CN111085990A - Human-computer cooperation medical robot - Google Patents

Human-computer cooperation medical robot Download PDF

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Publication number
CN111085990A
CN111085990A CN201911424753.4A CN201911424753A CN111085990A CN 111085990 A CN111085990 A CN 111085990A CN 201911424753 A CN201911424753 A CN 201911424753A CN 111085990 A CN111085990 A CN 111085990A
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CN
China
Prior art keywords
fixedly connected
arm
electric telescopic
medical robot
fixed
Prior art date
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Pending
Application number
CN201911424753.4A
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Chinese (zh)
Inventor
尹浩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Haozhibo Intelligent Technology Co Ltd
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Suzhou Haozhibo Intelligent Technology Co Ltd
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Publication date
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Priority to CN201911424753.4A priority Critical patent/CN111085990A/en
Publication of CN111085990A publication Critical patent/CN111085990A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1612Programme controls characterised by the hand, wrist, grip control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1689Teleoperation

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Physics & Mathematics (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a man-machine cooperation medical robot which comprises a medical robot, wherein the bottom of the medical robot is fixedly connected with a fixed base, the top of the fixed base is fixedly connected with an electric telescopic mechanism, the top of the electric telescopic mechanism is slidably connected with an electric telescopic rod, and the top end of the electric telescopic rod is fixedly connected with a central control box. This human-computer cooperation medical robot, setting through remote control module and well accuse module, make medical robot medical personnel can needn't operate at present when using, medical personnel can carry out remote operation through the well accuse module of remote control module cooperation, very big reduction the constraint to medical personnel, it can rotatory debugging angle to show the fixed arm, and show the digging arm through rotatory expansion end cooperation and carry out the debugging of distance and angle, make the display screen accord with medical personnel's demand, the inconvenience that causes medical personnel has been reduced.

Description

Human-computer cooperation medical robot
Technical Field
The invention relates to the technical field of medical robots, in particular to a man-machine cooperation medical robot.
Background
Robots are the common name for automatic control machines, which include all machines that simulate human behavior or thought and other creatures. There are many taxonomies and controversy to define robots in a narrow sense, and some computer programs are even referred to as robots. In the modern industry, robots refer to artificial machines that automatically perform tasks to replace or assist human work. The ideal high-simulation robot is a product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and currently, the scientific community is researching and developing in the direction, the robot generally comprises an execution mechanism, a driving device, a detection device, a control system, complex machinery and the like, and various types of medical robots are also appeared in the field of medical treatment, and the medical robot is a robot used for medical treatment or auxiliary medical treatment of hospitals and clinics. The intelligent service robot can be used for independently making an operation plan, determining an action program according to actual conditions and then changing the action into the movement of an operation mechanism.
When the existing human-computer cooperation medical robot performs human-computer cooperation, the flexibility is lacked, the mechanical arm is limited in the movement due to the movement range, so that the human-computer cooperation is incomplete, medical staff must be present to operate the medical robot when the medical robot is used, the medical staff is bound, the medical staff observes the condition of a patient through a display screen in the medical process, but the display screen has observation dead corners, and the inconvenience is caused to the medical staff.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a human-computer cooperation medical robot, which solves the problems that the human-computer cooperation is incomplete and medical personnel are bound due to the limited moving range of a mechanical arm in the moving process because the human-computer cooperation medical robot lacks flexibility when the human-computer cooperation medical robot carries out human-computer cooperation.
In order to achieve the purpose, the invention is realized by the following technical scheme: a man-machine cooperation medical robot comprises a medical robot, wherein the bottom of the medical robot is fixedly connected with a fixed base, the top of the fixed base is fixedly connected with an electric telescopic mechanism, the top of the electric telescopic mechanism is connected with an electric telescopic rod in a sliding way, the top end of the electric telescopic rod is fixedly connected with a central control box, the front end of the electric telescopic rod is fixedly connected with a fixed rotary drum, the top of the fixed rotary drum is rotatably connected with two fixed rotary ends, an induction fixing arm is fixedly connected between the two fixed rotating ends, the bottom of the fixed rotating end is rotatably connected with a movable rotating end, the right side fixedly connected with response digging arm of activity rotation end, the arm is controlled to the right-hand member fixed connection of response digging arm, electric telescopic handle's rear end fixedly connected with left end induction control arm.
Preferably, a fixed shaft is fixedly connected to the top end of the electric telescopic rod and located below the central control box, a display drum is fixedly connected to the right end of the fixed shaft, and a display rotating end is rotatably connected to the top of the display drum.
Preferably, the right side of the display rotating end is fixedly connected with a display fixed arm, the right end of the display fixed arm is rotatably connected with a rotating movable end, and the right side of the rotating movable end is fixedly connected with a display movable arm.
Preferably, the right-hand member fixedly connected with display screen of demonstration digging arm, electric telescopic handle's rear end just is located the top fixedly connected with induction control operation ware of left end induction control arm.
Preferably, the bottom of the inner cavity of the central control box is fixedly connected with a central control module, and the top of the inner cavity of the central control box is fixedly connected with a remote control module.
Preferably, the input end of the remote control module is electrically connected with the output end of the central control module, and the input end of the central control module is electrically connected with the output ends of the electric telescopic mechanism, the left-end induction control arm and the induction fixing arm.
Advantageous effects
The invention provides a human-computer cooperation medical robot. Compared with the prior art, the method has the following beneficial effects:
(1) the human-computer cooperation medical robot comprises a fixed shaft fixedly connected to the top end of an electric telescopic rod and located below a central control box, a display rotary drum fixedly connected to the right end of the fixed shaft, a display rotary end connected to the top of the display rotary drum in a rotating manner, a display fixed arm fixedly connected to the right side of the display rotary end, a rotary movable end connected to the right end of the display fixed arm in a rotating manner, a display movable arm fixedly connected to the right side of the rotary movable end, a display screen fixedly connected to the right end of the display movable arm, an induction control manipulator fixedly connected to the rear end of the electric telescopic rod and located above the left induction control arm, a central control module fixedly connected to the bottom of an inner cavity of the central control box, a remote control module fixedly connected to the top of the inner cavity of the central control box, an input end of the remote control module electrically connected to an output end of the central, Left end induction control arm and response fixed arm's output electric connection, setting through remote control module and well accuse module, make medical robot medical personnel can needn't operate at present when using, medical personnel can carry out remote operation through accuse module in the remote control module cooperation, very big reduction the constraint to medical personnel, it can rotatory debugging angle to show the fixed arm, and show the digging arm through rotatory digging end cooperation and carry out the debugging of distance and angle, make the display screen accord with medical personnel's demand, and when medical personnel passed through the display screen observation patient's condition among the medical process, the display screen does not have the observation dead angle, the inconvenience that causes medical personnel has been reduced.
(2) This people machine cooperation medical robot, bottom fixedly connected with fixed baseplate through at medical robot, fixed baseplate's top fixedly connected with electric telescopic mechanism, electric telescopic mechanism's top sliding connection has electric telescopic handle, electric telescopic handle's top fixedly connected with well accuse case, electric telescopic handle's front end fixedly connected with fixed rotary drum, the top of fixed rotary drum is rotated and is connected with fixed rotatory end, the quantity of fixed rotatory end is two, and fixedly connected with response fixed arm between two fixed rotatory ends, the bottom of fixed rotatory end is rotated and is connected with the activity rotatory end, the right side fixedly connected with response digging arm of activity rotatory end, the arm is controlled to the right-hand member fixed connection of response digging arm, electric telescopic handle's rear end fixedly connected with left end response control arm, through responding to the fixed arm. The arrangement of the induction movable arm and the control arm ensures that the flexibility of the medical robot is greatly enhanced when the medical robot performs man-machine cooperation, the limitation of the movable range of the mechanical arm in the movement is greatly reduced, and the imperfection of man-machine cooperation is avoided.
Drawings
FIG. 1 is a front view of the medical robot structure of the present invention;
FIG. 2 is a rear view of the medical robot structure of the present invention;
FIG. 3 is a front view of the internal structure of the center console box of the present invention.
In the figure 1, a medical robot; 2. a fixed base; 3. an electric telescopic mechanism; 4. an electric telescopic rod; 5. a central control box; 6. fixing the rotary drum; 7. fixing the rotating end; 8. an induction fixing arm; 9. a movable rotating end; 10. an inductive movable arm; 11. a manipulation arm; 12. a left end induction control arm; 13. a fixed shaft; 14. a display reel; 15. displaying the rotating end; 16. a display fixing arm; 17. rotating the movable end; 18. displaying the movable arm; 19. a display screen; 20. an induction control operator; 21. a central control module; 22. and a remote control module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: a man-machine cooperation medical robot comprises a medical robot 1, wherein a fixed base 2 is fixedly connected to the bottom of the medical robot 1, the fixed base 2 provides bottom stability for an electric telescopic mechanism 3, the top of the fixed base 2 is fixedly connected with the electric telescopic mechanism 3, the electric telescopic mechanism 3 is electrically connected with an external power supply, the top of the electric telescopic mechanism 3 is slidably connected with an electric telescopic rod 4, the top end of the electric telescopic rod 4 is fixedly connected with a central control box 5, the central control box 5 provides a working space for a central control module 21 and a remote control module 22, the front end of the electric telescopic rod 4 is fixedly connected with a fixed rotary drum 6, the top of the fixed rotary drum 6 is rotatably connected with fixed rotary ends 7, the number of the fixed rotary ends 7 is two, an induction fixed arm 8 is fixedly connected between the two fixed rotary ends 7, and the bottom of the fixed rotary end 7 is rotatably connected with a movable rotary end, the right side of the movable rotating end 9 is fixedly connected with an induction movable arm 10, the right end of the induction movable arm 10 is fixedly connected with a control arm 11, the rear end of the electric telescopic rod 4 is fixedly connected with a left end induction control arm 12, the top end of the electric telescopic rod 4 is fixedly connected with a fixed shaft 13 below the central control box 5, the right end of the fixed shaft 13 is fixedly connected with a display rotary drum 14, the top of the display rotary drum 14 is rotatably connected with a display rotary end 15, the right side of the display rotary end 15 is fixedly connected with a display fixed arm 16, the right end of the display fixed arm 16 is rotatably connected with a rotary movable end 17, the right side of the rotary movable end 17 is fixedly connected with a display movable arm 18, the right end of the display movable arm 18 is fixedly connected with a display screen 19, the rear end of the electric telescopic rod 4 is fixedly connected with an induction control operator 20 above the left end induction control arm, the central control module 21 is electrically connected with an external power supply, the top of the inner cavity of the central control box 5 is fixedly connected with a remote control module 22, the remote control module 22 is electrically connected with the external power supply, the input end of the remote control module 22 is electrically connected with the output end of the central control module 21, and the input end of the central control module 21 is electrically connected with the electric telescopic mechanism 3, the left end induction control arm 12 and the output end of the induction fixing arm 8.
When the medical manipulator works, firstly, a medical worker starts the central control module 21 through the induction control operator 20, the central control module 21 starts the electric telescopic mechanism 3, the electric telescopic mechanism 3 is started to drive the electric telescopic rod 4 to extend, then the induction control operator 20 starts the left induction control arm 12 and the induction fixed arm 8, the induction fixed arm 8 cooperates with the fixed rotating end 7 through the fixed rotary drum 6 to carry out transverse debugging angle, the induction movable arm 10 cooperates with the fixed rotating end 7 through the movable rotating end 9 to carry out longitudinal or transverse movable debugging distance and angle, the control arm 11 cooperates with the induction movable arm 10 through the induction fixed arm 8 to carry out medical operation, then the medical worker can debug the display fixed arm 16 manually or through the induction control operator 20, the display rotating end 15 cooperates with the display rotary drum 14 through the fixed shaft 13 to rotationally fix the display fixed arm 16, and the display fixed arm 16 rotationally debugs the angle, and the distance and angle can be adjusted by rotating the movable end 17 and matching the display movable arm 18, so that the display screen 19 meets the requirements of medical personnel, when the medical personnel need to carry out remote control, the remote control module 22 is started through a remote control device, and the remote control module 22 starts the central control module 21 for remote control.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. A man-machine cooperation medical robot comprises a medical robot (1), wherein the bottom of the medical robot (1) is fixedly connected with a fixed base (2), and is characterized in that the top of the fixed base (2) is fixedly connected with an electric telescopic mechanism (3), the top of the electric telescopic mechanism (3) is slidably connected with an electric telescopic rod (4), the top end of the electric telescopic rod (4) is fixedly connected with a central control box (5), the front end of the electric telescopic rod (4) is fixedly connected with a fixed rotary drum (6), the top of the fixed rotary drum (6) is rotatably connected with a fixed rotary end (7), the number of the fixed rotary ends (7) is two, an induction fixed arm (8) is fixedly connected between the two fixed rotary ends (7), and the bottom of the fixed rotary end (7) is rotatably connected with a movable rotary end (9), the right side fixedly connected with response digging arm (10) of activity rotation end (9), the right-hand member fixed connection of response digging arm (10) controls arm (11), the rear end fixedly connected with left end response control arm (12) of electric telescopic handle (4).
2. The human-computer cooperation medical robot as claimed in claim 1, wherein a fixed shaft (13) is fixedly connected to the top end of the electric telescopic rod (4) and located below the central control box (5), a display drum (14) is fixedly connected to the right end of the fixed shaft (13), and a display rotating end (15) is rotatably connected to the top of the display drum (14).
3. The ergonomic cooperative medical robot according to claim 2, wherein a display fixing arm (16) is fixedly connected to the right side of the display rotating end (15), a rotating movable end (17) is rotatably connected to the right end of the display fixing arm (16), and a display movable arm (18) is fixedly connected to the right side of the rotating movable end (17).
4. The human-computer cooperation medical robot according to claim 3, wherein a display screen (19) is fixedly connected to the right end of the display movable arm (18), and an induction control operator (20) is fixedly connected to the rear end of the electric telescopic rod (4) and located above the left end induction control arm (12).
5. The human-computer cooperation medical robot according to claim 1, wherein a central control module (21) is fixedly connected to the bottom of the inner cavity of the central control box (5), and a remote control module (22) is fixedly connected to the top of the inner cavity of the central control box (5).
6. The human-computer cooperative medical robot according to claim 5, wherein an input end of the remote control module (22) is electrically connected with an output end of the central control module (21), and an input end of the central control module (21) is electrically connected with output ends of the electric telescopic mechanism (3), the left induction control arm (12) and the induction fixing arm (8).
CN201911424753.4A 2019-12-31 2019-12-31 Human-computer cooperation medical robot Pending CN111085990A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911424753.4A CN111085990A (en) 2019-12-31 2019-12-31 Human-computer cooperation medical robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911424753.4A CN111085990A (en) 2019-12-31 2019-12-31 Human-computer cooperation medical robot

Publications (1)

Publication Number Publication Date
CN111085990A true CN111085990A (en) 2020-05-01

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CN201911424753.4A Pending CN111085990A (en) 2019-12-31 2019-12-31 Human-computer cooperation medical robot

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012002786A1 (en) * 2012-02-15 2013-08-22 Festo Ag & Co. Kg Manipulator system for use by patient in medical therapeutic area for training purposes, has control equipment for providing signals to control units, and input unit designed as multi-element orthosis for attachment to body part of user
CN107088072A (en) * 2017-04-27 2017-08-25 上海迈鹊医用机器人技术有限公司 One kind blood sampling control system and blood sampling robot
CN206436257U (en) * 2017-01-06 2017-08-25 中意联动科技(天津)有限公司 A kind of man-machine collaboration industrial robot
CN107595418A (en) * 2017-09-15 2018-01-19 杭州术康医疗科技有限公司 A kind of automatic planting dentistry robot
CN108436930A (en) * 2018-03-19 2018-08-24 秦园园 Home care apparatus

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012002786A1 (en) * 2012-02-15 2013-08-22 Festo Ag & Co. Kg Manipulator system for use by patient in medical therapeutic area for training purposes, has control equipment for providing signals to control units, and input unit designed as multi-element orthosis for attachment to body part of user
CN206436257U (en) * 2017-01-06 2017-08-25 中意联动科技(天津)有限公司 A kind of man-machine collaboration industrial robot
CN107088072A (en) * 2017-04-27 2017-08-25 上海迈鹊医用机器人技术有限公司 One kind blood sampling control system and blood sampling robot
CN107595418A (en) * 2017-09-15 2018-01-19 杭州术康医疗科技有限公司 A kind of automatic planting dentistry robot
CN108436930A (en) * 2018-03-19 2018-08-24 秦园园 Home care apparatus

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Application publication date: 20200501