CN114271946B - Automatic positioning mechanical arm of interventional robot - Google Patents
Automatic positioning mechanical arm of interventional robot Download PDFInfo
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- CN114271946B CN114271946B CN202210060526.3A CN202210060526A CN114271946B CN 114271946 B CN114271946 B CN 114271946B CN 202210060526 A CN202210060526 A CN 202210060526A CN 114271946 B CN114271946 B CN 114271946B
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Abstract
The invention relates to an automatic positioning mechanical arm of an interventional robot, which comprises a base component, wherein the bottom of the base component can slide on a catheter bed; one end of the mechanical arm is rotationally connected to the top of the base assembly and can move along the height direction of the base assembly, and the other end of the mechanical arm is rotationally connected with the propelling mechanism; the mechanical arm is divided into a rear arm, a middle arm and a front arm which are connected in turn in a rotating way, and the front arm is connected with the propelling mechanism in a rotating way; the camera component is arranged on the forearm and used for capturing the position information of the sheath and the Y valve on the propulsion mechanism; the infrared sensor is arranged on the forearm and used for detecting whether an obstacle exists around the mechanical arm in the moving process of the mechanical arm; the host is used for acquiring position information of the sheath and the Y valve fed back by the camera component, calculating and determining the final moving position of the propulsion mechanism, and acquiring barrier information fed back by the infrared sensor; the actuating mechanisms controlling the base assembly, the rear arm, the middle arm and the front arm automatically move. According to the invention, the mechanical arm is not required to be manually adjusted, so that the positioning efficiency and the positioning precision of the propulsion mechanism are improved.
Description
Technical Field
The invention relates to the technical field of minimally invasive vascular interventional procedures, in particular to an automatic positioning mechanical arm of an interventional robot.
Background
During the intervention operation, because the DSA can emit X rays, the physical strength of doctors is reduced rapidly, the attention and the stability are also reduced, the operation precision is reduced, and accidents such as vascular intima injury, vascular perforation rupture and the like caused by improper pushing force are easy to occur, so that the life of patients is dangerous. The accumulation of ionizing radiation for a long period of time greatly increases the chances of a doctor suffering from leukemia, cancer, and acute cataract. The phenomenon that doctors continuously accumulate rays due to interventional operations has become a non-negligible problem for damaging the professional lives of doctors and restricting the development of interventional operations. The problem can be effectively solved by means of the robot technology, the accuracy and stability of operation can be greatly improved, meanwhile, the damage of radioactive rays to interventional doctors can be effectively reduced, and the occurrence probability of accidents in operation is reduced. Therefore, the auxiliary robots for cardiovascular and cerebrovascular intervention operation are more and more focused, and become the key research and development objects of the present science and technology in the field of medical robots.
At present, the mechanical arm of the interventional operation robot has the following problems in China: (1) passive positioning is generally adopted, and autonomous positioning cannot be realized; (2) The moving process needs to be dragged with force, so that the use is inconvenient, and the positioning efficiency is low; (3) Accurate positioning cannot be achieved, and manual adjustment is often not in place.
Therefore, how to provide an interventional robot automatic positioning mechanical arm is a problem to be solved by those skilled in the art.
Disclosure of Invention
Therefore, the invention aims to provide the automatic positioning mechanical arm of the interventional robot, and solve the defects of the mechanical arm of the interventional operation robot in the prior art.
The invention provides an interventional robot automatic positioning mechanical arm, comprising:
the bottom of the base component can slide on the catheter bed;
one end of the mechanical arm is rotationally connected to the top of the base assembly and can move along the height direction of the base assembly, and the other end of the mechanical arm is rotationally connected with the propelling mechanism; the mechanical arm is divided into a rear arm, a middle arm and a front arm which are connected in turn in a rotating way, and the front arm is connected with the propulsion mechanism in a rotating way;
the camera component is arranged on the forearm and used for capturing the position information of the sheath and the Y valve on the propulsion mechanism;
the infrared sensor is arranged on the forearm and used for detecting whether an obstacle exists around the robot arm in the moving process of the robot arm; and
the host is used for acquiring position information of the sheath and the Y valve fed back by the camera assembly, calculating and determining the final moving position of the propulsion mechanism, and acquiring barrier information fed back by the infrared sensor; and the actuating mechanisms for controlling the base assembly, the rear arm, the middle arm and the front arm automatically move.
Compared with the prior art, the invention discloses the automatic positioning mechanical arm of the interventional robot, wherein the host acquires the position information of the sheath and the Y valve fed back by the camera component, calculates and determines the final moving position of the propelling mechanism, and acquires the barrier information fed back by the infrared sensor; the actuating mechanisms for controlling the base assembly, the rear arm, the middle arm and the front arm automatically move, the mechanical arm does not need to be manually adjusted, and the positioning efficiency and the positioning precision of the propelling mechanism are improved.
Further, the base assembly includes: the lifting device comprises a base body, a lifting driving part, a sliding part, a connecting piece and a travel switch; the side surface of the base body is provided with a U-shaped groove matched with the guide rail of the catheter bed, and a cross brace which is used for being matched with the catheter bed and supporting the mechanical arm on the catheter bed is connected above the U-shaped groove; the top of the base body is vertically connected with two parallel beams, sliding parts are arranged on the two parallel beams, the sliding parts are rotatably supported on a lifting driving part on the base body and move up and down along with the lifting driving part, and a travel switch is arranged at the upper limit position and the lower limit position of the movement of the sliding parts; the side face of the sliding part is fixedly provided with a connecting piece which is used for being rotationally connected with the rear arm.
Further, the sliding part comprises two groups of linear guide rails, the two linear guide rails are correspondingly fixed on the two beams, each linear guide rail slides two sliding blocks, and the four sliding blocks jointly fix the connecting piece; the connecting piece is right angle connecting piece, is connected with the base pivot that is used for connecting the rear arm on the plane that its top formed vertically, right angle connecting piece is close to the slider side have with lift drive portion complex cooperation portion.
Further, the lifting driving part is a screw rod and a bearing, the bottom of the screw rod is driven by a screw rod servo motor, the top of the screw rod is connected with a bearing seat through the bearing, the bearing seat is connected with the tops of the two beams, and the screw rod servo motor is connected with the host; the matching part is a screw nut.
Further, the rear arm includes: the rear arm cross arm is horizontally arranged, the first end of the rear arm cross arm is provided with a rear arm driving part connected with the base rotating shaft, the second end of the rear arm cross arm is provided with a rear arm connecting part connected with the middle arm, and the rear arm connecting part is provided with a rear arm rotating shaft which is vertically upwards arranged.
Further, the rear arm driving part includes: the rear arm clamping block, the base rotating shaft lubricating shaft sleeve, the rear arm motor bracket and the rear arm servo motor; the first end of the rear arm cross arm is connected with a rear arm clamping groove, the bottom of the rear arm clamping groove is provided with a rear arm rotating shaft connecting hole, the shape of the rear arm clamping block is matched with that of the rear arm clamping groove, the middle of the rear arm clamping block is provided with a connecting hole I which is coaxially arranged with the rear arm rotating shaft connecting hole, one end of the rear arm clamping groove is open, the side, close to the open, of the rear arm clamping block is provided with a clamping end, the connecting hole I is internally provided with a base rotating shaft lubricating shaft sleeve, the rear arm motor support is fixed at the top of the rear arm clamping block, the rear arm servo motor is connected with the rear arm motor support, and an output shaft of the rear arm servo motor is downwards inserted into a driving hole in the top of the base rotating shaft and connected with the host.
Further, the rear arm connecting portion comprises a first connecting disc and a rear arm limiting piece, wherein the first connecting disc and the rear arm limiting piece are arranged at the second end of the rear arm cross arm, two rear arm limiting pieces are arranged on two sides of the outer wall of the first connecting disc, limiting screws matched with the rear arm limiting pieces are arranged at the bottom of the middle arm to form a limiting mechanism used for limiting rotation of the rear arm cross arm, and the rear arm rotating shaft is fixed on the first connecting disc.
Further, the middle arm and the rear arm are identical in structure, and include: the middle arm cross arm is horizontally arranged, a middle arm driving part connected with the rear arm rotating shaft is arranged at the first end of the middle arm cross arm, a middle arm connecting part connected with the front arm is arranged at the second end of the middle arm cross arm, a front arm rotating shaft vertically upwards arranged is arranged on the middle arm connecting part, and the middle arm driving part is connected with the host.
Further, the forearm includes: the connecting beam is an L-shaped plate, one end of the connecting beam is connected with the forearm rotating shaft through the forearm driving part, and the other end of the connecting beam is rotationally connected with the propulsion mechanism through the forearm connecting part; the camera assembly comprises two cameras, the two cameras are fixed on one end of the L-shaped plate through a camera connecting piece and used for capturing the positions of the sheath and the Y valve, the host obtains the distance between the sheath and the Y valve through the angle difference of the two cameras, so that the final moving position of the propelling mechanism is calculated, and then the host calculates the corresponding rotation angle of each rotating shaft respectively, so that the rotation angle of each servo motor is calculated to control; the infrared sensor is arranged at the other end of the L-shaped plate.
Further, the forearm driving part comprises a forearm clamping groove, a forearm clamping block, a forearm motor bracket and a forearm servo motor, wherein the bottom of the forearm clamping groove is fixed on the connecting beam through a connecting plate, the bottom of the forearm clamping groove is a forearm rotating shaft connecting hole, the shape of the forearm clamping block is matched with that of the forearm clamping groove, the middle of the forearm clamping block is provided with a connecting hole II which is coaxially arranged with the forearm rotating shaft connecting hole, one end of the forearm clamping groove is open, the side, close to the open, of the forearm clamping block is a clamping end, the connecting hole II is internally connected with the forearm rotating shaft, the forearm motor bracket is fixed on the top of the forearm clamping block, is connected with the forearm servo motor, and an output shaft of the forearm servo motor is downwards inserted into a driving hole at the top of the forearm rotating shaft and is connected with the host;
the forearm connecting part comprises a propulsion motor bracket, a propulsion servo motor, a propulsion clamping block, a rotating shaft bracket and a propulsion rotating shaft which are arranged at the other end of the connecting beam; the propulsion servo motor is supported at the other end of the connecting beam through the propulsion motor support, an output shaft of the propulsion servo motor is oriented to the propulsion mechanism and is connected with the host, the propulsion clamping block and the rotating shaft support are both arranged on the connecting beam, one end of the propulsion rotating shaft penetrates through shaft holes in the middle of the propulsion clamping block and the rotating shaft support, a driving hole in the end of the propulsion rotating shaft penetrates through the shaft holes in the middle of the propulsion clamping block and the rotating shaft support to be matched with the output end of the propulsion servo motor to be driven, and the other end of the propulsion rotating shaft penetrates through the shaft holes to be connected with the propulsion mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 and fig. 2 are schematic views of an overall structure of an automatic positioning mechanical arm of an interventional robot provided by the invention;
FIG. 3 is a schematic view of a base assembly;
FIG. 4 is a schematic diagram illustrating an exploded view of the base assembly;
FIG. 5 is a schematic view showing the structure of the rear arm;
FIG. 6 is a drawing illustrating an exploded view of the rear arm;
FIG. 7 is a schematic view showing the structure of the middle arm;
FIG. 8 is a drawing showing an exploded view of the middle arm;
fig. 9 is a diagram showing an exploded view of the forearm.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
Because the existing operation robot mechanical arm adopts a passive type, the moving process needs to be dragged forcefully, the operation robot mechanical arm is inconvenient to use, cannot achieve accurate positioning, is frequently not in place due to manual adjustment, and has low positioning efficiency. Accordingly, an embodiment of the present invention discloses an automatic positioning mechanical arm of an interventional robot, referring to fig. 1 and 2, including: a base assembly 100 and a mechanical arm, wherein the bottom of the base assembly 100 can slide on a catheter bed; one end of the mechanical arm is rotatably connected to the top of the base assembly 100 and can move along the height direction of the base assembly 100, and the other end of the mechanical arm is rotatably connected to the propelling mechanism 418; the mechanical arm is provided with a rear arm 200 and a middle arm 300 which are connected in turn in a rotating way, a front arm 400 is connected with the propelling mechanism 418 in a rotating way, and the rear arm 200 is connected with the base assembly 100 in a rotating way.
A camera assembly is arranged on the forearm 400 for capturing position information of the sheath and the Y valve on the propulsion mechanism 418; the front arm 400 is also provided with an infrared sensor 411 for detecting whether an obstacle exists around the robot arm in the moving process; the host is used for acquiring position information of the sheath and the Y valve fed back by the camera assembly, calculating and determining the final moving position of the propelling mechanism 418, and acquiring barrier information fed back by the infrared sensor 411; the actuators controlling the base assembly 100, the rear arm 200, the middle arm 300 and the front arm 400 are automatically moved. The host machine in the invention can be a control host machine of the whole interventional operation robot, and can also be an independent controller which can be communicated with the control host machine of the interventional operation robot, and both the control host machine and the independent controller have operation storage functions.
The invention discloses an automatic positioning mechanical arm of an interventional robot, wherein a host acquires position information of an outer sheath and a Y valve fed back by a camera component, calculates and determines the final moving position of a propulsion mechanism, and acquires barrier information fed back by an infrared sensor; the actuating mechanisms for controlling the base assembly, the rear arm, the middle arm and the front arm automatically move, the mechanical arm does not need to be manually adjusted, and the positioning efficiency and the positioning precision of the propelling mechanism are improved.
The whole mechanical arm comprises five degrees of freedom, namely the mechanical arm can move up and down on the base assembly 100, the joint of the rear arm 200 and the base assembly 100 can rotate, the joint of the rear arm 200 and the middle arm 300 can rotate, the joint of the front arm 400 and the middle arm 300 can rotate, and the joint of the front arm 400 and the propulsion mechanism can rotate.
Referring to fig. 3 and 4, the base assembly 100 of the present invention includes: a base body 108, a lift driving section, a sliding section, a connector, and a travel switch 109; the side of the base body 108 is provided with a U-shaped groove matched with a guide rail of a guide pipe bed, a cross brace 110 used for being matched with the guide pipe bed is connected above the U-shaped groove, the mechanical arm is supported on the guide pipe bed, the cross brace 110 and an adjusting piece 111 are fixed together through screws and the base 108, a silica gel pad 112 is arranged at the front end of the bottom of the cross brace 110, the cross brace 110 is used for being matched with the guide pipe bed, and the mechanical arm can be supported on the guide pipe bed; the top of the base body 108 is vertically connected with two parallel beams, sliding parts are fixed on the two parallel beams, the sliding parts are rotatably supported on a lifting driving part on the base body 108 and move up and down along with the lifting driving part, and a travel switch 109 is arranged at the upper limit position and the lower limit position of the movement of the sliding parts; a connecting member for rotatably connecting the rear arm 200 is fixed to the side of the sliding portion.
Referring to fig. 4 specifically, the sliding portion includes two sets of linear guide rails 104, two linear guide rails 104 are correspondingly fixed on two beams, two sliding blocks slide on each linear guide rail 104, and four sliding blocks jointly fix the connecting piece; the connecting piece is a right-angle connecting piece 103, a base rotating shaft 102 for connecting the rear arm 200 is vertically connected to a plane formed at the top of the connecting piece, a shaft check ring 101 is connected with the rotating shaft 102, and a matching part matched with the lifting driving part is arranged on the side, close to the sliding block, of the right-angle connecting piece 103.
The lifting driving part is a screw rod 107 and a bearing 106, the bottom of the screw rod 107 is also connected with the bearing, the lower part of the bearing is connected with a screw rod servo motor for driving, the top of the bearing is connected with a bearing seat 105 through the bearing 106, the bearing seat 105 is connected with the tops of two beams, and the screw rod servo motor is connected with the host; the matching part is a screw nut. The screw rod servo motor can drive the whole screw rod to rotate, so that the right-angle connecting piece 103 is driven to move up and down, and the whole mechanical arm can move up and down.
Referring to fig. 5 and 6, the rear arm 200 includes: the rear arm cross arm 205, a rear arm driving part and a rear arm connecting part, wherein the rear arm cross arm 205 is horizontally arranged, the first end of the rear arm cross arm is provided with the rear arm driving part connected with the base rotating shaft 102, the second end of the rear arm cross arm is provided with the rear arm connecting part connected with the middle arm 300, and the rear arm connecting part is provided with the rear arm rotating shaft 201 which is vertically upwards arranged. The rear arm shaft 201 is engaged with the lubricating pad 203, fixed by the rear arm shaft retainer 202, and then connected to the center arm 300.
Referring to fig. 6, the rear arm driving part includes: a rear arm clamping block 210, a base rotating shaft lubrication sleeve 209, a rear arm motor bracket 207 and a rear arm servo motor 206; the first end of the rear arm cross arm 205 is connected with a rear arm clamping groove, the bottom of the rear arm clamping groove is provided with a rear arm rotating shaft connecting hole, the shape of the rear arm clamping block 210 is matched with that of the rear arm clamping groove, the rear arm cross arm 205 and the rear arm clamping block 210 are fixedly connected through a screw 208, the middle of the rear arm cross arm is provided with a first connecting hole coaxially arranged with the rear arm rotating shaft connecting hole, one end of the rear arm clamping groove is open, the side, close to the open, of the rear arm clamping block 210 is a clamping end, and the first connecting hole is internally provided with a base rotating shaft lubricating shaft sleeve 209 for assisting the rotating action of a rotating shaft. The rear arm motor bracket 207 is fixed on the top of the rear arm clamping block 210, and is connected with the rear arm servo motor 206, and an output shaft of the rear arm servo motor 206 is inserted downward into a driving hole on the top of the base rotating shaft 102 and is connected with the host. The trailing arm servo motor 206 can control the trailing arm to perform a rotational motion by rotating.
Advantageously, the rear arm connection portion includes a first connection disc and a rear arm limiting member 204 disposed at a second end of the rear arm cross arm 205, two rear arm limiting members 204 are disposed at two sides of an outer wall of the first connection disc, a first limiting screw 211 disposed at a bottom of the middle arm 300 and engaged with the rear arm limiting member 204 forms a limiting mechanism for limiting rotation of the rear arm cross arm 205, for limiting rotation angle of the middle arm 300, and the rear arm rotating shaft 201 is fixed on the first connection disc.
Referring to fig. 7 and 8, the middle arm 300 is identical in structure to the rear arm 200, and includes: the middle arm cross arm 305 is horizontally arranged, a first end of the middle arm cross arm 305 is provided with a middle arm driving part connected with the rear arm rotating shaft 201, a second end of the middle arm cross arm is provided with a middle arm connecting part connected with the front arm 400, the middle arm connecting part is provided with a front arm rotating shaft 303 which is vertically upwards arranged, and the middle arm driving part is connected with the host.
Referring to fig. 8, the middle arm driving part includes: middle arm clamping block 309, middle arm shaft lubrication sleeve 308, middle arm motor bracket 307, and middle arm servo motor 306; the connection relationship is the same as that of the rear arm driving part.
The middle arm connecting part comprises a second connecting disc and a middle arm limiting part 304 which are arranged at the second end of the middle arm cross arm 305, two middle arm limiting parts 304 are arranged at two sides of the outer wall of the second connecting disc, a limiting mechanism for limiting the rotation of the middle arm cross arm 305 is formed by a second limiting screw 310 which is matched with the middle arm limiting part 304 and is arranged at the bottom of the front arm 400, and the middle arm rotating shaft 303 is fixed on the second connecting disc.
Wherein the middle arm rotating shaft 303 is matched with the middle arm lubricating pad 302, is fixed by the middle arm shaft retainer ring 301, and is then connected with the front arm 400. A mid-arm stop 304 is mounted on the mid-arm cross arm 305 for angular limiting of forearm rotation. The right end of the middle arm cross arm 305 and the middle arm clamping block 309 are connected and fixed by screws, and the middle arm rotating shaft lubricating shaft sleeve 308 is installed in a round hole of the middle arm clamping block 309 and is used for assisting the rotating action of the rotating shaft. The middle arm motor bracket 307 and the middle arm servo motor 306 are fixed together and then mounted on the middle arm clamping block 309. The right end of the middle arm cross member 305 is connected to the rear arm rotation shaft 201. The middle arm servo motor 306 can control the middle arm to rotate through rotation.
Referring to fig. 9, the forearm 400 includes: the connecting beam 410, the forearm driving part and the forearm connecting part, wherein the connecting beam 410 is an L-shaped plate, one end of the connecting beam is connected with the forearm rotating shaft 303 through the forearm driving part, and the other end of the connecting beam is rotatably connected with the propelling mechanism 418 through the forearm connecting part; the camera assembly comprises two cameras 406 and 407, wherein the two cameras 406 and 407 are fixed on one end of the L-shaped plate through a camera connecting piece 408 and are used for capturing the positions of the sheath and the Y-valve, the host obtains the distance between the sheath and the Y-valve through the angle difference of the two cameras 406 and 407, so that the final moving position of the propelling mechanism is calculated, and then the host calculates the corresponding rotation angle of each rotating shaft respectively, so that the rotation angle of each servo motor is calculated to control; the infrared sensor 411 is mounted on the other end of the L-shaped plate.
Specifically, the forearm driving part includes a forearm clamping groove 404, a forearm clamping block 403, a forearm motor bracket 402, and a forearm servo motor 401, the bottom of the forearm clamping groove 404 is fixed on the connecting beam 410 through a connecting plate 405, the bottom of the forearm clamping groove is a forearm rotating shaft connecting hole, the shape of the forearm clamping block 403 is adapted to that of the forearm clamping groove 404, the middle of the forearm clamping groove is provided with a connecting hole II coaxially arranged with the forearm rotating shaft connecting hole, one end of the forearm clamping groove is open, the forearm clamping block 403 is a clamping end near the open side, the connecting hole II is internally connected with the forearm rotating shaft 303, the forearm motor bracket 402 is fixed on the top of the forearm clamping block 403, the forearm servo motor 401 is connected thereon, and an output shaft of the forearm servo motor 401 is downwards inserted into the driving hole at the top of the forearm rotating shaft 303 and is connected with the host;
the forearm connecting part comprises a propulsion motor bracket 413, a propulsion servo motor 412, a propulsion clamping block 415, a rotating shaft bracket 416 and a propulsion rotating shaft 417 which are arranged at the other end of the connecting beam 410; the propulsion servo motor 412 is supported at the other end of the connecting beam 410 by the propulsion motor bracket 413, the output shaft thereof faces the propulsion mechanism 418 and is connected with the host, the propulsion clamping block 415 and the rotation shaft bracket 416 are both arranged at the connecting beam 410, one end of the propulsion rotation shaft 417 passes through the shaft holes in the middle of the propulsion clamping block 415 and the rotation shaft bracket 416, the driving hole at the end of the propulsion rotation shaft 417 is matched with the output end of the propulsion servo motor 412 for driving, and the other end of the propulsion rotation shaft is connected with the propulsion mechanism 418.
In the embodiment of the present invention, a driver 409 may be disposed on the connecting beam 410, and the total actuator used as a host to send instructions controls a plurality of servomotors, that is, a plurality of servomotor control parts are assembled to perform centralized control.
According to the invention, the first camera 406 and the second camera 407 are used for capturing the positions of the sheath and the Y valve, the host calculates the distance between the sheath and the Y valve through the angle difference of the two cameras, so that the final moving position of the propulsion mechanism is calculated, and then the angle at which each rotating shaft should rotate is calculated respectively, so that the rotating angle of each servo motor is calculated. After the data are obtained, the mechanical arm can automatically control each servo motor to rotate until the calculated position is reached, and the mechanical arm of the final interventional robot can realize automatic positioning under the cooperation of a plurality of servo motors. An infrared sensor 411 is mounted on the connecting beam 410, and is used for detecting whether a patient and a doctor are around the robot arm during the movement process, and is a machine protection device.
After the mechanical arm finishes the automatic positioning action, a doctor can perform subsequent operation treatment operations such as installing a Y valve and the like. In the process that the mechanical arm automatically completes positioning, an assistant in an operating room can monitor the moving process of the mechanical arm, and if unexpected actions occur, the assistant can immediately press an emergency stop switch on the host computer to stop continuous actions, so that the safety of the operation is ensured.
According to the invention, the servo motors are adopted in all joints of the mechanical arm of the interventional robot, so that each joint can realize automatic movement. The automatic positioning of the mechanical arm can be realized through integral matching. The whole structure is simple, the stability is good, and the structure is compact. The reasonable position of the actuating mechanism can be accurately calculated, so that the actuating mechanism is positioned more accurately. The invention realizes the automatic positioning of the actuating mechanism, saves the time for a doctor to manually drag the mechanical arm, and is convenient for clinical use.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Further, one skilled in the art can engage and combine the different embodiments or examples described in this specification.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (9)
1. Intervention robot automatic positioning arm, its characterized in that includes:
a base assembly (100), the base assembly (100) bottom being slidable on the catheter bed;
one end of the mechanical arm is rotationally connected to the top of the base assembly (100) and can move along the height direction of the base assembly (100), and the other end of the mechanical arm is rotationally connected with the propelling mechanism (418); the mechanical arm is divided into a rear arm (200) and a middle arm (300) which are connected in turn in a rotating way, and a front arm (400), wherein the front arm (400) is connected with the propelling mechanism (418) in a rotating way;
the camera assembly is arranged on the forearm (400) and used for capturing position information of an outer sheath and a Y valve on the propelling mechanism (418);
an infrared sensor (411), wherein the infrared sensor (411) is installed on the forearm (400) and is used for detecting whether an obstacle exists around the robot arm in the moving process; and
the host is used for acquiring position information of the sheath and the Y valve fed back by the camera assembly, calculating and determining the final moving position of the propelling mechanism (418), and acquiring barrier information fed back by the infrared sensor (411); controlling the actuators of the base assembly (100), the rear arm (200), the middle arm (300) and the front arm (400) to automatically move;
wherein the forearm (400) comprises: the connecting beam (410), forearm drive part and forearm connecting part, the said connecting beam (410) is L-shaped board, connect with forearm pivot (303) through forearm drive part on one end, connect with said propelling mechanism (418) through forearm connecting part on another end; the camera assembly comprises two cameras (406, 407), the two cameras (406, 407) are fixed on one end of the L-shaped plate through a camera connecting piece (408) and are used for capturing the positions of the sheath and the Y valve, the host obtains the distance between the sheath and the Y valve through the angle difference of the two cameras (406, 407) so as to calculate the final moving position of the propelling mechanism, and then the host calculates the corresponding rotation angle of each rotating shaft respectively so as to calculate the rotation angle of each servo motor for control; the infrared sensor (411) is mounted on the other end of the L-shaped plate.
2. The interventional robot auto-positioning robotic arm according to claim 1, wherein the base assembly (100) comprises: a base body (108), a lifting drive part, a sliding part, a connecting piece and a travel switch (109); a U-shaped groove matched with the guide rail of the catheter bed is formed in the side face of the base body (108), and a cross brace (110) which is used for being matched with the catheter bed and supporting the mechanical arm on the catheter bed is connected above the U-shaped groove; the top of the base body (108) is vertically connected with two parallel beams, sliding parts are arranged on the two parallel beams, the sliding parts are rotatably supported on a lifting driving part on the base body (108) and move up and down along with the lifting driving part, and a travel switch (109) is arranged at the upper limit position and the lower limit position of the sliding parts; the side surface of the sliding part is fixedly provided with a connecting piece which is used for being rotationally connected with the rear arm (200).
3. The automatic positioning mechanical arm of an interventional robot according to claim 2, wherein the sliding part comprises two groups of linear guide rails (104), the two linear guide rails (104) are correspondingly fixed on the two beams, two sliding blocks slide on each linear guide rail (104), and the four sliding blocks jointly fix the connecting piece; the connecting piece is a right-angle connecting piece (103), a base rotating shaft (102) used for connecting the rear arm (200) is vertically connected to a plane formed at the top of the connecting piece, and a matching part matched with the lifting driving part is arranged on the side, close to the sliding block, of the right-angle connecting piece (103).
4. The automatic positioning mechanical arm of the interventional robot according to claim 3, wherein the lifting driving part is a screw (107) and a bearing (106), the bottom of the screw (107) is driven by a screw servo motor, the top of the screw is connected with a bearing seat (105) through the bearing (106), the bearing seat (105) is connected with the tops of two beams, and the screw servo motor is connected with the host; the matching part is a screw nut.
5. The interventional robot automatic positioning mechanical arm according to claim 3 or 4, wherein the rear arm (200) comprises: the rear arm cross arm (205), a rear arm driving part and a rear arm connecting part, wherein the rear arm cross arm (205) is horizontally arranged, the first end of the rear arm cross arm is provided with the rear arm driving part connected with the base rotating shaft (102), the second end of the rear arm cross arm is provided with the rear arm connecting part connected with the middle arm (300), and the rear arm connecting part is provided with the rear arm rotating shaft (201) which is vertically upwards arranged.
6. The automated guided vehicle arm of claim 5, wherein the rear arm drive section comprises: a rear arm clamping block (210), a base rotating shaft lubricating shaft sleeve (209), a rear arm motor bracket (207) and a rear arm servo motor (206); the utility model discloses a rear arm clamping device, including back arm xarm (205), back arm clamping groove bottom is back arm pivot connecting hole, back arm clamping piece (210) shape with back arm clamping groove adaptation, wherein have with back arm pivot connecting hole coaxial arrangement's connecting hole one, back arm clamping groove one end is uncovered, back arm clamping piece (210) are close to the uncovered side and are the clamping end, have base pivot lubrication sleeve (209) in the connecting hole one, back arm motor support (207) are fixed in back arm clamping piece (210) top is connected with on it back arm servo motor (206), back arm servo motor (206) output shaft down insert in the drive hole at base pivot (102) top, and with the host computer is connected.
7. The automatic positioning mechanical arm of the interventional robot according to claim 6, wherein the rear arm connecting portion comprises a first connecting disc and a rear arm limiting piece (204) which are arranged on the second end of the rear arm cross arm (205), two rear arm limiting pieces (204) are arranged on two sides of the outer wall of the first connecting disc, limiting screws which are matched with the rear arm limiting pieces (204) and are arranged at the bottom of the middle arm (300) form a limiting mechanism for limiting the rotation of the rear arm cross arm (205), and the rear arm rotating shaft (201) is fixed on the first connecting disc.
8. The interventional robot automatic positioning mechanical arm according to claim 6 or 7, wherein the middle arm (300) is structurally identical to the rear arm (200), comprising: the middle arm cross arm (305), a middle arm driving part and a middle arm connecting part, wherein the middle arm cross arm (305) is horizontally arranged, the first end of the middle arm cross arm is provided with the middle arm driving part connected with the rear arm rotating shaft (201), the second end of the middle arm cross arm is provided with the middle arm connecting part connected with the front arm (400), the middle arm connecting part is provided with the front arm rotating shaft (303) which is vertically upwards arranged, and the middle arm driving part is connected with the host.
9. The automatic positioning mechanical arm of an interventional robot according to claim 8, wherein the forearm driving part comprises a forearm clamping groove (404), a forearm clamping block (403), a forearm motor bracket (402) and a forearm servo motor (401), the bottom of the forearm clamping groove (404) is fixed on the connecting beam (410) through a connecting plate (405), the bottom of the forearm clamping groove (404) is a forearm rotating shaft connecting hole, the shape of the forearm clamping block (403) is matched with that of the forearm clamping groove (404), the middle part of the forearm clamping groove is provided with a connecting hole II which is coaxially arranged with the forearm rotating shaft connecting hole, one end of the forearm clamping groove is open, the forearm clamping block (403) is close to the open side and is a clamping end, the connecting hole II is internally connected with the forearm rotating shaft (303), the forearm motor bracket (402) is fixed on the top of the forearm clamping block (403), the forearm servo motor (401) is connected thereon, and the output shaft of the forearm servo motor (401) is downwards inserted into the driving hole (303) of the forearm and is connected with the top part of the host;
the forearm connecting part comprises a propulsion motor bracket (413), a propulsion servo motor (412), a propulsion clamping block (415), a rotating shaft bracket (416) and a propulsion rotating shaft (417) which are arranged at the other end of the connecting beam (410); propulsion servo motor (412) through propulsion motor support (413) support in connect crossbeam (410) other end, its output shaft orientation propulsion mechanism (418), and be connected with the host computer, impel clamp block (415) and pivot support (416) all set up in connect crossbeam (410), impel pivot (417) one end and pass impel the shaft hole in clamp block (415), pivot support (416) middle part, its tip the drive hole with propulsion servo motor (412) output cooperation drive, the other end with propulsion mechanism (418) are connected.
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| CN114271946A (en) | 2022-04-05 |
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