CN113100950A - Seven-degree-of-freedom puncture robot - Google Patents
Seven-degree-of-freedom puncture robot Download PDFInfo
- Publication number
- CN113100950A CN113100950A CN202110527851.1A CN202110527851A CN113100950A CN 113100950 A CN113100950 A CN 113100950A CN 202110527851 A CN202110527851 A CN 202110527851A CN 113100950 A CN113100950 A CN 113100950A
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- motion mechanism
- axis linear
- linear motion
- puncture
- rotary motion
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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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
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
Abstract
The seven-degree-of-freedom puncture robot comprises a mobile bearing platform, an XYZ three-axis linear motion mechanism, a horizontal plane positioning mechanism, a puncture needle angle adjusting mechanism and a puncture needle guide mechanism, wherein the XYZ three-axis linear motion mechanism is in control connection with the horizontal plane positioning mechanism, the horizontal plane positioning mechanism is in control connection with the puncture needle angle adjusting mechanism, the puncture needle angle adjusting mechanism is in control connection with the puncture needle guide mechanism, and the bottom of the XYZ three-axis linear motion mechanism is installed on the mobile bearing platform. Compared with the prior art, the puncture needle clamping device has the advantages that the puncture needle clamped by the needle clamping component is positioned by the multi-dimensional positioning mechanism (seven degrees of freedom), and the puncture needle clamping device has compact structure, high positioning precision, large working range and high safety; the clamping mechanism can be clamped and loosened, and the requirements of multi-needle puncture and multiple puncture are met. The robot can make up the defects of manual puncture and the existing puncture robot, help doctors to perform better operations, and improve the safety and success rate of the operations.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a seven-degree-of-freedom puncture robot.
Background
1. In the existing puncture surgery, a doctor generally needs to perform manual puncture by means of personal experience and continuous angle adjustment by means of medical image results, so that the surgery process consumes time and energy, and the surgery effect fluctuates greatly. In order to reduce the problems caused by human factors, more and more puncture operations begin to use mechanical arms to replace manual puncture;
2. at present, most of mechanical arms used in puncture robots for market or research are multi-degree-of-freedom rotary joint type mechanical arms or rectangular coordinate type mechanical arms;
3. the rectangular coordinate type mechanical arm occupies a large space, and the limitation of the degree of freedom is more;
4. the multi-degree-of-freedom rotary joint type mechanical arm occupies small space, has a compact structure and can meet the requirements of operation puncture. However, the existing puncture robot has the following problems: 1) the joint structure and the needle angle adjusting device are complex, and the processing and assembling problems such as gear clearance, belt clearance, connecting rod hinge precision and the like need to be overcome. 2) The robot has no locking or unreliable locking, no power-off protection, and has the risk of position deviation and other risks in the operation process;
5. the puncture robot at the present stage has complicated structure, low positioning precision and small available working range;
6. the puncture robot in the present stage does not solve the problem of the need of multi-needle puncture and multiple times of puncture.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a seven-degree-of-freedom puncture robot which comprises the following components in parts by weight:
the technical scheme of the invention is realized as follows:
the seven-degree-of-freedom puncture robot comprises a mobile bearing platform, an XYZ three-axis linear motion mechanism, a horizontal plane positioning mechanism, a puncture needle angle adjusting mechanism and a puncture needle guide mechanism, wherein the XYZ three-axis linear motion mechanism is in control connection with the horizontal plane positioning mechanism, the horizontal plane positioning mechanism is in control connection with the puncture needle angle adjusting mechanism, the puncture needle angle adjusting mechanism is in control connection with the puncture needle guide mechanism, and the bottom of the XYZ three-axis linear motion mechanism is installed on the mobile bearing platform.
Preferably, the XYZ three-axis linear motion mechanism comprises an X-axis linear motion mechanism, a Y-axis linear motion mechanism, a Z-axis linear motion mechanism, a first connecting rod and a second connecting rod, the X-axis linear motion mechanism is fixed on the mobile bearing table, the Z-axis linear motion mechanism is connected with the X-axis linear motion mechanism through the first connecting rod, the Z-axis linear motion mechanism is connected with the Y-axis linear motion mechanism through the second connecting rod, and the Y-axis linear motion mechanism is in control connection with the horizontal plane positioning mechanism.
Preferably, the XYZ three-axis linear motion mechanism comprises an X-axis linear motion mechanism, a Y-axis linear motion mechanism, a Z-axis linear motion mechanism, a first connecting rod and a second connecting rod, the Y-axis linear motion mechanism is fixed on the mobile bearing table, the Z-axis linear motion mechanism is connected with the Y-axis linear motion mechanism through the first connecting rod, the Z-axis linear motion mechanism is connected with the X-axis linear motion mechanism through the second connecting rod, and the X-axis linear motion mechanism is in control connection with the horizontal plane positioning mechanism.
Preferably, the mobile carrier comprises:
the chassis is used as a robot base and used for fixing all elements;
the lifting assembly is arranged at the lower part or the side surface of the chassis and is used for lifting and lowering the robot;
and the roller is arranged on the lower part of the chassis.
Preferably, the horizontal positioning mechanism comprises a first rotary motion mechanism, a second rotary motion mechanism and a third connecting rod, the first rotary motion mechanism and the second rotary motion mechanism are connected through the third connecting rod, the axes of the first rotary motion mechanism and the second rotary motion mechanism are arranged in parallel, and the first rotary motion mechanism is connected with the tail end of the XYZ three-axis linear motion mechanism through a fourth connecting rod.
Preferably, the puncture needle angle adjusting mechanism comprises a third rotary motion mechanism, a fifth connecting rod and a fourth rotary motion mechanism, the third rotary motion mechanism and the fourth rotary motion mechanism are connected through the fifth connecting rod, the axes of the third rotary motion mechanism and the fourth rotary motion mechanism are vertically arranged, and the third rotary motion mechanism is connected with the second rotary motion mechanism of the horizontal positioning mechanism through a sixth connecting rod.
Preferably, the puncture needle guide mechanism comprises a clamping mechanism and a laser emission module, the laser emission module is fixed on the clamping mechanism through two screws, the axis of the laser emission module is parallel to the axis space where the clamping object of the clamping mechanism is located, and a fixed distance is reserved between the two axes. The clamping mechanism is connected with the fourth rotary motion mechanism, the tail end of the clamping mechanism is provided with a clamping jaw which can be opened and closed, and the clamping jaw is arranged at the tail end of the clamping mechanism through a tail end flange.
Preferably, the first rotary motion mechanism, the second rotary motion mechanism, the third rotary motion mechanism, and the fourth rotary motion mechanism are provided with a power-off brake.
Compared with the prior art, the invention has the following beneficial effects:
the seven-degree-of-freedom puncture robot positions the puncture needle clamped by the needle clamping component through the multi-dimensional positioning mechanism (seven degrees of freedom), and has the advantages of compact structure, high positioning precision, large working range and high safety; the clamping mechanism can be clamped and loosened, so that the requirements of multi-needle puncture and multiple times of puncture are met; and multiple degrees of freedom can meet the requirements of different working spaces and different functions. Each rotary motion mechanism is provided with a power-off brake device, so that the mechanical arm is prevented from any displacement after abnormal power failure, and the safety is ensured. The laser emitting module can directly indicate the puncture needle point and the puncture channel without using a clamping mechanism. The robot can make up the defects of manual puncture and the existing puncture robot, help doctors to perform better operations, and improve the safety and success rate of the operations.
Drawings
FIG. 1 is a schematic structural diagram (without a housing) of a seven-degree-of-freedom puncture robot of the present invention;
FIG. 2 is a partial structural schematic view of a seven-degree-of-freedom puncture robot (a horizontal plane positioning mechanism, a puncture needle angle adjusting mechanism and a puncture needle guiding mechanism) according to the present invention;
fig. 3 is an external view of the seven-degree-of-freedom puncture robot according to the present invention (including a housing).
In the figure: the puncture needle device comprises a movable bearing table 100, a chassis 110, a lifting assembly 120, a roller 130, an X-axis linear motion mechanism 200, a Y-axis linear motion mechanism 300, a Z-axis linear motion mechanism 400, a horizontal plane positioning mechanism 500, a first rotary motion mechanism 510, a second rotary motion mechanism 520, a puncture needle angle adjusting mechanism 600, a third rotary motion mechanism 610, a fifth connecting rod 850, a fourth rotary motion mechanism 620, a puncture needle guide mechanism 700, a clamping mechanism 710, a laser emission module 720, a circuit board 730, a clamping jaw 740, a terminal flange 750, a first connecting rod 810, a second connecting rod 820, a third connecting rod 830, a fourth connecting rod 840, a fifth connecting rod 850 and a sixth connecting rod 860.
Detailed Description
The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the invention are shown.
As shown in fig. 1 to 3, a seven-degree-of-freedom puncture robot includes a mobile carrier 100, an XYZ three-axis linear motion mechanism, a horizontal plane positioning mechanism 500, a puncture needle angle adjusting mechanism 600, and a puncture needle guide mechanism 700, wherein the XYZ three-axis linear motion mechanism is in control connection with the horizontal plane positioning mechanism 500, the horizontal plane positioning mechanism 500 is in control connection with the puncture needle angle adjusting mechanism 600, the puncture needle angle adjusting mechanism 600 is in control connection with the puncture needle guide mechanism 700, the bottom of the XYZ three-axis linear motion mechanism is mounted on the mobile carrier 100, the mobile carrier 100 can move on the ground with a first degree of freedom, the XYZ three-axis linear motion mechanism is a second degree of freedom, a third degree of freedom, a fourth degree of freedom, the horizontal plane positioning mechanism 500 is a fifth degree of freedom, the puncture needle angle adjusting mechanism 600 is a sixth degree of freedom, and, the puncture needle is punctured and positioned by the multi-dimensional positioning mechanism (seven degrees of freedom).
Regarding the first embodiment of the XYZ triaxial linear motion mechanism, the XYZ triaxial linear motion mechanism includes an X axis linear motion mechanism 200, a Y axis linear motion mechanism 300, a Z axis linear motion mechanism 400, and a first link 810 and a second link 820, the X axis linear motion mechanism 200 is fixed on the mobile carrier 100, the Z axis linear motion mechanism 400 is connected to the X axis linear motion mechanism 200 through the first link 810, the Z axis linear motion mechanism 400 is connected to the Y axis linear motion mechanism 300 through the second link 820, and the Y axis linear motion mechanism 300 is in control connection with the horizontal plane positioning mechanism 500.
Regarding the second embodiment of the XYZ triaxial linear motion mechanism, the XYZ triaxial linear motion mechanism includes an X axis linear motion mechanism 200, a Y axis linear motion mechanism 300, a Z axis linear motion mechanism 400, and a first link 810 and a second link 820, the Y axis linear motion mechanism 300 is fixed on the mobile carrier 100, the Z axis linear motion mechanism 400 is connected to the Y axis linear motion mechanism 300 through the first link 810, the Z axis linear motion mechanism 400 is connected to the X axis linear motion mechanism 200 through the second link 820, and the X axis linear motion mechanism 200 is in control connection with the horizontal plane positioning mechanism 500.
In the first and second embodiments of the XYZ three-axis linear motion mechanism, the X-axis linear motion mechanism 200 or the Y-axis linear motion mechanism 300 may be fixed to the movable stage 100, and the Z-axis linear motion mechanism 400 may be connected and controlled, and then the Z-axis linear motion mechanism may be correspondingly connected and controlled to the Y-axis linear motion mechanism 300 or the X-axis linear motion mechanism 200. In particular, the XYZ three-axis linear motion mechanism, including but not limited to, is composed of 3 or more than 3 non-parallel linear motion mechanisms in any order.
The mobile carrier 100 includes:
the chassis 110, the chassis 110 is used as a robot base for fixing various elements, and the X-axis linear motion mechanism 200 or the Y-axis linear motion mechanism 300 is directly fixed on the chassis 110;
and the lifting assembly 120 is arranged at the lower part or the side surface of the chassis 110 and is used for lifting and lowering the robot, and when the lifting assembly is lifted, the stability of the puncture robot in the operation process can be ensured. When the puncture robot descends, the puncture robot moves through the roller 130;
and the roller 130, wherein the roller 130 is arranged at the lower part of the chassis 110.
The horizontal positioning mechanism 500 comprises a first rotary motion mechanism 510, a second rotary motion mechanism 520 and a third connecting rod 830, the first rotary motion mechanism 510 and the second rotary motion mechanism 520 are connected through the third connecting rod 830, the axes of the first rotary motion mechanism 510 and the second rotary motion mechanism 520 are arranged in parallel, the first rotary motion mechanism 510 is connected with the tail end of the XYZ three-axis linear motion mechanism through a fourth connecting rod 840, and the horizontal positioning mechanism 500 can control the orientation of the puncture needle guide mechanism 700, so that the requirements of certain special scenes can be met. Such as optical navigation, etc.
The puncture needle angle adjustment mechanism 600 comprises a third rotation movement mechanism 610, a fifth connecting rod 850 and a fourth rotation movement mechanism 620, wherein the third rotation movement mechanism 610 and the fourth rotation movement mechanism 620 are connected through the fifth connecting rod 850, the axes of the third rotation movement mechanism 610 and the fourth rotation movement mechanism 620 are vertically arranged, and the third rotation movement mechanism 610 is connected with the second rotation movement mechanism 520 of the horizontal positioning mechanism 500 through a sixth connecting rod 860.
The puncture needle guide mechanism 700 comprises a clamping mechanism 710 and a laser emission module 720, the axis of the laser emission module 720 is parallel to the space of the axis where the clamping objects of the clamping mechanism 710 are located, a circuit board 730 for controlling the laser emission module 720 is further arranged on the puncture needle guide mechanism 700, the clamping mechanism 710 is connected with a fourth rotary motion mechanism 620, a clamping jaw 740 which can be opened and closed is arranged at the tail end of the clamping mechanism 710, and the clamping jaw 740 is arranged at the tail end of the clamping mechanism 710 through a tail end flange 750.
The first rotating motion mechanism 510, the second rotating motion mechanism 520, the third rotating motion mechanism 610 and the fourth rotating motion mechanism 620 are provided with power-off brakes, so that the mechanical arm is prevented from any displacement after abnormal power failure, and the safety is ensured.
According to the structure of the seven-degree-of-freedom puncture robot, the puncture needle clamped by the needle clamping component is positioned through the multi-dimensional positioning mechanism (seven-degree-of-freedom), and the seven-degree-of-freedom puncture robot has the advantages of compact structure, high positioning precision, large working range and high safety; the clamping mechanism can be clamped and loosened, so that the requirements of multi-needle puncture and multiple times of puncture are met; and multiple degrees of freedom can meet the requirements of different working spaces and different functions. Each rotary motion mechanism is provided with a power-off brake device, so that the mechanical arm is prevented from any displacement after abnormal power failure, and the safety is ensured. The robot can make up the defects of manual puncture and the existing puncture robot, help doctors to perform better operations, and improve the safety and success rate of the operations.
Claims (8)
1. The seven-degree-of-freedom puncture robot is characterized by comprising a mobile bearing platform, an XYZ three-axis linear motion mechanism, a horizontal plane positioning mechanism, a puncture needle angle adjusting mechanism and a puncture needle guide mechanism, wherein the XYZ three-axis linear motion mechanism is in control connection with the horizontal plane positioning mechanism, the horizontal plane positioning mechanism is in control connection with the puncture needle angle adjusting mechanism, the puncture needle angle adjusting mechanism is in control connection with the puncture needle guide mechanism, and the bottom of the XYZ three-axis linear motion mechanism is mounted on the mobile bearing platform.
2. The seven-degree-of-freedom puncture robot according to claim 1, wherein the XYZ three-axis linear motion mechanism comprises an X-axis linear motion mechanism, a Y-axis linear motion mechanism, a Z-axis linear motion mechanism, and a first connecting rod and a second connecting rod, the X-axis linear motion mechanism is fixed on the mobile carrier, the Z-axis linear motion mechanism is connected with the X-axis linear motion mechanism through the first connecting rod, the Z-axis linear motion mechanism is connected with the Y-axis linear motion mechanism through the second connecting rod, and the Y-axis linear motion mechanism is in control connection with the horizontal plane positioning mechanism.
3. The seven-degree-of-freedom puncture robot according to claim 1, wherein the XYZ three-axis linear motion mechanism comprises an X-axis linear motion mechanism, a Y-axis linear motion mechanism, a Z-axis linear motion mechanism, and a first connecting rod and a second connecting rod, the Y-axis linear motion mechanism is fixed on the mobile carrier, the Z-axis linear motion mechanism is connected with the Y-axis linear motion mechanism through the first connecting rod, the Z-axis linear motion mechanism is connected with the X-axis linear motion mechanism through the second connecting rod, and the X-axis linear motion mechanism is in control connection with the horizontal positioning mechanism.
4. The seven degree-of-freedom piercing robot of claim 1, wherein the mobile carrier stage comprises:
the chassis is used as a robot base and used for fixing all elements;
the lifting assembly is arranged at the lower part or the side surface of the chassis and is used for lifting and lowering the robot;
and the roller is arranged on the lower part of the chassis.
5. The seven-degree-of-freedom piercing robot according to claim 1, wherein the horizontal positioning mechanism includes a first rotary motion mechanism, a second rotary motion mechanism, and a third link, the first rotary motion mechanism and the second rotary motion mechanism are connected by the third link, axes of the first rotary motion mechanism and the second rotary motion mechanism are arranged in parallel, and the first rotary motion mechanism is connected with a distal end of the XYZ three-axis linear motion mechanism by a fourth link.
6. The seven-degree-of-freedom puncture robot according to claim 5, wherein the puncture needle angle adjustment mechanism comprises a third rotary motion mechanism, a fifth link and a fourth rotary motion mechanism, the third rotary motion mechanism and the fourth rotary motion mechanism are connected through the fifth link, the axes of the third rotary motion mechanism and the fourth rotary motion mechanism are vertically arranged, and the third rotary motion mechanism is connected with the second rotary motion mechanism of the horizontal positioning mechanism through a sixth link.
7. The seven-degree-of-freedom puncture robot according to claim 6, wherein the puncture needle guide mechanism comprises a clamping mechanism and a laser emission module, the axis of the laser emission module is spatially parallel to the axis of a clamped object of the clamping mechanism, the clamping mechanism is connected with a fourth rotary motion mechanism, a clamping jaw which can be opened and closed is installed at the tail end of the clamping mechanism, and the clamping jaw is installed at the tail end of the clamping mechanism through a tail end flange.
8. The seven-degree-of-freedom piercing robot of claim 7, wherein the first rotary motion mechanism, the second rotary motion mechanism, the third rotary motion mechanism, and the fourth rotary motion mechanism are provided with a power-off brake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110527851.1A CN113100950A (en) | 2021-05-14 | 2021-05-14 | Seven-degree-of-freedom puncture robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110527851.1A CN113100950A (en) | 2021-05-14 | 2021-05-14 | Seven-degree-of-freedom puncture robot |
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| CN113100950A true CN113100950A (en) | 2021-07-13 |
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| CN202110527851.1A Pending CN113100950A (en) | 2021-05-14 | 2021-05-14 | Seven-degree-of-freedom puncture robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114469282A (en) * | 2022-03-31 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Orthogonal structure five-degree-of-freedom puncture robot |
| CN114469283A (en) * | 2022-03-31 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Connecting rod type four-freedom-degree puncture needle positioning and guiding device |
| CN115317089A (en) * | 2022-06-06 | 2022-11-11 | 安徽百诺佳医疗科技有限公司 | Seven-degree-of-freedom puncture robot |
| CN115998389A (en) * | 2023-03-24 | 2023-04-25 | 浙江伽奈维医疗科技有限公司 | Composite guiding front-end device of surgical robot and positioning method |
-
2021
- 2021-05-14 CN CN202110527851.1A patent/CN113100950A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114469282A (en) * | 2022-03-31 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Orthogonal structure five-degree-of-freedom puncture robot |
| CN114469283A (en) * | 2022-03-31 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Connecting rod type four-freedom-degree puncture needle positioning and guiding device |
| CN115317089A (en) * | 2022-06-06 | 2022-11-11 | 安徽百诺佳医疗科技有限公司 | Seven-degree-of-freedom puncture robot |
| CN115317089B (en) * | 2022-06-06 | 2024-04-30 | 安徽百诺佳医疗科技有限公司 | Seven-degree-of-freedom puncture robot |
| CN115998389A (en) * | 2023-03-24 | 2023-04-25 | 浙江伽奈维医疗科技有限公司 | Composite guiding front-end device of surgical robot and positioning method |
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