CN113878590A - Robot system with automatic planning and liposuction functions - Google Patents
Robot system with automatic planning and liposuction functions Download PDFInfo
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- CN113878590A CN113878590A CN202110433266.5A CN202110433266A CN113878590A CN 113878590 A CN113878590 A CN 113878590A CN 202110433266 A CN202110433266 A CN 202110433266A CN 113878590 A CN113878590 A CN 113878590A
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- liposuction
- fat
- pumping
- planning
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M1/00—Suction or pumping devices for medical purposes; Devices for carrying-off, for treatment of, or for carrying-over, body-liquids; Drainage systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a robot system with an automatic fat pumping planning function. The robot system comprises a binocular camera (1), a telescopic mechanical arm (2), a telescopic mechanical arm (3), a liposuction end (4), a liposuction liquid collecting device (5), a triangular sucker (6), a sterilizing device (7), a bed body (8), a stand (9), a liposuction needle head (10), a telescopic injector (11), a sprayer (12), an electromagnet (13) and an ultrasonic probe (14); the robot can complete the fat layer detection, the fat pumping planning and the fat pumping operation completely and automatically, and can also perform the fat pumping operation manually. The robot of the invention is accurate and safe, avoids the influence of the subjective proficiency of a liposuction operator on the liposuction operation effect, and can avoid infection, asymmetry, unevenness, skin numbness, skin necrosis or fat embolism after the liposuction operation.
Description
Technical Field
The invention relates to a robot system with an automatic fat pumping planning function, belongs to the technical field of robots, and particularly relates to a robot structure design.
Background
Currently, liposuction generally refers to the extraction of fat in medical operations, and belongs to one of the body sculpturing operations in plastic and cosmetic surgery. In the conventional liposuction operation, a small hole is cut in the skin to be liposucted, and after the cannula is inserted, the cannula is moved in a certain direction to perform liposuction. The cannula is formed of a tube having an empty interior, and negative pressure is applied to the interior of the cannula by suction to draw fat out of the body. In the common liposuction operation at present, a liposuction doctor needs to hold a liposuction tool to stretch and draw fat back and forth, and the process requires fine operation, so the postoperative effect depends on the operation skill of the doctor seriously, and if the operation is improper, complications such as unevenness and adhesion of an operation area can be caused, the appearance is influenced, and even the life of a patient is threatened; moreover, the manual liposuction is long-time and high-intensity physical labor, and the muscle fatigue of hands of liposuction doctors is easily caused, so that the operation flexibility and the operation safety are influenced.
Disclosure of Invention
The invention provides a robot system with an automatic fat-pumping planning function, wherein a robot mechanical arm with the structural characteristics can stretch and rotate, and the automatic fat-pumping planning of a robot is realized through a fat layer image or model acquisition module, a fat-pumping planning module, a fat-pumping operation module and a disinfection device.
A robot system with an automatic planning and fat pumping function comprises a binocular camera, a telescopic mechanical arm, a fat pumping end, a fat pumping liquid collecting device, a triangular sucker, a sterilizing device, a bed body, a stand, a fat pumping needle head, a telescopic injector, a sprayer, an electromagnet and an ultrasonic probe;
a robot system with automatic fat-pumping planning function is composed of fat layer detecting unit, fat-pumping planning system, fat-pumping operation system and disinfecting device. The binocular camera is connected on the arm, can gather the global image and estimate the distance, two scalable arms and bed body fixed connection, telescopic joint can stretch out and draw back on the scalable arm, the revolute joint can pivoting, the higher overhanging end at the arm is connected to the binocular camera, the triangle sucking disc is served at another arm is overhanging through the hub connection, can stretch out and draw back and reciprocate at the arm at random, take out the fat end and serve at lower overhanging through the hub connection, and can pivoting. Degassing unit can open and shut, and the pallet adopts fixed connection with degassing unit, the bed body and take out fixed connection between the fat liquid collection device, the electro-magnet, the sprayer, ultrasonic probe and take out fat end be fixed connection, but telescopic injector connects inside taking out fat end.
The invention has the advantages that:
(1) the robot system can complete the fat layer detection, the fat pumping planning and the fat pumping operation completely and automatically, and can also perform the fat pumping operation manually;
(2) the robot system is accurate and safe in operation, and the influence of the subjective proficiency of a liposuction operator on the liposuction operation effect is avoided;
(3) can avoid postoperative infection, asymmetry, unevenness, numbness of skin, skin necrosis or fat embolism and other sequelae after liposuction surgery;
drawings
Fig. 1 is an overall schematic diagram of a robot system with an automatic fat-pumping planning function according to the present invention (yellow part assumes fat region);
FIG. 2 is a schematic view of a disinfection device of a robot system with an automatic liposuction planning function according to the present invention;
FIG. 3 is a schematic diagram of a liposuction end of a robotic system with an automatic liposuction planning function according to the present invention;
FIG. 4 is a liposuction plot of a hypothetical fat region;
fig. 5 is a diagram illustrating the voxel after dividing the current liposuction site according to the embodiment of the present invention on the left, and a diagram illustrating the voxel after liposuction in the embodiment of the present invention on the right;
the multifunctional medical fat extraction device comprises 1-binocular camera, 2-telescopic mechanical arm, 3-telescopic mechanical arm, 4-fat extraction end, 5-fat extraction liquid collection device, 6-triangular sucker (containing pressure sensor), 7-disinfection device, 8-bed body, 9-stand, 10-fat extraction needle, 11-telescopic injector, 12-sprayer, 13-electromagnet, 14-ultrasonic probe, 15-preoperative fat extraction part epithelial tissue and fascia, 16-preoperative fat extraction part fat layer, 17-postoperative fat extraction part epithelial tissue and fascia, and 18-postoperative fat extraction part fat layer.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The robot system with the automatic fat pumping planning function comprises a binocular camera 1, a telescopic mechanical arm 2, a telescopic mechanical arm 3, a fat pumping end 4, a fat pumping liquid collecting device 5, a triangular sucker 6 (including a pressure sensor), a sterilizing device 7, a bed body 8, a stand 9, a fat pumping needle 10, a telescopic injector 11, a sprayer 12, an electromagnet 13 and an ultrasonic probe 14, as shown in figure 1.
A robot system with automatic fat-pumping planning function is composed of fat layer detecting unit, fat-pumping planning system, fat-pumping operation system and disinfecting device. Binocular camera 1 is connected on arm 2, can gather the global image, two scalable arms 1, 2 and the 8 fixed connection of the bed body, scalable arm 1, the flexible joint on 2 can stretch out and draw back, the revolute joint can pivoting, binocular camera 1 is connected on the higher overhanging end of arm 2, triangular suction cup 6 is served through the shaft coupling 3 overhanging of another arm, can stretch out and draw back and reciprocate at random arm 3, take out fat end 4 and serve at lower overhanging through the shaft coupling, and can pivot. Degassing unit 7 (sterilizer) can open and shut, and rack 9 and degassing unit 7 adopt fixed connection, fixed connection between the bed body 8 and the liposuction liquid collection device, electro-magnet 13, sprayer 12, ultrasonic probe 14 and liposuction end 4 are fixed connection, and telescopic injector 11 is connected in the inside of liposuction end 4.
The pressure sensor of the triangular sucker of the robot system can detect and feed back the pressure in real time, so that the liposuction part can be fixed.
The robot system with the automatic planning and liposuction functions can adjust the included angle between two adjacent joints of the robot by changing the structural parameters under the condition of keeping the structural form unchanged.
The terms "mounted," "connected," and "connected" are to be construed broadly and may include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The binocular camera 1 can be fixed above the bed body directly by using a support, can also be fixed on an operating arm platform, is driven by using a program, and can be used for positioning subsequent mechanical arms and needles to realize all-dimensional observation.
The binocular camera 1 is used for determining the positions and distances of limbs and abdomen, marking and feeding back data to the processing system to serve as common liposuction positions. After the position information is obtained, the system drives the mechanical arm 2 loading platform to pull the liposuction end 4, and an ultrasonic probe 14 fixed at the front end of the liposuction end is used for detecting and scanning the fat layer.
In the liposuction planning system, the computer may be used to divide the fat layer into several parts, and the liposuction image is calculated for each part based on the preset fat thickness to determine whether liposuction needs to be performed. If a certain part needs to be degreased, the computer divides the part of the fat layer into a plurality of square cells (as shown in fig. 4), then uses a infinitesimal method to calculate a fat layer image after the grease extraction (assuming that the fat layer is thicker and uneven on the left side of fig. 5) by comparing the current fat layer with the preset fat thickness after the grease extraction (assuming that the fat layer is thinner and flat on the right side of fig. 5), and calculates the most appropriate fat extraction position and fat extraction amount according to the mechanical deformation characteristics of the three-dimensional image, so as to achieve balanced and coordinated appearance after the fat extraction of each part. And feeds back the liposuction amount to the liposuction system.
The mechanical arm 3 can fix a planned liposuction area by using the triangular sucker 6, so that the vibration generated when the mechanical arm moves is prevented from generating position deviation, and the deviation between the liposuction area and the fat layer projection caused by the unconscious movement of a human body is prevented.
The liposuction operation system can lead the liposuction end 4 to move to a liposuction position by the mechanical arm 2 when liposuction operation is started. And then the mechanical arm 2 controls the injector 11 at the liposuction end to inject the specially prepared swelling solution into the liposuction part planned by the previous liposuction planning system, local anesthesia is carried out, the volume of fat cells is expanded and becomes a liquefied state, the injector 11 is pulled out from the liposuction end 4 after the injection is finished, and the injector 11 is retracted.
The amount of tumescent fluid during the liposuction procedure can be calculated and controlled by a computerized liposuction planning system. After the injection of the tumescent solution is completed, the liposuction end is switched to the sprayer 12, and the sprayer 12 sprays the couplant uniformly according to the planned position of the liposuction planning system.
The ultrasonic probe 14 at the liposuction end still slowly makes a circular motion at the liposuction part of the patient according to the positions in the previous two steps, the probe 14 can be controlled by a microcomputer, and ultrasonic waves with certain frequency and certain energy can be emitted subcutaneously through external ultrasonic equipment to cause cell rupture. The last step is to suck out fat, the fat sucking end can be pulled by the mechanical arm 2 to move into the sterilizing device 7, and the fat sucking needle 9 placed on the stand 8 can be taken out by the electromagnet 13.
The liposuction end 4 can be installed with a liposuction needle head by an electromagnet (or other principles and structures for fixing the needle tube), the needle head enters into the subcutaneous space from a small cut, and cell fragments and emulsified fatty liquid can be sucked out of the body by negative pressure. The other end of the catheter to which the liposuction needle is connected to a fat fluid collecting device 5 of the liposuction system, and the fluid sucked by the liposuction needle in the above process can be conveyed into the fat fluid collecting device 5. After the whole liposuction action is finished, the mechanical arm 2 draws the liposuction needle head out of the liposuction incision part, and then the mechanical arm liposuction end 4 is retracted.
The disinfection system 7 can utilize the ultraviolet lamp and the disinfectant spray head to disinfect the pumping pointer head and prepare for the next grease pumping operation.
The liposuction process is a realization mode in liposuction operation, if several operation elements at the liposuction end are improved, combined, connected and the like, so that the liposuction operation is simpler and more convenient, and the liposuction action is changed, which is only a preferred embodiment of the invention and is also included in the protection scope of the patent.
The working process is as follows:
when the robot system starts to work, firstly, when the binocular camera is used for detecting the fat layer, the positions and the distances of four limbs and the abdomen are determined, and data are marked and fed back to the processing system to serve as common liposuction positions. After the position information is obtained, the system drives the mechanical arm loading platform to pull the liposuction end to perform detection scanning on the fat layer by using the ultrasonic probe.
And after the fat layer detection and scanning are finished, carrying out image recognition processing to obtain a fat layer distribution image of the target fat-pumping part of the human body, and feeding back the fat layer distribution image to the fat-pumping planning system according to the obtained fat layer image.
In the liposuction planning system, a computer calculates a liposuction fat layer image according to a preset liposuction fat thickness, compares the liposuction fat layer image with the liposuction fat layer image, determines whether liposuction is needed or not according to a designed algorithm, and if liposuction is needed, the computer calculates the most appropriate liposuction position and liposuction amount according to the mechanical deformation characteristics of a three-dimensional image and the like so as to achieve balanced and coordinated appearance of each part after liposuction. And feeds back the liposuction amount to the liposuction system.
In the process of liposuction, the triangular sucker fixes and plans the liposuction area, so that the vibration generated when the mechanical arm moves is prevented from generating position deviation, and the deviation between the liposuction area and the fat layer projection caused by the unconscious movement of the human body is prevented.
When the liposuction operation is started, the mechanical arm pulls the liposuction end to move to the liposuction position. And then, the mechanical arm controls an injector at the liposuction end to inject a specially prepared swelling solution into a liposuction part planned by a previous liposuction planning system, local anesthesia is carried out, and the volume of fat cells is expanded to be in a liquefied state. And after the injection is finished, the liposuction end is pulled out of the injector. The amount of tumescent fluid in the procedure was calculated and controlled by the computerized liposuction planning system.
And then the grease pumping end is switched to the sprayer, and the sprayer uniformly sprays the couplant according to the planned position of the grease pumping planning system. Then the liposuction end is switched to an ultrasonic probe, and still slowly and circularly moves at the liposuction part of the patient according to the positions in the previous two steps, the probe is controlled by a microcomputer, and ultrasonic waves with certain frequency and certain energy are emitted subcutaneously through external ultrasonic equipment to cause cell rupture.
And finally, sucking out fat, drawing the fat sucking end by a mechanical arm to move into the disinfection device, taking out the fat sucking end and installing a fat sucking needle, inserting the needle into the subcutaneous space, and sucking out cell fragments and emulsified fat liquid by using negative pressure. The other end of the catheter connected with the liposuction needle is connected into a fat liquid collecting device of the liposuction system.
After the whole liposuction action is finished, the mechanical arm draws the liposuction needle head out of the liposuction incision part, and then the liposuction end of the mechanical arm is retracted. The mechanical arm drives the liposuction end to move to the disinfection system, the pumping pointer head is detached, and the disinfection system can utilize the ultraviolet lamp and the disinfectant spray head to disinfect the pumping pointer head so as to prepare for the next liposuction operation.
Claims (6)
1. A robot system with an automatic planning and fat pumping function comprises a binocular camera (1), a telescopic mechanical arm (2), a telescopic mechanical arm (3), a fat pumping end (4), a fat pumping liquid collecting device (5), a triangular sucker (6), a sterilizing device (7), a bed body (8), a stand (9), a fat pumping needle head (10), a telescopic injector (11), a sprayer (12), an electromagnet (13) and an ultrasonic probe (14);
a robot system with automatic fat-pumping planning function is composed of fat layer detecting unit, fat-pumping planning system, fat-pumping operation system and disinfecting device. Binocular camera (1) is connected on arm (2), can gather the global image, two scalable arm (1), (2) and bed body (8) fixed connection, scalable arm (1), (the expansion joint on 2) can stretch out and draw back, the revolute joint can rotate around the axle, binocular camera (1) is connected on the higher overhanging end of arm (2), triangle sucking disc (6) are held at another arm (3) are overhanging through the hub connection, can stretch out and draw back and reciprocate by arm 3 at random, liposuction end (4) are held at lower overhanging through the hub connection, and can rotate around the axle. Degassing unit 7 can open and shut, and stand (9) and degassing unit (7) adopt fixed connection, fixed connection between bed body (8) and the liposuction liquid collection device, electro-magnet (13), sprayer (12), ultrasonic probe (14) and liposuction end (4) are fixed connection, and telescopic injector (11) is connected in the inside of liposuction end (4).
The pressure sensor of the triangular sucker of the robot system can detect pressure in real time, and the position of liposuction can be fixed.
2. The robotic system with automated liposuction planning function of claim 1, wherein the fat layer detecting unit uses ultrasound to scan the skin tomographic structure (or other imaging methods) to estimate the thickness of the subcutaneous fat layer and the distribution of fat.
3. The system of claim 1, wherein the computer image recognition and processing system and the liposuction planning system are configured to design and plan an optimal liposuction position by the recognition processing of the detected fat layer image by the computer.
4. The robotic system with automated liposuction planning function of claim 1, wherein the liposuction surgical system performs liposuction according to the planned liposuction position.
5. The robotic system with automated liposuction planning capability of claim 1, wherein the liposuction disinfection system is configured to disinfect the body contacting components used for liposuction after liposuction is completed.
6. The robotic system with automated liposuction planning function of claim 1, wherein the robotic system is capable of performing liposuction, liposuction planning, and liposuction completely autonomously, or manually.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114795314A (en) * | 2022-05-13 | 2022-07-29 | 卢建伟 | Liposuction surgery system based on Internet of things |
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| Publication number | Priority date | Publication date | Assignee | Title |
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