CN109431610B - Arc guide rail RCM needle insertion device for minimally invasive surgery puncture robot - Google Patents
Arc guide rail RCM needle insertion device for minimally invasive surgery puncture robot Download PDFInfo
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- CN109431610B CN109431610B CN201811554888.8A CN201811554888A CN109431610B CN 109431610 B CN109431610 B CN 109431610B CN 201811554888 A CN201811554888 A CN 201811554888A CN 109431610 B CN109431610 B CN 109431610B
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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
- A61B34/72—Micromanipulators
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention discloses an arc guide rail RCM needle feeding device for a minimally invasive surgery puncture robot, which comprises an arc guide rail, a needle feeding mechanism arranged on the arc guide rail, an arc motion driving mechanism and a rotation driving mechanism. According to the invention, the arc guide rail and the whole needle feeding mechanism and the arc movement driving mechanism on the arc guide rail are driven to rotate through the rotation driving mechanism, the needle feeding mechanism is driven to move along the arc on the arc guide rail through the arc movement driving mechanism, the needle feeding point position of the puncture needle is fixed through the combination of the two movements, and the needle feeding angle can be adjusted at will, so that the needle feeding posture is adjusted, and the accurate puncture needle feeding is realized. According to the invention, the elastic needle assembly is arranged, so that the rapid needle feeding of the puncture needle can be realized, and the pain of a human body can be relieved; and then the needle is smoothly and slowly inserted through the driving component until reaching the focus point.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an arc-shaped guide rail RCM needle insertion device for a minimally invasive surgery puncture robot.
Background
Minimally invasive surgery is performed by using an elongated rod-shaped surgical tool that is inserted into the body through a tiny incision in the surface of the body. Compared with the traditional open surgery, the surgical incision and surgical scar can be reduced, the recovery time can be shortened, and the bleeding amount, complications and the like can be reduced; it can be seen that the minimally invasive surgery has incomparable advantages to the open surgery, so that the minimally invasive surgery is favored by patients and doctors, and the minimally invasive technology is applied to a plurality of clinical fields.
However, the current minimally invasive surgery is basically completed by a physician with abundant experience, but in reality, the physician with abundant experience is limited, the duration of the puncture surgery is long, and the vigor of the physician is limited, so that popularization of the minimally invasive surgery is limited. Because of the advantages of minimally invasive surgery, and the difficulties in handling it, doctors desire auxiliary equipment to facilitate implementation and to be able to perform such surgery in a wide variety of fields. A lancet robot combining robotics with conventional minimally invasive techniques is widely recognized as a method to effectively solve the drawbacks of the conventional minimally invasive techniques. The lancet robot generally includes a robot arm, an RCM needle insertion device disposed at an end of the robot arm, the RCM needle insertion device including an RCM mechanism and a needle insertion mechanism. The robot arm can freely move and is used for realizing the positioning of the puncture point, the RCM mechanism is used for adjusting the puncture gesture (puncture angle) of the puncture needle, and the puncture needle mechanism is used for finally realizing the puncture, so that the puncture needle reaches the focus point. However, the existing needle insertion device has the problems of complex structure, single needle insertion mode of the needle insertion mechanism (lack of a rapid needle insertion mode, strong pain caused by patient puncture), large overall weight of the device, inconvenient control and the like, and is difficult to meet the application requirements of the puncture needle robot.
Disclosure of Invention
The invention aims to solve the technical problem of providing an arc-shaped guide rail RCM needle inserting device for a minimally invasive surgery puncture robot aiming at the defects in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme: an arc guide rail RCM needle feeding device for a minimally invasive surgery puncture robot comprises an arc guide rail, a needle feeding mechanism arranged on the arc guide rail, an arc motion driving mechanism for driving the needle feeding mechanism to slide along an arc on the arc guide rail, and a rotation driving mechanism arranged on the arc guide rail and used for driving the arc guide rail to do rotary motion;
the needle feeding mechanism comprises a box body, a linear guide rail arranged in the box body along the length direction, a needle feeding sliding block arranged on the linear guide rail, a puncture needle with the inner end arranged on the needle feeding sliding block and the outer end penetrating out of the box body along the length direction, and a needle feeding driving assembly for driving the needle feeding sliding block to slide on the linear guide rail, wherein a puncture needle guide seat for the puncture needle to penetrate out is arranged on the box body.
Preferably, the needle feeding slide block comprises a lower slide block arranged on the linear guide rail in a sliding way, a slide groove arranged on the upper surface of the lower slide block, an upper slide block arranged in the slide groove in a sliding way and a puncture needle fixing seat fixedly connected to the upper slide block, and the inner end of the puncture needle is arranged on the puncture needle fixing seat; the side part of the puncture needle fixing seat is provided with a baffle plate.
Preferably, the box body is internally provided with a spring needle assembly, the spring needle assembly comprises an electromagnet arranged at the side part of the needle inlet slide block and an electromagnet guide rod arranged on the electromagnet, and the electromagnet guide rod is vertically arranged at the side part of the baffle plate and used for pushing the upper slide block to slide in the chute; both ends of the sliding groove are provided with limiting blocks for limiting the upper sliding block.
Preferably, the side part of the synchronous belt is also provided with a guide wheel.
Preferably, the needle feeding driving assembly comprises a needle feeding motor, a worm gear box in driving connection with an output shaft of the needle feeding motor, a driving wheel in driving connection with the output shaft of the worm gear box, a driven wheel arranged on the opposite side of the driving wheel along the length direction of the box body and a synchronous belt arranged between the driving wheel and the driven wheel;
the lower slider is connected with the hold-in range through the clamp, the clamp include compress tightly the piece with be used for with compress tightly the rigid coupling fixed screw on the lower slider, the fixed screw is fixed the hold-in range between compress tightly piece and lower slider.
Preferably, the arc-shaped guide rail comprises a guide rail body, an upper flange, a lower flange and an external tooth part, wherein the upper flange and the lower flange are respectively arranged on the upper side and the lower side of the guide rail body, and the external tooth part is arranged on an external slideway of the guide rail body.
Preferably, the box body is connected with a mounting plate, the bottom of the mounting plate is provided with an upper clamping block and a lower clamping block which are arranged vertically symmetrically, both sides of the upper clamping block are provided with an upper guide bearing fixedly connected with the mounting plate, both sides of the lower clamping block are provided with a lower guide bearing fixedly connected with the mounting plate,
clamping grooves are formed in two opposite surfaces of the upper clamping block and the lower clamping block, and the clamping grooves are respectively clamped on an upper flange and a lower flange of the guide rail body;
guide grooves are formed in the outer walls of the upper guide bearing and the lower guide bearing, and the guide grooves are respectively clamped on the upper flange and the lower flange of the guide rail body.
Preferably, the arc-shaped motion driving mechanism comprises an adapter plate fixedly connected with the mounting plate, an arc-shaped motion driving motor arranged on the adapter plate and an external gear meshed with the external gear of the guide rail body, wherein the external gear is connected to an output shaft of the arc-shaped motion driving motor in a driving way;
the rotary driving mechanism comprises a bearing plate, a rotary driving motor arranged on the bearing plate and a connecting plate with one end connected with an output shaft of the rotary driving motor and the other end connected with the guide rail body.
Preferably, the outer gear and the guide rail body are all provided with a plurality of holes in a penetrating way.
Preferably, the outer surfaces of the upper flange and the lower flange, the clamping groove and the inner surface of the guide groove are all provided with protective coatings, and the protective coatings are prepared by spraying protective coatings and then drying;
the protective coating comprises the following raw materials in parts by weight:
the beneficial effects of the invention are as follows: according to the arc guide rail RCM needle feeding device for the minimally invasive surgery puncture robot, the arc guide rail and the whole needle feeding mechanism and the arc motion driving mechanism on the arc guide rail are driven to rotate through the rotation driving mechanism, the needle feeding mechanism is driven to move along the arc on the arc guide rail through the arc motion driving mechanism, the needle feeding point of a puncture needle is fixed through the combination of the two motions, the needle feeding angle of the puncture needle can be adjusted at will, and therefore the needle feeding gesture can be adjusted, and accurate puncture needle feeding is achieved. According to the invention, the elastic needle assembly is arranged, so that the rapid needle feeding of the puncture needle can be realized, and the pain of a human body can be relieved; then, the needle is smoothly and slowly inserted through the driving component until reaching the focus point; according to the invention, by arranging the protective coating, friction force between the arc-shaped guide rail and the contact surfaces of the upper and lower clamping blocks and the upper and lower guide bearings can be reduced, the strength of the arc-shaped guide rail and the upper and lower guide bearings is enhanced, and the service life is prolonged. Through being provided with the trompil on external gear and the guide rail body, can prevent that the dead phenomenon of card from appearing when external tooth portion meshing motion on external gear and the guide rail body. The invention has the advantages of simple structure, compact component arrangement, high transmission efficiency, convenient operation and good application prospect.
Drawings
FIG. 1 is a schematic view of the structure of an arcuate guide rail RCM needle insertion device for a minimally invasive surgical penetration robot of the present invention;
FIG. 2 is a schematic view of an alternative view of an arcuate guide rail RCM needle insertion device for a minimally invasive surgical penetration robot of the present invention;
FIG. 3 is a schematic view of the structure of the mounting plate of the present invention;
FIG. 4 is a schematic view of the structure of the arcuate guide rail of the present invention;
FIG. 5 is a schematic view of the needle insertion mechanism of the present invention;
FIG. 6 is a schematic view of the structure of the needle insertion slider of the present invention;
fig. 7 is a schematic diagram of the cooperation of the pressing block and the synchronous belt according to the present invention.
Reference numerals illustrate:
1-a box body; 2-a linear guide rail; 3-a needle insertion slider; 4-a puncture needle; 5-a drive assembly; 6-spring needle assembly; -an arcuate guide rail; 8-an arc-shaped motion driving mechanism; 9-a rotation driving mechanism; 10-a puncture needle guide seat; 11-a mounting plate; 30-a lower slide block; 31-a chute; 32-upper slide block; 33-a puncture needle fixing seat; 34-a baffle; 35-limiting blocks; 50-a motor; 51-a worm gear box; 52-a driving wheel; 53-driven wheel; 54, a synchronous belt; 55-a compressing piece; 56-a guide wheel; 60-electromagnet; 61-electromagnet guide rod; 70-a guide rail body; 71-an upper flange; 72-a lower flange; 73-external tooth part; 83-perforating; 80-an adapter plate; 81-an arc movement driving motor; 82-an external gear; 90-bearing plate; 91-a rotation driving motor; 92-connecting plates; 100—a needle insertion mechanism; 110-upper clamping block; 111-lower fixture blocks; 112-upper guide bearings; 113-lower guide bearings; 114-a clamping groove; 115—a guide slot; 550-compacting sheets; 551-fixing screw.
Detailed Description
The present invention is described in further detail below with reference to examples to enable those skilled in the art to practice the same by referring to the description.
It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
A mechanism of this type may be referred to as a "remote virtual fulcrum mechanism" (Remote Center of Motion, RCM mechanism) if a portion or point of the mechanism always passes a fixed point away from the mechanism itself (or is constrained within a very small space) during movement, and the point is free of physical hinge constraints. The characteristics of the mechanism are exactly matched with the operation characteristics of the minimally invasive surgery, and the mechanism has great success in the minimally invasive surgery robot. The RCM mechanism does not introduce redundant degrees of freedom to a minimally invasive surgical robot implemented with the constraints of the structure itself, but relies on specially designed mechanisms to allow a portion of the robot to always pass through a fixed point in space during movement. The invention adopts an arc-shaped guide rail 87RCM mechanism, as shown in figure 1, a rotation driving mechanism 9 of the invention is arranged on a mechanical arm (not shown in the figure) of an external puncture robot, the arc-shaped guide rail 87 is arranged on the rotation driving mechanism 9, and the arc-shaped guide rail 87 rotates around the axis of an output shaft of the rotation driving mechanism 9 under the driving of the rotation driving mechanism 9; the needle feeding mechanism 100 is mounted on the arc guide rail 87, the needle feeding mechanism 100 is driven to slide along the arc on the arc guide rail 87 (rotate around the center of the arc guide rail 87) through the arc movement driving mechanism, the needle feeding point position of the puncture needle 4 is fixed and the needle feeding angle can be adjusted at will through the combination of the two movements, so that the needle feeding gesture is adjusted. When in use, the mechanical arm moves to enable the puncture needle 4 to move to the needle insertion point, then the rotation driving mechanism 9 is matched with the arc-shaped movement driving mechanism to adjust the needle insertion posture, and finally the needle insertion mechanism 100 completes needle insertion.
As shown in fig. 1 to 7, an arc guide rail RCM needle feeding device for a minimally invasive surgery puncture robot of the present embodiment includes an arc guide rail 87, a needle feeding mechanism 100 provided on the arc guide rail 87, an arc movement driving mechanism for driving the needle feeding mechanism 100 to slide along an arc on the arc guide rail 87, and a rotation driving mechanism 9 provided on the arc guide rail 87 for driving the arc guide rail 87 to perform a rotation movement;
the needle feeding mechanism 100 comprises a box body 1, a linear guide rail 2 arranged in the box body 1 along the length direction, a needle feeding sliding block 3 arranged on the linear guide rail 2, a puncture needle 4 with the inner end arranged on the needle feeding sliding block 3 and the outer end penetrating out of the box body 1 along the length direction, and a needle feeding driving assembly 5 for driving the needle feeding sliding block 3 to slide on the linear guide rail 2, wherein a puncture needle guide seat 10 for the puncture needle 4 to penetrate out is arranged on the box body 1, and a mounting plate 11 is also arranged on the box body 1.
The needle feeding slide block 3 comprises a lower slide block 30 arranged on the linear guide rail 2 in a sliding way, a sliding groove arranged on the upper surface of the lower slide block 30, an upper slide block 32 arranged in the sliding groove in a sliding way and a puncture needle fixing seat 33 fixedly connected on the upper slide block 32, and the inner end of the puncture needle 4 is arranged on the puncture needle fixing seat 33; the side of the puncture needle holder 33 is provided with a baffle 34.
The box body 1 is internally provided with a spring needle assembly 6, the spring needle assembly 6 comprises an electromagnet 60 arranged on the side part of the needle inlet slide block 3 and an electromagnet guide rod 61 arranged on the electromagnet 60, and the electromagnet guide rod 61 is vertically arranged on the side part of the baffle 34 and used for pushing the upper slide block 32 to slide in the chute; both ends of the chute are provided with limiting blocks 35 for limiting the upper slide block 32.
The needle feeding driving assembly 5 comprises a needle feeding motor 50, a worm gear box 51 in driving connection with an output shaft of the needle feeding motor 50, a driving wheel 52 in driving connection with the output shaft of the worm gear box 51, a driven wheel 53 arranged on the opposite side of the driving wheel 52 along the length direction of the box body 1, and a synchronous belt 54 arranged between the driving wheel 52 and the driven wheel 53. The lower slider 30 is connected with the synchronous belt 54 through a pressing member 55, the pressing member 55 comprises a pressing plate 550 and a fixing screw 551 for fixedly connecting the pressing plate 550 on the lower slider 30, and the fixing screw 551 fixes the synchronous belt 54 between the pressing plate 550 and the lower slider 30.
The side portion of the synchronous belt 54 is further provided with a guide wheel 56, and the guide wheel 56 is provided with a polytetrafluoroethylene layer. The polytetrafluoroethylene layer can improve the smoothness and wear resistance of the outer wall of the guide wheel 56, reduce the friction between the guide wheel 56 and a conveyor belt, and prolong the service life of the guide wheel 56.
The needle insertion of the puncture needle 4 is divided into two steps, and the needle is quickly inserted by adopting the spring needle assembly 6 at the initial needle insertion stage of the puncture needle 4, so that the puncture needle 4 can quickly puncture the skin, and the pain of a human body is relieved; then the needle is smoothly and slowly inserted until reaching the focus point. Specifically, referring to fig. 1, in the initial stage of needle insertion, the electromagnet 60 is energized, the electromagnet guide rod 61 on the electromagnet 60 is ejected leftward, the baffle 34 on the side of the puncture needle fixing seat 33 is knocked, the puncture needle fixing seat 33 slides leftward in the chute together with the upper slider 32, so that the left end of the puncture needle 4 penetrating out of the box body 1 moves leftward rapidly, and rapid needle insertion is realized. The limiting block 35 on the left side of the chute limits the limiting position of the left movement of the upper slider 32. Then, the motor 50 works to drive the driving wheel 52 to rotate, the lower slider 30 is driven to move leftwards through the synchronous belt 54, and under the limiting action of the limiting block 35 on the right side of the chute, the upper slider 32 and the limiting block 35 on the right side are close to and then move leftwards along with the lower slider 30, so that the puncture needle 4 moves rightwards stably and slowly, and the puncture needle advances slowly until reaching a focus point. After the puncture is completed, the synchronous belt 54 drives the lower slider 30 to move rightwards, so that the puncture needle 4 is reset.
In one embodiment, the arc-shaped rail 87 includes a rail body 70, upper and lower flanges 71 and 72 provided at upper and lower sides of the rail body 70, respectively, and an external tooth part 73 provided on an external slide of the rail body 70.
Wherein, be connected with mounting panel 11 on the box body 1, the bottom of mounting panel 11 is provided with upper fixture block 110 and the lower fixture block 111 of upper and lower symmetrical arrangement, and upper fixture block 110 both sides all are provided with the upper guide bearing 112 with mounting panel 11 rigid coupling, and lower fixture block 111 both sides are provided with the lower guide bearing 113 with mounting panel 11 rigid coupling.
Clamping grooves 114 are formed in two opposite surfaces of the upper clamping block 110 and the lower clamping block 111, and the clamping grooves 114 are respectively clamped on the upper flange 71 and the lower flange 72 of the guide rail body 70; the outer walls of the upper guide bearing 112 and the lower guide bearing 113 are respectively provided with a guide groove 115, and the guide grooves 115 are respectively clamped on the upper flange 71 and the lower flange 72 of the guide rail body 70. The upper and lower clamping blocks 111 are clamped on the upper and lower flanges 72 and can slide on the guide rail body 70 along the arc direction without being separated from the guide rail body 70; the upper and lower guide bearings 113 include 2, 2 upper guide bearings 112 are symmetrically disposed at both sides of the upper clamping block 110, 2 lower guide bearings 113 are symmetrically disposed at both sides of the lower clamping block 111, the guide rail body 70 is disposed between the upper and lower guide bearings 113, and the upper and lower guide bearings 113 are clamped on the guide rail body 70 through the guide grooves 115 and can slide on the guide rail body 70 along the arc direction without being separated from the guide rail body 70. The upper and lower clamping blocks 111 and the upper and lower guide bearings 113 realize the slidable installation of the needle feeding mechanism 100 on the arc-shaped guide rail 87, so that the needle feeding mechanism 100 can smoothly slide on the arc-shaped guide rail 87 along the arc-shaped direction.
The arc-shaped motion driving mechanism comprises an adapter plate 80 fixedly connected with the mounting plate 11, an arc-shaped motion driving motor 81 arranged on the adapter plate 80 and an external gear 82 which is connected to an output shaft of the arc-shaped motion driving motor 81 in a driving manner and meshed with the external gear 73 of the guide rail body 70;
the rotation driving mechanism 9 includes a carrier plate 90, a rotation driving motor 91 provided on the carrier plate 90, and a connection plate 92 having one end connected to an output shaft of the rotation driving motor 91 and the other end connected to the rail body 70.
In one embodiment, a plurality of openings 83 are provided through the outer gear 82. The plurality of openings 83 are preferably provided at random in the external gear 82, and the plurality of openings 83 penetrating the external gear 82 provide the external gear 82 with an appropriate elasticity, so that the external gear 82 and the external gear portion 73 of the rail body 70 can be prevented from being locked during the meshing motion. For example, when the external gear 82 is engaged with the external gear portion 73 of the rail body 70, the external gear 82 can smoothly break through the position due to the proper elasticity of the external gear 82, so that the locking is avoided.
Specifically, during operation, the rotation driving mechanism 9 is fixedly connected to the mechanical arm of the external puncture robot through the bearing plate 90 thereon, and the rotation driving motor 91 drives the arc guide rail 87 and the whole needle feeding mechanism 100 and the arc movement driving mechanism thereon to rotate around the axis of the output shaft of the rotation driving motor 91; the arcuate movement driving motor 81 drives the external gear 82 to rotate, and the external gear 82 is meshed with the external gear portion 73 of the rail body 70, so that the arcuate movement driving mechanism and the needle feeding mechanism 100 move together in an arc on the arcuate rail 87. Through the combination of the two movements, the needle inserting point position of the puncture needle 4 is fixed, and the needle inserting angle can be adjusted at will, so that the needle inserting posture is adjusted.
In one embodiment, the outer surfaces of the upper flange 71 and the lower flange 72, the clamping groove 114 and the inner surface of the guide groove 115 are all provided with protective coatings, frequent mutual movement and impact are generated between the upper flange 71 and the lower flange 72 of the guide rail body 70 and the upper clamping block 110, the lower clamping block 111, the upper guide bearing 112 and the lower guide bearing 113, and the protective coatings can reduce friction force between contact surfaces of the upper flange 71 and the lower flange 72 and facilitate arc sliding of the needle feeding mechanism 100 on the arc guide rail 87, and can enhance strength of the upper flange 71 and the lower flange and prolong service lives of the arc guide rail 87, the upper clamping block 111 and the lower guide bearing 113.
The protective coating is prepared by spraying protective paint and then drying;
the protective coating comprises the following raw materials in parts by weight:
wherein the emulsion is one of aqueous polyurethane emulsion, pentaerythritol and polyether siloxane copolymer emulsion.
Wherein, the polyolefin elastomer has very high impact resistance; polytetrafluoroethylene can enhance the smoothness and impact resistance of the material; the superfine glass wool has the outstanding advantages of light constitution, weather resistance and heat resistance; the polyolefin elastomer, polytetrafluoroethylene and superfine glass wool can play a role in coordination and enhancement, and the wear resistance and weather resistance and the surface strength of the prepared coating are obviously improved.
Wherein, the polyethylene foam cotton can enhance the elasticity and the flexibility; the glass beads can enhance the lubricity of the material and the smoothness of the surface of the coating, enhance the mechanical strength of the material and improve the wear resistance of the coating; the nano carbon fiber can improve the strength and toughness, and the comprehensive mechanical property of the prepared protective coating is improved; the nano alumina powder can obviously improve the mechanical strength of the material and enhance the rigidity of the coating; the nano silicon carbide powder has excellent mechanical and chemical properties, and the addition of the nano silicon carbide powder improves the hardness and wear resistance of the material. The polyethylene foam, glass beads, carbon nanofibers, nano alumina powder and nano silicon carbide powder can play a role in coordination and enhancement, remarkably improve the strength, surface smoothness and wear resistance of the prepared coating, and enable the prepared coating to have good toughness and proper elasticity.
The protective coating can greatly reduce the friction force between the guide rail body 70, the upper clamping block 111, the lower clamping block 111 and the upper and lower guide bearings 113, is beneficial to sliding each other, can also enhance the strength of the upper clamping block and the lower clamping block and delay the service life; in addition, the guide rail body 70, the upper and lower clamping blocks 111 and the upper and lower guide bearings 113 have proper elasticity, so that the phenomenon of clamping is prevented.
The preparation method of the protective coating of the present invention is given below, which comprises the steps of:
1) Adding the emulsion, the polyolefin elastomer, the polytetrafluoroethylene, the superfine glass wool, the polyethylene foam cotton and the solvent into a stirrer, uniformly mixing and stirring, controlling the rotating speed to be 500-1200rpm, controlling the temperature to be 60-150 ℃, and stirring for 2-5h;
3) Sequentially adding glass beads, nano carbon fibers, nano alumina powder, nano silicon carbide powder and a coupling agent, and stirring for 1-3h;
4) Adding the curing agent, and continuously stirring for 30-90min to obtain the protective coating.
The prepared protective coating is sprayed on the outer surfaces of the upper and lower flanges 72, the clamping grooves 114 and the inner surfaces of the guide grooves 115, and then dried to obtain the protective coating.
Specific examples of a protective coating are given below for further explanation.
The protective coating is prepared by spraying protective paint and then drying; the protective coating comprises the following raw materials in parts by weight:
the preparation method of the protective coating comprises the following steps:
1) Adding the emulsion, the polyolefin elastomer, the polytetrafluoroethylene, the superfine glass wool, the polyethylene foam cotton and the solvent into a stirrer, uniformly mixing and stirring, controlling the rotating speed to be 500-1200rpm, controlling the temperature to be 60-150 ℃, and stirring for 2-5h;
3) Sequentially adding glass beads, nano carbon fibers, nano alumina powder, nano silicon carbide powder and a coupling agent, and stirring for 1-3h;
4) Adding the curing agent, and continuously stirring for 30-90min to obtain the protective coating.
The prepared protective coating is sprayed on the outer surfaces of the upper and lower flanges 72, the clamping grooves 114 and the inner surfaces of the guide grooves 115, and then dried to obtain the protective coating.
Although embodiments of the present invention have been disclosed above, it is not limited to the use of the description and embodiments, it is well suited to various fields of use for the invention, and further modifications may be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the particular details without departing from the general concepts defined in the claims and the equivalents thereof.
Claims (7)
1. The arc guide rail RCM needle feeding device for the minimally invasive surgery puncture robot is characterized by comprising an arc guide rail, a needle feeding mechanism arranged on the arc guide rail, an arc motion driving mechanism for driving the needle feeding mechanism to slide along an arc on the arc guide rail and a rotation driving mechanism arranged on the arc guide rail and used for driving the arc guide rail to do rotary motion;
the needle feeding mechanism comprises a box body, a linear guide rail arranged in the box body along the length direction, a needle feeding sliding block arranged on the linear guide rail, a puncture needle with the inner end arranged on the needle feeding sliding block and the outer end penetrating out of the box body along the length direction, and a needle feeding driving assembly for driving the needle feeding sliding block to slide on the linear guide rail, wherein a puncture needle guide seat for the puncture needle to penetrate out is arranged on the box body, and a mounting plate is also arranged on the box body;
the needle feeding slide block comprises a lower slide block arranged on the linear guide rail in a sliding way, a slide groove arranged on the upper surface of the lower slide block, an upper slide block arranged in the slide groove in a sliding way and a puncture needle fixing seat fixedly connected to the upper slide block, and the inner end of the puncture needle is arranged on the puncture needle fixing seat; a baffle is arranged on the side part of the puncture needle fixing seat;
the box body is internally provided with a spring needle assembly, the spring needle assembly comprises an electromagnet arranged at the side part of the needle inlet slide block and an electromagnet guide rod arranged on the electromagnet, and the electromagnet guide rod is vertically arranged at the side part of the baffle plate and used for pushing the upper slide block to slide in the slide groove; limiting blocks for limiting the upper sliding block are arranged at two ends of the sliding groove;
the needle feeding driving assembly comprises a needle feeding motor, a worm and gear box in driving connection with an output shaft of the needle feeding motor, a driving wheel in driving connection with the output shaft of the worm and gear box, a driven wheel arranged on the opposite side of the driving wheel along the length direction of the box body and a synchronous belt arranged between the driving wheel and the driven wheel;
the lower slider is connected with the hold-in range through the clamp, the clamp include compress tightly the piece with be used for with compress tightly the piece rigid coupling fixed screw on the lower slider, the fixed screw is fixed the hold-in range between compress tightly piece and lower slider.
2. The arc guide rail RCM needle insertion device for a minimally invasive surgical penetration robot of claim 1, wherein the side of the timing belt is further provided with a guide wheel on which a polytetrafluoroethylene layer is provided.
3. The arc guide rail RCM needle insertion device for a minimally invasive surgery penetration robot of claim 1, wherein the arc guide rail comprises a guide rail body, upper and lower flanges respectively provided at upper and lower sides of the guide rail body, and external teeth provided on an external slideway of the guide rail body.
4. The arc guide rail RCM needle insertion device for the minimally invasive surgery puncture robot according to claim 3, wherein an upper clamping block and a lower clamping block which are arranged vertically symmetrically are arranged at the bottom of a mounting plate on the box body, an upper guide bearing fixedly connected with the mounting plate is arranged at both sides of the upper clamping block, a lower guide bearing fixedly connected with the mounting plate is arranged at both sides of the lower clamping block,
clamping grooves are formed in two opposite surfaces of the upper clamping block and the lower clamping block, and the clamping grooves are respectively clamped on an upper flange and a lower flange of the guide rail body;
guide grooves are formed in the outer walls of the upper guide bearing and the lower guide bearing, and the guide grooves are respectively clamped on the upper flange and the lower flange of the guide rail body.
5. The arc guide rail RCM needle insertion device for a minimally invasive surgery penetration robot according to claim 4, wherein the arc movement driving mechanism comprises an adapter plate fixedly connected with the mounting plate, an arc movement driving motor arranged on the adapter plate, and an external gear meshed with the external tooth part of the guide rail body and connected to an output shaft of the arc movement driving motor in a driving manner;
the rotary driving mechanism comprises a bearing plate, a rotary driving motor arranged on the bearing plate and a connecting plate with one end connected with an output shaft of the rotary driving motor and the other end connected with the guide rail body.
6. The arc guide rail RCM needle insertion device for a minimally invasive surgical penetration robot of claim 5 wherein a plurality of openings are provided through the outer gear.
7. The arc guide rail RCM needle insertion device for a minimally invasive surgery penetration robot of claim 4, wherein the outer surfaces of the upper and lower flanges, the clamping groove and the inner surface of the guide groove are all provided with a protective coating, and the protective coating is prepared by spraying a protective coating and then drying;
the protective coating comprises the following raw materials in parts by weight:
30-80 parts of emulsion;
30-90 parts by weight of a polyolefin elastomer;
2-20 parts of polytetrafluoroethylene;
2-20 parts of superfine glass wool;
2-20 parts of polyethylene foam cotton;
2-20 parts of glass beads;
2-20 parts by weight of nano carbon fiber;
2-25 parts of nano alumina powder;
2-25 parts by weight of nano silicon carbide powder;
5-30 parts of coupling agent;
5-25 parts of curing agent;
20-60 parts of solvent.
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| CA3152170A1 (en) | 2019-10-11 | 2021-04-15 | Daniel H. Kim | Seven degree of freedom positioning device for robotic surgery |
| CN111419406A (en) * | 2020-04-29 | 2020-07-17 | 哈尔滨思哲睿智能医疗设备有限公司 | Guide rail device and medical robot |
| CN113040914A (en) * | 2021-03-04 | 2021-06-29 | 北京柏惠维康科技有限公司 | Surgical robot |
| CN114098881B (en) * | 2021-11-11 | 2023-08-18 | 青岛市中心医院 | Internet-based compression system for puncture intervention operation and application method thereof |
| CN114159104A (en) * | 2021-12-10 | 2022-03-11 | 常州市武进人民医院 | Puncture sampling device is used in nursing of nephrology dept |
| CN114521967B (en) * | 2022-02-22 | 2024-01-23 | 上海微创医疗机器人（集团）股份有限公司 | Mechanical arm and medical trolley |
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