CN109431605A - A kind of percutaneous puncture robot system and its application method based on flexible surgical arm - Google Patents
A kind of percutaneous puncture robot system and its application method based on flexible surgical arm Download PDFInfo
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- CN109431605A CN109431605A CN201811175034.9A CN201811175034A CN109431605A CN 109431605 A CN109431605 A CN 109431605A CN 201811175034 A CN201811175034 A CN 201811175034A CN 109431605 A CN109431605 A CN 109431605A
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- 238000000034 method Methods 0.000 title claims abstract description 26
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- 230000008054 signal transmission Effects 0.000 claims description 29
- 238000006243 chemical reaction Methods 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000012544 monitoring process Methods 0.000 claims description 14
- 230000003287 optical effect Effects 0.000 claims description 14
- 210000000988 bone and bone Anatomy 0.000 claims description 12
- 230000004888 barrier function Effects 0.000 claims description 9
- 238000001574 biopsy Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 6
- 239000003814 drug Substances 0.000 claims description 4
- 238000002595 magnetic resonance imaging Methods 0.000 claims description 4
- 229940124597 therapeutic agent Drugs 0.000 claims description 4
- 238000002604 ultrasonography Methods 0.000 claims description 4
- 238000011084 recovery Methods 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 2
- 230000005855 radiation Effects 0.000 abstract description 4
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 230000006378 damage Effects 0.000 abstract 1
- 208000014674 injury Diseases 0.000 abstract 1
- 238000001356 surgical procedure Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 230000002285 radioactive effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 241000736199 Paeonia Species 0.000 description 1
- 235000006484 Paeonia officinalis Nutrition 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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- 210000004881 tumor cell Anatomy 0.000 description 1
- 230000029663 wound healing Effects 0.000 description 1
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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
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Surgery (AREA)
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Abstract
The invention discloses a kind of percutaneous puncture robot systems and its application method based on flexible surgical arm, the present invention replaces the both hands of doctor using flexible surgical arm, the eyes of doctor are replaced using Image-aided machine, flexible surgical arm is controlled by doctor and Image-aided machine carries out percutaneous puncture operation, alleviates the problem that existing percutaneous puncture operative doctor physical consumption is big, work load is big.Doctor is avoided simultaneously because being chronically exposed to the radiation environment of Image-aided machine injury caused by doctor's body.
Description
Technical field
The present invention relates to the field of medical instrument technology, and in particular to a kind of percutaneous puncture robot based on flexible surgical arm
System and its application method.
Background technique
Percutaneous puncture does not need patient and cuts big notch, and not only reduce pain in patient's art and infection of bleeding can
Energy property, and postoperative wound sealing is easier, and patient wound's healing is also faster, thus, percutaneous puncture is usually used in establishing lumen
In pipeline, biopsy and puncture for treating etc..However, current percutaneous puncture is since the duration is long, surgical procedure precision is high, this
Require operating doctor not only and to have it is abundant hold knife surgical experience, also require operating doctor that there is physical strength.
In addition, in percutaneous puncture surgical procedure, it is often necessary to use the shadows such as CT machine, magnetic resonance imaging machine or B ultrasound machine
As auxiliary machine obtain patient affected part image, it is well known that these Image-aided machines transmitting radioactive particle when be by radiating,
The clinician body being chronically exposed under this radiation environment is damaged, health situation is troubling.
Summary of the invention
The purpose of the present invention is to provide a kind of based on the percutaneous puncture robot system of flexible surgical arm and its user
Method is not propped up with radiating medium to solve current operating doctor physical consumption in percutaneous puncture surgical procedure to clinician body
The problem of damaging.
To achieve the above object, the technical solution of the present invention is as follows: providing a kind of percutaneous puncture machine based on flexible surgical arm
Device people's system, the system include master control trolley, equipment trolley, operating bed, fluoroscopic image machine and an at least operation trolley, described
The side of the operating bed is arranged in operation trolley, and the fluoroscopic image machine is set to the side of the operating bed, the master control
Trolley is connected with the operation trolley by signal transmission cable, and the equipment trolley is connected by power transmission cable；Operation
Flexible surgical arm is provided on trolley, the flexibility surgical arm includes flexible Continuum Structure, drives mould group and motion controller,
The flexibility Continuum Structure includes the far structure body, middle connection body and proximal structure set gradually from distal end to proximal end
Body, the front end of the far structure body are provided with operation actuator；The driving mould group and the far structure body and described close
The association of end structure body；The motion controller and the driving mould group and operation are effector-associated；It is provided on master control trolley aobvious
Show equipment, controlling equipment and industrial personal computer, receiving module and signal conversion module, the receiving module and institute are set in the industrial personal computer
State connection signal line between signal conversion module；The display equipment, the controlling equipment, the motion controller and described
Seeing image camera passes through signal transmission cable and is connected with the industrial personal computer；It is provided with power module on the equipment trolley, it is described
Power module is connected by power transmission cable wire with the driving mould group and the operation actuator；Wherein, the perspective shadow
Camera acquires image in real time, and image information is sent to the industrial personal computer of the master control trolley, and industrial personal computer again passes image information
It send to the display equipment；The controlling equipment receives extraneous control instruction and control instruction is sent to the reception of industrial personal computer
Module；The receiving module sends control instruction to the signal conversion module of industrial personal computer, and signal conversion module is by control instruction
It is converted into drive volume parameter information, and sends the motion controller on operation trolley for the drive volume parameter information；The fortune
Movement controller is inputted according to the power that drive volume parameter information controls driving mould group, and the driving mould group obtains power input pusher
Dynamic flexibility Continuum Structure movement, band is had an operation actuator motions while flexible Continuum Structure moves；Industrial personal computer is to movement
Controller sends the control signal of control operation actuator power input, and operation actuator obtains power input and executes operation.
Preferably, the operation trolley further includes linear mould group, the distal flexible arm body include the first distal end structure section and
Second distal end structure section, the second distal end structure section are connect by middle connection body with the near structure body, the first distal end structure section
Including the first distal end space disc, the first distal end fixed disk and first structure bone；First near structure body includes quantity and remote
The the first proximal end structure section for holding structure joint number equal, the first proximal end structure section include the first proximal end space disc, the first proximal end fixed disk
With first structure bone, the operation actuator is set to the front end of the first far structure body；The driving mould group includes that transmission is driven
Moving cell and electric train unit, gear drive unit be associated withs with the first distal end structure section and near structure body, electric train unit and
Sterile barrier is equipped between gear drive unit, electric train unit is fixed on the end of linear mould group, wired built in linear mould group
Property mould group motor；The gear drive unit, the electric train unit and the linear mould group motor pass through power transmission line
Cable is connected with the power module.
Preferably, the porous minimally invasive robot system based on flexible surgical arm further includes positioning device, the positioning
Device includes space orientation sensor and positioning tracker, and the space orientation sensor and the positioning tracker are believed by light
Number connection, the positioning tracker is set on the operation trolley, and the space orientation sensor is set to the table of equipment
Che Shang, the space orientation sensor are connected with the industrial personal computer.
Preferably, hub, security monitoring module, electric knife, video processor and 2D are additionally provided on the equipment trolley
Display screen, the motion controller and the operation actuator first pass through signal transmission cable and are connected to the hub, then pass through
The hub is connected to the industrial personal computer；The security monitoring module includes that operation trolley interface, control chip and power supply turn
Change device, the power converter and the operation trolley interface is connected with the control chip, the operation trolley interface and
The electricity train unit, the electric train unit are connected, and the power converter is connected with the power module；The electric knife is logical
The hub is crossed to be connected with the industrial personal computer；The video signal input terminal of the video processor and the fluoroscopic image machine,
The video signal output of the video signal output video processor of the video processor is aobvious with industrial personal computer and the 2D
Display screen is connected；The master control trolley, the equipment trolley and the fluoroscopic image machine are provided with for accessing 220V alternating current
Electric power cable and its plug.
Preferably, the display equipment is 3D display device, and the controlling equipment is the distant behaviour's device of handle.
Preferably, the fluoroscopic image machine is CT machine, magnetic resonance imaging machine or B ultrasound machine.
Preferably, the operation actuator includes biopsy procedure tool or the tool for discharging therapeutic agent.
The invention further relates to a kind of application method of percutaneous puncture robot system based on flexible surgical arm, use is above-mentioned
The percutaneous puncture robot system based on flexible surgical arm, which is characterized in that the application method the following steps are included:
Step S1: setting master control trolley, equipment trolley, operating bed and several operation trolleys, several operating tables
The side of the operating bed is arranged in vehicle, and the master control trolley is connected with the operation trolley by signal transmission cable, described
Equipment trolley is connected by power transmission cable；
Step S2: far structure body, middle connection body and near structure body are set gradually from distal end to proximal end to be formed it is soft
Property Continuum Structure, wherein the distal flexible arm body include the first distal end structure section and the second distal end structure section, the second distal end structure section
It is connect by middle connection body with the near structure body, the first distal end structure section includes the first distal end space disc, first remote
Hold fixed disk and first structure bone；First near structure body includes the quantity first proximal end structure equal with distal end structure joint number
Section, the first proximal end structure section include the first proximal end space disc, the first proximal end fixed disk and first structure bone；
Setting driving mould group, wherein the driving mould group includes gear drive unit and electric train unit, transmission driving is single
Member is associated with the first distal end structure section and near structure body, and sterile barrier is arranged between electric train unit and gear drive unit,
Electric train unit is fixed on the end of linear mould group, and linear mould group motor built in linear mould group forms flexible surgical arm；
Several flexibility surgical arms are respectively arranged on several operation trolleys；
The front end setting operation actuator of the far structure body of platform operation trolley；
Step S3: setting shows equipment, controlling equipment and industrial personal computer on master control trolley, sets receiving module in the industrial personal computer
And signal conversion module, it is connected between the receiving module and the signal conversion module by signal wire；
Step S4: hub, security monitoring module, electric knife, power module, video processor are set on the equipment trolley
With 2D display, wherein
The motion controller, the fluoroscopic image machine and the operation actuator first pass through signal transmission cable and are connected to
The hub through the hub is connected to the industrial personal computer again；
The security monitoring module includes operation trolley interface, control chip and power converter, the power converter
It is connected with the control chip with the operation trolley interface, it is the operation trolley interface and the electric train unit, described
Electric train unit is connected, and the power converter is connected with the power module；
The electric knife first passes through signal transmission cable and is connected to the hub, through the hub is connected to the work again
Control machine is connected；
The video of the video signal input terminal of the video processor and the fluoroscopic image machine, the video processor is believed
The video signal output of number output end video processor is connected with industrial personal computer 1 and the 2D display screen；
Step S5: the master control trolley and the equipment trolley are provided with the electric power cable for accessing 220V alternating current
And its plug；
The display equipment and the controlling equipment are connected to the industrial personal computer by signal transmission cable；The power supply mould
Block is connected by power transmission cable wire with the driving mould group, the operation actuator and the electric knife；
Step S7: the operation trolley acquires the image of setting position by the fluoroscopic image machine in real time, and will setting
The image information of position is sent to the video processor of the equipment trolley, on the one hand the video processor arrives image transmitting
On the other hand stereo-picture is sent to the display equipment of the master control trolley by 2D display；
Controlling equipment receives extraneous control instruction and control instruction is sent to the receiving module of industrial personal computer；
Receiving module sends control instruction to the signal conversion module of industrial personal computer, and signal conversion module turns control instruction
It changes drive volume parameter information into, and the drive volume parameter information is first sent to the hub of the equipment trolley, is re-send to
The motion controller performed the operation on trolley；
Motion controller is inputted according to the power that drive volume parameter information controls driving mould group, and control driving mould group control is soft
Property Continuum Structure movement, while flexible Continuum Structure band is had an operation actuator motions；
Motion controller sends the control signal of control operation actuator power input, operation according to drive volume parameter information
Actuator obtains power input and executes operation.
Preferably, further comprising the steps of 6 between the step 5 and the step 7:
Positioning tracker is set on the operation trolley, and space orientation sensor is set on the equipment trolley, institute
It states space orientation sensor and first passes through signal transmission cable and be connected to the hub, through the hub be connected to the work again
Control machine is connected；
Stereo vision camera is set in space orientation covers disposed on sensor, the equipment trolley passes through the space orientation sensor
Stereo vision camera shoot it is described operation trolley on positioning tracker；
Video information is first passed through signal transmission cable and is connected to the hub, again through institute by the space orientation sensor
It states hub and is connected to the industrial personal computer, video information is sent to the display equipment by industrial personal computer；
The space orientation sensor sends optical signal to the positioning tracker, and the positioning tracker senses that light is believed
Number, and optical signal is returned to the space orientation sensor, the space orientation sensor obtains the position of the positioning tracker
It sets, and by the location information first to being connected to the hub by signal transmission cable, through the hub be connected to institute again
Industrial personal computer is stated, the location information of trolley on hand is sent to the display equipment by the industrial personal computer, and then determines each platform on hand
The position of vehicle.
Preferably, the application method is further comprising the steps of:
One master control trolley is set；
One equipment trolley is set；
One fluoroscopic image machine is set, and the fluoroscopic image machine is set to the side of the operating bed；
The operation trolley is close and is centered around the side of operating bed, and space orientation sensor is made to detect locating and tracking
Device；Start-up space alignment sensor, the position of operation trolley where checking flexible surgical arm；
Setting operation actuator on operation trolley；
Fluoroscopic image machine is opened towards setting position；
While by display equipment observation operation actuator motions, operation actuator is controlled by controlling equipment and is being set
Position is operated；
After completing operation, recovery is removed after flexible operation tool is unlocked from linear mould group.
The beneficial effects of the present invention are: the present invention replaces the both hands of doctor using flexible surgical arm, using Image-aided machine
Instead of the eyes of doctor, observation operation equipment is manipulated by doctor and is percutaneously worn to control flexible surgical arm and Image-aided machine
Needle-holding hand art, operating doctor can be sitting in master station Chinese herbaceous peony, adjust the direction for puncturing needle tubing in real time by observation operation equipment, mitigate
Existing percutaneous puncture operative doctor physical consumption is big, work load is big problem.Meanwhile the present invention uses and makes doctor not direct
It is exposed to the mode to work under Image-aided machine and completes percutaneous puncture operation, avoid doctor because being chronically exposed to Image-aided machine
Radiation environment injured caused by doctor's body.
Detailed description of the invention
Fig. 1 is the top view that the percutaneous puncture surgical robot system that invention provides is put.
Fig. 2 is the side view for the operation trolley that invention provides.
Fig. 3 is the schematic diagram for the flexible surgical arm that invention provides.
Fig. 4 is the left view for the master control trolley that invention provides.
Fig. 5 is the front view for the equipment trolley that invention provides.
Fig. 6 is the arrangement schematic diagram that the puncture outfit for the preferred embodiment that invention provides uses.
Specific embodiment
The following examples are intended to illustrate the invention, but is not limited to protection scope of the present invention.
Embodiment 1
The present embodiment 1 provides a kind of porous minimally invasive robot system based on flexible surgical arm, is based on flexibility to this below
The structure of the porous minimally invasive robot system of surgical arm is described in detail.
With reference to Fig. 1 and Fig. 6, the porous minimally invasive surgery system based on flexible surgical arm include an at least operation trolley 100,
The side of operating bed 4 is arranged in master control trolley 200, equipment trolley 300, operating bed 4 and fluoroscopic image machine 5, operation trolley 100,
Fluoroscopic image machine 5 is set to the side of operating bed 4, and master control trolley 200 is connected with operation trolley 100 by signal transmission cable,
Equipment trolley 300 is connected by power transmission cable.Wherein, operating bed 4 is used for bedridden patient, and operation trolley 100 is arranged in hand
The side of art bed 4.Flexible surgical arm 2 is both provided on every operation trolley 100, operation trolley 100 is for serving as mobile machine
Device people executes direct surgical procedure to patient by controlling flexible surgical arm 2；Fluoroscopic image machine 5 is for acquiring art portion image simultaneously
It discharges radioactive particle and radiation treatment is carried out to the tumour cell of patient；Setting display equipment 31, manipulation on master control trolley 200
Equipment 32 and industrial personal computer 1, for providing operating doctor observation art portion image and being remotely controlled flexible surgical arm 2.
Referring to figs. 2 and 3, operation trolley 100 includes pedestal 10, upright bar 11, registration arm 12, connecting rod 13, flexible operation
Arm 2 and linear mould group 23, the bottom end of upright bar 11 are rotatably dispose on pedestal 10, and registration arm 12 is movably connected on the upper of upright bar 11
End, registration arm 12 are detachably connected by connecting rod 13 with linear mould group 23, and flexible surgical arm 2 is set in linear mould group 23.
Further, flexible surgical arm 2 includes flexible Continuum Structure, driving mould group and motion controller, and flexibility is continuous
Body structure includes the far structure body, middle connection body and near structure body set gradually from distal end to proximal end, distal flexible arm
Body includes the first distal end structure section and the second distal end structure section, and the second distal end structure section is connect by middle connection body near structure body,
First distal end structure section includes the first distal end space disc, the first distal end fixed disk and first structure bone；First near structure body includes
The quantity first proximal end structure section equal with distal end structure joint number, the first proximal end structure section are solid including the first proximal end space disc, the first proximal end
Price fixing and first structure bone, the front end of the first far structure body are provided with operation actuator 211.
Further, driving mould group includes gear drive unit 221 and electric train unit 222, and gear drive unit 221 is equal
It is associated with the first distal end structure section and near structure body, sterile barrier is equipped between electric train unit 222 and gear drive unit 221
220, electric train unit 222 is fixed on the end of linear mould group 23, linear mould group motor built in linear mould group 23, motion control
Device is associated with driving mould group and operation actuator 211.Wherein, it with the associated gear drive unit in distal flexible arm body front, uses
To drive the first distal end structure section to carry out curving movement, and the associated gear drive unit of near structure body, to drive proximal end to tie
Structure body carries out curving movement；Electric train unit 222 is connect by sterile barrier 220 near structure body, is gear drive unit
Driving force is provided；Electric train unit 222 is fixed on the end of linear mould group 23, for driving flexible operation tool 21 to realize line
Property feed motion.
Further, linear mould group 23 includes the support body with sliding slot, and rotation is provided with lead screw on support body, in silk
It is arranged on thick stick with lead screw by being threadedly engaged and being slidably arranged in the sliding block in sliding slot, in one end of support body, setting is linear
Mould group motor, the linear mould group motor are connected with motion controller, and the output shaft and lead screw of linear mould group motor pass through shaft coupling
It is fastenedly connected；Electric 222 shell of train unit is fastenedly connected with sliding block.Linear mould group 23 can by connecting rod 13 and registration arm 12
Dismantling connection.
When motion controller receives the signal of linear mould group motor, and controls the output shaft rotation of linear mould group motor,
Sliding block will drive electric train unit 222, sterile barrier 220 and flexible operation tool 21 to do linear movement along the chute, to realize
The feed motion of flexible operation tool 21.
Further, fluoroscopic image machine 5 can be CT machine, be also possible to the others such as magnetic resonance imaging machine or B ultrasound machine
Preferably, operation actuator 211 is fastenedly connected in the distal end of distal flexible arm body 212, can be biopsy procedure work
The tool of tool or release therapeutic agent.Specifically, when actuator 211 of performing the operation is biopsy procedure tool, operation actuator 211 can
Think biopsy needle；When actuator 211 of performing the operation is to discharge the tool of therapeutic agent, operation actuator 211 can be puncture needle.
With reference to Fig. 4, it is provided with display equipment 31, controlling equipment 32 and industrial personal computer 1 on master control trolley 200, is set in industrial personal computer 1
Receiving module and signal conversion module, connection signal line between receiving module and signal conversion module；Display equipment 31, manipulation are set
Standby 32, motion controller and fluoroscopic image machine pass through signal transmission cable and are connected with industrial personal computer 1.
Specifically, display equipment 31 is 3D display device, and controlling equipment 32 is the distant behaviour's device of handle.
With reference to Fig. 5, equipment trolley 300 is equipped with Tool Cabinet 54, and standing on mainframe has rocker arm support rod 53, rocker arm support rod 53
On be provided with rotating arm 52, space orientation sensor 51 is set on rotating arm 52.
Power module, hub (Hub), security monitoring module, electric knife, video processor are also set up on equipment trolley 300
With 2D display screen, specifically, hub (Hub), security monitoring module, electric knife and video processor are set in Tool Cabinet 54.
Motion controller operation actuator 211 first passes through signal transmission cable and is connected to hub (Hub), then through hub
(Hub) it is connected to industrial personal computer 1；
Security monitoring module includes operation trolley interface, control chip and power converter, power converter and operating table
Vehicle interface is connected with control chip, and operation trolley interface is connected with electric train unit 222, electric train unit 222, power conversion
Device is connected with power module；Security monitoring module is used to cut off the power supply of driving motor when being abnormal.
Electric knife is connected by hub (Hub) with industrial personal computer 1, and electric knife is used for cutting coagulation；
The video signal input terminal of video processor is connected with fluoroscopic image machine, the video signal output of video processor
It is connected with industrial personal computer 1 and 2D display screen；
Master control trolley 200 and equipment trolley 300 are provided with electric power cable and its plug for accessing 220V alternating current,
The plug can be connected to hospital's power supply.
Gear drive unit 221, electric train unit 222 and linear mould group motor pass through power transmission cable and power supply mould
Block is connected.Power module is used to power for all manual trolleys or oneself these thing.
Further, the porous minimally invasive robot system based on flexible surgical arm further includes positioning device, positioning device packet
Space orientation sensor 51 and positioning tracker 50 are included, space orientation sensor 51 and positioning tracker 50 are connected by optical signal
It connects, positioning tracker 50 is set on operation trolley 100, and the rotation that space orientation sensor 51 is set to equipment trolley 300 is shaken
On arm 52, space orientation sensor 51 is connected with industrial personal computer 1.
Wherein, positioning tracker 50 is used cooperatively with space orientation sensor 51, for positioning for operation trolley 100.Tool
Body, " optical position can be used disclosed in Chinese utility model patent in the space orientation sensor 51 and positioning tracker 50
Tracking module and the optical indicating device for using it " application No. is the optical indicating device in CN200820060606.4, spaces
Alignment sensor 51 includes a circuit board, which is equipped with an image sensor tube core, the image sensor pipe
Core is electrically connected by lead and the circuit board, and the image sensor tube core periphery covers a shell, the shell combination in
On the circuit board, and the shell has a loophole, while the optical position tracking module further includes a light source and change light
The light guide of thread path, the positioning tracker 50 are similar to light guide, and space orientation sensor 51 is similar to image sensor pipe
The light of core, light source transmitting conducts by the light guide and after a surface reflection, the reflection light by the light guide and
The loophole of shell and be radiated on the image sensor tube core.
Further, the bottom of operation trolley 100, master control trolley 200 and equipment trolley 300 is provided with four rolling
400.Four rolling 400 is respectively arranged at the quadrangle of the pallet bottom.
Further, which further includes puncture outfit 6, and linear mould group 23 is fixedly arranged at the front end with puncture outfit sterile barrier 61,
In surgical procedure, operation actuator 211 passes through puncture outfit 6 to moving in patient body, range to puncture outfit 6 be punctured device without
Bacterium barrier 61 stops.
Embodiment 2
The present embodiment 2 provides a kind of application method of porous minimally invasive robot system based on flexible surgical arm, using reality
Apply the porous minimally invasive robot system based on flexible surgical arm of example 1, the application method the following steps are included:
Step S1: setting master control trolley 200, equipment trolley 300, operating bed 4 and several operation trolleys 100, Ruo Gantai
The side of operating bed 4 is arranged in operation trolley 100, and master control trolley 200 is connected with operation trolley 100 by signal transmission cable,
Equipment trolley 300 is connected by power transmission cable；
Step S2: far structure body, middle connection body and near structure body are set gradually from distal end to proximal end to be formed it is soft
Property Continuum Structure 211, wherein distal flexible arm body includes the first distal end structure section and the second distal end structure section, and the second distal end structure section is logical
Middle connection body is crossed to connect near structure body, the first distal end structure section include the first distal end space disc, the first distal end fixed disk and
First structure bone；First near structure body includes the quantity first proximal end structure section equal with distal end structure joint number, the first proximal end structure section
Including the first proximal end space disc, the first proximal end fixed disk and first structure bone；
Setting driving mould group, wherein driving mould group includes gear drive unit 221 and electric train unit 222, transmission driving
Unit 221 is associated with the first distal end structure section and near structure body, is set between electric train unit 222 and gear drive unit 221
Sterile barrier 220 is set, electric train unit 222 is fixed on the end of linear mould group 23, linear mould group electricity built in linear mould group 23
Machine forms flexible surgical arm 2；
Several flexibility surgical arms 2 are respectively arranged on several operation trolleys 100；
The front end setting operation actuator 212 of the far structure body of platform operation trolley 100；
Step S3: setting shows equipment 31, controlling equipment 32 and industrial personal computer 1 on master control trolley 200, sets and connects in industrial personal computer 1
Module and signal conversion module are received, is connected between receiving module and signal conversion module by signal wire；
Step S4: be arranged on equipment trolley 300 hub (Hub), security monitoring module, electric knife, power module, at video
Manage device and 2D display, wherein
Motion controller, fluoroscopic image machine 5 and operation actuator 211 first pass through signal transmission cable and are connected to hub
(Hub), industrial personal computer 1 is connected to through hub (Hub) again；
Security monitoring module includes operation trolley interface, control chip and power converter, power converter and operating table
Vehicle interface is connected with control chip, and operation trolley interface is connected with electric train unit 222, electric train unit 222, power conversion
Device is connected with power module；
Electric knife first passes through signal transmission cable and is connected to hub (Hub), through hub (Hub) is connected to industrial personal computer 1 again
It is connected；
The video signal output of the video signal input terminal and fluoroscopic image machine 5 of video processor, video processor regards
The video signal output of frequency processor is connected with industrial personal computer 1 and 2D display screen；
Step S5: master control trolley 200 and equipment trolley 300 be provided with electric power cable for accessing 220V alternating current and
Its plug；
Show that equipment 31 and controlling equipment 32 are connected to industrial personal computer 1 by signal transmission cable；Power module passes through electric power
Transmission line cable is connected with driving mould group, operation actuator 211 and electric knife；
Step S7: operation trolley 100 is by the image of the acquisition setting position in real time of fluoroscopic image machine 5, and by setting position
Image information be sent to the video processor of equipment trolley 300, video processor on the one hand by image transmitting to 2D display,
On the other hand stereo-picture is sent to the display equipment 31 of master control trolley 200；
Controlling equipment 32 receives extraneous control instruction and control instruction is sent to the receiving module of industrial personal computer 1；
Receiving module sends control instruction to the signal conversion module of industrial personal computer 1, and signal conversion module is by control instruction
It is converted into drive volume parameter information, and the drive volume parameter information is first sent to the hub (Hub), again of equipment trolley 300
The motion controller being sent on operation trolley 100；
Motion controller is inputted according to the power that drive volume parameter information controls driving mould group, and control driving mould group control is soft
Property Continuum Structure movement, while flexible Continuum Structure band is had an operation the movement of actuator 211；
Motion controller sends the control signal of control operation 211 power of actuator input according to drive volume parameter information,
Operation actuator 211 obtains power input and executes operation.
Embodiment 3
The present embodiment 3 provides a kind of application method of porous minimally invasive robot system based on flexible surgical arm, the use
Method adds following steps 6 on the basis of the application method that embodiment 2 provides between step 5 and step 7:
Positioning tracker 50 is set on operation trolley 100, and space orientation sensor 51 is set on equipment trolley 300,
Space orientation sensor 51 first passes through signal transmission cable and is connected to hub (Hub), through hub (Hub) is connected to industry control again
Machine 1 is connected；
Stereo vision camera is set on space orientation sensor 51, and equipment trolley 300 passes through space orientation sensor 51
Stereo vision camera shooting operation trolley 100 on positioning tracker 50；
Video information is first passed through signal transmission cable and is connected to hub (Hub), again through collecting by space orientation sensor 51
Line device (Hub) is connected to industrial personal computer 1, and video information is sent to display equipment 31 by industrial personal computer 1；
Space orientation sensor 51 sends optical signal to positioning tracker 50, and positioning tracker 50 senses optical signal, and
Optical signal is returned to space orientation sensor 51, space orientation sensor 51 obtains the position of positioning tracker 50, and by the position
Confidence breath is first to being connected to hub (Hub) by signal transmission cable, through hub (Hub) be connected to industrial personal computer 1, industry control again
The location information of trolley 100 on hand is sent to display equipment 31 by machine 1, and then determines the position of each trolley on hand 100.
Embodiment 4
The present embodiment 4 provides a kind for the treatment of method of Operation of Chest Tumor, and this method is the user provided in embodiment 2
After method, following steps are added:
One master control trolley 200 is set；
One equipment trolley 300 is set；
One fluoroscopic image machine 5 is set, and fluoroscopic image machine 5 is set to the side of operating bed 4；
Operation trolley 100 is close and is centered around the side of operating bed 4, and space orientation sensor 51 is made to detect locating and tracking
Device 50；Start-up space alignment sensor 51, the position of operation trolley 100 where checking flexible surgical arm 2；
Setting operation actuator 212 on operation trolley 100；
Fluoroscopic image machine 5 is opened towards setting position；
While being moved by the display observation operation actuator 212 of equipment 31, operation is controlled by controlling equipment 32 and is executed
Device 212 is operated in setting position；
After completing operation, recovery is removed after flexible operation tool 21 is unlocked from linear mould group 23.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (10)
1. a kind of percutaneous puncture robot system based on flexible surgical arm, which is characterized in that the system includes master control trolley
(200), equipment trolley (300), operating bed (4), fluoroscopic image machine (5) and an at least operation trolley (100),
The operation trolley (100) is arranged on the side of the operating bed (4), and the fluoroscopic image machine (5) is set to the hand
The side of art bed (4), the master control trolley (200) and the operation trolley (100) are connected by signal transmission cable, described to set
Standby trolley (300) are connected by power transmission cable；
It is provided with flexible surgical arm (2) in operation trolley (100), the flexibility surgical arm (2) includes flexible Continuum Structure, drives
Dynamic model group and motion controller, it is described flexibility Continuum Structure include the far structure body set gradually from distal end to proximal end, in
Portion's connector and near structure body, the front end of the far structure body are provided with operation actuator (211)；The driving mould group with
The far structure body is associated with the near structure body；The motion controller and the driving mould group and operation actuator
(211) it is associated with；
Display equipment (31), controlling equipment (32) and industrial personal computer (1) are provided on master control trolley (200), the industrial personal computer (1) is interior
If receiving module and signal conversion module, connection signal line between the receiving module and the signal conversion module；It is described aobvious
Show that equipment (31), the controlling equipment (32), the motion controller and the fluoroscopic image machine (5) pass through signal transmssion line
Cable is connected with the industrial personal computer (1)；
Power module is provided on the equipment trolley (300), the power module passes through power transmission cable wire and the drive
Dynamic model group is connected with the operation actuator (211)；
Wherein, the fluoroscopic image machine (5) acquires image in real time, and image information is sent to the master control trolley (200)
Image information is sent to the display equipment (31) again by industrial personal computer (1), industrial personal computer (1)；
The receiving module that the controlling equipment (32) receives extraneous control instruction and control instruction is sent to industrial personal computer (1)；
The receiving module sends control instruction to the signal conversion module of industrial personal computer (1), and signal conversion module refers to control
Order is converted into drive volume parameter information, and sends the motion controller in operation trolley (100) for the drive volume parameter information；
The motion controller is inputted according to the power that drive volume parameter information controls driving mould group, and the driving mould group is moved
Flexible Continuum Structure movement is pushed after power input, band is had an operation actuator (211) fortune while flexible Continuum Structure moves
It is dynamic；
Industrial personal computer (1) sends the control signal that control operation actuator (211) power inputs, actuator of performing the operation to motion controller
(211) it obtains power input and executes operation.
2. as described in claim 1 based on flexible percutaneous puncture surgical robot system, which is characterized in that
The operation trolley (100) further includes linear mould group (23),
The distal flexible arm body includes the first distal end structure section and the second distal end structure section, and the second distal end structure section passes through middle connection body
It is connect with the near structure body, the first distal end structure section includes the first distal end space disc, the first distal end fixed disk and first
Structural bone；First near structure body includes the quantity first proximal end structure section equal with distal end structure joint number, first proximal end
Structure section includes the first proximal end space disc, the first proximal end fixed disk and first structure bone, and the operation actuator (211) is set to the
The front end of one far structure body；
The driving mould group includes gear drive unit (221) and electric train unit (222), gear drive unit (221) with
First distal end structure section is associated with near structure body, and sterile screen is equipped between electric train unit (222) and gear drive unit (221)
Hinder (220), electric train unit (222) is fixed on the end of linear mould group (23), linear mould group electricity built in linear mould group (23)
Machine；
The gear drive unit (221), the electric train unit (222) and the linear mould group motor pass through power transmission
Cable is connected with the power module.
3. as described in claim 1 based on flexible percutaneous puncture surgical robot system, which is characterized in that
The porous minimally invasive robot system based on flexible surgical arm further includes positioning device, and the positioning device includes space
Alignment sensor (51) and positioning tracker (50), the space orientation sensor (51) pass through with the positioning tracker (50)
Optical signal connection, the positioning tracker (50) are set on the operation trolley (100), the space orientation sensor (51)
It is set on the equipment trolley (300), the space orientation sensor (51) is connected with the industrial personal computer (1).
4. as described in claim 1 based on the percutaneous puncture robot system of flexible surgical arm, which is characterized in that the equipment
Hub, security monitoring module, electric knife, video processor and 2D display screen are additionally provided on trolley (300),
The motion controller and the operation actuator (211) first pass through signal transmission cable and are connected to the hub, then
The industrial personal computer (1) is connected to through the hub；
The security monitoring module includes operation trolley interface, control chip and power converter, the power converter and institute
It states operation trolley interface to be connected with the control chip, the operation trolley interface and the electricity train unit (222), described
Electric train unit (222) is connected, and the power converter is connected with the power module；
The electric knife is connected by the hub with the industrial personal computer (1)；
The video of the video signal input terminal of the video processor and the fluoroscopic image machine (5), the video processor is believed
The video signal output of number output end video processor is connected with industrial personal computer (1) and the 2D display screen；
The master control trolley (200), the equipment trolley (300) and the fluoroscopic image machine (5) are provided with for accessing
The electric power cable and its plug of 220V alternating current.
5. as described in claim 1 based on the percutaneous puncture robot system of flexible surgical arm, which is characterized in that the display
Equipment (31) is 3D display device, and the controlling equipment (32) is the distant behaviour's device of handle.
6. as described in claim 1 based on the percutaneous puncture robot system of flexible surgical arm, which is characterized in that the perspective
Image machine (5) is CT machine, magnetic resonance imaging machine or B ultrasound machine.
7. as described in claim 1 based on the percutaneous puncture robot system of flexible surgical arm, which is characterized in that the operation
Actuator (211) includes biopsy procedure tool or the tool for discharging therapeutic agent.
8. a kind of application method of the percutaneous puncture robot system based on flexible surgical arm is appointed using in such as claim 1-4
Meaning one described in the percutaneous puncture robot system based on flexible surgical arm, which is characterized in that the application method include with
Lower step:
Step S1: setting master control trolley (200), equipment trolley (300), operating bed (4) and several operation trolleys (100), if
Operation trolley (100) described in dry platform is arranged in the side of the operating bed (4), the master control trolley (200) and the operating table
Vehicle (100) is connected by signal transmission cable, and the equipment trolley (300) is connected by power transmission cable；
Step S2: far structure body, middle connection body and near structure body are set gradually to form flexible connect from distal end to proximal end
Continuous body structure (211), wherein the distal flexible arm body includes the first distal end structure section and the second distal end structure section, the second distal end structure section
It is connect by middle connection body with the near structure body, the first distal end structure section includes the first distal end space disc, first remote
Hold fixed disk and first structure bone；First near structure body includes the quantity first proximal end structure equal with distal end structure joint number
Section, the first proximal end structure section include the first proximal end space disc, the first proximal end fixed disk and first structure bone；
Setting driving mould group, wherein the driving mould group includes gear drive unit (221) and electric train unit (222), transmission
Driving unit (221) is associated with the first distal end structure section and near structure body, electric train unit (222) and gear drive unit
(221) sterile barrier (220) are set between, electric train unit (222) is fixed on the end of linear mould group (23), linear mould group
(23) linear mould group motor built in forms flexible surgical arm (2)；
Several flexible surgical arms (2) are respectively arranged on several operation trolleys (100)；
Front end setting operation actuator (212) of the far structure body of platform operation trolley (100)；
Step S3: setting display equipment (31), controlling equipment (32) and industrial personal computer (1), the industrial personal computer on master control trolley (200)
(1) receiving module and signal conversion module are set in, is connected between the receiving module and the signal conversion module by signal wire
It connects；
Step S4: hub, security monitoring module, electric knife, power module, video processing are set on the equipment trolley (300)
Device and 2D display, wherein
The motion controller, the fluoroscopic image machine (5) and the operation actuator (211) first pass through signal transmission cable company
It is connected to the hub, through the hub is connected to the industrial personal computer (1) again；
The security monitoring module includes operation trolley interface, control chip and power converter, the power converter and institute
It states operation trolley interface to be connected with the control chip, the operation trolley interface and the electricity train unit (222), described
Electric train unit (222) is connected, and the power converter is connected with the power module；
The electric knife first passes through signal transmission cable and is connected to the hub, through the hub is connected to the industrial personal computer again
(1) it is connected；
The video of the video signal input terminal of the video processor and the fluoroscopic image machine (5), the video processor is believed
The video signal output of number output end video processor is connected with industrial personal computer 1 and the 2D display screen；
Step S5: the master control trolley (200) and the equipment trolley (300) are provided with the electricity for accessing 220V alternating current
Line of force cable and its plug；
The display equipment (31) and the controlling equipment (32) are connected to the industrial personal computer (1) by signal transmission cable；Institute
Power module is stated to be connected by power transmission cable wire with the driving mould group, the operation actuator (211) and the electric knife；
Step S7: operation trolley (100) acquires the image of setting position by the fluoroscopic image machine (5) in real time, and will
The image information of setting position is sent to the video processor of the equipment trolley (300), on the one hand the video processor will
On the other hand stereo-picture is sent to the display equipment (31) of the master control trolley (200) to 2D display by image transmitting；
The receiving module that controlling equipment (32) receives extraneous control instruction and control instruction is sent to industrial personal computer (1)；
Receiving module sends control instruction to the signal conversion module of industrial personal computer (1), and signal conversion module turns control instruction
It changes drive volume parameter information into, and the drive volume parameter information is first sent to the hub of the equipment trolley (300), is again sent out
The motion controller being sent in operation trolley (100)；
Motion controller is inputted according to the power that drive volume parameter information controls driving mould group, and control driving mould group control is flexible even
Continuous body structure motion, while flexible Continuum Structure band is had an operation actuator (211) movement；
Motion controller sends the control signal of control operation actuator (211) power input, hand according to drive volume parameter information
Art actuator (211) obtains power input and executes operation.
9. the application method of the percutaneous puncture robot system based on flexible surgical arm, feature exist as claimed in claim 8
In further comprising the steps of 6 between the step 5 and the step 7:
Positioning tracker (50) is set on the operation trolley (100), and space orientation sensor (51) is set to the equipment
On trolley (300), the space orientation sensor (51) first passes through signal transmission cable and is connected to the hub, again through described
Hub is connected to the industrial personal computer (1) and is connected；
Stereo vision camera is set on space orientation sensor (51), and the equipment trolley (300) passes through the space orientation
Positioning tracker (50) on stereo vision camera shooting operation trolley (100) of sensor (51)；
Video information is first passed through signal transmission cable and is connected to the hub, again through institute by the space orientation sensor (51)
It states hub to be connected to the industrial personal computer (1), video information is sent to the display equipment (31) by industrial personal computer (1)；
Space orientation sensor (51) the Xiang Suoshu positioning tracker (50) sends optical signal, positioning tracker (50) sense
Optical signal should be arrived, and returns to optical signal to the space orientation sensor (51), the space orientation sensor (51) obtains institute
It states the position of positioning tracker (50), and the location information is first connected to the hub, again to by signal transmission cable
It is connected to the industrial personal computer (1) through the hub, the location information of trolley on hand (100) is sent to by the industrial personal computer (1)
The display equipment (31), and then determine the position of each trolley on hand (100).
10. the application method of the percutaneous puncture robot system based on flexible surgical arm, feature exist as claimed in claim 9
In the application method is further comprising the steps of:
One master control trolley (200) is set；
One equipment trolley (300) is set；
One fluoroscopic image machine (5) is set, and the fluoroscopic image machine (5) is set to the side of the operating bed (4)；
The operation trolley (100) is close and is centered around the side of operating bed (4), detects space orientation sensor (51) fixed
Position tracker (50)；Start-up space alignment sensor (51), the position of operation trolley (100) where checking flexible surgical arm (2)；
Setting operation actuator (212) in operation trolley (100)；
Fluoroscopic image machine (5) is opened towards setting position；
While by display equipment (31) observation operation actuator (212) movement, held by controlling equipment (32) control operation
Row device (212) is operated in setting position；
After completing operation, recovery is removed after flexible operation tool (21) is unlocked from linear mould group (23).
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| CN201811175034.9A CN109431605A (en) | 2018-10-09 | 2018-10-09 | A kind of percutaneous puncture robot system and its application method based on flexible surgical arm |
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| CN201811175034.9A CN109431605A (en) | 2018-10-09 | 2018-10-09 | A kind of percutaneous puncture robot system and its application method based on flexible surgical arm |
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| CN111803216A (en) * | 2020-05-28 | 2020-10-23 | 中国科学院自动化研究所 | Bronchial surgery robot and bronchial surgery system |
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Address after: Room D101A-63, Building B-2, Dongsheng Science and Technology Park, No. 66 Xiaokou Road, Haidian District, Beijing, 100192 Applicant after: Beijing Shurui Robot Co.,Ltd. Address before: Room D101A-63, Building B-2, Dongsheng Science and Technology Park, No. 66 Xiaokou Road, Haidian District, Beijing, 100192 Applicant before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |
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Application publication date: 20190308 |