352 the driving end and the 4th with the third actuator 23 respectively
The driving end of actuator 24 connects, and the puncture needle 31 is connect with the driving end of the 5th actuator 32.Specifically, it the 5th drives
Moving part 32 realizes that the inserting needle of control puncture needle 31 and the withdraw of the needle act for driving needling mechanism 30 along linear movement.The
Five actuators 32 by the first universal joint 351 and the second universal joint 352 due to being connected, then the position of the 5th actuator 32 and appearance
State can pass through the first actuator 21 of parallel arrangement and the second actuator 22 and the third actuator 23 and the of parallel arrangement
Adjustment is realized under the collective effect of four actuators 24.
In the present embodiment, as shown in Figures 1 to 3, the driving end of the 5th actuator 32 is equipped with third baffle 33, described
The outside of 5th actuator 32 is equipped with third valve jacket 35, and the third valve jacket 35 passes through first universal joint 351 and described the
Two universal joints 352 are connect with the driving end at the driving end of the third actuator 23 and the fourth drive member 24 respectively.It is described
Third valve jacket 35 is equipped with the 5th laser range sensor 34, and the 5th laser range sensor 34 is fixed on the third shell
It covers 35 side and is electrically connected with the 5th actuator 32 and is reflected on laser to the third baffle 33 by emitting
To measure the position quantity at the driving end of the 5th actuator 32.Wherein, the 5th laser range sensor 34 is fixed on third shell
The driving end that the 5th actuator 32 can be followed by set 35 to avoid the 5th laser range sensor 34 is mobile.In this way, can lead to
Cross what the 5th laser range sensor 34 measurement third baffle 33 moved under the driving of the 5th actuator 32 along rectilinear direction
Distance, and then judge displacement of the puncture needle 31 of needling mechanism 30 under the driving of the 5th actuator 32, and then can be realized more
Add the inserting needle for intelligently controlling the puncture needle 31 of needling mechanism 30 and the withdraw of the needle, realizes and preferably carry out puncturing operation.
In the present embodiment, as shown in Figures 1 to 3, the needling mechanism 30 further includes puncture needle fixed frame 36, the third shell
The side of set 35 is equipped with slideway 353, and puncture needle fixed frame 36 is slidably connected on the slideway 353, and the puncture needle is fixed
One end of frame 36 is connect with the driving end of the 5th actuator 32, and the puncture needle 31 is another with the puncture needle fixed frame 36
One end connection.Specifically, the effect of puncture needle fixed frame 36 is for connecting the actuator of puncture needle 31 and the 5th actuator 32
It connects, in this way, on the one hand can preferably fix puncture needle 31, on the other hand can also be changed by 31 fixing piece of puncture needle and be worn
The installation direction of pricker 31.Further, in the junction of puncture needle 31 and puncture needle fixed frame 36 setting cover board 37 to protect
The connection position of puncture needle 31 and puncture needle fixed frame 36.
Wherein, as shown in Figures 1 to 3, the slideway 353 of the side setting of third valve jacket 35 is slided for puncture needle fixed frame 36,
Play the role of the movement of guided puncturing needle 31, it is ensured that inserting needle and the withdraw of the needle of the puncture needle 31 when being performed the operation are more stable and can
It leans on.
In the present embodiment, it is preferable that the 5th actuator 32 is cylinder, and the cylinder includes the piston as driving end
Bar；Alternatively, in other embodiments, the 5th actuator 32 is linear mould group, the linear mould group includes as driving end
Slide plate.The motor of linear mould group as the 5th actuator 32 uses ultrasound electric machine.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (11)
1. a kind of puncturing operation robot based on series and parallel structure, it is characterised in that: include:
Pedestal；
Pose adjustment mechanism, including being fixedly installed on the pedestal and the first actuator for arranging and second drives along the x axis
Moving part and the third actuator and fourth drive member for being slidably mounted on the pedestal and arranging along the y axis, the third
Actuator is connect with the driving end of first actuator, and the driving end of the fourth drive member and second actuator connects
It connects；
Needling mechanism, inserting needle and the withdraw of the needle for executing puncture needle act, and are distinguished by the first universal joint and the second universal joint
It is connect with the driving end at the driving end of the third actuator and the fourth drive member.
2. the puncturing operation robot according to claim 1 based on series and parallel structure, it is characterised in that: the pedestal packet
Include bottom plate and two side frames, the bottom plate includes the first mounting portion and the second mounting portion interconnected, between two side frames
Every setting on second mounting portion；First actuator and second actuator are arranged in up and down direction and are fixed
On first mounting portion, the third actuator and the fourth drive member arrange in up and down direction and are slidably connected to two
Between a side frame, the driving end of the third actuator and the driving end of the fourth drive member both pass through one of institute
State side frame.
3. the puncturing operation robot according to claim 2 based on series and parallel structure, it is characterised in that: the third is driven
The outside of moving part is equipped with the first valve jacket, and the first shell is arranged there are two spaced apart first slide plate, the fourth drive member
Outside be equipped with the second valve jacket, the second shell is arranged there are two spaced apart second slide plate；Two side frames are set respectively
There is position corresponding lower in the first guide groove arranged in the up-down direction and the second guide groove, first slide plate is slided with first guide groove
Connection, second slide plate are slidably connected with second guide groove, the driving end of first actuator and first valve jacket
Connection, the driving end of second actuator is connect with second valve jacket.
4. the puncturing operation robot according to claim 3 based on series and parallel structure, it is characterised in that: the pose tune
Complete machine structure further includes first laser distance measuring sensor and second laser distance measuring sensor, the first laser distance measuring sensor and institute
It states second laser distance measuring sensor and arranges and be each attached on first mounting portion, the first laser ranging in up and down direction
Sensor, which is electrically connected with first actuator and passes through transmitting laser to the first shell and put on, to be reflected with described in measuring
The distance value of first valve jacket, the second laser distance measuring sensor are electrically connected with second actuator and pass through transmitting laser extremely
The second shell, which is put on, to be reflected to measure the distance value of second valve jacket.
5. the puncturing operation robot according to claim 4 based on series and parallel structure, it is characterised in that: the pose tune
Complete machine structure further includes third laser range sensor and the 4th laser range sensor, is set on the driving end of the third actuator
There is first baffle, the driving end of the fourth drive member is equipped with second baffle, and the third laser range sensor is fixed on
The side of first valve jacket and be electrically connected with the third actuator and pass through transmitting laser to the first baffle on carry out
It reflects to measure the distance value of the first baffle, the 4th laser range sensor is fixed on the side of second valve jacket
And it is electrically connected and passes through with the fourth drive member and reflected on transmitting laser to the second baffle to measure described second
The distance value of baffle.
6. described in any item puncturing operation robots based on series and parallel structure according to claim 1~5, it is characterised in that:
First actuator and second actuator are cylinder, and the cylinder includes the piston rod as driving end；Or institute
It states the first actuator and second actuator is linear mould group, the linear mould group includes the slide plate as driving end.
7. described in any item puncturing operation robots based on series and parallel structure according to claim 1~5, it is characterised in that:
The third actuator and the fourth drive member are cylinder, and the cylinder includes the piston rod as driving end；Or institute
It states third actuator and the fourth drive member is linear mould group, the linear mould group includes the slide plate as driving end.
8. described in any item puncturing operation robots based on series and parallel structure according to claim 1~5, it is characterised in that:
The needling mechanism includes puncture needle and the 5th actuator, and the 5th actuator passes through first universal joint and described second
Universal joint is connect with the driving end at the driving end of the third actuator and fourth drive member respectively, the puncture needle and described the
The driving end of five actuators connects.
9. the puncturing operation robot according to claim 8 based on series and parallel structure, it is characterised in that: the described 5th drives
The driving end of moving part is equipped with third baffle, and the outside of the 5th actuator is equipped with third valve jacket, and the third valve jacket passes through
First universal joint and second universal joint respectively with the driving end of the third actuator and the fourth drive member
End connection is driven, the third valve jacket is equipped with the 5th laser range sensor, and the 5th laser range sensor is fixed on
The side of the third valve jacket and be electrically connected with the 5th actuator and pass through transmitting laser to the third baffle on carry out
It reflects to measure the position quantity at the driving end of the 5th actuator.
10. the puncturing operation robot according to claim 9 based on series and parallel structure, it is characterised in that: the inserting needle
Mechanism further includes puncture needle fixed frame, and the side of the third valve jacket is equipped with slideway, and puncture needle fixed frame is slidably connected to described
On slideway, and one end of the puncture needle fixed frame is connect with the driving end of the 5th actuator, the puncture needle with it is described
The other end of puncture needle fixed frame connects.
11. the puncturing operation robot according to claim 8 based on series and parallel structure, it is characterised in that: the described 5th
Actuator is cylinder, and the cylinder includes the piston rod as driving end；Or the 5th actuator is linear mould group, it is described
Linear mould group includes the slide plate as driving end.
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| CN201810927501.2A CN109091233B (en) | 2018-08-15 | 2018-08-15 | Puncture surgical robot based on series-parallel connection structure |
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|---|---|---|---|
| CN201810927501.2A CN109091233B (en) | 2018-08-15 | 2018-08-15 | Puncture surgical robot based on series-parallel connection structure |
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| CN109091233A true CN109091233A (en) | 2018-12-28 |
| CN109091233B CN109091233B (en) | 2020-12-11 |
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| CN109620368A (en) * | 2019-01-30 | 2019-04-16 | 珠海市人民医院 | It is a kind of based on CT guidance under intervening of intelligence sting device |
| CN110897719A (en) * | 2019-12-16 | 2020-03-24 | 杨锐 | Medical treatment operation robot control system |
| CN111012499A (en) * | 2018-12-29 | 2020-04-17 | 华科精准（北京）医疗科技有限公司 | Medical auxiliary robot |
| CN111012514A (en) * | 2019-12-28 | 2020-04-17 | 天机医用机器人技术(清远)有限公司 | Puncture arm with direction function |
| CN111437011A (en) * | 2020-03-30 | 2020-07-24 | 中国科学院深圳先进技术研究院 | Puncture surgery robot system |
| CN111728654A (en) * | 2020-07-23 | 2020-10-02 | 西安交通大学医学院第一附属医院 | Automatic operation stitching instrument based on mechanical arm |
| CN111887991A (en) * | 2020-07-01 | 2020-11-06 | 武汉中科医疗科技工业技术研究院有限公司 | Surgical robot and puncture device |
| CN113116477A (en) * | 2021-04-26 | 2021-07-16 | 清华大学 | Pneumatic puncture surgical device |
| CN113288435A (en) * | 2021-05-24 | 2021-08-24 | 上海卓昕医疗科技有限公司 | Medical robot and control method thereof |
| WO2022027729A1 (en) * | 2020-08-07 | 2022-02-10 | 浙江大学 | Kidney puncture sampling device |
| CN114424967A (en) * | 2022-03-31 | 2022-05-03 | 真健康（北京）医疗科技有限公司 | Four-freedom puncture needle positioning and guiding device with orthogonal structure |
| CN114869424A (en) * | 2022-05-12 | 2022-08-09 | 北京术鹰医疗科技有限公司 | Operation puncture positioning device |
| CN117340898A (en) * | 2023-12-05 | 2024-01-05 | 真健康(广东横琴)医疗科技有限公司 | Kinematic analysis method for miniaturized hybrid puncture robot |
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| CN111012499A (en) * | 2018-12-29 | 2020-04-17 | 华科精准（北京）医疗科技有限公司 | Medical auxiliary robot |
| CN109620368A (en) * | 2019-01-30 | 2019-04-16 | 珠海市人民医院 | It is a kind of based on CT guidance under intervening of intelligence sting device |
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| CN111887991B (en) * | 2020-07-01 | 2022-05-27 | 武汉中科医疗科技工业技术研究院有限公司 | Surgical robot and puncture device |
| CN111728654B (en) * | 2020-07-23 | 2021-06-01 | 西安交通大学医学院第一附属医院 | Automatic operation stitching instrument based on mechanical arm |
| CN111728654A (en) * | 2020-07-23 | 2020-10-02 | 西安交通大学医学院第一附属医院 | Automatic operation stitching instrument based on mechanical arm |
| WO2022027729A1 (en) * | 2020-08-07 | 2022-02-10 | 浙江大学 | Kidney puncture sampling device |
| CN113116477A (en) * | 2021-04-26 | 2021-07-16 | 清华大学 | Pneumatic puncture surgical device |
| CN113288435A (en) * | 2021-05-24 | 2021-08-24 | 上海卓昕医疗科技有限公司 | Medical robot and control method thereof |
| CN114424967A (en) * | 2022-03-31 | 2022-05-03 | 真健康（北京）医疗科技有限公司 | Four-freedom puncture needle positioning and guiding device with orthogonal structure |
| CN114869424A (en) * | 2022-05-12 | 2022-08-09 | 北京术鹰医疗科技有限公司 | Operation puncture positioning device |
| CN114869424B (en) * | 2022-05-12 | 2023-11-21 | 首都医科大学附属北京朝阳医院 | Operation puncture positioning equipment |
| CN117340898A (en) * | 2023-12-05 | 2024-01-05 | 真健康(广东横琴)医疗科技有限公司 | Kinematic analysis method for miniaturized hybrid puncture robot |
| CN117340898B (en) * | 2023-12-05 | 2024-02-20 | 真健康(广东横琴)医疗科技有限公司 | Kinematic analysis method for miniaturized hybrid puncture robot |
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