CN112091989B - Medical apparatus nurse auxiliary robot - Google Patents

Abstract

The invention discloses a medical instrument nurse auxiliary robot which comprises a moving support mechanism, a multifunctional storage device, a combined type smart mechanical arm, an end effector and an ultrasonic drying and cleaning device. The combined flexible mechanical arm adopts a structure of combining a multi-degree-of-freedom rigid mechanical arm and a flexible mechanical arm; the end effector adopts a combined type suction scheme, and the picking and recovery design is a mutually vertical separation type design, so that the cross contamination of instruments can be effectively avoided; the multifunctional storage device is respectively provided with corresponding storage boxes according to different types and models of surgical instruments; the medical instrument nurse auxiliary robot can realize flexible movement under the cooperation of the chassis moving module, the chassis damping and braking module and the ranging module; the ultrasonic drying and cleaning device can effectively clean and dry the end effector. The invention has the characteristics of compact structure, flexible control, convenient use, intelligent storage and accurate pickup, and can be widely applied to the work of surgical operation medical care assistance and the like.

Description

Medical apparatus nurse auxiliary robot

Technical Field

The invention belongs to the technical field of intelligent robots, and particularly relates to a medical instrument nurse auxiliary robot.

Background

The instrument nurse is a necessary personnel for the operation interventional therapy, plays a role in transferring the operation instrument to the doctor in the surgical operation, and is a medical staff which is most vulnerable to injury and infection in the operation. The novel surgical instrument nurse auxiliary robot can make up for the shortage of instrument nurses in number to a certain extent, replaces the instrument nurses to transfer the work of surgical instruments, and reduces the working strength of the instrument nurses; the instrument nurse is liberated from the state of transmitting surgical instruments with high concentration of attention, the success rate of the surgery is improved, and the burden of a patient is lightened; the risk that the apparatus nurse is infected with high infectious diseases in the operation is reduced, and medical care personnel are better assisted.

Chinese patent publication No. CN102764156B discloses a surgical robot, which includes a support, a linear motion unit, a first rotational joint, a first connecting rod, a second rotational joint, a second connecting rod, a third rotational joint, a third connecting rod, a terminal rotational joint, a translational motion unit, and a terminal effector, and includes two degrees of freedom of movement and five degrees of freedom of rotation. But the robot has simple function and the tail end of the manipulator lacks flexibility and flexibility. Chinese patent publication No. CN103800082A discloses a rotary-unfolding disk-type multi-layer storage device, which comprises a storage disk position control device and at least one layer of storage disk. The storage disc position control device comprises a base and a motor arranged on the base, each layer of storage disc comprises a chassis, at least two fan-shaped discs, connecting rods with the same number as the fan-shaped discs, a rod disc and a driving device, the driving device is fixed on the chassis, the rod disc is connected to an output shaft of the driving device, one end of each connecting rod is connected with the rod disc in a revolute pair mode, and a revolute pair is formed at the joint of the other end of one connecting rod of each fan-shaped disc and the chassis. Although more instruments can be stored, the design mode is not beneficial to the picking of the instruments by the mechanical arm, the space occupied by the unfolded instruments is relatively large, other instruments are easy to interfere in practical use, and the picking efficiency is low and the reliability and the flexibility are lacked.

The robot that current medical surgery operation is relevant adopts traditional many degree of freedom rigidity arm more, only can realize the motion and the control of arm, and the function is comparatively single, and holistic flexibility, intellectuality, mobility and the reliability of robot need improve urgently. The surgical instruments storage device generally adopts a flat-laying structure or a rotary expansion type, and the instruments are flatly laid according to the types or are rotationally expanded on a plane, so that aseptic storage of the instruments is not facilitated, and the storage device is complicated when the required instruments are picked up. The novel integrated instrument nurse robot is designed to realize the flexible, reliable, quick and safe transmission and storage of medical instruments in the surgical operation process, and is a technical problem which is urgently needed to be solved in the field of medical robots.

Disclosure of Invention

Aiming at the defects in the prior art, the technical problem to be solved by the invention is to provide the auxiliary robot for the medical instrument nurse, and the problems in the background art are solved. In order to achieve the purpose, the invention adopts the technical scheme that: a medical instrument nurse assistance robot comprising: the device comprises a composite smart mechanical arm, a multifunctional storage device, a movable supporting mechanism end effector and an ultrasonic drying and cleaning device; the composite smart mechanical arm and the ultrasonic drying and cleaning device are arranged above the movable supporting mechanism, and the multifunctional storage device is arranged between the movable supporting mechanism and the composite smart mechanical arm;

the composite smart mechanical arm comprises a mechanical arm base, a first joint, a second joint, a third joint and a fourth flexible joint; the mechanical arm base, the first joint, the second joint and the third joint are internally provided with a servo motor I-I, a servo motor I-II, a servo motor I-III and a servo motor I-IV respectively; the mechanical arm base, the first joint, the second joint and the third joint are connected in sequence through flanges and are driven by a servo motor arranged inside; the fourth section of flexible joint is connected with the third section of joint through an L-shaped adapter;

the fourth section of flexible joint comprises three rope-driven universal driving joint modules with the same structure, an L-shaped adapter, a guide wheel II, three air pumps, a motor frame, three air pump supports, a servo motor II, a rope-driven wheel, a guide wheel I and a driving rope.

Rope drives formula universal drive joint module, including installing support, linear actuating arm I, linear actuating arm II, flexible post, pneumatic bellows, actuating arm, linking bridge I, linking bridge II and drive rope. The three rope-driven universal driving joint modules are sequentially connected together through a mounting bracket, the first rope-driven universal driving joint module is connected to an L-shaped adapter through a flange, the linear driving arm I and the linear driving arm II are both mounted on the mounting bracket through a spherical hinge, the linear driving arm I and the linear driving arm II are both connected with the driving arm through a telescopic column, and the driving arm is connected with the connecting bracket I through the spherical hinge; the pneumatic corrugated pipe is arranged between the mounting bracket and the connecting bracket I and passes through the axes of the mounting bracket and the connecting bracket; one end of the connecting support II is fixed on the connecting support I of the third rope-driven universal driving joint module, and the other end of the connecting support II is connected with the end effector through a flange;

a servo motor II and three air pumps of the fourth section of flexible joint are respectively arranged on the outer sides of the shells I-IV of the third section of joint through a motor frame and an air pump bracket; one end of the driving rope is fixed on a rope driving wheel of the servo motor II and then sequentially passes through the guide wheel I, the guide wheel II and rope holes in the three rope driving type universal driving joint modules, and the other end of the driving rope is fixed on a third rope driving type universal driving joint module; and the servo motor II controls the driving rope to change the motion state of the composite smart mechanical arm.

The end effector comprises a picking mechanism, a recovery mechanism and a connecting frame which are vertically distributed; the picking mechanism and the recovery mechanism have the same structure and respectively comprise a silica gel sucker, a proximity sensor, an electromagnet, a photosensitive sensor and a sucker frame; the end effector consists of a connecting frame and two sucking disc frames, and the two sucking disc frames are symmetrically fixed on the connecting frame; the electromagnet is arranged in the middle of the sucker frame, the photosensitive sensor is arranged in the middle of the electromagnet, and the two silica gel suckers are respectively arranged on the upper side and the lower side of the electromagnet; the proximity sensor is installed at a position deviated to the outside from the middle of the suction cup frame.

Further, multi-functional storage device, including casing II, two ya keli side boards, panel, medical apparatus storage module, operation scissors storage module, scalpel storage module, support frame I, motor support II, support frame II, step motor, support frame III, shaft coupling, gear, flange, fixed stand and connecting plate. Casing II, two ya keli side boards, panel and connecting plate constitute multi-functional storage device's shell jointly, and two ya keli side boards are installed respectively in casing II's both sides, and the panel mounting is just preceding at casing II, and the connecting plate is fixed in multi-functional storage device bottom through three face of bending, and four fixed posts pass through the flange to be fixed on the connecting plate.

The scalpel storage modules are ten in total, wherein eight scalpel storage modules are positioned on the uppermost layer of the multifunctional storage device; the surgical scissors storage module is positioned below the surgical knife storage module on the uppermost layer of the multifunctional storage device, and the number of the surgical scissors storage modules is two, and five surgical scissors storage modules are arranged in each row; the medical instrument storage module is positioned below the surgical scissors storage module and has two rows, two surgical scissors storage modules are arranged in each row, and the rest two surgical scissors storage modules are respectively positioned in the middle of each row of medical instrument storage modules; two ends of a support frame II and a support frame III are respectively fixed on the left side surface and the right side surface of the shell II, one end of the support frame I is fixed on the rear side surface of the shell II, and the other end of the support frame I is fixed on the support frame II; every storage module of group all fixes on casing II through support frame I, support frame II and support frame III and leaves sufficient distance each other.

Furthermore, the surgical scissors storage module comprises sterile cloth, an interval plate, a storage box, a push-pull panel, a sliding block, a linear guide rail and a rack; aseptic cloth is tiled in the inside of storage box, and the space baffle is inserted in the draw-in groove that the storage box corresponds, and the push-and-pull panel is located the preceding push-and-pull slip draw-in groove of storage box, and the right at the bottom of storage box is fixed to the slider, and the rack is fixed on the left side of the bottom of storage box, and linear guide fixes above support frame I, and step motor passes through motor support II and fixes on support frame III, and rack and gear engagement when realizing push-and-pull motion are passed through to operation scissors storage module, and the gear passes through the shaft coupling and installs step motor's on motor support II output shaft, install the slider on support frame I with linear guide sliding connection. When the surgical scissors are in work, the stepping motor drives the gear and the rack to move in a meshed mode to drive the surgical scissors storage module to realize push-pull movement, and the surgical scissors storage module slides on the linear guide rail in a translation mode along with the sliding block; the scalpel storage module and the medical instrument storage module are completely the same in installation mode and structure except that the size of the storage box is different from that of the scalpel storage module.

Furthermore, the mobile support mechanism comprises a mechanical arm module support, a storage module rotating device, an industrial personal computer, a power supply, a voice recognition module, a laser radar, a chassis module, a driving wheel module and a universal wheel module;

the mechanical arm module support consists of a supporting platform and four stand columns; the mobile supporting mechanism comprises a first layer, a second layer, a third layer and a fourth layer from bottom to top in sequence, a mechanical arm module support and a storage module rotating device are installed on the fourth layer, an industrial personal computer, a power supply and voice recognition modules are circumferentially distributed and installed on the third layer, a laser radar is fixed at the axis position of the second layer and can rotate around the axis in a full angle mode, a chassis module is installed on the first layer, and two sets of driving wheel modules and universal wheel modules and two sets of driving wheel modules and two sets of universal wheel modules are installed on the chassis module and are vertically distributed.

Furthermore, the mechanical arm base comprises a bearing I-I, an internal gear, a servo motor I-I, a motor support I, a shell I-I, a straight-tooth cylindrical gear, a support plate, a bevel gear I-III, a bevel gear I-I, a gear support shaft, a bevel gear I-II, a motor output shaft and a bearing I-II; the shell I-I is positioned below the composite smart mechanical arm and is connected with a supporting platform of a mechanical arm module support in the movable supporting mechanism; a servo motor I-I is arranged in the center of the inner part of a shell I-I through a motor bracket I, a motor output shaft of the servo motor I-I is connected with a bevel gear I-I through a key, the bevel gear I-II and the bevel gear I-III are fixed on a gear support shaft through a pair of bearings I-II, the bevel gear I-II and the bevel gear I-III simultaneously form a gear meshing transmission with the bevel gear I-I, the bevel gear I-II is connected with a support plate through a flange, and a straight-tooth cylindrical gear is arranged on the support plate; the inner ring of the bearing I-I is fixed on the shell I-I, the outer ring of the bearing I-I and the inner gear are fixed on the shell I-II of the first joint, the straight-tooth cylindrical gear and the inner gear form gear transmission, and the torque of the servo motor I-I is transmitted to the shell I-II of the first joint;

the first joint comprises a flange plate I, a shell I-II, a servo motor I-II, a small straight-tooth cylindrical gear I, a bearing II-I, a large straight-tooth cylindrical gear I, a small straight-tooth cylindrical gear II, an end cover, a bearing II-II, a bearing II-III, a large straight-tooth cylindrical gear II, a gear box shell, a bearing II-IV, an intermediate shaft and an output shaft; the servo motors I-II and the gear box shell are arranged in the shell I-II, the servo motors I-II are connected with the small straight-tooth cylindrical gear I through keys, and the small straight-tooth cylindrical gear I is fixed on the gear box shell through a pair of bearings II-I; the large straight-tooth cylindrical gear I is fixed on the intermediate shaft through a pair of bearings II-II and an end cover, and the small straight-tooth cylindrical gear I and the large straight-tooth cylindrical gear I are meshed to form gear transmission; the large straight-tooth cylindrical gear I and the small straight-tooth cylindrical gear II are coaxially fixed, the small straight-tooth cylindrical gear II and the large straight-tooth cylindrical gear II are meshed to form gear transmission, and the large straight-tooth cylindrical gear II is fixed on an output shaft through bearings II-III; the flange plate I on the output shaft transmits the torque of the servo motors I-II to an outer flange of the second joint;

the second joint comprises a servo motor I-III, a shell I-III, a flange plate II, a bearing III, a bevel gear II-I, a transmission shaft I, a bevel gear II-II, a bevel gear II-III and a servo motor gear box; the servo motor I-III is fixed inside the shell I-III, the bevel gear II-III is connected with an output shaft of a gear box of the servo motor through a key, the bevel gear II-I and the bevel gear II-II are fixed on the transmission shaft I through a pair of bearings, and the bevel gear II-I and the bevel gear II-II are simultaneously meshed with the bevel gear II-III to form gear transmission; the flange plate II on the transmission shaft I transmits the torque of the servo motors I-III to the flange II of the next joint;

the third joint comprises a shell I-IV, a flange I, a flange II, a bearing IV-I, a transmission shaft II, a bevel gear III-I, a bevel gear III-II, a bearing IV-II and a servo motor I-IV; the servo motors I-IV are fixed inside the shells I-IV, the bevel gears III-I are connected with output shafts of the servo motors I-IV through keys, the bevel gears III-II are fixed on the transmission shaft II through bearings IV-I and IV-II, and the flange I on the transmission shaft II transmits the torque of the servo motors I-IV to the L-shaped adapter.

Furthermore, the ultrasonic drying and cleaning device is arranged on the mechanical arm module bracket and comprises a shell III, a cleaning pool and a dryer; the cleaning pool and the dryer are arranged in the shell III in tandem.

The invention also provides an application method of the medical instrument nurse auxiliary robot, which comprises the following specific processes: the movable supporting mechanism works firstly, and the driving wheel module and the universal wheel module are matched with the laser radar to realize barrier-free movement of the medical instrument nurse auxiliary robot indoors; when the robot reaches the designated position, the driving wheel module and the universal wheel module are braked simultaneously, the movable supporting mechanism enters a fixed position mode, and the position information of the robot, the doctor and the operating table is stored and recorded.

The surgical instruments are correspondingly numbered specifically by a doctor, and when the voice recognition module of the robot receives a voice pickup instruction of the surgical instruments with the specific numbers by the doctor, the multifunctional storage device is adjusted to a proper angle convenient for the composite smart mechanical arm to work by moving the storage module rotating device on the supporting mechanism; the storage box corresponding to the instrument in the multifunctional storage device is pushed out by utilizing the stepping motor to drive the gear and the rack for transmission. The composite smart mechanical arm reaches the upper part of the corresponding instrument through the posture adjustment of each joint, and the picking mechanism of the end effector senses the distance of the instrument through the proximity sensor and the photosensitive sensor and is continuously close to the upper surface of the instrument; after the surgical instrument is attached to the upper surface of the surgical instrument, the surgical instrument is picked up by combining the magnetic attraction of the electromagnet and the air attraction of the silica gel sucker, and the surgical instrument is transferred to the side of a doctor.

After the doctor uses the instrument and sends out a voice command for recovering the instrument, the recovery mechanism of the end effector moves to the side of the doctor, and the doctor fits and places the instrument on the recovery mechanism of the end effector; the storage box for recovering the instruments in the multifunctional storage device is automatically pushed out, and the recovery mechanism moves to the position above the corresponding storage box, so that the instruments are placed in the recovery box. After the recovery action, the combined type smart mechanical arm drives the recovery mechanism of the end effector to move to the upper part of the ultrasonic drying and cleaning device, and ultrasonic cleaning and drying treatment are carried out on the suction disc frame and the electromagnet of the recovery mechanism so as to keep the surface of the suction disc frame clean and avoid cross contamination of instruments.

Compared with the background technology, the invention has the following beneficial effects:

1. the invention designs a novel combined type smart mechanical arm, utilizes a flexible mechanical arm consisting of a rigid mechanical arm and a universal driving joint module and an end effector to mutually cooperate to integrate a photosensitive sensor and a proximity sensor module, and can more efficiently, flexibly and reliably transmit different surgical instruments to surgeons.

2. The invention designs a novel multilayer partitioned modular instrument storage device, so that target position information can be efficiently obtained according to instrument codes in the working process of a robot, the requirement of the robot on a visual system is reduced, and an instrument corresponding storage box can be automatically opened according to actually required instruments. Compared with the existing rotary expansion structure, the rotary expansion structure is more flexible, efficient and reliable, and the time for identifying the required type of instruments by the manipulator is greatly reduced; the memory module is removable so that a nurse can manually remove the instrument to ensure that the procedure continues in the event of a power failure or machine malfunction.

3. The invention provides an electromagnetic and vacuum adsorption combined type grabbing scheme of an instrument nurse robot, which combines magnetic adsorption and air pressure adsorption at the tail end of an actuator and overcomes the defect that the electromagnetic adsorption scheme can only grab magnetic conductivity surgical devices.

4. The novel separated end effector is designed, the mutually perpendicular staggered layout of the picking, transferring and picking and recovering mechanisms is realized, and the problem of cross contamination caused by used instruments to unused instruments is effectively solved.

In conclusion, the instrument nurse robot provided by the invention has the advantages of stable operation, flexible and quick action, convenience in use, high safety and good reliability, can reduce the labor intensity of instrument nurses, improve the operation efficiency, make up for the shortage of the number of instrument nurses, and reduce the infection risk of the instrument nurses in the operation.

Drawings

Fig. 1 is a structural view of an instrument nurse assistance robot;

FIG. 2 is a schematic view of a composite smart robotic arm;

FIG. 3 is a schematic and cross-sectional view of a robot arm base;

FIG. 4 is a schematic view of a first joint;

FIG. 5 is a schematic cross-sectional view of the internal gear box of the first joint

FIG. 6 is a schematic view of a second joint and a sectional view of the internal structure;

FIG. 7 is a schematic view of a third joint and a sectional view of the internal structure;

FIG. 8 is an exploded view of a fourth flexible joint;

FIG. 9 is an isometric view of the multi-function storage device;

FIG. 10 is a partial cross-sectional view of a multi-function storage device;

FIG. 11 is an exploded view of a surgical scissors storage module;

FIG. 12 is an exploded view of the mobile chassis;

FIG. 13 is a bottom schematic view of the mobile chassis;

FIG. 14 is a schematic view of an end effector;

fig. 15 is a schematic view of an ultrasonic drying and cleaning device.

In the figure: 1-a composite smart mechanical arm; 2-a multifunctional storage device; 3-ultrasonic drying and cleaning device; 4-moving the support mechanism; 5-an end effector; 101-mechanical arm base, 102-first joint, 103-second joint, 104-third joint, 105-L-shaped adapter, 106-guide wheel II, 107-fourth flexible joint, 108-rope-drive universal drive joint module, 109-air pump frame, 110-servo motor II, 111-rope drive wheel, 112-guide wheel I, 113-drive rope, 114-air pump, 115-motor frame, 10101-bearing I-I, 10102-internal gear, 10103-servo motor I-I, 10104-motor frame I, 10105-shell I-I, 10106-straight spur gear, 10107-support plate, 10108-bevel gear I-III, 10109-bevel gear I-I, 10110-gear support shaft, 10111-bevel gear I-II, 10112-motor output shaft, 10113-bearing I-II, 10201-flange plate I, 10202-housing I-II, 10203-servo motor I-II, 10204-small straight toothed spur gear I, 10205-bearing II-I, 10206-large straight toothed spur gear I, 10207-small straight toothed spur gear II, 10208-end cap, 10209-bearing II-II, 10210-bearing II-III, 10211-large straight toothed spur gear II, 10212-gear box housing, 10213-bearing II-IV, 10214-intermediate shaft, 10215-output shaft, 10301-servo motor I-III, 10302-housing I-III, 03-flange plate II, 10304-bearing III, 10305-bevel gear II-I, 10306-transmission shaft I, 10307-bevel gear II-II, 10308-bevel gear II-III, 10309-servo motor gear box, 10310-outer flange, 10401-shell I-IV, 10402-flange I, 10403-flange II, 10404-bearing IV-I, 10405-transmission shaft II, 10406-bevel gear III-I, 10407-bevel gear III-II, 10408-bearing IV-II, 10409-servo motor I-IV, 10701-mounting bracket, 10702-linear driving arm I, 10703-telescopic column, 10704-pneumatic bellows, 10705-driving arm, 10706-connecting bracket I, 10707-connecting bracket II, 10708-linear driving arm II, 201-shell II, 202-acrylic side panel, 203-panel, 204-medical instrument storage module, 205-surgical scissors storage module, 206-surgical knife storage module, 207-support I, 208-motor support II, 209-support II, 210-stepping motor, 211-support III, 212-coupler, 213-gear, 214-flange, 215-fixed upright post, 216-connecting plate, 20501-sterile cloth, 20502-space partition plate, 20503-storage box, 20504-push-pull panel, 20505-slider, 20506-linear guide rail, 20507-rack, 301-shell III, 302-cleaning pool, 303-dryer, 401-mechanical arm module support, 402-storage module rotating device, 403-404-power supply, 405-industrial personal computer voice recognition module, 406-laser radar storage module, 407-chassis module, 408-driving wheel module, 409-universal wheel module, 501-connecting frame, 502-silica gel sucker, 503-proximity sensor, 504-electromagnet, 505-photosensitive sensor and 506-sucker frame.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, the auxiliary robot for nursing medical instruments provided by the present invention comprises a composite smart manipulator 1, a multifunctional storage device 2, an ultrasonic drying and cleaning device 3, a moving support mechanism 4 and an end effector 5.

As shown in fig. 1, 12 and 13, the mobile support mechanism 4 includes a mechanical arm module support 401, a storage module rotating device 402, an industrial personal computer 403, a power supply 404, a voice recognition module 405, a laser radar 406, a chassis module 407, a driving wheel module 408 and a universal wheel module 409; the mechanical arm module support 401 consists of a support platform and 4 upright posts; remove supporting mechanism 4 from the bottom up and divide into the first layer in proper order, the second floor, third layer and fourth layer, arm module support 401 and storage module rotary device 402 are installed at the fourth layer, industrial computer 403, power 404, voice recognition module 405 circumference distributes and installs at the third layer, laser radar 406 fixes the axle center position on the second layer, can be around the axle center full angle rotation, chassis module 407 is placed at the first layer, install two sets of drive wheel module 408 and universal wheel module 409 and two sets of drive wheel module 408 and two sets of universal wheel module 409 vertical distributions on the chassis module 407 respectively. The chassis module comprises drive wheel module and universal wheel module, can realize the omnidirectional removal. The driving wheel module and the universal wheel module are respectively provided with a damping system and a braking system; the driving wheel module, the universal wheel module, the damping systems of the two modules and the braking system are simultaneously matched with the laser radar arranged on the second layer of the movable supporting mechanism to realize the forward and backward movement and the in-situ steering of the robot and avoid obstacles. The ultrasonic drying and cleaning device and the novel mechanical arm are arranged on a supporting platform of the mechanical arm module support.

An ultrasonic drying and cleaning device 3 and a composite smart mechanical arm 1 are arranged on a mechanical arm module support 401 of the movable supporting mechanism 4, and a multifunctional storage device 2 is arranged on a storage module rotating device 402 of the movable supporting mechanism 4.

The movable support mechanism 4 is configured to move in all directions and rotate in situ by using the laser radar 406, the driving wheel module 408, and the universal wheel module 409 mounted thereon. Can move to the exact position needed by the operation when in work, when the doctor sends out the voice instruction, the voice recognition module 405 transmits the voice instruction to the industrial personal computer 403, the industrial personal computer 403 sends the signal to each work module to execute the corresponding action

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, the composite smart robot arm 1 includes a robot arm base 101, a first joint 102, a second joint 103, a third joint 104, and a fourth flexible joint 107; the mechanical arm base is used as a base of the combined type smart mechanical arm 1 and is installed on the movable supporting mechanism 4, the mechanical arm base is connected with a first joint through a bearing, the mechanical arm base is fixed on an inner ring of the bearing, and the first joint is fixed on an outer ring of the bearing; the first joint and the second joint are connected through a flange, and the second joint is arranged on the left side of the first joint; the second joint and the third joint are connected through a flange, and the third joint is arranged on the right side of the second joint; the fourth section of flexible joint is connected with the third section of joint through an L-shaped adapter; the end effector is connected with the fourth section of flexible joint through a connecting frame. During working, servo motors in the mechanical arm base 101, the first joint 102, the second joint 103 and the third joint 104 rotate for a certain angle according to voice instructions, and meanwhile, the fourth flexible joint 107 changes corresponding working states to jointly drive the tail end execution 5 device to move to the position above an instrument storage box required by a doctor.

The mechanical arm base 101 is composed of a bearing I-I10101, an inner gear 10102, a servo motor I-I10103, a motor support I10104, a shell I-I10105, a straight-tooth cylindrical gear 10106, a support plate 10107, bevel gears I-III10108, bevel gears I-I10109, a gear support shaft 10110, bevel gears I-II10111, a motor output shaft 10112 and bearings I-II 10113; a servo motor I-I10103 is mounted in the center of the inner portion of a shell I-I10105 through a motor support I10104, a motor output shaft 10112 of the servo motor I-I10103 is connected with a bevel gear I-I10109 through keys, a bevel gear I-II10111 and a bevel gear I-III10108 are fixed on a gear support shaft 10110 through a pair of bearings I-II10113, the bevel gear I-II10111 and the bevel gear I-III10108 are simultaneously in gear meshing transmission with the bevel gear I-I10109, the bevel gear I-II10111 is connected with a support plate 10107 through a flange, a straight-tooth cylindrical gear 10106 is mounted on the support plate 10107, an inner ring of the bearing I-I10101 is fixed on the shell I-I10105, an inner ring gear of the bearing I-I10101 and an inner ring gear 10102 are fixed on the shell I-II10202 of a first joint 102, the straight-tooth cylindrical gear 10106 and the inner gear 10102 form gear transmission, and the torque of the servo motor I-I10103 is transmitted to the shell I-II10202 of the first joint 102. When the servo motor I-I10103 receives the instruction, the servo motor I-I10103 starts to rotate for a certain number of turns and transmits the rotation to the straight spur gear 10106 through bevel gear meshing transmission, and the straight spur gear 10106 drives the inner gear 10102, so that the spatial position of the shell I-II10202 fixed on the inner gear 10102 is changed to a certain extent relative to the mechanical arm base 101.

The first section joint 102 consists of a flange plate I10201, a shell I-II10202, a servo motor I-II10203, a small straight-tooth cylindrical gear I10204, a bearing II-I10205, a large straight-tooth cylindrical gear I10206, a small straight-tooth cylindrical gear II 10207, an end cover 10208, a bearing II-II10209, a bearing II-III10210, a large straight-tooth cylindrical gear II 10211, a gear box shell 10212, a bearing II-IV10213, a middle shaft 10214 and an output shaft 10215; the servo motor I-II10203 and the gear box shell 10212 are arranged in the shell I-II10202 through bolts and are connected with the small straight spur gear 10204 through keys, and the small straight spur gear I10204 is fixed on the gear box shell 10212 through a pair of bearings II-I10205; the large straight-tooth cylindrical gear I10206 is fixed on the gear box shell 10212 through a pair of bearings II-II10209 and an end cover 10208, and meanwhile, the small straight-tooth cylindrical gear I10204 and the large straight-tooth cylindrical gear I10206 are meshed to form gear transmission; the small straight-tooth cylindrical gear II 10207 and the large straight-tooth cylindrical gear I10206 are integrated. Similarly, a small straight-tooth cylindrical gear II 10207 and a large straight-tooth cylindrical gear II 10211 are meshed to form a group of gear transmission; the large spur gear II 10211 is fixed on a gear box shell 10212 through a pair of bearings II-III10210, at the moment, the large spur gear II 10211 is connected with a flange plate I10201, and when a servo motor I-II10203 receives an instruction, the large spur gear II 10211 rotates for a certain number of turns and is transmitted to an outer flange 10310 of the second joint 103 through meshing transmission of the gear set, so that the second joint 103 moves to a corresponding position.

The second joint 103 consists of a servo motor I-III10301, a shell I-III10302, a flange plate II10303, a bearing III10304, a bevel gear II-I10305, a transmission shaft I10306, a bevel gear II-II10307, a bevel gear II-III10308, a servo motor gear box 10309 and an outer flange 10310; the servo motor I-III10301 is fixed inside the shell I-III10302 through bolts, the bevel gear II-III10308 is connected with an output shaft of the servo motor gear box 10309 through keys, the bevel gear II-I10305 and the bevel gear II-II10307 are fixed on the transmission shaft I10306 through a pair of bearings, and the bevel gear II-I10305 and the bevel gear II-II10307 are simultaneously meshed with the bevel gear II-III10308 to form a pair of gear transmission; and a flange plate II10303 on the transmission shaft I10306 transmits the torque of the servo motors I-III10301 to a flange II 10403 of the third joint 104, and the third joint 104 moves to a corresponding position.

The third joint 104 consists of a shell I-IV10401, a flange I10402, a flange II 10403, a bearing IV-I10404, a transmission shaft II 10405, a bevel gear III-I10406, a bevel gear III-II10407, a bearing IV-II10408 and a servo motor I-IV 10409; the servo motor I-IV10409 is fixed inside the shell I-IV10401 through a bolt, the bevel gear III-I10406 is connected with an output shaft of the servo motor I-IV10409 through a key, the bevel gear III-II10407 is fixed on the transmission shaft II 10405 through a bearing IV-I10404 and a bearing IV-II10408, and a flange I10402 on the transmission shaft II 10405 transmits the torque of the servo motor I-IV10409 to the L-shaped adapter 105; one end of the L-shaped adapter 105 is fixed on a flange I10402 of the third section joint 104, and the other end of the L-shaped adapter is fixed on a mounting bracket 10701 of the fourth section flexible joint 107 through bolts. The fourth flexible joint 107 moves with the L-shaped adapter 105 to the corresponding position.

The first joint 102, the second joint 103 and the third joint 104 adjust the working angle through the servo motor, and determine the spatial attitude of the fourth flexible joint 107.

The fourth flexible joint 107 is a flexible arm consisting of 3 rope-driven universal driving joint modules 108, each rope-driven universal driving joint module 108 consists of a mounting support 10701, a linear driving arm I10702, telescopic columns 10703, 10704 pneumatic corrugated pipes, a driving arm 10705, a connecting support I10706, a connecting support II 10707 and a linear driving arm II 10708, wherein an air pump 114, a motor frame 115, an air pump support 109, a servo motor II110, a rope driving wheel 111 and a guide wheel I112 are used for controlling elements of the working state of the fourth flexible joint 107 to be mounted on the outer side of the shell of the third flexible joint 104, and a guide wheel II106 is mounted on the L-shaped adapter 105; 3 rope drive formula universal drive joint module 108 loops through installing support 10701 from left to right and links together, and first rope drive formula universal drive joint module 108 passes through flange joint to L shape adapter 105 on, straight line actuating arm I10702 and straight line actuating arm II 10708 all install on installing support 10701 through the ball hinge, all connect through flexible post 10703 between straight line actuating arm I10702 and the straight line actuating arm II 10708 and the actuating arm 10705, actuating arm 10705 and linking bridge I10706 pass through ball hinge connection, and pneumatic bellows 10704 installs in the middle of installing support 10701 and linking bridge I10706 and crosses axle center between them, and linking bridge II 10707 is fixed on linking bridge I10706 of third rope drive formula universal drive joint module 108 for one section, and the other end passes through flange joint end effector 5.

The flexible mechanical arm module is characterized in that at least three driving arms 10705 respectively drive the connecting support I10706 to move, the at least three driving arms 10705 are respectively hinged with the connecting support I10706 through a ball hinge, at least one of the two linear driving arms I10702 and one linear driving arm II 10708 is hinged with the mounting support 10701 through a directional hinge, and at least one of the two linear driving arms I10702 and one linear driving arm II 10708 is hinged with the mounting support 10701 through a ball hinge. The two ends of the pneumatic bellows 10704 are respectively glued on the mounting bracket 10701 and the connecting bracket I10706, wherein an air inlet hole is reserved at one section of the mounting bracket 10701. In operation, the air pump 114 mounted on the third joint 104 changes the pressure of the air in the pneumatic bellows 10704 to control the working length and stiffness of the fourth flexible joint 107. The driving force of the fourth flexible joint 107 is provided by a servo motor II110 installed on the third flexible joint 104, a driving rope 113 is fixed on a rope driving wheel 111 on the servo motor II110 through one end of a mounting hole, then the winding direction of the driving rope 113 is changed by bypassing a guide wheel I112 below the servo motor II110, the driving rope 113 bypasses a guide wheel II106 on an L-shaped adapter 105, passes through rope holes on three rope-driven universal driving joint modules 108, and is finally fixed in a mounting hole on a tail end rope-driven universal driving joint module 108, the shape of the fourth flexible joint 107 is changed by changing the length of the driving rope 113 by 3 servo motors II110, and meanwhile, the length of a pneumatic bellows 10704 is changed by air pumps 114 installed on 3 third flexible joints 104 according to actual use, and the working length of the fourth flexible joint 107 is controlled.

As shown in fig. 1, 2 and 14, the end effector 5 includes a vertically-distributed pick-up mechanism, a recycling mechanism and a connecting frame 501; the picking mechanism and the recovery mechanism have the same structure and respectively comprise a silica gel sucker 502, a proximity sensor 503, an electromagnet 504, a photosensitive sensor 505 and a sucker frame 506; the silica gel sucker 502, the proximity sensor 503, the electromagnet 504 and the photosensitive sensor 505 are arranged on the sucker frame 506, the end effector 5 consists of 1 connecting frame 501 and 2 sucker frames 506, and the 2 sucker frames 506 are symmetrically fixed on the connecting frame 501; the electromagnet 504 is arranged at the middle position of the sucker frame 506, the photosensitive sensor 505 is arranged at the middle of the electromagnet 504, and the 2 silica gel suckers 502 are respectively arranged at the upper side and the lower side of the electromagnet 504; the proximity sensor 503 is disposed at a position offset to the outside in the middle of the suction cup holder 506.

The silica gel sucker 502 controls air inflow through an air pump 114 installed on the third joint 104 to change air pressure to suck non-metal instruments, the electromagnet 504 controls magnetic force through a relay to suck metal instruments, and the silica gel sucker and the electromagnet are started simultaneously to participate in work. After receiving the voice command of the doctor, the multifunctional storage device 2 is pushed out corresponding to the storage box of the instrument, and at the moment, the picking mechanism of the end effector 5 is accurately brought above the required instrument storage box by the composite type smart mechanical arm 1, so that the instrument is more efficiently and quickly transferred to the hand of the doctor.

As shown in fig. 1, 9, 10, and 11, the multifunctional storage device 2 includes a housing II201, 2 acrylic side panels 202, a panel 203, 4 medical device storage modules 204, 10 surgical scissors storage modules 205, 10 surgical knife storage modules 206, a support frame i 207, a motor support frame II 208, a support frame II 209, a stepping motor 210, a support frame iii 211, a coupling 212, a gear 213, a flange 214, a fixing upright post 215, and a connecting plate 216; the shell II201, the 2 acrylic side panels 202, the panel 203 and the connecting plate 216 jointly form a shell of the multifunctional storage device 2, the two acrylic side panels 202 are respectively installed on two sides of the shell II201, the panel 203 is installed right in front of the shell II201, the connecting plate 216 is fixed on the bottom surface of the multifunctional storage device 2 through three bending surfaces, and the four fixing upright posts 215 are fixed on the connecting plate 216 through flanges 214; the medical instrument storage module 204, the surgical scissors storage module 205 and the surgical knife storage module 206 have the same structure and installation mode; the number of the scalpel storage modules 206 is 10, wherein 8 of the scalpel storage modules are positioned on the first layer of the multifunctional storage device 2, and the rest two scalpel storage modules are respectively positioned in the middle of the fourth layer medical instrument storage module 204 and the fifth layer medical instrument storage module 204; the surgical scissors storage module 205 is positioned on the second layer and the third layer of the multifunctional storage device 2, and each layer is respectively provided with 5 layers; the medical instrument storage modules 204 are positioned at the fourth layer and the fifth layer of the multifunctional storage device 2, and each layer is provided with 2 medical instrument storage modules; each group of storage modules is fixed on the shell II201 through the support frame I207, the support frame II 209 and the support frame III 211, and enough distance is reserved between the storage modules.

The medical instrument storage module 204, the surgical scissors storage module 205 and the surgical knife storage module 206 are the same in structure and installation mode, but have different sizes according to the sizes and shapes of stored instruments; the connecting plate 216 at the bottom of the multifunctional storage device 2 is mounted with the shell II201 through three faces formed by bending; the 4 fixed posts 215 are fixed to the connecting plate 216 by flanges 214. 4 fixed columns 215 are inserted into corresponding holes of the storage module rotating device 402 of the mobile support mechanism 4; the working principle of the storage module is illustrated by taking the surgical scissors storage module 205 as an example; surgical scissors storage module 205 comprises sterile cloth 20501, space divider 20502, storage box 20503, push-pull panel 20504, slider 20505, linear guide 20506, and rack 20507; the space division plate 20502 is inserted into different slots according to the size of the instrument; the push-pull panel 20504 is inserted into a slot at the front end of the storage box 20503 and can be pulled upwards; slide 20505 is fixed to the right of the bottom of storage case 20503, rack 20507 is fixed to the left of the bottom of storage case 20503, and rack 20507 and linear guide 20506 are fixed to the underside of storage case 20503 using bolts; the sliding block 20505 is installed on a support frame I207, one end of the support frame I207 is fixed on the shell II201 of the multifunctional storage device 2, and the other end of the support frame I207 is fixed on the support frame II 209 through a bolt; the support II 209 is fixed on two side surfaces of the shell II 201; an output shaft of the stepping motor 210 transmits power and torque to the gear 213 through the coupler 212, and the gear 213 and the rack 20507 drive the storage box 20503 to realize push-pull movement; the stepping motor 210 is fixed on a support frame III 211, and the support frame III 211 is fixed on two side surfaces of the shell II 201.

After receiving the voice command of the doctor, the medical instrument storage module 204 determines the position of the required instrument and determines the code corresponding to the storage module. The stepping motor 210 corresponding to the storage module starts to work, the number of turns to be rotated is determined according to the code of the storage module, so that the instrument is pushed to the most appropriate distance, the stepping motor 210 transmits torque and power to the gear 213 through the coupler 212, the gear 213 and the rack 20507 are meshed for transmission to realize the push-pull movement of the storage box, and the instrument required by a doctor is pushed out by a certain distance so that the composite smart mechanical arm 1 drives the end effector 5 to realize the picking and transmitting actions.

The codes of the storage modules of the multifunctional storage device 2 are compiled according to a certain rule; surgical instruments possibly used in the operation are respectively placed into the specified storage layer according to the use frequency and the sequence. Taking a scalpel as an example, the instruments with the highest use frequency are placed in the middle of the first layer during surgery, and the manipulator can directly grab the instruments downwards in the surgery process, so that the situation that the storage device is rotated and the positions are changed to avoid wasting unnecessary time is avoided, and the instruments with low use frequency are sequentially placed on two sides according to the frequency.

When the surgical instruments are classified by codes, each storage box corresponds to one stepping motor, each instrument is numbered according to the size of the model size of the instrument, and the instrument is accurately positioned by the numbers. In operation, the stepper motors associated with the different storage cartridges are first numbered, for example, 150mm long scalpel is numbered as D150-1-2, and the robot can determine from the numbers the number of layers of the instrument D for placement of the scalpel on the first layer, 150 for the push-out distance of the stepper motor driven rack, with the first suffix 1 indicating the first layer and the second suffix 2 indicating the second of the layer. Similarly, the instrument can be determined to be surgical scissors placed on the second and third layers according to J180-2-3, 180 is also the push-out distance of the rack driven by the stepping motor, 2 is the number of layers, and J180-2-3 is placed on the 3 rd layer of the 2 nd layer. Numbering different storage boxes is carried out, and the surgical instruments corresponding to the numbers are directly pushed out according to voice instructions during the operation.

As shown in fig. 1 and fig. 15, the ultrasonic drying and cleaning device 3 includes a housing III301, a cleaning tank 302, a control panel 303, and a dryer 304; the ultrasonic drying and cleaning device 3 is positioned on the upper side of the mechanical arm base 101 and on the left side of the composite smart mechanical arm 1; when in operation, the mechanical arm enters into an automatic cleaning mode, the picking mechanism of the end effector 5 is driven by the multifunctional storage device 2 to carry out ultrasonic cleaning and disinfection by using the ultrasonic drying and cleaning device 3, and finally, the drying treatment greatly reduces the harm of instrument pollution to patients.

The invention also provides an application method of the medical instrument nurse auxiliary robot, which comprises the following steps:

the movable support mechanism 4 starts to prepare before the operation, and the driving wheel module 408 and the universal wheel module 409 are matched with the laser radar 406 to realize the barrier-free movement of the medical instrument nurse auxiliary robot indoors; when the auxiliary robot for medical instrument nurses reaches the designated position, the driving wheel module 408 and the universal wheel module 409 are simultaneously braked, the movable supporting mechanism 4 enters a fixed position mode, and the position information of the robot, the doctor and the operating table is stored and recorded.

After the voice recognition module 405 of the robot receives the voice pickup instruction of the surgical instrument with the specific serial number of the doctor, the storage module rotating device 402 on the movable supporting mechanism 4 adjusts the multifunctional storage device 2 to a proper angle convenient for the composite smart mechanical arm 1 to work; the magazine of the corresponding instrument in the multifunctional storage device 2 is driven out of the instrument magazine by means of the gear 213 and the rack 20507. The composite smart mechanical arm 1 reaches the upper part of a corresponding instrument through the posture adjustment of each joint, and the picking mechanism of the end effector 5 senses the distance of the instrument through a proximity sensor 503 and a photosensitive sensor 505 and is continuously close to the upper surface of the instrument; after engaging the upper surface of the instrument, the end effector 5 picks up the surgical instrument by a combination of magnetic and air suction and transfers the instrument to the surgeon.

When the doctor uses the instrument and sends out a voice command for recovering the instrument, the recovery mechanism of the end effector 5 moves to the side of the doctor, and the doctor fits and places the instrument on the recovery mechanism of the end effector 5; the storage box for recovering the instruments in the multifunctional storage device 2 is automatically pushed out, and the recovery mechanism moves to the position above the corresponding storage box, so that the instruments are placed in the recovery box. After the recovery action, the combined type smart mechanical arm 1 drives the recovery mechanism of the end effector 5 to move to the position above the ultrasonic drying and cleaning device 3, and ultrasonic cleaning and drying treatment is carried out on the suction disc frame and the electromagnet of the recovery mechanism so as to keep the surfaces of the suction disc frame and the electromagnet clean and avoid cross contamination of instruments.

The foregoing detailed description is intended to illustrate and not limit the invention, which is intended to be within the spirit and scope of the appended claims, and any changes and modifications that fall within the true spirit and scope of the invention are intended to be covered by the following claims.

Claims (7)

1. A medical instrument nurse auxiliary robot, comprising: the device comprises a composite smart mechanical arm (1), a multifunctional storage device (2), a movable supporting mechanism (4), an end effector (5) and an ultrasonic drying and cleaning device (3); the composite smart mechanical arm (1) and the ultrasonic drying and cleaning device (3) are arranged above the movable supporting mechanism (4), and the multifunctional storage device (2) is arranged between the movable supporting mechanism (4) and the composite smart mechanical arm (1);

the composite smart mechanical arm (1) comprises a mechanical arm base (101), a first joint (102), a second joint (103), a third joint (104) and a fourth flexible joint (107); a servo motor I-I (10103), a servo motor I-II (10203), a servo motor I-III (10301) and a servo motor I-IV (10409) are respectively arranged in the mechanical arm base (101), the first joint (102), the second joint (103) and the third joint (104); the mechanical arm base (101), the first joint (102), the second joint (103) and the third joint (104) are connected in sequence through flanges and are driven by a servo motor arranged inside; the fourth section of flexible joint (107) is connected with the third section of joint (104) through an L-shaped adapter (105);

the fourth section of flexible joint (107) comprises three rope-driven universal driving joint modules (108) with the same structure, an L-shaped adapter (105), a guide wheel II (106), three air pumps (114), a motor frame (115), three air pump supports (109), a servo motor II (110), a rope driving wheel (111), a guide wheel I (112) and a driving rope (113);

the rope-driven universal driving joint module (108) comprises a mounting bracket (10701), a linear driving arm I (10702), a linear driving arm II (10708), a telescopic column (10703), a pneumatic corrugated pipe (10704), a driving arm (10705), a connecting bracket I (10706), a connecting bracket II (10707) and a driving rope (113); the three rope-driven universal driving joint modules (108) are sequentially connected together through a mounting support (10701), the first rope-driven universal driving joint module (108) is connected to an L-shaped adapter (105) through a flange, a linear driving arm I (10702) and a linear driving arm II (10708) are both mounted on the mounting support (10701) through a ball hinge, the linear driving arm I (10702), the linear driving arm II (10708) and a driving arm (10705) are both connected through a telescopic column (10703), and the driving arm (10705) and a connecting support I (10706) are connected through a ball hinge; the pneumatic corrugated pipe (10704) is arranged between the mounting bracket (10701) and the connecting bracket I (10706) and passes through the axes of the mounting bracket and the connecting bracket; one end of a connecting support II (10707) is fixed on a connecting support I (10706) of a third rope-driven universal driving joint module (108), and the other end of the connecting support II is connected with an end effector (5) through a flange;

a servo motor II (110) and three air pumps (114) of a fourth section of flexible joint (107) are respectively arranged on the outer sides of shells I-IV (10401) of a third section of joint (104) through a motor frame (115) and an air pump bracket (109); one end of the driving rope (113) is fixed on a rope driving wheel (111) of the servo motor II (110), then sequentially penetrates through rope holes in the guide wheel I (112), the guide wheel II (106) and the three rope driving type universal driving joint modules (108), and the other end of the driving rope (113) is fixed on the third rope driving type universal driving joint module (108); the servo motor II (110) controls a driving rope (113) to change the motion state of the composite smart mechanical arm (1);

the end effector (5) comprises a picking mechanism, a recovery mechanism and a connecting frame (501) which are vertically distributed; the picking mechanism and the recovery mechanism have the same structure and respectively comprise a silica gel sucker (502), a proximity sensor (503), an electromagnet (504), a photosensitive sensor (505) and a sucker frame (506); the silica gel sucker (502), the proximity sensor (503), the electromagnet (504) and the photosensitive sensor (505) are arranged on the sucker frame (506), the end effector (5) consists of a connecting frame (501) and two sucker frames (506), and the two sucker frames (506) are symmetrically fixed on the connecting frame (501); the electromagnet (504) is arranged in the middle of the sucker frame (506), the photosensitive sensor (505) is arranged in the middle of the electromagnet (504), and the two silica gel suckers (502) are respectively arranged on the upper side and the lower side of the electromagnet (504); the proximity sensor (503) is installed at a position deviated to the outside from the middle of the suction cup holder (506).

2. The medical instrument nurse auxiliary robot as claimed in claim 1, wherein the multifunctional storage device (2) comprises a housing II (201), two acrylic side panels (202), a panel (203), a medical instrument storage module (204), a surgical scissors storage module (205), a surgical knife storage module (206), a support frame i (207), a motor support frame II (208), a support frame II (209), a stepping motor (210), a support frame iii (211), a coupling (212), a gear (213), a flange (214), a fixed upright post (215) and a connecting plate (216); the shell of the multifunctional storage device (2) is formed by the shell II (201), the two acrylic side panels (202), the panel (203) and the connecting plate (216) together, the two acrylic side panels (202) are respectively installed on two sides of the shell II (201), the panel (203) is installed right in front of the shell II (201), the connecting plate (216) is fixed at the bottom of the multifunctional storage device (2) through three bending surfaces, and the four fixing upright columns (215) are fixed on the connecting plate (216) through flanges (214);

the scalpel storage modules (206) are ten in total, wherein eight of the scalpel storage modules are positioned on the uppermost layer of the multifunctional storage device (2); the surgical scissors storage module (205) is positioned below the surgical scissors storage module (206) at the uppermost layer of the multifunctional storage device (2), two rows are provided, and five surgical scissors storage modules are arranged in each row; the medical instrument storage module (204) is positioned below the surgical scissors storage module (205), two rows are provided, each row is provided with 2 surgical scissors, and the rest two surgical scissors storage modules (206) are respectively positioned in the middle of each row of medical instrument storage modules (204); two ends of a support frame II (209) and a support frame III (211) are respectively fixed on the left side surface and the right side surface of the shell II (201), one end of the support frame I (207) is fixed on the rear side surface of the shell II (201), and the other end of the support frame I is fixed on the support frame II (209); every group storage module all fixes on casing II (201) and leaves sufficient distance each other through support frame I (207), support frame II (209) and support frame III (211).

3. The medical instrument nurse auxiliary robot as claimed in claim 2, wherein the surgical scissors storage module (205) comprises a sterile cloth (20501), a space partition plate (20502), a storage box (20503), a push-pull panel (20504), a slider (20505), a linear guide (20506) and a rack (20507); sterile cloth (20501) is flatly paved inside a storage box (20503), a space partition plate (20502) is inserted into a corresponding clamping groove of the storage box (20503), a push-pull panel (20504) is positioned in a push-pull sliding clamping groove in front of the storage box (20503), a slider (20505) is fixed on the right side of the bottom of the storage box (20503), a rack (20507) is fixed on the left side of the bottom of the storage box (20503), a linear guide rail (20506) is fixed on a support frame I (207), a stepping motor (210) is fixed on a support frame III (211) through a motor support II (208), a rack (20507) is meshed with a gear (213) when the push-pull motion is realized, the gear (213) is connected with an output shaft of the stepping motor (210) installed on the motor support II (208) through a coupler (212), and the slider (20505) is connected with the linear guide rail (20506) in a sliding manner; when the surgical scissors storage module works, the stepping motor (210) drives the gear (213) and the rack (20507) to move in a meshed mode to drive the surgical scissors storage module (205) to realize push-pull movement, and the surgical scissors storage module (205) slides on the linear guide rail (20506) along with the slider (20505) in a translation mode; the scalpel storage module (206) and the medical instrument storage module (204) are completely the same in installation mode and structure except that the size of the storage box is different from that of the surgical scissors storage module (205).

4. The medical instrument nurse auxiliary robot as claimed in claim 1, wherein the moving support mechanism (4) comprises a robot arm module support (401), a storage module rotating device (402), an industrial personal computer (403), a power supply (404), a voice recognition module (405), a laser radar (406), a chassis module (407), a driving wheel module (408) and a universal wheel module (409);

the mechanical arm module support (401) consists of a supporting platform and four upright posts; remove supporting mechanism (4) from the bottom up and divide into the first layer in proper order, the second floor, third layer and fourth layer, arm module support (401) and storage module rotary device (402) are installed in the fourth layer, industrial computer (403), power (404), voice recognition module (405) circumference distributes and installs at the third layer, laser radar (406) are fixed in the axle center position on second layer, can be around axle center full angle rotation, install in the first layer chassis module (407), install two sets of drive wheel module (408) and two sets of universal wheel module (409) on chassis module (407) respectively, drive wheel module (408) are circumference and equidistance interval arrangement with universal wheel module (409).

5. The medical instrument nurse auxiliary robot as claimed in claim 1, wherein the robot arm base (101) comprises a bearing I-I (10101), an internal gear (10102), a servo motor I-I (10103), a motor bracket I (10104), a housing I-I (10105), a straight spur gear (10106), a support plate (10107), a bevel gear I-III (10108), a bevel gear I-I (10109), a gear support shaft (10110), a bevel gear I-II (10111), a motor output shaft (10112), and a bearing I-II (10113); the shell I-I (10105) is positioned below the combined type smart mechanical arm (1) and is connected with a supporting platform of a mechanical arm module support (401) in the movable supporting mechanism (4); a servo motor I-I (10103) is arranged at the inner center position of a shell I-I (10105) through a motor support I (10104), a motor output shaft (10112) of the servo motor I-I (10103) is connected with a bevel gear I-I (10109) through a key, the bevel gear I-II (10111) and the bevel gear I-III (10108) are fixed on a gear support shaft (10110), the gear support shaft (10110) is fixed on the shell I-I (10105) through a bearing I-II (10113), the bevel gear I-II (10111) and the bevel gear I-III (10108) are simultaneously in gear meshing transmission with the bevel gear I-I (10109), the bevel gear I-II (10111) is connected with a support plate (10107) through a flange, and a straight-tooth cylindrical gear (10106) is arranged on the support plate (10107); the inner ring of the bearing I-I (10101) is fixed on a shell I-I (10105), the outer ring of the bearing I-I (10101) and an inner gear (10102) are fixed on a shell I-II (10202) of a first joint (102), a straight spur gear (10106) and the inner gear (10102) form gear transmission, and the torque of the servo motor I-I (10103) is transmitted to the shell I-II (10202) of the first joint (102);

the first joint (102) comprises a flange plate I (10201), a shell I-II (10202), a servo motor I-II (10203), a small straight-tooth cylindrical gear I (10204), a bearing II-I (10205), a large straight-tooth cylindrical gear I (10206), a small straight-tooth cylindrical gear II (10207), an end cover (10208), a bearing II-II (10209), a bearing II-III (10210), a large straight-tooth cylindrical gear II (10211), a gear box shell (10212), a bearing II-IV (10213), an intermediate shaft (10214) and an output shaft (10215); the servo motor I-II (10203) and the gear box shell (10212) are installed in the shell I-II (10202), the servo motor I-II (10203) is connected with the small straight-tooth cylindrical gear I (10204) through a key, and the small straight-tooth cylindrical gear I (10204) is fixed on the gear box shell (10212) through a pair of bearings II-I (10205); the large straight-tooth cylindrical gear I (10206) is fixed on a middle shaft (10214), the middle shaft (10214) is fixed on a gear box shell (10212) through a bearing II-II (10209), an end cover (10208) is installed on the outer side of the bearing II-II (10209), and the small straight-tooth cylindrical gear I (10204) and the large straight-tooth cylindrical gear I (10206) are meshed to form gear transmission; the large straight-tooth cylindrical gear I (10206) and the small straight-tooth cylindrical gear II (10207) are coaxially fixed, the small straight-tooth cylindrical gear II (10207) and the large straight-tooth cylindrical gear II (10211) are meshed to form gear transmission, the large straight-tooth cylindrical gear II (10211) is fixed on an output shaft (10215), and the output shaft (10215) is fixed on a gear box shell (10212) through a bearing II-III (10210); a flange plate I (10201) on an output shaft (10215) transmits the torque of the servo motor I-II (10203) to an outer flange (10310) of a second joint (103);

the second joint (103) comprises a servo motor I-III (10301), a shell I-III (10302), a flange plate II (10303), a bearing III (10304), a bevel gear II-I (10305), a transmission shaft I (10306), a bevel gear II-II (10307), a bevel gear II-III (10308), a servo motor gear box (10309) and an outer flange (10310); the servo motor I-III (10301) is fixed inside the shell I-III (10302), the bevel gear II-III (10308) is connected with an output shaft of the servo motor gearbox (10309) through a key, the bevel gear II-I (10305) and the bevel gear II-II (10307) are fixed on the transmission shaft I (10306), the transmission shaft I (10306) is fixed on the shell I-III (10302) through a bearing III (10304), and the bevel gear II-I (10305) and the bevel gear II-II (10307) are simultaneously meshed with the bevel gear II-III (10308) to form gear transmission; a flange plate II (10303) on the transmission shaft I (10306) transmits the torque of the servo motor I-III (10301) to a flange II (10403) of the third joint (104);

the third joint (104) comprises a shell I-IV (10401), a flange I (10402), a flange II (10403), a bearing IV-I (10404), a transmission shaft II (10405), a bevel gear III-I (10406), a bevel gear III-II (10407), a bearing IV-II (10408) and a servo motor I-IV (10409); the servo motor I-IV (10409) is fixed inside the shell I-IV (10401), the bevel gear III-I (10406) is connected with an output shaft of the servo motor I-IV (10409) through a key, the bevel gear III-II (10407) is fixed on the transmission shaft II (10405), the transmission shaft II (10405) is fixed on the shell I-IV (10401) through the bearing IV-I (10404) and the bearing IV-II (10408), and the flange I (10402) on the transmission shaft II (10405) transmits the torque of the servo motor I-IV (10409) to the L-shaped adapter (105).

6. The nurse auxiliary robot for medical instruments as claimed in claim 1, wherein said ultrasonic drying and cleaning device (3) is mounted on a robot arm module frame (401) which comprises a housing III (301), a cleaning pool (302) and a dryer (303); the cleaning pool (302) and the dryer (303) are arranged in tandem inside the shell III.

7. The application method of the medical instrument nurse auxiliary robot based on any one of claims 1 to 6 is characterized by comprising the following specific processes: the movable supporting mechanism (4) works firstly, and the driving wheel module (408) and the universal wheel module (409) are matched with the laser radar (406) to realize barrier-free movement of the medical instrument nurse auxiliary robot indoors; after the robot reaches the designated position, the driving wheel module (408) and the universal wheel module (409) are braked simultaneously, the movable supporting mechanism (4) enters a fixed position mode, and the position information of the robot, a doctor and an operating table is stored and recorded;

the surgical instruments are correspondingly numbered by doctors, and when the voice recognition module (405) of the robot receives a voice pickup instruction of the surgical instruments corresponding to the specific numbers from the doctors, the multifunctional storage device (2) is adjusted to a proper angle convenient for the composite type smart mechanical arm (1) to work by moving the storage module rotating device (402) on the supporting mechanism (4); the storage box of the corresponding instrument in the multifunctional storage device (2) is driven by a stepping motor (210) to drive a gear (213) and a rack (20507) to push out the storage box; the composite smart mechanical arm (1) is adjusted to reach the upper part of a corresponding instrument through the posture of each joint, and a picking mechanism of the end effector (5) senses the distance of the instrument through a proximity sensor (503) and a photosensitive sensor (505) and continuously approaches the upper surface of the instrument; after the surgical instrument is attached to the upper surface of the surgical instrument, the surgical instrument is picked up by utilizing the combination of the magnetic attraction of the electromagnet (504) and the air attraction of the silica gel sucker (502), and the surgical instrument is transferred to the side of a doctor;

when the doctor uses the instrument and sends out a voice command for recovering the instrument, the recovery mechanism of the end effector (5) moves to the side of the doctor, and the doctor fits and places the instrument on the recovery mechanism of the end effector (5); the storage box for recovering the instruments in the multifunctional storage device (2) is automatically pushed out, and the recovery mechanism moves to the position above the corresponding storage box so as to place the instruments in the recovery box; after the recovery action, the combined type smart mechanical arm (1) drives the recovery mechanism of the end effector (5) to move to the upper part of the ultrasonic drying and cleaning device (3), and the suction disc frame and the electromagnet of the recovery mechanism are subjected to ultrasonic cleaning and drying treatment to keep the surfaces of the suction disc frame and the electromagnet clean and avoid the cross contamination of instruments.

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