CN111672034B

CN111672034B - Ultrasonic fat dissolving robot

Info

Publication number: CN111672034B
Application number: CN202010337148.XA
Authority: CN
Inventors: 柴岗; 吴文波; 石运永; 张艳
Original assignee: Shanghai Panyan Robot Technology Co ltd
Current assignee: Shanghai Panyan Robot Technology Co ltd
Priority date: 2020-04-26
Filing date: 2020-04-26
Publication date: 2022-06-14
Anticipated expiration: 2040-04-26
Also published as: CN111672034A

Abstract

The invention relates to an ultrasonic fat dissolving robot which comprises a robot body, a visual processing system, a focusing ultrasonic probe and a control system, wherein the robot body is a motion unit and an installation carrier of the focusing ultrasonic probe; the visual processing system is used for acquiring an image of a fat dissolving area, constructing a spatial model of the fat dissolving area and realizing grid division on the fat dissolving area model; the focusing ultrasonic probe is arranged on the tail end freedom degree of the robot body and is used for emitting focusing ultrasonic waves to a fat dissolving area; the control system is used for planning a motion trail according to the grid division of the vision processing system and ensuring that the focused ultrasonic probe does vertical motion along the normal direction of the center of each grid. The invention can replace manual operation, and effectively solves the problems encountered by manual operation.

Description

Ultrasonic fat dissolving robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to an ultrasonic fat dissolving robot.

Background

With the improvement of living standard, excessive obesity is a problem which is becoming more and more concerned, because it causes the body to be susceptible to symptoms such as hypertension and diabetes, and brings adverse effects to the body. At present, a plurality of methods are provided for losing weight, from traditional diet, exercise and medication to fat dissolving, fat sucking and the like.

The diet and exercise method has the defect of slow effect, and needs to be maintained for a long time. The method adopting the medicine can cause damage to organs such as liver of human body after long-term taking due to the ingestion of a large amount of medicine; the method of liposuction needs invasive operation, which can cause certain harm to human body when improper operation, and has higher risk.

However, ultrasonic fat dissolving is adopted, and the energy characteristic and the thermal effect of the ultrasonic are utilized, so that the technical means is concerned and paid more and more attention due to the completely non-invasive characteristic. Although the safety and effectiveness of ultrasonic fat dissolving are clinically proven, the depth of ultrasonic aggregation depends on the direction and force of an operator holding an ultrasonic probe and other human factors, and doctors with little experience use an ultrasonic fat dissolving instrument and easily have the problems of inconsistent fat dissolving depth, unsmooth fat dissolving part and the like after operation due to poor control of force and direction. Even a doctor skilled in operation can have the phenomena of fatigue and uneven force due to long-time work, the effect after operation is influenced, and the satisfaction of a patient is poor.

Disclosure of Invention

The invention aims to provide an ultrasonic fat dissolving robot which can replace manual operation and effectively solve the problems in manual operation.

The technical scheme adopted by the invention for solving the technical problems is as follows: the ultrasonic fat dissolving robot comprises a robot body, a vision processing system, a focusing ultrasonic probe and a control system, wherein the robot body is a motion unit and an installation carrier of the focusing ultrasonic probe; the visual processing system is used for acquiring an image of a fat dissolving area, constructing a fat dissolving area space model and realizing grid division on the fat dissolving area model; the focusing ultrasonic probe is arranged on the tail end freedom degree of the robot body and is used for emitting focusing ultrasonic waves to a fat dissolving area; the control system is used for planning a motion track according to the grid division of the vision processing system and ensuring that the focused ultrasonic probe does vertical motion along the normal direction of the center of each grid.

The ultrasonic fat dissolving robot further comprises a mark sticker, wherein the mark sticker is used for assisting the image vision system to acquire fat dissolving areas and is used for realizing the calibration of the robot body on the movement position.

And the visual processing system divides the space model of the fat dissolving region into grids according to the size of the working region of the focusing ultrasonic probe and provides the space position information of each grid and the normal direction information of each grid.

Pressure sensor is installed to robot's terminal degree of freedom, pressure sensor is used for detecting focusing ultrasonic probe is with the contact pressure when dissolving the regional skin contact of fat, control system is according to predetermined contact pressure threshold value scope for dissolve the fat in-process contact pressure is in always in the predetermined contact pressure threshold value scope.

The robot comprises a robot body, a vision processing system and a control system, wherein the robot body is provided with a plurality of joint forces, the vision processing system is used for providing grid space position information for the robot body, the robot body is provided with a plurality of joint forces, the joint forces are respectively measured by the joint forces, the control system obtains the protection force of the robot body under the actual working condition according to the grid space position information provided by the vision processing system, and when the force measured by the joint force is larger than or equal to the protection force, the control system stops the motion of the robot body.

Advantageous effects

Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects: the invention uses the robot to replace the operation of an operator, and can relieve the operation fatigue caused by manually operating the ultrasonic probe. During fat dissolving, a fat dissolving area is identified according to the typical identification, and accurate three-dimensional modeling is carried out on the area; carrying out reasonable region meshing according to the working area of the ultrasonic probe; and (4) planning the ultrasonic intensity according to the thickness of fat in the fat dissolving region to realize uniform and deep fat dissolving. The robot can realize man-machine cooperative control, freely drag the robot to perform space motion before and after operation, realize gravity compensation at the same time, and keep the position of the robot unchanged under the condition of no force application. The robot provided by the invention is provided with the six-degree-of-freedom force sensor at the tail end, the pressing force of the fat dissolving area can be accurately identified, and the pressing comfort level can be ensured while the ultrasonic probe is in close contact with the skin by setting a reasonable pressure threshold.

Drawings

FIG. 1 is a structural component diagram of the present invention.

Detailed Description

The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention can be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the claims appended to the present application.

The embodiment of the invention relates to an ultrasonic fat dissolving robot, which mainly comprises the following parts as shown in figure 1: the robot comprises a robot body, a vision processing system, a focusing ultrasonic probe, a mark paste, a fat dissolving area fixing band and an upper control system.

In the embodiment, the robot body is a motion unit and a mounting carrier of the focusing ultrasonic probe, is a robot with a 7-degree-of-freedom series structure, has a wide motion range, and can realize the function of man-machine cooperative work. A six-dimensional pressure sensor is mounted on the freedom degree of the tail end of the ultrasonic probe, and the six-dimensional pressure sensor is used for detecting the contact pressure when the focused ultrasonic probe is in contact with the skin of the fat dissolving area. And torque sensors are further mounted on each degree of freedom of the robot body, and can realize force monitoring of each joint.

The vision processing system in this embodiment may be a binocular vision processing system, which is composed of a binocular vision camera, a fixed support, and an image processor, and is configured to acquire an image of a fat-dissolving region, construct a fat-dissolving region spatial model, and implement mesh division on the fat-dissolving region model. The method comprises the following specific steps: the method comprises the steps of identifying a working area by adopting a binocular camera, carrying out 3D modeling on the identified working area to obtain a space model of a dissolved fat area, carrying out grid division on the space model of the dissolved fat area according to the size of the working area of the focusing ultrasonic probe, and giving out space position information of each corresponding grid and normal direction information of each grid so as to ensure that the focusing ultrasonic probe of a tail end joint can be vertically contacted with skin during control. It should be noted that the vision processing system in this embodiment can also be implemented by using an RGB-D camera.

The focused ultrasound probe can achieve the destruction of fat cells by emitting focused ultrasound without damaging surrounding blood vessels and other tissues and organs. When the focused ultrasound is emitted, the thickness of the fat layer in the fat dissolving area is compared with the average thickness of the normal body weight to obtain the fat thickness difference of the fat layer in the fat dissolving area, and the value of the ultrasound intensity, namely U, is adjusted according to the fat thickness difference_pIs alpha delta d, wherein, U_pThe ultrasonic intensity is delta d is the fat thickness difference, and the uniform and deep fat dissolving can be ensured by intelligently adjusting the ultrasonic intensity.

The mark sticker is mainly used for assisting an image vision system in obtaining a fat dissolving area, and can also be used for calibrating a motion position of a robot, so that the motion of the robot is not beyond a set area. The fixing band is used for fixing the fat part, so that the fat area is protruded and can not move, and the fat dissolving effect is ensured.

The control system is used for the operations of starting the whole system, controlling and setting the robot motion, setting weight-reducing parameters and the like, and is the brain of the whole system. The control system is used for planning a motion track according to the grid division of the vision processing system and ensuring that the focused ultrasonic probe does vertical motion along the normal direction of the center of each grid. After the focusing ultrasonic probe is contacted with the skin of a patient, proper pressure is applied to ensure that the focusing ultrasonic probe is tightly combined with the skin of the patient, and after the accurate positioning of the position is finished, a signal is sent to the focusing ultrasonic probe to carry out ultrasonic excitation. And meanwhile, the flexible man-machine cooperative control is realized before and after treatment, namely the control system also ensures that the contact pressure is always within the preset contact pressure threshold range in the fat dissolving process according to the preset contact pressure threshold range, so that the pressing comfort is ensured.

The control system obtains the protection force of the robot body under the actual working condition according to the grid space position information given by the vision processing system, and stops the movement of the robot body when the force detected by the torque sensor is greater than or equal to the protection force. That is to say, the control system can set a proper working area according to different operation positions, and the robot can only move within a set range, so that the function of anti-collision protection is realized.

It is easy to find that the invention uses the robot to replace the operation of the operator, and can relieve the operation fatigue caused by manually operating the ultrasonic probe. During fat dissolving, a fat dissolving area is identified according to the typical identification, and accurate three-dimensional modeling is carried out on the area; carrying out reasonable region meshing according to the working area of the ultrasonic probe; and (4) planning the ultrasonic intensity according to the thickness of fat in the fat dissolving region to realize uniform and deep fat dissolving. The robot can realize man-machine cooperative control, freely drag the robot to perform space motion before and after operation, realize gravity compensation at the same time, and keep the position of the robot unchanged under the condition of no force application. The robot provided by the invention is provided with the six-degree-of-freedom force sensor at the tail end, the pressing force of the fat dissolving area can be accurately identified, and the pressing comfort level can be ensured while the ultrasonic probe is in close contact with the skin by setting a reasonable pressure threshold.

Claims

1. An ultrasonic fat dissolving robot comprises a robot body, a vision processing system, a focusing ultrasonic probe and a control system, and is characterized in that the robot body is a motion unit and an installation carrier of the focusing ultrasonic probe; the visual processing system is used for acquiring an image of a dissolved fat region, constructing a dissolved fat region space model, realizing grid division on the dissolved fat region space model according to the size of the working region of the focused ultrasonic probe, and giving spatial position information of each grid and normal direction information of each grid; the focusing ultrasonic probe is arranged on the tail end freedom degree of the robot body and is used for emitting focusing ultrasonic waves to a fat dissolving area; the control system is used for planning a motion track according to the grid division of the vision processing system and ensuring that the focusing ultrasonic probe does vertical motion along the normal direction of the center of each grid.

2. The ultrasonic fat dissolving robot according to claim 1, further comprising a label sticker for assisting the vision processing system in obtaining fat dissolving area and for realizing calibration of the robot body to the motion position.

3. The ultrasonic liposuction robot according to claim 1, wherein the focused ultrasound probe is configured to plan ultrasound intensity according to the thickness of the fat layer in the liposuction region, and specifically comprises: and comparing the thickness of the fat layer in the fat dissolving area with the average thickness of the normal body weight to obtain the fat thickness difference of the fat layer in the fat dissolving area, and adjusting the ultrasonic intensity value according to the fat thickness difference.

4. The ultrasonic liposuction robot according to claim 1, wherein a pressure sensor is installed at a distal degree of freedom of the robot body, the pressure sensor is used for detecting a contact pressure when the focused ultrasonic probe is in contact with the skin of a liposuction area, and the control system enables the contact pressure to be always within a preset contact pressure threshold range in a liposuction process according to a preset contact pressure threshold range.

5. The ultrasonic fat dissolving robot according to claim 1, wherein torque sensors are provided on the respective freedom degrees of the robot body, the torque sensors are used for monitoring the forces of the joints of the robot body, the control system obtains the protection force of the robot body under the actual working condition according to the grid space position information given by the vision processing system, and when the force detected by the torque sensors is greater than or equal to the protection force, the control system stops the movement of the robot body.