CN112754660A - Pneumatic device of general type software operation auxiliary robot - Google Patents
Pneumatic device of general type software operation auxiliary robot Download PDFInfo
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- CN112754660A CN112754660A CN202011456503.1A CN202011456503A CN112754660A CN 112754660 A CN112754660 A CN 112754660A CN 202011456503 A CN202011456503 A CN 202011456503A CN 112754660 A CN112754660 A CN 112754660A
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- 230000001105 regulatory effect Effects 0.000 claims abstract description 18
- 238000001356 surgical procedure Methods 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 abstract description 6
- 239000011664 nicotinic acid Substances 0.000 abstract description 2
- 238000001179 sorption measurement Methods 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000002474 experimental method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- GIMSJJHKKXRFGV-BYPJNBLXSA-N 4-amino-1-[(2r,3s,4r,5r)-3-fluoro-4-hydroxy-5-(hydroxymethyl)oxolan-2-yl]-5-iodopyrimidin-2-one Chemical compound C1=C(I)C(N)=NC(=O)N1[C@H]1[C@@H](F)[C@H](O)[C@@H](CO)O1 GIMSJJHKKXRFGV-BYPJNBLXSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
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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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Manipulator (AREA)
Abstract
The invention provides a pneumatic device design based on a bionic principle, which aims to realize flexible motion of a soft body surgery auxiliary robot and continuously deform to adapt to various human tissue structures so as to achieve the purpose of safer operation and simpler heart adsorption in surgery. The invention adopts an air compressor as an air source, and simultaneously generates positive and negative pressure by matching with an air filter, an electromagnetic valve, a vacuum generator and a pressure regulating valve. Compressed air generated by the air compressor is divided into three paths after passing through the filter, the first path reaches the vacuum generator through the three-position five-way electromagnetic valve and the pressure regulating valve to generate negative pressure, and the other path generates positive pressure through the two-position three-way electromagnetic valve and the pressure regulating valve.
Description
Technical Field
The invention belongs to the field of medical instruments, biology and robots, and particularly relates to a pneumatic device of a universal soft body surgery auxiliary robot.
Background
Traditional robots based on rigid mechanisms have been widely used in various surgeries in the medical field, but such robots are poor in flexibility, adaptability and safety and are prone to causing damage to human tissues. In recent years, software robotics has been rapidly developed as an emerging frontline technology, and is gradually applied to the medical field. Different from the traditional rigid robot, the mechanism of the soft robot is made of soft materials, can flexibly and continuously deform to adapt to various human tissue structures, realizes the action and hardening conversion of the soft mechanism in modes of pneumatics, particle solidification and the like, can obviously improve the adaptability and the safety of a surgical robot system, and becomes an important development direction of surgical robot technology. In the current soft surgical robot, the current precision is the highest, and the application is the most widely that the da vinci surgical robot is also a mechanical actuating device which adopts a motor as a power source. And its high selling price and single operation cost make ordinary hospitals and ordinary families unbearable. In 2021, the global surgical robot market is expected to reach $ 200 billion.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a pneumatic device of a general soft body operation auxiliary robot. Compared with a motor actuating device adopted by a traditional robot with a rigid mechanism, the pneumatic device is low in cost, high in degree of freedom, strong in adaptability and high in safety, and the applicability of the device is improved.
In order to solve the technical problems, the invention adopts the technical scheme that: the pneumatic device of the general soft body surgery auxiliary robot comprises a compressor, wherein a filter is connected to the compressor, and two ends of the filter are respectively connected with a 6-bit bus bar and a 12-bit bus bar; the 6-bit busbar is sequentially connected with a three-position five-way electromagnetic valve, a first pressure regulating valve and a vacuum generator; and the 12-bit busbar is sequentially connected with a two-bit three-way electromagnetic valve and a second pressure regulating valve.
Preferably, the compressor generates high pressure gas at 0-0.9 MPa.
Preferably, the 6-bit bus bar generates 6 paths of negative pressure.
Preferably, the 12-bit bus generates 12 positive voltages.
Compared with the prior art, the invention has the beneficial effects that: the pneumatic device design based on the soft body surgery auxiliary robot is characterized in that pressurized gas is used as a power source, and an adjustable positive pressure and a negative pressure are simultaneously generated through an electromagnetic valve, a pressure regulating valve and a vacuum generator to provide power for the robot. The pneumatic device has strong adaptability, and different pressures can be precisely adjusted according to different operation conditions during operation. Compared with a motor actuating device adopted by a traditional robot with a rigid mechanism, the pneumatic device is low in cost, high in degree of freedom, strong in adaptability and high in safety; the pneumatic device is more easily matched with an elastic closed-loop control system, so that the surgical robot can avoid the damage caused by the action of the traditional rigid robot.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
Further objects, features and advantages of the present invention will become apparent from the following description of embodiments of the invention, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram showing the pneumatic device of the soft body surgery auxiliary robot of the present invention;
FIG. 2 is a schematic diagram showing the structure of the gas path of each element of the pneumatic device of the present invention;
fig. 3 schematically shows a motion state diagram of the robot model under different pressures.
In the figure:
1. compressor 2, filter
3. 6-position busbar 4, three-position five-way electromagnetic valve
5. First pressure regulating valve 6 and vacuum generator
7. 12-bit bus bar 8, two-bit three-way electromagnetic valve
9. Second pressure regulating valve
Detailed Description
The objects and functions of the present invention and methods for accomplishing the same will be apparent by reference to the exemplary embodiments. However, the present invention is not limited to the exemplary embodiments disclosed below; it can be implemented in different forms. The nature of the description is merely to assist those skilled in the relevant art in a comprehensive understanding of the specific details of the invention.
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or similar parts, or the same or similar steps.
The invention provides a pneumatic device design based on a bionic principle, which aims to realize flexible motion of a soft body surgery auxiliary robot and continuously deform to adapt to various human tissue structures so as to achieve the purpose of safer operation and simpler heart adsorption in surgery. The invention adopts an air compressor as an air source, and simultaneously generates positive and negative pressure by matching with an air filter, an electromagnetic valve, a vacuum generator and a pressure regulating valve. Compressed air generated by the air compressor is divided into three paths after passing through the filter, the first path reaches the vacuum generator 6 through the three-position five-way electromagnetic valve 4 and the first pressure regulating valve 5 to generate negative pressure, and the other path generates positive pressure through the two-position three-way electromagnetic valve 8 and the second pressure regulating valve 9.
In order to achieve the above-listed purposes, the technical scheme adopted by the invention is as follows: a pneumatic device design based on a soft body surgery auxiliary robot is structurally shown in figure 1.
Fig. 2 schematically shows a specific gas path diagram of each element of the pneumatic device. The air compressor adopted by the invention is 1Compact106, Fiac, the filter 2 is MC104-D10, E.V.P.systems, the first busbar is a 12-bit AirTac busbar, the second busbar is a 6-bit AirTac busbar, the first pressure regulating valve 5 and the second pressure regulating valve 9 are both GPR30008L-AirTac, and the vacuum generator 6 is ZV20 HS-ZPCAC. High-pressure gas (0-0.9Mpa) generated by the compressor 1 passes through the filter 2 and enters the 6-bit bus bar 3 and the 12-bit bus bar 7 respectively. The 12-bit bus bar 7 is connected with 12 two-bit three-way electromagnetic valves 8 and generates 12 paths of positive pressure through the regulation of the second pressure regulating valve 9. The 6-bit bus bar 3 is connected with 6 three-position five-way electromagnetic valves 4, and reaches the vacuum generator 6 through the first pressure regulating valve 5 to generate 6 paths of negative pressure.
Three positive pressures and one negative pressure are used in the pneumatic front-end motion experiment of the soft body surgery auxiliary robot. The robot model motion diagram obtained in the experiment is shown in fig. 3.
It can be seen from the figure that when the supply air pressure changes, the robot model generates corresponding linear bending deformation. In the experiment, the model can still be restored to the original state by slight impact of a wooden stick, and has good adaptability. And various movements can be realized by changing the air cavity structure design of the robot model in the later period.
The invention has the beneficial effects that: the pneumatic device design based on the soft body surgery auxiliary robot is characterized in that pressurized gas is used as a power source, and an adjustable positive pressure and a negative pressure are simultaneously generated through an electromagnetic valve, a pressure regulating valve and a vacuum generator to provide power for the robot. The pneumatic device has strong adaptability, and different pressures can be precisely adjusted according to different operation conditions during operation. Compared with a motor actuating device adopted by a traditional robot with a rigid mechanism, the pneumatic device is low in cost, high in degree of freedom, strong in adaptability and high in safety; the pneumatic device is more easily matched with an elastic closed-loop control system, so that the surgical robot can avoid the damage caused by the action of the traditional rigid robot.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Claims (4)
1. The pneumatic device of the general soft body surgery auxiliary robot is characterized by comprising a compressor, wherein a filter is connected to the compressor, and two ends of the filter are respectively connected with a 6-bit bus bar and a 12-bit bus bar;
the 6-bit busbar is sequentially connected with a three-position five-way electromagnetic valve, a first pressure regulating valve and a vacuum generator;
and the 12-bit busbar is sequentially connected with a two-bit three-way electromagnetic valve and a second pressure regulating valve.
2. The pneumatic device according to claim 1, wherein the compressor generates the high pressure gas at 0 to 0.9 Mpa.
3. The pneumatic device of claim 1, wherein the 6-position bus bar generates 6 negative pressures.
4. The pneumatic device of claim 1, wherein the 12-bit bus generates 12 positive pressures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011456503.1A CN112754660A (en) | 2020-12-11 | 2020-12-11 | Pneumatic device of general type software operation auxiliary robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011456503.1A CN112754660A (en) | 2020-12-11 | 2020-12-11 | Pneumatic device of general type software operation auxiliary robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012016792A1 (en) * | 2010-08-04 | 2012-02-09 | Siemens Aktiengesellschaft | Robot, in particular for carrying out a medical treatment |
| CN108582033A (en) * | 2017-12-18 | 2018-09-28 | 中南大学 | A kind of variation rigidity soft robot system |
| CN108724166A (en) * | 2017-04-19 | 2018-11-02 | 新加坡国立大学 | Stiffness variable actuator |
| CN108784837A (en) * | 2017-04-28 | 2018-11-13 | 新加坡国立大学 | Soft robot and its manufacturing method and control system |
| CN109730773A (en) * | 2018-12-28 | 2019-05-10 | 北京信息科技大学 | Soft robot atmospheric control |
| CN110076766A (en) * | 2019-05-23 | 2019-08-02 | 苏州柔性智能科技有限公司 | Flexible pneumatic control system based on soft robot |
-
2020
- 2020-12-11 CN CN202011456503.1A patent/CN112754660A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012016792A1 (en) * | 2010-08-04 | 2012-02-09 | Siemens Aktiengesellschaft | Robot, in particular for carrying out a medical treatment |
| CN108724166A (en) * | 2017-04-19 | 2018-11-02 | 新加坡国立大学 | Stiffness variable actuator |
| CN108784837A (en) * | 2017-04-28 | 2018-11-13 | 新加坡国立大学 | Soft robot and its manufacturing method and control system |
| CN108582033A (en) * | 2017-12-18 | 2018-09-28 | 中南大学 | A kind of variation rigidity soft robot system |
| CN109730773A (en) * | 2018-12-28 | 2019-05-10 | 北京信息科技大学 | Soft robot atmospheric control |
| CN110076766A (en) * | 2019-05-23 | 2019-08-02 | 苏州柔性智能科技有限公司 | Flexible pneumatic control system based on soft robot |
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