CN109483564A - A kind of liposuction robot system and method - Google Patents
A kind of liposuction robot system and method Download PDFInfo
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- CN109483564A CN109483564A CN201811353484.2A CN201811353484A CN109483564A CN 109483564 A CN109483564 A CN 109483564A CN 201811353484 A CN201811353484 A CN 201811353484A CN 109483564 A CN109483564 A CN 109483564A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M1/00—Suction or pumping devices for medical purposes; Devices for carrying-off, for treatment of, or for carrying-over, body-liquids; Drainage systems
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Abstract
The present invention relates to field of medical device, a kind of liposuction robot system and method are disclosed, wherein robot system includes: first mechanical arm, liposuction tool and monitoring unit；One end of first mechanical arm is connected with liposuction tool, monitoring unit includes photoelectric positioning system and force snesor, the positioning bead and force snesor of photoelectric positioning system are connected with liposuction tool respectively, position of the photoelectric positioning system for liposuction tool described in real-time monitoring, force snesor are used for the contact resistance of real-time monitoring liposuction tool.A kind of liposuction robot system and method provided by the invention, the liposuction operation of alternative artificial progress high intensity, greatly reduce the labor intensity of operator；Detection unit is set, the safe and effective of liposuction operation is ensured in such a way that dual safety monitors；The robot system can independently complete liposuction operation, while robot manipulation is accurate, safety, and avoid liposuction operating effect is influenced by operator's subjectivity qualification, mitigates the pressure of doctors and patients significantly.
Description
Technical field
The present invention relates to field of medical device, more particularly to a kind of liposuction robot system and method.
Background technique
With the improvement of living standards, liposuction is more and more favored, liposuction number of cases is in plastic operation
In occupy second.Liposuction procedures, which refer to, is inserted into the intubation of tubulose in subcutaneous fat, and applies the negative pressure of 0.5 to 1.0 air pressure,
To suck the operation for the fat cell grown fat in vivo.That is, human skin be by outermost skin layer, intermediate fat deposit with
And its muscle layer of inside is constituted, liposuction procedures are the operations of discharge by the fat deposit sucking between skin layer and muscle layer.
Existing liposuction procedures are that aperture is cut on the skin for need liposuction, after insertion intubation, are moved in certain direction
Dynamic intubation carries out liposuction.Intubation is made of internal for empty tubulose, applies negative pressure by being pumped in cannula interior, thus by fatty
Extraction is external.
But in traditional liposuction, liposuction doctor needs hand-held liposuction tool flexible aspirating adipose back and forth, this
It is fine to cross range request operation, therefore postoperative effect depends critically upon the skilled operation degree of doctor, if misoperation will draw
The complication such as the uneven, adhesion in the area Qi Shu influence beauty, or even threaten patient vitals；And when manually liposuction is a kind of long
Between, high-intensitive manual labor, easily cause liposuction doctor hand muscle tired, influence operating flexibility and operation safety.
Summary of the invention
(1) technical problems to be solved
The object of the present invention is to provide a kind of liposuction robot system and methods, solve traditional liposuction for solution or part
The operation of effect heavy dependence operator and the larger problem of liposuction procedures labor intensity.
(2) technical solution
In order to solve the above-mentioned technical problem, according to the first aspect of the invention, a kind of liposuction robot system is provided, is wrapped
It includes: first mechanical arm, liposuction tool and monitoring unit；One end of the first mechanical arm is connected with the liposuction tool, described
Monitoring unit includes photoelectric positioning system and force snesor, the positioning bead and the force snesor point of the photoelectric positioning system
It is not connected with the liposuction tool, position of the photoelectric positioning system for liposuction tool described in real-time monitoring, the power passes
Contact resistance of the sensor for liposuction tool described in real-time monitoring.
On the basis of above scheme, a kind of liposuction robot system further include: second mechanical arm and traction fixing device；
One end of the second mechanical arm is connected with the traction fixing device, and the traction fixing device is for right in liposuction procedures
Liposuction position carries out traction fixation.
On the basis of above scheme, the traction fixing device includes negative pressure sucker or magnechuck.
On the basis of above scheme, the negative pressure sucker includes negative pressure cavity and multiple suckers, and multiple suckers pass through respectively
Vacuum logical valve is connected with the negative pressure cavity and is uniformly distributed on the negative pressure cavity.
On the basis of above scheme, a kind of liposuction robot system further include: be mixed with the non-woven fabrics of ferromagnetic component, institute
It states non-woven fabrics to match with the magnechuck, the non-woven fabrics is pasted onto the skin surface at liposuction position.
On the basis of above scheme, the first mechanical arm and the second mechanical arm respectively include more piece linking arm,
More piece linking arm is successively rotatablely connected, the other end of the other end of the first mechanical arm and the second mechanical arm respectively with platform
Vehicle rotation connection.
On the basis of above scheme, a kind of liposuction robot system further include: control unit；Described control unit difference
It is connected with the first mechanical arm, second mechanical arm, photoelectric positioning system, force snesor and traction fixing device.
According to the second aspect of the invention, a kind of liposuction using the liposuction robot system in any of the above-described scheme is provided
Method, comprising: control first mechanical arm drives liposuction tool to carry out liposuction operation according to desired guiding trajectory；In liposuction procedures, lead to
The position for crossing photoelectric positioning system real-time monitoring liposuction tool, controls first mechanical arm according to the physical location of liposuction tool
System adjustment, so that the physical location of liposuction tool is consistent with predeterminated position；In liposuction procedures, by force snesor to liposuction work
The contact resistance of tool is monitored, and judges position of the liposuction tool in liposuction position according to the size of contact resistance.
On the basis of above scheme, before carrying out liposuction operation further include: by traction fixing device in skin table
Traction fixation is carried out in face of liposuction position.
On the basis of above scheme, a kind of liposuction method further include: liposuction position is determined before carrying out liposuction operation
Fatty depth information, and the position of liposuction tool is registrated in real time with the relationship of fatty depth in liposuction procedures.
(3) beneficial effect
First mechanical arm is arranged to control operation liposuction work in a kind of liposuction robot system and method provided by the invention
Tool, the liposuction operation of alternative artificial progress high intensity, can greatly reduce the labor intensity of operator；Power-bit synchronization peace is set
Full monitoring unit not only can prevent liposuction tool location from shifting, but also can prevent liposuction tool from causing to damage in other positions to patient
Evil ensures the safe and effective of liposuction operation in such a way that dual safety monitors；Robot may be implemented certainly in the robot system
Main completion liposuction operation, while robot manipulation is accurate, safety, avoids liposuction operating effect by operator's subjectivity qualification
Influence, reduce the threshold of liposuction, some insufficient liposuction doctors of qualification by the system may be implemented with it is ripe
Practice the liposuction postoperative effect that doctor is no different, mitigates the pressure of doctors and patients significantly.
Detailed description of the invention
Fig. 1 is a kind of overall schematic of liposuction robot system of the embodiment of the present invention；
Fig. 2 is liposuction tool schematic diagram in a kind of liposuction robot system of the embodiment of the present invention；
Fig. 3 is the schematic diagram of photoelectric positioning system in a kind of liposuction robot system of the embodiment of the present invention；
Fig. 4 is the schematic diagram that a kind of liposuction robot system liposuction of the embodiment of the present invention operates.
Description of symbols:
1-first mechanical arm；2-liposuction tools；3-second mechanical arms；
4-traction fixing devices；5-trolleys；6-positioning beads；
7-force snesors；8-binocular cameras；9-monitoring ranges.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Following instance
For illustrating the present invention, but it is not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
A kind of liposuction robot system is provided according to embodiments of the present invention, and with reference to Fig. 1, which includes: first
Mechanical arm 1, liposuction tool 2 and monitoring unit；One end of first mechanical arm 1 is connected with liposuction tool 2, and monitoring unit includes photoelectricity
Positioning system and force snesor 7, the positioning bead 6 and force snesor 7 of photoelectric positioning system are connected with liposuction tool 2 respectively, light
Electric positioning system is used for the position of real-time monitoring liposuction tool 2, and contact of the force snesor 7 for real-time monitoring liposuction tool 2 hinders
Power.
A kind of liposuction robot system provided in this embodiment, setting mechanical arm is connected with liposuction tool 2, by controlling machine
The movement of tool arm can drive liposuction tool 2 to carry out liposuction operation.The mobile accurate control of liposuction tool 2 can be realized using mechanical arm
System can replace hand-held progress liposuction.
In liposuction procedures, in order to guarantee that liposuction tool 2 is mobile according to default route, to guarantee liposuction effect and avoid
Patient is damaged, setting photoelectric positioning system carries out real-time monitoring to the spatial position of liposuction tool 2.With reference to Fig. 3, photoelectricity
Positioning system includes binocular camera 8 and positioning bead 6.Binocular camera 8 can monitor to position in certain monitoring range 9
The position of bead 6.
Can be suitably local in surroundings thereof by the setting of binocular camera 8, the position where making patient is in binocular camera shooting
In first 8 monitoring range 9.With reference to Fig. 2, positioning bead 6 is fixedly connected with liposuction tool 2.Pass through the position of monitoring positioning bead 6
It sets, and real-time monitoring is carried out according to position of the positional relationship of positioning bead 6 and liposuction tool 2 to liposuction tool 2.Real-time monitoring
The physical location of liposuction tool 2 judges between physical location and predeterminated position with the presence or absence of deviation.
Deviation if it exists can adjust position by control first mechanical arm 1 in time, so that liposuction tool 2 is according to default
Route carries out liposuction operation.To can guarantee liposuction effect, and the safety of liposuction procedures is improved, patient is avoided to be damaged
Wound.
In addition, setting force snesor 7 be connected with liposuction tool 2, can real-time monitoring liposuction tool 2 contact resistance.Contact
Resistance, that is, liposuction tool 2 is inserted into the contact force information of liposuction position one end.Force snesor 7 can be one-dimensional, three-dimensional or sextuple sensing
Device etc..The handle of the mountable liposuction pipe or liposuction needle and liposuction tool 2 that liposuction position is inserted into liposuction tool 2 of force snesor 7
Connecting place, the power that liposuction pipe or liposuction needle receive can pass to force snesor 7.
Because needing to guarantee that liposuction tube end or liposuction needle needle point do stretching motion back and forth in fat deposit in liposuction procedures,
Epidermis can neither be punctured, fascia tissue destruction internal organs can not be goed deep into, to guarantee the safety of liposuction procedures.On the one hand, can lead to
Photoelectric positioning system monitoring 2 position of liposuction tool is crossed, prevents liposuction tool 2 from deviateing default route, causes to damage to avoid to patient
Evil.
On the other hand, suffered contact resistance when can be according to liposuction tube end or liposuction needle needle point contact different tissues
Difference, by force snesor 7 to the feedback of contact resistance, to judge whether needle point touches epidermis or fascia.It can first pass through in advance
Contact resistance of the measuring in fat deposit and the contact resistance when touching epidermis or fascia；It is set according to experimental result
Set the threshold range of the contact resistance in fat deposit.
When the contact resistance that force snesor 7 is fed back is more than above-mentioned threshold range, i.e., liposuction tool 2 will touch epidermis
Or fascia, at this point, settable alarm mode prompting liposuction doctor perhaps suspends liposuction operation or can be according to photoelectric positioning system
The physical location of the liposuction tool 2 monitored is adjusted 2 position of liposuction tool, and the safety of liposuction procedures can be improved.
A kind of liposuction robot system provided in this embodiment is arranged first mechanical arm 1 to control and operates liposuction tool 2,
The liposuction of alternative artificial progress high intensity operates, and can greatly reduce the labor intensity of operator；Power-bit synchronization is arranged to supervise safely
Unit is surveyed, can not only prevent 2 position of liposuction tool from shifting, but also can prevent liposuction tool 2 from damaging at other positions to patient,
Ensure the safe and effective of liposuction operation in such a way that dual safety monitors；The robot system may be implemented robot autonomous complete
It is operated at liposuction, while robot manipulation is accurate, safety, avoids liposuction operating effect by the shadow of operator's subjectivity qualification
It rings, reduces the threshold of liposuction, some insufficient liposuction doctors of qualification may be implemented by the system and skillfully cure
The raw liposuction postoperative effect being no different, mitigates the pressure of doctors and patients significantly.
On the basis of the above embodiments, further, with reference to Fig. 1, a kind of liposuction robot system further include: the second machine
Tool arm 3 and traction fixing device 4；One end of second mechanical arm 3 is connected with traction fixing device 4, and traction fixing device 4 is used for
Traction fixation is carried out to liposuction position in liposuction procedures.
On the basis of the above embodiments, further, traction fixing device 4 includes negative pressure sucker or magnechuck.
On the basis of the above embodiments, further, negative pressure sucker includes negative pressure cavity and multiple suckers, multiple suckers point
Not Tong Guo vacuum logical valve be connected with negative pressure cavity and be uniformly distributed on negative pressure cavity.
On the basis of the above embodiments, further, a kind of liposuction robot system further include: be mixed with ferromagnetic component
Non-woven fabrics, non-woven fabrics matches with magnechuck, and non-woven fabrics is pasted onto the skin surface at liposuction position.
In traditional artificial liposuction procedures, generally require liposuction nondominant hand (usually doctor's left hand) by press, press, squeezing,
It the gimmicks such as pushes away to draw fixed fat, while perceiving the position of liposuction needle.A kind of liposuction robot system provided in this embodiment
By epidermis traction fixing device 4, fixed subcutaneus adipose tissue controls liposuction tool 2 convenient for first mechanical arm 1 and carries out liposuction behaviour
Make.Settable second mechanical arm 3 is connected with traction fixing device 4, and the traction of different location fat is fixed in realization.
Traction fixing device 4 is there are two types of thinking, one is by negative pressure sucker progress epidermis traction, by big sucker or
The sucker of other structures applies suitable negative pressure, draws fixed epidermis, guarantees effectively to draw fixed epidermis, while inhaling for a long time
It is attached not damage epidermis.
Another kind is to carry out epidermis traction by magnechuck.It can be ventilative mixed at one layer of liposuction area skin surface mount
There are ferromagnetic component, such as the medical non-woven fabrics of the small magnetic sheet array of rubidium iron boron magnetic.Magnechuck is installed additional in second mechanical arm 3, is led to
It crosses and leads to attraction and repulsion of the positive counter current realization to small magnetic sheet on epidermis non-woven fabrics to magnechuck, to realize traction epidermis.
When traction fixing device 4 is negative pressure sucker, it may be configured as multi-sucker structure, that is, multiple small suckers be set, can avoid
Stress is concentrated.Each sucker is connected with negative pressure cavity respectively, to realize the effect of vacuum suction.Each sucker can be patrolled by vacuum
It collects valve to be connected with negative pressure cavity, to inhibit vacuum degree to reduce, so that if one of sucker gas leakage, does not influence other suckers
It works normally.
When traction fixing device 4 is magnechuck, magnechuck and the ventilative medical non-woven fabrics for being mixed with ferromagnetic component
It matches.It can be realized by changing ferromagnetic component reticular density and component type in non-woven fabrics to magnechuck varying strength
Attraction.
Further, setting gripper is connected with traction fixing device 4.Gripper is a kind of controllable mechanical for simulating manpower
Device.Be arranged gripper can imitate manpower control traction fixing device 4 realize to liposuction position by, the operation such as press, squeeze, push away.
On the basis of the above embodiments, further, first mechanical arm 1 and second mechanical arm 3 respectively include more piece company
Connect arm, more piece linking arm is successively rotatablely connected, the other end of the other end of first mechanical arm 1 and second mechanical arm 3 respectively with platform
Vehicle 5 is rotatablely connected.
For driving liposuction tool 2 to carry out liposuction operation, liposuction tool 2 is needed according to preset route first mechanical arm 1
It is moved or is rotated.Second mechanical arm 3 is used to that traction fixing device 4 to be driven to carry out traction fixation to the epidermis at liposuction position,
The needs of traction fixing device 4 are moved according to liposuction position.Therefore, settable first mechanical arm 1 and second mechanical arm 3 are distinguished
Including more piece linking arm, to improve flexibility ratio.
More piece linking arm is successively rotatablely connected.First mechanical arm 1 and second mechanical arm 3 can be fixedly connected with trolley 5, and can
It is rotated respectively relative to trolley 5.The first mechanical arm 1 and second mechanical arm 3 of this kind of structure have multiple freedom degrees, can flexibly adjust
Section, can meet the liposuction machine human needs.
Trolley 5 can be used for being supported whole system, which may be provided on trolley 5, easy to remove.
Further, more piece linking arm connecting place and motor can be respectively set with the junction of trolley 5, each motor can
The rotation of each linking arm is controlled, first mechanical arm 1 and the whole of second mechanical arm 3 are controlled to realize.
Further, the quantity of the specific linking arm of first mechanical arm 1 and second mechanical arm 3 can specifically be set as needed
It sets.
Further, also it can realize that liposuction tool 2 is past in liposuction procedures by control 1 reciprocating rotation of first mechanical arm
Flexible liposuction again.
On the basis of the above embodiments, further, a kind of liposuction robot system further include: control unit；Control
Unit is connected with first mechanical arm 1, second mechanical arm 3, photoelectric positioning system, force snesor 7 and traction fixing device 4 respectively.
Control unit is set, comprehensive intelligent control is carried out to the liposuction operation of entire robot system.Control unit can be set
It sets on trolley 5.
On the basis of the above embodiments, further, a kind of to utilize liposuction robot provided by the various embodiments described above
The liposuction method of system, comprising: control first mechanical arm 1 drives liposuction tool 2 to carry out liposuction operation according to desired guiding trajectory；It is taking out
During rouge, by the position of photoelectric positioning system real-time monitoring liposuction tool 2, according to the physical location of liposuction tool 2 to
One mechanical arm 1 carries out control adjustment, so that the physical location of liposuction tool 2 is consistent with predeterminated position；In liposuction procedures, pass through
Force snesor 7 is monitored the contact resistance of liposuction tool 2, judges liposuction tool 2 in liposuction according to the size of contact resistance
Position in position.
On the basis of the above embodiments, further, before carrying out liposuction operation further include: pass through the fixed dress of traction
It sets 4 and traction fixation is carried out to liposuction position in skin surface.
On the basis of the above embodiments, further, a kind of liposuction method further include: before carrying out liposuction operation really
Determine liposuction position fat depth information, and the relationship of the position of liposuction tool 2 and fatty depth is carried out in fact in liposuction procedures
When be registrated.
Before carrying out liposuction operation, the depth profile of liposuction position fat can be determined by Preoperative ultrasound, it can be according to light
The position for the liposuction tool 2 that electric positioning system is fed back determines the relationship between the position of liposuction tool 2 and fatty depth.From
And according to the position of liposuction tool 2, it can reflect the depth in liposuction needle insertion fat deposit, and judge according to needle point depth information
Whether needle point in addition can also estimate distance that needle point back and forth stretch close to epidermis and fascia
On the basis of the above embodiments, further, a kind of liposuction robot system setting first mechanical arm 1 is as pumping
Rouge operates arm, using the liposuction mode combined with epidermis traction fixing device 4.First mechanical arm 1 is multivariant machine
Arm is connected with liposuction tool 2, realizes any position, the liposuction around fixed point in direction operates, inserting needle mouth and skin incision base in art
Originally it is consistent.
Photoelectric positioning system and force snesor 7 realize power-position dual safety monitoring, judge organization type, guarantee liposuction behaviour
It safely and effectively carries out, and there is real-time power-position data feedback.Traction fixing device 4 may be configured as negative pressure sucker, propose
The fixed subcutaneous fat of traction for carrying out epidermis using sucker.Negative pressure sucker draws epidermis by appropriate underpressure, and effectively traction is fixed
Epidermis, while not damaging epidermis.
Magnechuck also can be used in traction fixing device 4, there is ferromagnetic ventilative medical adhesive-bonded fabric dressing, changes dressing
Middle ferromagnetic component reticular density and component type realize the attraction to magnechuck varying strength.It is logical by magnechuck
Positive counter current realizes that epidermis is drawn and puts down in attraction and repulsion to dressing, switching.
What traction fixing device 4 can simulate liposuction nondominant hand by the mechanical device of mechanical claw the liposuctions hand such as presses, presses, squeezes
Method.Liposuction operates control algolithm, realizes liposuction of stretching back and forth, and according to power-position data feedback, realization is taken out safely in fat deposit
Rouge.
With reference to Fig. 4, the process of liposuction is carried out using the liposuction robot system are as follows:
It is preoperative that patient abdomen fat depth information is determined by way of the medical images such as ultrasound, using the method for registration,
For the relationship of 2 position of liposuction tool and fatty depth is registrated in art in real time.Program interface screen carry out liposuction track and direction,
The planning of frequency, time etc. (can plan the liposuction operation of entire liposuction process, can also only plan the suction at a certain position of abdomen
Rouge operation).
Process control first mechanical arm 1 carries out liposuction back and forth and operates.Traction fixing device 4 is fixed subcutaneous by sucker traction
Fat, convenient for the progress of liposuction operation.Robot space constraint algorithm ensures fat suction needle inserting needle mouth and actual patient abdomen simultaneously
Small notch does not have biggish offset.
In this process, the force snesor 7 on liposuction tool 2 and photoelectric positioning system are capable of the power of Real-time Feedback needle point
And location information, are reflected on program interface, convenient for the autonomous judgement of doctor's real-time monitoring and program.Until entirely having planned
At robot stop motion, liposuction operation is completed.
A kind of liposuction robot system and method provided in this embodiment, may be implemented robot autonomous completion liposuction hand
Art.Robot can determine optimal liposuction operation early period by the liposuction gimmick of the skilled director rank liposuction doctor of learning manipulation
Parameter (such as frequency, motion profile, dynamics), realize director's rank zero defect liposuction.Avoid liposuction postoperative effect by
The influence of patient's subjectivity qualification, while robot manipulation is accurate, safety, instead of the artificial high-intensitive behaviour that stretches back and forth
Make, avoids fatigue problem.On the other hand reduce the thresholds of liposuction procedures, some insufficient liposuction doctors of qualification by
The liposuction postoperative effect being no different with skilled doctor may be implemented in this system, mitigates the pressure of doctors and patients significantly.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of liposuction robot system characterized by comprising first mechanical arm, liposuction tool and monitoring unit；Described
One end of one mechanical arm is connected with the liposuction tool, and the monitoring unit includes photoelectric positioning system and force snesor, described
The positioning bead and the force snesor of photoelectric positioning system are connected with the liposuction tool respectively, and the photoelectric positioning system is used
The position of liposuction tool described in real-time monitoring, contact resistance of the force snesor for liposuction tool described in real-time monitoring.
2. liposuction robot system according to claim 1, which is characterized in that further include: second mechanical arm and traction are solid
Determine device；One end of the second mechanical arm is connected with the traction fixing device, and the traction fixing device is used in liposuction
Traction fixation is carried out to liposuction position in the process.
3. liposuction robot system according to claim 2, which is characterized in that the traction fixing device includes that negative pressure is inhaled
Disk or magnechuck.
4. liposuction robot system according to claim 3, which is characterized in that the negative pressure sucker includes negative pressure cavity and more
A sucker, multiple suckers pass through vacuum logical valve respectively and are connected with the negative pressure cavity and are uniformly distributed on the negative pressure cavity.
5. liposuction robot system according to claim 3, which is characterized in that further include: it is mixed with the nothing of ferromagnetic component
Woven fabric, the non-woven fabrics are matched with the magnechuck, and the non-woven fabrics is pasted onto the skin surface at liposuction position.
6. liposuction robot system according to claim 2, which is characterized in that the first mechanical arm and second machine
Tool arm respectively includes more piece linking arm, and more piece linking arm is successively rotatablely connected, the other end of the first mechanical arm and described
The other end of two mechanical arms is rotatablely connected with trolley respectively.
7. liposuction robot system according to claim 2, which is characterized in that further include: control unit；The control is single
Member is connected with the first mechanical arm, second mechanical arm, photoelectric positioning system, force snesor and traction fixing device respectively.
8. a kind of liposuction method using any liposuction robot system of the claims 1-7, which is characterized in that packet
It includes:
Controlling first mechanical arm drives liposuction tool to carry out liposuction operation according to desired guiding trajectory；
In liposuction procedures, by the position of photoelectric positioning system real-time monitoring liposuction tool, according to the actual bit of liposuction tool
It sets and control adjustment is carried out to first mechanical arm, so that the physical location of liposuction tool is consistent with predeterminated position；
In liposuction procedures, it is monitored by contact resistance of the force snesor to liposuction tool, according to the size of contact resistance
Judge position of the liposuction tool in liposuction position.
9. liposuction method according to claim 8, which is characterized in that before carrying out liposuction operation further include: by leading
Draw fixed device and traction fixation is carried out to liposuction position in skin surface.
10. liposuction method according to claim 8 or claim 9, which is characterized in that further include: before carrying out liposuction operation really
Determine liposuction position fat depth information, and the relationship of the position of liposuction tool and fatty depth is carried out in real time in liposuction procedures
Registration.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113878590A (en) * | 2021-04-22 | 2022-01-04 | 北京邮电大学 | Robot system with automatic planning and liposuction functions |
| CN116808334A (en) * | 2023-08-16 | 2023-09-29 | 中国人民解放军总医院第一医学中心 | Neurosurgery drainage device and method thereof |
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| CN113878590A (en) * | 2021-04-22 | 2022-01-04 | 北京邮电大学 | Robot system with automatic planning and liposuction functions |
| CN116808334A (en) * | 2023-08-16 | 2023-09-29 | 中国人民解放军总医院第一医学中心 | Neurosurgery drainage device and method thereof |
| CN116808334B (en) * | 2023-08-16 | 2024-03-08 | 中国人民解放军总医院第一医学中心 | Neurosurgery drainage device |
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