CN111991086A - Medical minimally invasive surgery robot and control method - Google Patents
Medical minimally invasive surgery robot and control method Download PDFInfo
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- CN111991086A CN111991086A CN202010840517.7A CN202010840517A CN111991086A CN 111991086 A CN111991086 A CN 111991086A CN 202010840517 A CN202010840517 A CN 202010840517A CN 111991086 A CN111991086 A CN 111991086A
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- joint
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- robot
- clamping jaw
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/101—Clamping means for connecting accessories to the operating table
Abstract
The application provides a medical minimally invasive surgery robot and a control method, the robot comprises a fixing assembly and a mechanical arm assembly, the fixing assembly comprises a base and a base connected to the base, the mechanical arm assembly comprises a first arm and a second arm which are rotatably connected, one end, far away from the second arm, of the first arm is rotatably connected to the top end of the base, one end, far away from the first arm, of the second arm is rotatably connected with an external arm, one end, far away from the second arm, of the external arm is connected with a steering engine, one end, far away from the external arm, of the steering engine is connected with an electric clamping jaw, and an angle adjusting plate is connected to the. The beneficial effect of this application is: fix the base on the operation panel, through the rotatory adjustment of first arm and second arm be located the terminal electric clamping jaw's of arm subassembly spatial position and height, through the angle and the direction of steering wheel adjustment electric clamping jaw and the angle adjusting plate of connection on electric clamping jaw, reach the relevant position of operation requirement to reach the effect of operation assistance-localization real-time.
Description
Technical Field
The disclosure relates to the technical field of surgery auxiliary positioning robots, in particular to a medical minimally invasive surgery robot and a control method.
Background
With the development of modern science and technology, medical robots are widely applied to the medical industry, which greatly promotes the development of medicine and becomes one of the popular directions in the robot research field.
The medical robot has the advantages of accurate operation, flexible action, high accuracy, adaptability to various complex external environments and the like, and has wide development prospect in multiple fields of critical patient transportation, surgical operation and preoperative simulation, micro-injury accurate positioning operation, endoscopy, clinical rehabilitation and nursing, teaching and scientific research and the like. At present, when doctors in hospitals carry out tumor extraction biopsy and puncture surgery, the traditional manual auxiliary positioning device is adopted, the operation is complex during positioning, and the time consumption is long.
Disclosure of Invention
The present application aims to solve the above problems and provide a medical minimally invasive surgery robot and a control method.
In a first aspect, the application provides a medical treatment minimal access surgery robot, including fixed subassembly and arm assembly, fixed subassembly includes the base and connects the base on the base, arm assembly includes rotatable coupling's first arm and second arm, the one end that the second arm was kept away from to first arm rotationally connects the top at the base, the one end that first arm was kept away from to the second arm rotationally is connected with the extension arm, the one end that the second arm was kept away from to the extension arm is connected with the steering wheel, the one end that the extension arm was kept away from to the steering wheel is connected with electric clamping jaw, be connected with angle adjusting plate on the electric clamping jaw.
According to the technical scheme that this application embodiment provided, the base includes a pair of fixation clamp, and is a pair of the fixation clamp is fixed on the operation panel, and is a pair of be connected with the slide rail between the fixation clamp, the base can be connected on the slide rail with sliding.
According to the technical scheme provided by the embodiment of the application, the mechanical arm assembly is further provided with a joint structure, and the joint structure comprises a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint; first joint rotationally connects on the top of base, and the second joint rotationally connects perpendicularly on the lateral wall of first joint, the one end that the second arm was kept away from to first arm is fixed on the lateral wall of second joint, and the other end of first arm is fixed on the lateral wall of third joint, and the one end that the second arm is close to first arm rotationally connects at the tip of connecting at the third joint, and the other end of second arm rotationally connects at the tip of fourth joint, rotationally connects between fourth joint and the sixth joint the fifth joint, the end at the sixth joint is rotationally connected to outer arm.
According to the technical scheme provided by the embodiment of the application, the first arm, the second arm and the joint structure in the mechanical arm assembly are all hollow structures.
According to the technical scheme provided by the embodiment of the application, a controller is arranged in the base.
According to the technical scheme provided by the embodiment of the application, a main switch is arranged on the side wall of the first joint and electrically connected with the controller.
According to the technical scheme provided by the embodiment of the application, a driving motor and a speed reducer which are electrically connected with the controller are arranged in the joint structure.
According to the technical scheme that this application embodiment provided, the both ends of steering wheel are equipped with U type support respectively, it fixes respectively to connect arm and electronic clamping jaw on the U type support outward.
In a second aspect, the present application provides a method for controlling a medical minimally invasive surgery robot, comprising the steps of:
the driving motors and the speed reducers of the first joint, the second joint and the third joint are unlocked through a remote controller in signal connection with the controller;
rotating the first joint, the second joint and the third joint to enable the first arm and the second arm to be dragged to the set positions;
locking the driving motors and the speed reducers of the first joint, the second joint and the third joint through a remote controller;
unlocking the driving motors and the speed reducers of the fourth joint, the fifth joint and the sixth joint through a remote controller;
after the fourth joint, the fifth joint, the sixth joint and the steering engine rotate according to a preset program to enable the angle adjusting plate to move to a preset zero position, the driving motors and the speed reducers of the fourth joint and the fifth joint are locked through the remote controller;
inputting the position coordinates of the operation target;
and the driving motor and the speed reducer for driving the sixth joint rotate and the steering engine rotates, so that the angle adjusting plate moves to the surgical target position.
The invention has the beneficial effects that: the application provides a medical treatment minimal access surgery robot and control method, fix the base on the operation panel, realize the fixed of robot, the artifical rotation adjustment through first arm and second arm is located the terminal electric clamping jaw of robotic arm subassembly and angle adjusting plate's spatial position and height, the angle and the direction of rethread process sequence control steering wheel rotation adjustment electric clamping jaw and the angle adjusting plate of connection on electric clamping jaw, make angle adjusting plate remove the relevant position that the operation required, thereby reach the effect of robot operation assistance-localization real-time, replace traditional manual formula assistance-localization real-time device complex operation, long-time problem.
Drawings
Fig. 1 and 2 are schematic structural diagrams of a first embodiment of the present application;
FIG. 3 is a flow chart of a second embodiment of the present application;
the text labels in the figures are represented as: 100. a base; 110. a fixing clip; 120. a slide rail; 200. a base; 310. a first arm; 320. a second arm; 330. an external arm; 400. a steering engine; 410. a U-shaped bracket; 500. an electric jaw; 600. an angle adjusting plate; 710. a first joint; 720. a second joint; 730. a third joint; 740. a fourth joint; 750. a fifth joint; 760. a sixth joint; 800. and (4) a master switch.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the following detailed description of the present invention is provided in conjunction with the accompanying drawings, and the description of the present section is only exemplary and explanatory, and should not be construed as limiting the scope of the present invention in any way.
Fig. 1 and fig. 2 show a schematic diagram of a first embodiment of the present application, which includes a fixing component and a mechanical arm component, the fixing component includes a base 100 and a base 200 connected to the base 100, the mechanical arm component includes a first arm 310 and a second arm 320 that are rotatably connected, one end of the first arm 310, which is far away from the second arm 320, is rotatably connected to the top end of the base 200, one end of the second arm 320, which is far away from the first arm 310, is rotatably connected to an external arm 330, one end of the external arm 330, which is far away from the second arm 320, is connected to a steering engine 400, one end of the steering engine 400, which is far away from the external arm 330, is connected to an electric clamping jaw 500, and the electric clamping jaw 500 is connected to an.
In this embodiment, the relative position between the first arm 310 and the base 200 is adjusted by rotating the first arm 310, and the relative position between the first arm 310 and the second arm 320 is adjusted, so as to adjust the spatial position and the height of the angle adjusting plate 600 connected with the second arm 320, the steering engine 400 is used for adjusting the fine adjustment angle of the electric clamping jaw 500 connected with the steering engine 400, and the angle adjusting plate 600 is connected to the electric clamping jaw 500, so that the purpose of fine adjustment of the position and the angle of the angle adjusting plate 600 is achieved, and the angle adjusting plate 600 is moved to the designated position for guiding the puncture.
In this embodiment, electronic clamping jaw 500 is used for centre gripping or unclamps angle adjusting plate 600, and electronic clamping jaw 500 sets up to dismantling the structure of being connected with angle adjusting plate 600 moreover, and the flexibility that the robot used is increased to the angle adjusting plate 600 of not unidimensional model is changed to the operation location demand according to the difference to the convenience. The angle adjustment of angle adjustment plate 600 is the angle of the U-shaped bracket 410 connected with electric clamping jaw 500 through the rotation of the output end of steering engine 400, so that electric clamping jaw 500 rotates, and the angle adjustment plate 600 connected to electric clamping jaw 500 rotates.
In a preferred embodiment, the base 100 includes a pair of fixing clips 110, the pair of fixing clips 110 are fixed on the operating table, a sliding rail 120 is connected between the pair of fixing clips 110, and the base 200 is slidably connected to the sliding rail 120. In the preferred embodiment, the pair of fixing clips 110 are fixed on the black carbon plate of the CT apparatus by nuts, so that the purpose of fixing the robot on the CT apparatus is achieved. The base 200 can move along the slide rail 120 on the base 100, and the base 200 is fixed on the slide rail 120 by nuts after moving to a proper position.
In a preferred embodiment, the robotic arm assembly further comprises a joint structure comprising a first joint 710, a second joint 720, a third joint 730, a fourth joint 740, a fifth joint 750, and a sixth joint 760; the first joint 710 is rotatably connected to the top end of the base 200, the second joint 720 is rotatably and vertically connected to the side wall of the first joint 710, one end of the first arm 310 away from the second arm 320 is fixed to the side wall of the second joint 720, the other end of the first arm 310 is fixed to the side wall of the third joint 730, one end of the second arm 320 close to the first arm 310 is rotatably connected to the end of the third joint 730, the other end of the second arm 320 is rotatably connected to the end of the fourth joint 740, the fifth joint 750 is rotatably connected between the fourth joint 740 and the sixth joint 760, and the external arm 330 is rotatably connected to the end of the sixth joint 760.
In the above preferred embodiment, the first joint 710, the second joint 720 and the third joint 730 respectively rotationally adjust the position of the first arm 310 relative to the base 200 and the relative position between the first arm 310 and the second arm 320. The spatial position and height of the electric jaw 500 and the angle adjustment plate 600 at the end of the second arm 320 can be adjusted by adjusting the rotation angles of the first joint 710, the second joint 720, and the third joint 730, respectively. The angles and positions of the steering engine 400, the electric clamping jaw 500 and the angle adjusting plate 600 are finely adjusted by the fourth joint 740, the fifth joint 750 and the sixth joint 760. The angle of the electric clamping jaw 500 is finely adjusted through the steering engine 400, so that the angle adjusting plate 600 can rotate to guide the puncture conveniently.
In a preferred embodiment, the first arm 310, the second arm 320 and the joint structure of the robot arm assembly are all hollow structures. In the preferred embodiment, the first arm 310, the second arm 320 and the joint structure are hollow structures, and the first arm 310 and the second arm 320 are thin structures, so that the robot has small overall mass, small volume and portability, and is suitable for the medical field.
In a preferred embodiment, a controller is provided within the base 200. In the preferred embodiment, the controller serves as a control center of the robot and controls the operation of each joint, the steering gear 400, and the electric jaw 500.
Preferably, a main switch 800 is disposed on a sidewall of the first joint 710, and the main switch 800 is electrically connected to the controller. In the preferred mode, the main switch 800 is arranged to facilitate manual start-up control of the robot, and after the main switch 800 is started, all parts of the robot are powered on.
In a preferred embodiment, a driving motor and a speed reducer electrically connected to the controller are provided in the joint structure. In the preferred embodiment, the first joint 710 to the sixth joint 760 are provided with a driving motor and a reducer, and the rotation of each joint is realized by controlling the rotation of the driving motor and the rotation of the reducer in each joint by a controller.
In a preferred embodiment, two ends of the steering engine 400 are respectively provided with a U-shaped bracket 410, and the external arm 330 and the electric clamping jaw 500 are respectively fixed on the U-shaped bracket 410. In the preferred embodiment, the steering engine 400 is fixedly connected to the external arm 330 and the electric clamping jaw 500 through the U-shaped brackets 410 at both ends of the steering engine 400, and the steering engine 400 has a dual-output structure, so that the angles of the U-shaped brackets 410 at both ends can be respectively adjusted.
In a preferred embodiment, a flange is provided at the end of the sixth knuckle 760, and the extension arm 330 is connected to the flange.
As shown in fig. 3, a second embodiment of the present application is a control method applying the first embodiment, and includes the following steps:
and S1, unlocking the driving motors and the speed reducer of the first joint, the second joint and the third joint through a remote controller in signal connection with the controller.
In this embodiment, the remote controller is in signal connection with the controller, and the effect that conveniently is to the remote controller of robot is equivalent to the demonstrator, and the demonstrator sends the signal to the controller, and the controller sends corresponding control signal to the driving motor of each joint for control driving motor's locking or rotation work.
Before the step, the method also comprises the step of fixing a pair of fixing clamps on a black carbon plate of the CT equipment through nuts, so that the aim of fixing the robot on the CT equipment is fulfilled. The base can move along the slide rail on the base, and the base is fixed on the slide rail through the nut after moving to a proper position.
And S2, rotating the first joint, the second joint and the third joint to enable the first arm and the second arm to be dragged to the set positions.
In the step, the first arm and the second arm are moved to proper spatial positions and heights in a manual dragging mode.
And S3, locking the driving motors and the speed reducer of the first joint, the second joint and the third joint through a remote controller.
In this step, after the first arm and the second arm move to the appropriate positions, when the angle adjusting plate moves to the appropriate range capable of being finely adjusted, the remote controller sends the driving motor locking signals of the first joint, the second joint and the third joint to the controller, so that the controller controls the driving motors of the first joint, the second joint and the third joint to be locked and not rotate, and the first arm and the second arm are fixed.
And S4, unlocking the driving motors and the speed reducer of the fourth joint, the fifth joint and the sixth joint through the remote controller.
In the step, the unlocking signals of the driving motors of the fourth joint, the fifth joint and the sixth joint are sent to the controller through the remote controller, so that the fourth joint, the fifth joint and the sixth joint rotate, and the angle adjusting plate is finely adjusted.
And S5, after the fourth joint, the fifth joint, the sixth joint and the steering engine rotate according to a preset program to enable the angle adjusting plate to move to a preset zero position, locking the driving motors and the speed reducers of the fourth joint and the fifth joint through the remote controller.
In this embodiment, before the angle adjustment plate guides the puncturing operation, the mechanical arm assembly of the robot needs to be subjected to position calibration, that is, the angle adjustment plate is moved to a zero point position preset by the system. In this embodiment, the zeroing operation of the angle adjustment plate is to preset a zeroing program in the system, and after the zeroing program is started by the remote controller, the fourth joint, the fifth joint and the sixth joint automatically rotate by a certain angle according to the zeroing program, so that the angle adjustment plate moves to a zero position.
And S6, inputting the position coordinates of the operation target.
After the zero setting operation is finished, the angle adjusting plate starts to move according to the actual surgical puncture position, and the movement process is to input the coordinates of the surgical target position through program writing or directly inputting on a CT display screen.
And S7, driving a driving motor and a speed reducer of the sixth joint to rotate and a steering engine to rotate, so that the angle adjusting plate moves to the position of the operation target.
After the coordinate information of the target position is received, the driving motor and the steering engine of the sixth joint are controlled to automatically rotate for a certain angle, so that the angle adjusting plate rotates to the target position of the operation.
The principles and embodiments of the present application are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present application. The foregoing is only a preferred embodiment of the present application, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present application, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments, or may be learned by practice of the invention.
Claims (9)
1. The utility model provides a medical treatment minimal access surgery robot, its characterized in that, includes fixed subassembly and robotic arm assembly, fixed subassembly includes base (100) and connects base (200) on base (100), robotic arm assembly includes first arm (310) and second arm (320) of rotatable coupling, the top at base (200) is rotationally connected to the one end that second arm (320) were kept away from in first arm (310), the one end that first arm (310) were kept away from in second arm (320) rotationally is connected with outer arm (330), the one end that second arm (320) were kept away from in outer arm (330) is connected with steering wheel (400), the one end that outer arm (330) were kept away from in steering wheel (400) is connected with electronic clamping jaw (500), be connected with angle adjusting plate (600) on electronic clamping jaw (500).
2. The robot of claim 1, wherein the base (100) comprises a pair of fixing clips (110), the pair of fixing clips (110) are fixed on the operation table, a sliding rail (120) is connected between the pair of fixing clips (110), and the base (200) is slidably connected on the sliding rail (120).
3. The medical minimally invasive surgical robot according to claim 1, wherein the robotic arm assembly further includes a joint structure including a first joint (710), a second joint (720), a third joint (730), a fourth joint (740), a fifth joint (750), and a sixth joint (760); the first joint (710) is rotatably connected to the top end of the base (200), the second joint (720) is rotatably and vertically connected to the side wall of the first joint (710), one end, far away from the second arm (320), of the first arm (310) is fixed to the side wall of the second joint (720), the other end of the first arm (310) is fixed to the side wall of the third joint (730), one end, close to the first arm (310), of the second arm (320) is rotatably connected to the end portion of the third joint (730), the other end of the second arm (320) is rotatably connected to the end portion of the fourth joint (740), the fifth joint (750) is rotatably connected between the fourth joint (740) and the sixth joint (760), and the external connection arm (330) is rotatably connected to the end portion of the sixth joint (760).
4. The robot of claim 3, wherein the first arm (310), the second arm (320) and the joint structure of the robot arm assembly are all hollow structures.
5. The medical minimally invasive surgical robot according to claim 4, characterized in that a controller is provided in the base (200).
6. The robot of claim 5, wherein a main switch (800) is disposed on a sidewall of the first joint (710), the main switch (800) being electrically connected to the controller.
7. The robot of claim 6, wherein a drive motor and a speed reducer are disposed in the joint structure and electrically connected to the controller.
8. The medical minimally invasive surgery robot according to claim 1, wherein U-shaped brackets (410) are respectively arranged at two ends of the steering engine (400), and the external arm (330) and the electric clamping jaw (500) are respectively fixed on the U-shaped brackets (410).
9. A control method for a medical minimally invasive surgery robot according to any one of claims 1 to 8, characterized by comprising the steps of:
the driving motors and the speed reducers of the first joint, the second joint and the third joint are unlocked through a remote controller in signal connection with the controller;
rotating the first joint, the second joint and the third joint to enable the first arm and the second arm to be dragged to the set positions;
locking the driving motors and the speed reducers of the first joint, the second joint and the third joint through a remote controller;
unlocking the driving motors and the speed reducers of the fourth joint, the fifth joint and the sixth joint through a remote controller;
after the fourth joint, the fifth joint, the sixth joint and the steering engine rotate according to a preset program to enable the angle adjusting plate to move to a preset zero position, the driving motors and the speed reducers of the fourth joint and the fifth joint are locked through the remote controller;
inputting the position coordinates of the operation target;
and the driving motor and the speed reducer for driving the sixth joint rotate and the steering engine rotates, so that the angle adjusting plate moves to the surgical target position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010840517.7A CN111991086A (en) | 2020-08-20 | 2020-08-20 | Medical minimally invasive surgery robot and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010840517.7A CN111991086A (en) | 2020-08-20 | 2020-08-20 | Medical minimally invasive surgery robot and control method |
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| CN111991086A true CN111991086A (en) | 2020-11-27 |
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| CN202010840517.7A Pending CN111991086A (en) | 2020-08-20 | 2020-08-20 | Medical minimally invasive surgery robot and control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113491573A (en) * | 2021-06-08 | 2021-10-12 | 汕头大学医学院第一附属医院 | Combined type electrosurgical instrument |
| CN114306914A (en) * | 2022-02-17 | 2022-04-12 | 哈尔滨工业大学 | Radiotherapy particle implantation robot end effector |
| WO2023066253A1 (en) * | 2021-10-22 | 2023-04-27 | 瑞龙诺赋(上海)医疗科技有限公司 | Robotic arm control method and apparatus, and robotic arm |
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