CN111407404A - Seven-degree-of-freedom auxiliary robot for deep brain electrical stimulation - Google Patents
Seven-degree-of-freedom auxiliary robot for deep brain electrical stimulation Download PDFInfo
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- CN111407404A CN111407404A CN202010165762.2A CN202010165762A CN111407404A CN 111407404 A CN111407404 A CN 111407404A CN 202010165762 A CN202010165762 A CN 202010165762A CN 111407404 A CN111407404 A CN 111407404A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36014—External stimulators, e.g. with patch electrodes
- A61N1/36025—External stimulators, e.g. with patch electrodes for treating a mental or cerebral condition
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/3605—Implantable neurostimulators for stimulating central or peripheral nerve system
- A61N1/3606—Implantable neurostimulators for stimulating central or peripheral nerve system adapted for a particular treatment
- A61N1/36067—Movement disorders, e.g. tremor or Parkinson disease
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
The present invention relates to a robot arm for a robot-assisted surgery. The technical scheme is as follows: a seven-degree-of-freedom auxiliary robot for deep brain electrical stimulation is characterized in that: the auxiliary robot comprises a first movable joint component arranged on a sickbed, a second movable joint driven by the first movable joint component to perform linear motion, a third movable joint driven by the second movable joint component to perform linear motion, a fourth rotary joint driven by the third movable joint component to perform linear motion, a fifth rotary joint driven by the fourth rotary joint component to rotate, a sixth rotary joint driven by the fifth rotary joint component to rotate and a seventh artificial auxiliary insertion movable joint driven by the sixth rotary joint component to rotate. The auxiliary robot can solve the problems of low efficiency, low precision, high requirements on doctor operation experience and the like caused by the existing manually-operated deep brain stimulation auxiliary device.
Description
Technical Field
The invention relates to a mechanical arm for robot-assisted surgery, in particular to a multi-degree-of-freedom mechanical arm for assisting a doctor to insert an electrode into the brain of a patient, and belongs to the field of medical instruments.
Background
The Parkinson's disease treatment problem is increasingly serious, the side effects of the commonly used nerve nucleus damage operation and the drug treatment method are large, the nerve stem cell transplantation operation is not mature at present, and the most ideal treatment mode at present is deep brain electrical stimulation operation.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provide an auxiliary robot for deep brain electrical stimulation so as to solve the problems of low efficiency, low precision, high requirements on doctor operation experience and the like caused by the conventional auxiliary device for deep brain electrical stimulation which is manually operated.
The technical scheme provided by the invention is as follows:
a seven-degree-of-freedom auxiliary robot for deep brain electrical stimulation is characterized in that: the auxiliary robot comprises a first movable joint component, a second movable joint, a third movable joint, a fourth rotary joint component, a fifth rotary joint component, a sixth rotary joint component and a seventh artificial auxiliary insertion movable joint, wherein the first movable joint component is installed on a sickbed, the second movable joint is driven by the first movable joint component to perform linear motion, the third movable joint is driven by the second movable joint component to perform linear motion, the fourth rotary joint component is driven by the third movable joint component to perform linear motion, the fifth rotary joint component is driven by the fourth rotary joint component to rotate, the sixth rotary joint component is driven by the fifth rotary joint component to rotate, and the seventh artificial auxiliary insertion movable joint is driven by the sixth rotary joint component to rotate; the moving directions of the second moving joint component, the third moving joint component and the fourth rotating joint component are mutually vertical; the rotation planes of the fifth rotary joint component, the sixth rotary joint component and the seventh artificial auxiliary insertion moving joint are mutually vertical;
the sixth rotary joint component comprises a sixth support frame fixedly connected with the fifth rotary joint component, a driving structure arranged in the middle of the sixth support frame, a first connecting rod of which the bottom end is connected with the driving structure and driven to swing by the driving structure, a second connecting rod of which one end is in swing connection with the first connecting rod through the first rotary structure and the other end is in swing connection with the third connecting rod through the second rotary structure, a fourth connecting rod of which one end is in swing connection with the middle of the first connecting rod through the fourth rotary structure and the other end is in swing connection with the other end of the third connecting rod through the third rotary structure, and a fifth connecting rod of which one end is in swing connection with the right end of the sixth support frame through the sixth rotary structure and the other end is in swing connection with the middle of the fourth connecting rod through the fifth rotary; the fourth connecting rod and the second connecting rod are equal in length and parallel; the fifth connecting rod is parallel to the first connecting rod; alternatively, the first and second electrodes may be,
the sixth rotary joint component comprises a sixth supporting frame fixedly connected with the fifth rotary joint component, a driving structure arranged in the middle of the sixth supporting frame, a sixth connecting rod of which the bottom end is connected with the driving structure and driven to swing by the driving structure, a fourth connecting rod of which one end is connected with the top end of the sixth connecting rod through a fourth rotary structure in a swinging manner and the other end is connected with one end of the third connecting rod through a third rotary structure in a swinging manner, a seventh connecting rod of which the bottom end is connected with the right end of the sixth supporting frame through the sixth rotary structure in a swinging manner and the middle part is connected with the middle part of the fourth connecting rod through the fifth rotary structure in a swinging manner, and an eighth connecting rod of which one end is connected with the top end of the seventh connecting rod through the seventh rotary structure in a swinging manner and the other end is connected with the; the sixth connecting rod is parallel to the seventh connecting rod; the eighth connecting rod is parallel to the fourth connecting rod.
The first movable joint component comprises a first support frame fixed on a sickbed, a first ultrasonic motor fixed on the first support frame, a first nut screw rod, a first nut and a plurality of groups of first optical axis structures, wherein one end of the first nut screw rod is fixedly connected with a motor shaft of the first ultrasonic motor, the other end of the first nut screw rod is rotatably positioned on the first support frame through a first bearing support seat, the first nut screw rod is in threaded fit with the first nut screw rod, and the first optical axis structures are used for guiding the motion of the second movable joint component;
the first optical axis structure comprises a first optical axis body which is arranged in parallel with the first nut lead screw, two ends of the first optical axis body are fixed on the first support frame through first optical axis support seats respectively, and a plurality of first external flanges which can be positioned on the first optical axis body in a sliding mode.
The second movable joint component comprises a second support frame fixedly connected with the first nut and a plurality of first external flanges, a second ultrasonic motor fixed on the second support frame, a second nut screw rod, a second nut and a plurality of groups of second optical axis structures, wherein one end of the second nut screw rod is fixedly connected with a motor shaft of the second ultrasonic motor, the other end of the second nut screw rod is rotatably positioned on the second support frame through a second bearing support seat, the second nut screw rod is in threaded fit with the second nut screw rod, and the groups of second optical axis structures are used for guiding the movement of the third movable joint component; the axis of the second nut screw is vertical to the axis of the first nut screw;
the second optical axis structure comprises a second optical axis body which is arranged in parallel with the second nut screw rod, two ends of the second optical axis body are fixed on the second support frame through second optical axis support seats respectively, and a plurality of second external flanges which can be positioned on the second optical axis body in a sliding mode.
The third movable joint component comprises a third support frame fixedly connected with a second nut and a plurality of second external flanges, a third ultrasonic motor fixed on the third support frame, a third nut screw rod, a third nut and a plurality of groups of third optical axis structures, wherein one end of the third nut screw rod is fixedly connected with a motor shaft of the third ultrasonic motor, the other end of the third nut screw rod is rotatably positioned on the third support frame through a third bearing support seat, the third nut screw rod is in threaded fit with the third nut screw rod, and the groups of third optical axis structures are used for guiding the motion of the fourth rotary joint component; the third nut screw axis is perpendicular to the second nut screw axis and the first nut screw axis;
the third optical axis structure comprises a third optical axis body which is arranged in parallel with the third nut screw rod, two ends of the third optical axis body are fixed on the third supporting frame through third optical axis supporting seats respectively, and a plurality of third external flanges which can be positioned on the third optical axis body in a sliding mode.
The fourth rotary joint component comprises a fourth support frame fixedly connected with a third nut and a plurality of third external flanges, a fourth ultrasonic motor arranged on the fourth support frame, a first harmonic reducer wave generator arranged in an inner cavity of the fourth support frame and fixedly connected with a motor shaft of the fourth ultrasonic motor, a first rotary shaft one end of which is fixedly connected with a first harmonic reducer flexible wheel and rotatably positioned on the fourth support frame, and a fourth support frame fixed at the other end of the first rotary shaft to be connected with a fifth rotary joint component; the first rotating shaft is arranged coaxially with a motor shaft of the fourth ultrasonic motor.
The fifth rotary joint assembly comprises a fifth support frame fixedly connected with the fourth support frame, a fifth ultrasonic motor fixed on the fifth support frame, a second harmonic reducer wave generator arranged in the inner cavity of the fifth support frame and fixedly connected with a motor shaft of the fifth ultrasonic motor, and a second rotating shaft which is coaxially arranged with the motor shaft of the fifth ultrasonic motor and can be rotatably positioned on the fifth support frame; one end of the second rotating shaft extends into the fifth supporting frame and is fixedly connected with the flexible gear of the second harmonic reducer, and the other end of the second rotating shaft extends to the outside of the fifth supporting frame to be connected with the sixth rotating joint component; the axis of the second rotating shaft is perpendicular to the axis of the first rotating shaft.
In the sixth rotary joint assembly, the driving structure comprises a sixth ultrasonic motor fixed on a sixth supporting frame, a third harmonic reducer wave generator arranged in an inner cavity of the sixth supporting frame and fixedly connected with a motor shaft of the third ultrasonic motor, and a third rotating shaft one end of which is fixedly connected with a flexible gear of the third harmonic reducer; the first connecting rod is fixedly connected with the other end of the third rotating shaft and can be rotatably positioned on the sixth supporting frame; the axis of the third rotating shaft is perpendicular to the axis of the first rotating shaft and the axis of the second rotating shaft.
The first rotating structure, the second rotating structure, the third rotating structure, the fourth rotating structure, the fifth rotating structure and the sixth rotating structure respectively comprise a rotating shaft, one end of the rotating shaft is rotatably positioned on one connecting rod, and the other end of the rotating shaft is fixed on the other connecting rod; the axes of all the rotating shafts and the axis of the third rotating shaft are parallel to each other and perpendicular to the length direction of all the connecting rods in the sixth rotary joint assembly.
The seventh artificial-assisted insertion locomotion joint comprises a disposable spacer sleeve positioned in the fifth link and a guide sleeve fixed in the disposable spacer for positioning the electrode, so that the doctor can align the treatment position of the patient by adjusting the electrode position in the guide sleeve.
The working principle of the invention is as follows:
the invention is applied to a nuclear magnetic resonance complete system which comprises a nuclear magnetic resonance machine 1, a sickbed 4 which enables a patient 3 to lie on the back and can move, and an auxiliary robot 2 for deep brain electrostimulation (two auxiliary robots are usually configured).
During treatment, firstly, the nuclear magnetic resonance machine scans the brain of a human body to obtain a focus body image, then image processing software is applied to obtain the position of the focus body, then path planning is completed according to the position relation between the focus body and a robot base coordinate system and the inverse kinematics of the robot, the robot moves to a designated position according to the planned path, and a doctor inserts an electrode into the focus body along a guide device to complete the operation.
The treatment position adjustment method of the electrode comprises the following steps: starting a first ultrasonic motor in the first movable joint component and a second ultrasonic motor in the second movable joint component, and enabling the seventh artificial auxiliary inserted movable joint to move in the horizontal plane; a fourth ultrasonic motor in the fourth rotary joint component is started, and a seventh artificial auxiliary insertion moving joint can rotate around the axis of the first rotating shaft which is vertically arranged; a fifth ultrasonic motor in the fifth rotary joint component is started, and a seventh artificial auxiliary insertion moving joint can rotate around the axis of a second rotating shaft which is horizontally arranged; and a sixth ultrasonic motor in the sixth rotary joint component is started, and the seventh artificial auxiliary insertion moving joint can drive the electrode in the guide sleeve to rotate around the focus at the bottom end of the electrode, so that the required electrode treatment angle is selected.
The invention has the beneficial effects that: the invention can effectively solve the problems of low efficiency, low operation precision and high requirement on the operation experience of doctors of the existing auxiliary device, thereby obviously improving the working efficiency and simultaneously reducing the requirement on the operation skill of the doctors.
Drawings
Fig. 1 is a schematic view of the overall state of the present invention in use.
Fig. 2 is a schematic diagram of the two robots of the present invention in cooperation.
Fig. 3 is a schematic structural diagram (one embodiment) illustrating the relationship between the joint components according to the present invention.
Fig. 4 is a schematic view of the first translational joint assembly of the present invention (two sets of first translational joint assemblies are shown).
Fig. 5 is a schematic view (one embodiment) of the connection structure of the first translational joint component and the second translational joint component in the present invention.
Fig. 6 is a schematic structural view of a second translational joint assembly of the present invention.
Fig. 7 is a schematic view showing a connection structure of the second and third translational joint assemblies of the two robots according to the present invention.
Fig. 8 is a schematic structural view of a third translational joint assembly of the present invention.
Fig. 9 is a schematic view of the connection structure between the third translational joint component and the fourth rotational joint component, between the fourth rotational joint component and the fifth rotational joint component, and between the fifth rotational joint component and the sixth rotational joint component in the present invention.
Fig. 10 is a sectional view of a fourth rotary joint assembly in the present invention.
Fig. 11 is a sectional view of a fifth rotary joint assembly in the present invention.
Fig. 12 is a schematic structural view of a sixth rotary joint assembly according to the present invention (one of the embodiments).
Fig. 13 is a sectional view (right direction of fig. 12) of the driving structure, the first rotating structure, and the fourth rotating structure in fig. 12.
Fig. 14 is a sectional view (right view direction of fig. 12) of the fifth rotation structure and the sixth rotation structure in fig. 12.
Fig. 15 is a sectional view (right view direction of fig. 12) of the second rotating structure and the third rotating structure in fig. 12.
Fig. 16 is a schematic structural view of a seventh rotary joint in the present invention.
Fig. 17 is a schematic structural view of a sixth rotary joint (second embodiment) of the present invention.
Reference numerals:
1. a nuclear magnetic resonance machine; 2. an auxiliary robot; 3. a patient; 4. a hospital bed;
j1, a first mobile joint component; j1-1, a first cover plate; j1-2, a first optical axis structure; j1-2-2, a first bearing support seat; j1-2-4, a first optical axis supporting seat; j1-2-5, a first optic axis body; j1-2-6, a first external flange; j1-3, a first nut and screw; j1-4, a first ultrasonic motor; j1-5, a first support frame; j1-6, a first ultrasonic motor support frame; j1-7, a first nut;
j2, a second mobile joint assembly; j2-1, a second support frame; j2-2, a second cover plate; j2-3, second optical axis structure; j2-3-1, a second optic axis body; j2-3-2, a second optical axis supporting seat; j2-4, a second nut and screw; j2-4-1, a second ultrasonic motor; j2-4-2, a second ultrasonic motor support frame; j2-4-3, a second bearing support seat; j2-4-6, a second nut; j2-5, a second external flange;
j3, a third mobile joint assembly; j3-1, third cover plate; j3-2, a third support frame; j3-3, third optical axis structure; j3-3-1, third optic axis body; j3-3-2, third optical axis supporting seat; j3-3-3, a third bearing support seat; j3-4, a third nut and screw; j3-4-1, a third ultrasonic motor; j3-4-2, a third ultrasonic motor support frame; j3-5, a third external flange; j3-6, a third nut;
j4, fourth revolute joint assembly; j4-2, a fourth support frame; j4-3, a fourth ultrasonic motor; j4-4, a first transition flange; j4-5, a first harmonic reducer wave generator; j4-6, a first harmonic reducer flexspline; j4-7, first axis of rotation; j4-8, bearing; j4-12, a fourth support frame;
j5, fifth revolute joint assembly; j5-1, a fifth ultrasonic motor; j5-2, a fifth support frame; j5-3, a second transition flange; j5-4, a second harmonic reducer wave generator; j5-5, a second harmonic reducer flexspline; j5-6, second axis of rotation; j5-7, bearing; j5-11, bearing support frame; j5-12, press plate;
j6, sixth revolute joint assembly; j6-1, sixth support frame; j6-2, drive structure; j6-2-2, a sixth ultrasonic motor; j6-2-3, a third transition flange; j6-2-4, third harmonic reducer wave generator; j6-2-5, third harmonic reducer flexspline; j6-2-6, third axis of rotation; j6-2-9, bearing; j6-2-11, pressing plate; j6-3, a first connecting rod; j6-4, a first rotating structure; j6-4-3, end cap; j6-4-4, bearing pressure plate; j6-4-5 fourth rotation axis; j6-4-6 bearing; j6-5, fourth rotation structure; j6-5-3, end cap; j6-5-4, bearing pressure plate; j6-5-5, sixth rotation axis; j6-5-6, bearing; j6-6, a second connecting rod; j6-7, a second rotating structure; j6-7-1, bearing; j6-7-3, bearing pressure plate; j6-7-4, end cap; j6-7-5, eighth rotation axis; j6-8, a third connecting rod; j6-9, third rotation structure; j6-9-1, bearing; j6-9-3, bearing pressure plate; j6-9-4, end cap; j6-9-5, ninth rotation axis; j6-10, a fourth link; j6-11, fifth rotational structure; j6-11-1, bearing; j6-11-3, bearing pressure plate; j6-11-4, end cap; j6-11-5, seventh rotation axis; j6-12, a fifth link; j6-13, sixth rotational configuration; j6-13-2, a pressure bearing plate; j6-13-4, bearing; j6-13-5, end cap; j6-13-6, fifth axis of rotation;
j7, seventh artificial assistant insertion locomotion joint; j7-1, a spacer sleeve; j7-2, electrodes.
Detailed Description
The following further description is made with reference to the embodiments shown in the drawings.
As shown in fig. 3, the seven-degree-of-freedom auxiliary robot for deep brain electrical stimulation provided by the invention comprises a first movable joint component J1 mounted on a hospital bed, a second movable joint J2 driven by the first movable joint component to perform linear motion, a third movable joint J3 driven by the second movable joint component to perform linear motion, a fourth rotary joint component J4 driven by the third movable joint component to perform linear motion, a fifth rotary joint component J5 driven by the fourth rotary joint component to perform rotation, a sixth rotary joint component J6 driven by the fifth rotary joint component to perform rotation, and a seventh artificial auxiliary insertion movable joint J7 driven by the sixth rotary joint component to perform rotation; the moving directions of the second moving joint component, the third moving joint component and the fourth rotating joint component are mutually vertical; the rotation planes of the fifth rotary joint component, the sixth rotary joint component and the seventh artificial-assistance insertion movement joint are perpendicular to each other.
The fourth rotary joint J4, the fifth rotary joint J5 and the sixth rotary joint J6 jointly complete the adjustment of the posture of the tail end of the robot.
As shown in FIG. 4, the first movable joint assembly J1 includes a first support frame J1-5, a first ultrasonic motor support frame J1-6, a first bearing support base J1-2-2, a first ultrasonic motor J1-4, a first nut screw J1-3, a first nut J1-7, a plurality of sets of first optical axis structures J1-2 (four sets of first optical axis structures of two auxiliary robots are shown in FIG. 4; two sets of first optical axis structures of each auxiliary robot are disposed on the left and right sides of the first nut screw), and a first cover plate J1-1. The first movable joint component J1 is mounted on the movable sickbed 4 through a first support J1-5 and a fastener; a first ultrasonic motor support frame J1-6 and a first bearing support seat J1-2-2 are fixed on the first support frame. The first ultrasonic motor J1-4 is installed on the first ultrasonic motor support frame through a fastener, one end of a first nut screw J1-3 is installed on a first bearing support seat containing a bearing, and the other end of the first nut screw is fixedly connected with a motor shaft of the first ultrasonic motor through a coupler. The first nut is in threaded fit with the first nut lead screw and can move along the first nut lead screw; the first cover plate J1-1 serves as an outer cover of the first prismatic joint assembly.
The first optical axis structure is arranged on the first support frame and used for guiding the motion of the second movable joint component. Each group of first optical axis structures comprises two first optical axis supporting seats J1-2-4, a first optical axis body J1-2-5 and a plurality of (two in this embodiment) first external flanges J1-2-6. The two first optical axis supporting seats are fixed on the first supporting frame; the first optical axis body and the first nut screw are arranged in parallel, and two ends of the first optical axis body are respectively fixed on the two first optical axis supporting seats; two first external flanges are slidably positioned on the first optical axis body.
As shown in FIG. 6, the second movable joint assembly J2 includes a second support frame J2-1, a second ultrasonic motor support frame J2-4-2, a second bearing support base J2-4-3, a second ultrasonic motor J2-4-1, a second nut screw J2-4, a second nut J2-4-6, a plurality of sets (two sets are shown in the figure) of a second optical axis structure J2-3 and a second cover plate J2-2. The second movable joint assembly J2 (see FIG. 5) is mounted on all the first external flanges J1-2-6 of the first movable joint J1 through a second support frame and fasteners, and the second support frame is fixedly connected with the first nuts J1-7 on the first nut screw. The second ultrasonic motor support frame and the second bearing support seat are respectively and fixedly arranged on the second support frame; the second ultrasonic motor is arranged on the second ultrasonic motor support frame through a fastener; one end of the second nut screw is mounted on the second bearing support seat through a bearing, and the other end of the second nut screw is fixedly connected with a motor shaft of the second ultrasonic motor through a coupler. The second nut is in threaded fit with the second nut lead screw and can move along the second nut lead screw; the second cover plate serves as an outer cover for the second mobile joint assembly. The second nut screw axis (shown in a horizontal arrangement) is perpendicular to the first nut screw axis (shown in a horizontal arrangement).
And the two groups of second optical axis structures are arranged on the second support frame and used for guiding the motion of the third movable joint component. Each group of second optical axis structures comprises two second optical axis supporting seats J2-3-2, a second optical axis body J2-3-1 and a plurality of (two in this embodiment) second external flanges J2-5. Two second optical axis supporting seats are fixed on the second supporting frame; the second optical axis body and the second nut screw are arranged in parallel, and two ends of the second optical axis body are respectively fixed on the two second optical axis supporting seats; two second external flanges are slidably positioned on the second optical axis body.
As shown in FIG. 8, the third movable joint assembly J3 includes a third support frame J3-2, a third ultrasonic motor support frame J3-4-2, a third bearing support base J3-3-3, a third ultrasonic motor J3-4-1, a third nut screw J3-4, a third nut J3-6, a plurality of sets (two sets are shown in the figure) of a third optical axis structure J3-3 and a third cover plate J3-1. The third mobile joint assembly J3 (see FIG. 7) is mounted on all the second external flanges J2-5 of the second mobile joint J2 through a third support bracket and fasteners, and the third support bracket is fixedly connected with a second nut J2-4-6 on a second nut screw. The third ultrasonic motor support frame and the third bearing support seat are respectively and fixedly arranged on the third support frame; the third ultrasonic motor is arranged on a third ultrasonic motor support frame through a fastener; one end of the third nut screw is mounted on the third bearing support seat through a bearing, and the other end of the third nut screw is fixedly connected with a motor shaft of the third ultrasonic motor through a coupler. The third nut is in threaded fit with the third nut lead screw and can move along the third nut lead screw; the third cover plate serves as an outer cover for the third mobile joint assembly. The third nut screw axis (shown in a vertical arrangement) is perpendicular to the second nut screw axis and perpendicular to the first nut screw axis.
And the two groups of third optical axis structures are arranged on the third support frame and used for guiding the motion of the fourth rotary joint component. Each group of third optical axis structures comprises two third optical axis supporting seats J3-3-2, a third optical axis body J3-3-1 and a plurality of (two in the embodiment) third external flanges J3-5. Two third optical axis supporting seats are fixed on the third supporting frame; the third optical axis body and the third nut screw are arranged in parallel, and two ends of the third optical axis body are respectively fixed on the two third optical axis supporting seats; two third circumscribing flanges are slidably positioned on the third optical axis body.
As shown in FIG. 10, the fourth rotary joint assembly J4 includes a fourth support frame J4-2, a first transition flange J4-4, a fourth ultrasonic motor J4-3, a first harmonic reducer (including a first harmonic reducer wave generator J4-5, a first harmonic reducer flexspline J4-6), a first rotational shaft J4-7, and a fourth support frame J4-12. The fourth rotary joint assembly J4 (see FIG. 9) is mounted on all the third external flanges J3-5 of the third mobile joint assembly J3 by a fourth support bracket and fasteners, and the fourth support bracket is also connected with a third nut J3-6 on a third nut screw.
The fourth ultrasonic motor is mounted on the fourth support frame through the first transition flange and the fastener (in fig. 10, the left end of the fourth support frame is connected with the third external flange through the fastener); a motor shaft of the fourth ultrasonic motor is connected with a first harmonic reducer wave generator in the fourth support frame through a fastener; the first rotating shaft is arranged coaxially with a motor shaft of the fourth ultrasonic motor and is rotatably positioned on the fourth supporting frame (shown in fig. 10 as being positioned at the lower portion of the fourth supporting frame) by at least one set of bearings J4-8; one end (top end shown in fig. 10) of the first rotating shaft is fastened with the first harmonic reducer flexspline through a fastener, and the other end (bottom end shown in fig. 10) of the first rotating shaft is further connected with a fourth support frame J4-12 to output power to the outside.
As shown in FIG. 11, the fifth rotary joint assembly J5 includes a fifth support bracket J5-2, a second transition flange J5-3, a fifth ultrasonic motor J5-1, a second harmonic reducer (including a second harmonic reducer wave generator J5-4 and a second harmonic reducer flexspline J5-5), and a second rotary shaft J5-6. The fifth rotary joint assembly J5 (see fig. 9) is mounted on the fourth support bracket J4-12 of the fourth rotary joint assembly (when mounted, the left end flange of the fifth support bracket in fig. 11 is fixed to the fourth support bracket) by a fifth support bracket and fasteners.
The fifth ultrasonic motor is arranged in the inner cavity of the fifth support frame through a second transition flange J5-3 and a fastener; a motor shaft of the fifth ultrasonic motor is also connected with a second harmonic reducer generator fixed in the inner cavity of the fifth support frame; the second rotational shaft is coaxially disposed with the motor shaft of the fifth ultrasonic motor and rotatably positioned on the fifth support bracket (shown positioned at the right portion of the fifth support bracket in fig. 11) by at least one set of bearings J5-7 cooperatively positioned by bearing support brackets J5-11. One end (the left end is shown in fig. 11) of the second rotating shaft extends into the inner cavity of the fifth supporting frame and then is fixed with a second harmonic reducer flexible gear (shown in the figure as being fixed with a fastener through a pressing plate J5-12) acting with a second harmonic reducer wave generator, and the other end of the second rotating shaft extends to the right to the outside of the fifth supporting frame to be connected with the sixth rotating joint component. The axis of the second rotating shaft is perpendicular to the axis of the first rotating shaft.
As shown in FIG. 12, the sixth rotary joint assembly J6 includes a sixth support frame J6-1, a driving structure J6-2, a first link J6-3, a first rotary structure J6-4, a second link J6-6, a second rotary structure J6-7, a third link J6-8, a third rotary structure J6-9, a fourth link J6-10, a fourth rotary structure J6-5, a fifth link J6-12, a fifth rotary structure J6-11, and a sixth rotary structure J6-13. A sixth rotary joint assembly J6 (see fig. 9) is mounted on the second rotary shaft of the fifth joint assembly J5 by a sixth support bracket and a fastener; one end of the sixth supporting frame is fixed on the second rotating shaft J5-6 through a fastener; and the sixth support frame is provided with a through hole for fixing the driving structure.
The driving structure is fixed in the middle of the sixth supporting frame; the bottom end of the first connecting rod is connected with the driving assembly and driven to swing by the driving structure, and the other end of the first connecting rod is connected with one end of the first rotating structure in a swinging manner; the left end of the second connecting rod is connected with the other end of the first rotating structure in a swinging mode, and the right end of the second connecting rod is connected with one end of the third connecting rod in a swinging mode through the second rotating structure; the fourth connecting rod and the second connecting rod are equal in length and are arranged in parallel to the second connecting rod, one end of the fourth connecting rod is connected to the other end of the third connecting rod in a swinging mode through a third rotating structure, and the other end of the fourth connecting rod is connected to the middle of the first connecting rod in a swinging mode through a fourth rotating structure; the fifth link is disposed parallel to the first link, and has one end swingably connected to a middle portion of the fourth link through a fifth rotation structure and the other end swingably connected to an end of the sixth cradle (i.e., a right end of the sixth cradle in fig. 12) through a sixth rotation structure.
As shown in FIG. 13, the drive structure includes a third transition flange J6-2-3, a sixth ultrasonic motor J6-2-2, a third harmonic reducer (including a third harmonic reducer wave generator J6-2-4, a third harmonic reducer flexspline J6-2-5), and a third rotational shaft J6-2-6. The sixth ultrasonic motor is fixed on a sixth support frame J6-1 through a third transition flange; a motor shaft of the sixth ultrasonic motor is connected with a harmonic reducer generator; the first connecting rod is rotatably positioned on the sixth supporting frame through a bearing J6-2-9; the third rotating shaft and a motor shaft of the sixth ultrasonic motor are coaxially arranged, one end of the third rotating shaft is connected with a flexible gear of the harmonic reducer (fixed with a fastener through a pressing plate J6-2-11), and the other end of the third rotating shaft is fixedly connected with the bottom end of the first connecting rod (fixedly connected through the fastener); and the harmonic reducer flexible gear is driven by a harmonic reducer wave generator and is matched with a steel gear fixed on the sixth supporting frame. The axis of the third rotating shaft is perpendicular to the axis of the first rotating shaft and the axis of the second rotating shaft.
The first rotating structure, the second rotating structure, the third rotating structure, the fourth rotating structure, the fifth rotating structure and the sixth rotating structure are similar in structure and respectively comprise a rotating shaft, one end of each rotating shaft is rotatably positioned on one connecting rod through a bearing, and the other end of each rotating shaft is fixed on the other connecting rod; the axes of these rotation shafts are parallel to each other and to the axis of the third rotation shaft, while being perpendicular to the length direction of all the links in the sixth rotary joint assembly. The specific connection mode is as follows:
in the first rotational configuration (see fig. 13): the left end of the fourth rotating shaft J6-4-5 is rotatably positioned in the shaft hole at the top end of the first connecting rod J6-3 through a bearing J6-4-6 and an accessory (a bearing pressure plate J6-4-4, an end cover J6-4-3 and a fastener); the right end of the fourth rotating shaft is inserted into a blind hole at the left end of the second connecting rod J6-6, and then is axially fastened by a fastener and sealed and pressed by a cover plate.
In the second rotation configuration (see fig. 15): the left end of the eighth rotating shaft J6-7-5 is rotatably positioned in the shaft hole at the top end of the third connecting rod J6-8 through a bearing J6-7-1 and an accessory (a bearing pressure plate J6-7-3, an end cover J6-7-4 and a fastener); the right end of the eighth rotating shaft is inserted into a stepped hole at the right end of the second connecting rod J6-6, and then is axially fastened by a fastener and sealed and pressed by a cover plate.
In the third rotation configuration (see fig. 15): the left end of the ninth rotating shaft J6-9-5 is rotatably positioned in the shaft hole at the bottom end of the third connecting rod J6-8 through a bearing J6-9-1 and an accessory (a bearing pressure plate J6-9-3, an end cover J6-9-4 and a fastener); the right end of the eighth rotating shaft is inserted into a stepped hole at the right end of the fourth connecting rod J6-10, and then is axially fastened by a fastener and sealed by a cover plate.
In the fourth rotation structure (see fig. 13): the left end of the sixth rotating shaft J6-5-5 is rotatably positioned in the shaft hole in the middle of the first connecting rod J6-3 through a bearing J6-5-6 and an accessory (a bearing pressure plate J6-5-4, an end cover J6-5-3 and a fastener); the right end of the fourth rotating shaft is inserted into a blind hole at the left end of the fourth connecting rod J6-10, and then is axially fastened by a fastener and sealed and pressed by a cover plate.
In the fifth rotation configuration (see fig. 14): the left end of the seventh rotating shaft J6-11-5 is rotatably positioned in the shaft hole at the top end of the fifth connecting rod J6-12 through a bearing J6-11-1 and an accessory (a bearing pressure plate J6-11-3, an end cover J6-11-4 and a fastener); the right end of the fourth rotating shaft is inserted into a blind hole in the middle of the fourth connecting rod J6-10, and then is axially fastened by a fastener and sealed by a cover plate.
In the sixth rotation configuration (see fig. 14): the left end of the fifth rotating shaft J6-13-6 is rotatably positioned in a shaft hole at one end of the sixth supporting frame J6-1 through a bearing J6-13-4 and accessories (a bearing pressure plate J6-13-2, an end cover J6-13-5 and a fastener); the right end of the fifth rotating shaft is inserted into a stepped hole at the bottom end of the fifth connecting rod J6-12, and then is axially fastened by a fastener and sealed and pressed by a cover plate.
The seventh artificial-assisted insertion mobile joint J7 (conventional structure, see fig. 16) includes a disposable spacer sleeve J7-1 positioned in the fifth link and a guide sleeve J7-2 fixed in the disposable spacer sleeve; the electrode is positioned in the guide sleeve, and a doctor can align the treatment position of a patient by adjusting the position of the electrode in the guide sleeve (two isolating plates and the guide sleeve are arranged, and the working space is mainly enlarged).
The above description is of the first embodiment of the present invention.
A second embodiment of the invention is shown in figure 17. It differs from the first embodiment only in that the sixth rotary joint assembly replaces the first link in the first embodiment with a shorter sixth link J6-20, the second link in the first embodiment with a shorter eighth link J6-23, and the fourth link in the first embodiment with a longer seventh link J6-21; in addition, the first rotating structure J6-4 of the first embodiment is eliminated, and the top end of the seventh link is connected to the eighth link through the seventh rotating structure J6-22. The connection thus formed is: the sixth rotary joint component comprises a sixth supporting frame fixedly connected with the fifth rotary joint component, a driving structure arranged in the middle of the sixth supporting frame, a sixth connecting rod of which the bottom end is connected with the driving structure and driven to swing by the driving structure, a fourth connecting rod of which one end is connected with the top end of the sixth connecting rod through a fourth rotary structure in a swinging manner and the other end is connected with one end of the third connecting rod through a third rotary structure in a swinging manner, a seventh connecting rod of which the bottom end is connected with the right end of the sixth supporting frame through the sixth rotary structure in a swinging manner and the middle part is connected with the middle part of the fourth connecting rod through the fifth rotary structure in a swinging manner, and an eighth connecting rod of which one end is connected with the top end of the seventh connecting rod through the seventh rotary structure in a swinging manner and the other end is connected with; the sixth connecting rod is parallel to the seventh connecting rod; the eighth connecting rod is parallel to the fourth connecting rod.
Obviously, the kinematic relationship of the mechanism of the second embodiment is the same as that of the first embodiment.
The machining parts in the device are made of titanium alloy or nonmetal materials.
Finally, it should be noted that the above-mentioned list is only a specific embodiment of the present invention. It is obvious that the present invention is not limited to the above embodiments, but many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.
Claims (9)
1. A seven-degree-of-freedom auxiliary robot for deep brain electrical stimulation is characterized in that: the auxiliary robot comprises a first movable joint component (J1) arranged on a sickbed (4), a second movable joint (J2) driven by the first movable joint component to perform linear motion, a third movable joint (J3) driven by the second movable joint component to perform linear motion, a fourth rotary joint component (J4) driven by the third movable joint component to perform linear motion, a fifth rotary joint component (J5) driven by the fourth rotary joint component to rotate, a sixth rotary joint component (J6) driven by the fifth rotary joint component to rotate and a seventh artificial auxiliary insertion movable joint (J7) driven by the sixth rotary joint component to rotate; the moving directions of the second moving joint component, the third moving joint component and the fourth rotating joint component are mutually vertical; the rotation planes of the fifth rotary joint component, the sixth rotary joint component and the seventh artificial auxiliary insertion moving joint are mutually vertical;
the sixth rotary joint component comprises a sixth supporting frame (J6-1) fixedly connected with the fifth rotary joint component, a driving structure (J6-2) arranged in the middle of the sixth supporting frame, a first connecting rod (J6-3) with the bottom end connected with the driving structure and driven to swing by the driving structure, a second connecting rod (J6-6) with one end connected with the first connecting rod in a swinging mode through the first rotary structure (J6-4) and the other end connected with the third connecting rod (J6-8) in a swinging mode through the second rotary structure (J6-7), a fourth connecting rod (J6-10) with one end connected with the middle of the first connecting rod in a swinging mode through the fourth rotary structure (J6-5) and the other end connected with the other end of the third connecting rod in a swinging mode through the third rotary structure (J6-9), and a fifth rotary structure (J6-13) with one end connected to the right end of the sixth supporting frame in a swinging mode and the other end connected with the fifth rotary structure (J6) -11) a fifth link (J6-12) swingably connected to the middle of the fourth link; the fourth connecting rod and the second connecting rod are equal in length and parallel; the fifth connecting rod is parallel to the first connecting rod; alternatively, the first and second electrodes may be,
the sixth rotary joint component comprises a sixth support frame (J6-1) fixedly connected with the fifth rotary joint component, a driving structure (J6-2) arranged in the middle of the sixth support frame, a sixth connecting rod (J6-20) with the bottom end connected with the driving structure and driven by the driving structure to swing, a fourth connecting rod (J6-10) with one end connected with the top end of the sixth connecting rod in a swinging mode through a fourth rotary structure (J6-5) and the other end connected with one end of the third connecting rod (J6-8) in a swinging mode through a third rotary structure (J6-9), a seventh connecting rod (J6-21) with the bottom end connected with the right end of the sixth support frame in a swinging mode through a sixth rotary structure (J6-13) and the middle connected with the middle of the fourth connecting rod in a swinging mode through a fifth rotary structure (J6-11), and a seventh connecting rod with the top end connected with the other end of the seventh connecting rod in a swinging mode through a seventh rotary structure (J6-22 An eighth link (J6-23) to which the second rotating structure (J6-7) is swingably connected with the other end of the third link; the sixth connecting rod is parallel to the seventh connecting rod; the eighth connecting rod is parallel to the fourth connecting rod.
2. The seven-degree-of-freedom auxiliary robot for deep brain stimulation according to claim 1, characterized in that: the first movable joint component comprises a first support frame (J1-5) fixed on a sickbed, a first ultrasonic motor (J1-4) fixed on the first support frame, a first nut screw rod (J1-3) with one end fixedly connected with a motor shaft of the first ultrasonic motor and the other end rotatably positioned on the first support frame through a first bearing support seat (J1-2-2), a first nut (J1-7) in threaded fit with the first nut screw rod, and a plurality of groups of first optical axis structures (J1-2) for guiding the movement of the second movable joint component;
the first optical axis structure comprises a first optical axis body (J1-2-5) which is arranged in parallel with the first nut screw rod, two ends of the first optical axis body are fixed on the first support frame through first optical axis support seats (J1-2-4) respectively, and a plurality of first external flanges (J1-2-6) which are positioned on the first optical axis body in a sliding mode.
3. The seven-degree-of-freedom auxiliary robot for deep brain stimulation according to claim 2, characterized in that: the second movable joint component comprises a second support frame (J2-1) fixedly connected with the first nut and a plurality of first external flanges, a second ultrasonic motor (J2-4-1) fixed on the second support frame, a second nut screw rod (J2-4) with one end fixedly connected with a motor shaft of the second ultrasonic motor and the other end rotatably positioned on the second support frame through a second bearing support seat (J2-4-3), a second nut (J2-4-6) in threaded fit with the second nut screw rod, and a plurality of groups of second optical axis structures (J2-3) for guiding the movement of the third movable joint component; the axis of the second nut screw is vertical to the axis of the first nut screw;
the second optical axis structure comprises a second optical axis body (J2-3-1) which is arranged in parallel with the second nut screw rod, two ends of the second optical axis body are fixed on the second supporting frame respectively through a second optical axis supporting seat (J2-3-2), and a plurality of second external flanges (J2-5) which can be positioned on the second optical axis body in a sliding mode.
4. The seven-degree-of-freedom auxiliary robot for deep brain stimulation according to claim 3, characterized in that: the third movable joint component comprises a third support frame (J3-2) fixedly connected with the second nut and a plurality of second external flanges, a third ultrasonic motor (J3-4-1) fixed on the third support frame, a third nut screw (J3-4) with one end fixedly connected with a motor shaft of the third ultrasonic motor and the other end rotatably positioned on the third support frame through a third bearing support seat (J3-3-3), a third nut (J3-6) in threaded fit with the third nut screw, and a plurality of groups of third optical axis structures (J3-3) for guiding the movement of the fourth rotary joint component; the third nut screw axis is perpendicular to the second nut screw axis and the first nut screw axis;
the third optical axis structure comprises a third optical axis body (J3-3-1) which is arranged in parallel with the third nut screw rod, two ends of the third optical axis body are fixed on the third supporting frame through third optical axis supporting seats (J3-3-2) respectively, and a plurality of third external flanges (J3-5) which can be positioned on the third optical axis body in a sliding mode.
5. The seven-degree-of-freedom auxiliary robot for deep brain stimulation according to claim 4, characterized in that: the fourth rotary joint component comprises a fourth support frame (J4-2) fixedly connected with a third nut and a plurality of third external flanges, a fourth ultrasonic motor (J4-3) arranged on the fourth support frame, a first harmonic reducer wave generator (J4-5) arranged in the inner cavity of the fourth support frame and fixedly connected with the motor shaft of the fourth ultrasonic motor, a first rotary shaft (J4-7) with one end fixedly connected with a first harmonic reducer flexible wheel (J4-6) and rotatably positioned on the fourth support frame, and a fourth support frame (J4-12) fixed at the other end of the first rotary shaft to be connected with a fifth rotary joint component; the first rotating shaft is arranged coaxially with a motor shaft of the fourth ultrasonic motor.
6. The seven-degree-of-freedom auxiliary robot for deep brain stimulation of claim 5, wherein: the fifth rotary joint assembly comprises a fifth support frame (J5-2) fixedly connected with the fourth support frame, a fifth ultrasonic motor (J5-1) fixed on the fifth support frame, a second harmonic reducer wave generator (J5-4) installed in the inner cavity of the fifth support frame and fixedly connected with the motor shaft of the fifth ultrasonic motor, and a second rotary shaft (J5-6) which is coaxially arranged with the motor shaft of the fifth ultrasonic motor and is rotatably positioned on the fifth support frame; one end of the second rotating shaft extends into the fifth supporting frame and is fixedly connected with a flexible gear (J5-5) of the second harmonic reducer, and the other end of the second rotating shaft extends to the outside of the fifth supporting frame to be connected with a sixth rotating joint component; the axis of the second rotating shaft is perpendicular to the axis of the first rotating shaft.
7. The seven-degree-of-freedom auxiliary robot for deep brain stimulation according to claim 6, characterized in that: in the sixth rotary joint component, the driving structure comprises a sixth ultrasonic motor (J6-2-2) fixed on the sixth supporting frame, a third harmonic reducer wave generator (J6-2-4) arranged in the inner cavity of the sixth supporting frame and fixedly connected with the motor shaft of the sixth ultrasonic motor, and a third rotating shaft (J6-2-6) with one end fixedly connected with a third harmonic reducer flexible wheel (J6-2-5); the first connecting rod is fixedly connected with the other end of the third rotating shaft and can be rotatably positioned on the sixth supporting frame; the axis of the third rotating shaft is perpendicular to the axis of the first rotating shaft and the axis of the second rotating shaft.
8. The seven-degree-of-freedom auxiliary robot for deep brain stimulation of claim 7, wherein: the first rotating structure, the second rotating structure, the third rotating structure, the fourth rotating structure, the fifth rotating structure and the sixth rotating structure respectively comprise a rotating shaft, one end of the rotating shaft is rotatably positioned on one connecting rod, and the other end of the rotating shaft is fixed on the other connecting rod; the axes of all the rotating shafts and the axis of the third rotating shaft are parallel to each other and perpendicular to the length direction of all the connecting rods in the sixth rotary joint assembly.
9. The seven-degree-of-freedom auxiliary robot for deep brain stimulation of claim 8, wherein: the seventh artificial assistant insertion movement joint comprises a disposable isolation plate sleeve (J7-1) positioned in the fifth connecting rod and a guide sleeve (J7-2) fixed in the disposable isolation plate and used for positioning an electrode, so that a doctor can align the treatment position of a patient by adjusting the position of the electrode in the guide sleeve.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112757290A (en) * | 2020-12-12 | 2021-05-07 | 天津大学 | Mechanical arm control method based on FPGA |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112757290A (en) * | 2020-12-12 | 2021-05-07 | 天津大学 | Mechanical arm control method based on FPGA |
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Effective date of registration: 20211026 Address after: 213000 No. g064, Changzhou Zhonglou hi tech entrepreneurship service center, No. 213, Yulong South Road, Zhonglou Economic Development Zone, Changzhou City, Jiangsu Province Applicant after: Changzhou Weijing medical robot Co.,Ltd. Address before: 310018 No. 2 street, Baiyang street, Xiasha Higher Education Park, Hangzhou, Zhejiang, China 928 Applicant before: ZHEJIANG SCI-TECH University |