CN114869477A - Terminal clamping device of arm and have its operation navigation robot - Google Patents

Terminal clamping device of arm and have its operation navigation robot Download PDF

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Publication number
CN114869477A
CN114869477A CN202210570727.8A CN202210570727A CN114869477A CN 114869477 A CN114869477 A CN 114869477A CN 202210570727 A CN202210570727 A CN 202210570727A CN 114869477 A CN114869477 A CN 114869477A
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ultrasonic knife
mechanical arm
identification
tail end
arm
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CN114869477B (en
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宋雄康
季旭全
耿宝多
杨标
刘洪升
张坚
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Suzhou Zhuzheng Robot Co ltd
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Suzhou Zhuzheng Robot Co ltd
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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
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points

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  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
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  • Surgical Instruments (AREA)

Abstract

The invention discloses a mechanical arm tail end clamping device and a surgical navigation robot, which comprise a mechanical arm tail end, an ultrasonic knife locking device, a visual tracking identification device and a connecting part; the ultrasonic knife locking device is fixedly connected with the tail end of the mechanical arm through a connecting part; the ultrasonic knife is arranged in the ultrasonic knife locking device and is fastened; the visual tracking identification device is arranged on the ultrasonic knife locking device and is positioned above the ultrasonic knife; the mechanical arm moves to drive the ultrasonic knife to move. According to the clamping device at the tail end of the mechanical arm, the ultrasonic knife is connected with the mechanical arm, operation operators do not need to continuously hold the ultrasonic knife for operation, the problem that manual operation is easy to fatigue is solved, and the operation precision and efficiency are improved; the visual tracking identification device is always positioned above the ultrasonic knife, so that the identification plate can be always identified by the image acquisition equipment.

Description

Terminal clamping device of arm and have its operation navigation robot
Technical Field
The invention belongs to the technical field of surgical robots in medical instruments, and particularly relates to a mechanical arm tail end clamping device and a surgical navigation robot with the same.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art or prior art.
In general orthopedic surgery, a doctor needs to hold an ultrasonic osteotome for tissue cutting, the positioning precision in the surgery process is difficult to guarantee, and the doctor stands for a long time and holds the ultrasonic osteotome for surgery, so that the doctor is easy to fatigue, thereby losing judgment on the accuracy of force and influencing the surgery quality; that is, there are high requirements for the operating experience of the operator and the operating stability.
In recent years, the appearance of surgical navigation robots solves the technical problems to a certain extent, can simulate manual operation, and simultaneously meets the requirements on operation flexibility, accuracy and stability; can also be used for fine operation in a narrow space which is difficult to reach by manual operation. And the terminal structure of the surgical navigation robot becomes a key component of the surgical navigation robot, and the reasonable structural design can further improve the positioning accuracy of the surgical navigation robot.
The end clamping device for the robot operation, which is provided by the invention patent application (CN113081270A), integrates the technical characteristic analysis, and has a very complex structure, and particularly when the ultrasonic knife is tilted forwards in the operation, the camera cannot recognize the identification plate, which is very easy to cause the safety strategy of the robot, so that the robot stops operating; when the pose of the tail end is adjusted, the ultrasonic osteotome often blocks the marking plate due to the view angle, so that the marking plate cannot be identified; the above problems all bring operational risks to the operation and affect the quality of the operation, so that the related technologies need to be optimized.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a mechanical arm end clamping device and a surgical navigation robot, which can fully or partially solve the problems.
In one aspect of the present invention, there is provided an end-of-arm gripping device comprising: the ultrasonic knife locking device is arranged at the tail end of the mechanical arm; the ultrasonic knife locking device is fixedly connected with the tail end of the mechanical arm through a connecting part; the ultrasonic knife is arranged in the ultrasonic knife locking device and is fastened; the visual tracking identification device is arranged on the ultrasonic knife locking device and is positioned above the ultrasonic knife; the mechanical arm moves to drive the ultrasonic knife to move.
Optionally, the end of the mechanical arm comprises: a terminal flange, a sensor and a sensor mount; and fastening and assembling the tail end flange, the sensor and the sensor fixing piece by using a plurality of groups of fastening bolts in sequence to form an integral structure, and connecting the integral structure with the mechanical arm.
Optionally, the sensor uses a force sensor, and the force sensor may be electrically connected to a control device of the robot arm, thereby implementing electrical signal transmission.
Optionally, the ultrasonic blade locking device includes: the base, the fixing plate and the pin shaft; wherein, a positioning groove is arranged on one side surface of the base, and the ultrasonic knife is firstly placed in the positioning groove; and then, the fixing plate wraps the ultrasonic knife and is fixed with the base through a pin shaft.
Optionally, the visual tracking identification means comprises: the identification plate connecting seat and the identification plate; the identification plate connecting seat is fixedly arranged on the surface of the base; the sign board is connected with the sign board connecting seat in a fastening way.
Furthermore, the marking plate is a cross-shaped plate, the center of the cross-shaped plate is connected with the marking plate connecting seat, and four ends of the cross-shaped plate are provided with tracking marking parts.
Optionally, the connecting portion includes: the locking device comprises a tail end connecting piece, a locking handle, a locking ground foot and a fastening screw; one end of the locking foot margin is connected to the outer side of the sensor fixing piece at the tail end of the mechanical arm; the other end of the locking ground foot is connected with the locking handle through a fastening screw, and the connecting part is installed inside the base through a tail end connecting piece.
Further, the connecting part also comprises a sheath which is sleeved outside the terminal connecting piece.
In another aspect of the present invention, there is also provided a surgical navigation robot provided with the robot arm end gripping device described in the above first aspect.
Optionally, the visual tracking positioning process of the visual tracking identification device includes the following steps:
s1: performing sub-pixel positioning on a tracking identification part on the identification plate;
s2: clustering the tracking identification parts in the S1, and deleting the tracking identification parts which can be duplicated;
s3: finding a matching point corresponding to the tracking identifier in S2;
s4: the depth parameter of the tracking identifier in S3 is obtained through parallax calculation, and the corresponding three-dimensional positioning parameter is obtained.
Through the mechanical arm tail end clamping device and the surgical navigation robot thereof, the following beneficial effects can be realized:
(1) the visual tracking identification device is positioned above the ultrasonic knife, so that the identification plate can be always identified by the image acquisition equipment;
(2) the ultrasonic knife is fixed through the ultrasonic knife locking device and is connected with the tail end of the mechanical arm through the connecting part so as to be connected to the mechanical arm, and the movement of the ultrasonic knife is driven and controlled through the movement of the mechanical arm; the operation of continuously holding the ultrasonic knife by an operator is not needed, the problem that the operator is easy to fatigue during manual operation is solved, and the operation precision and efficiency are improved;
(3) the ultrasonic knife locking device is detachably designed, and on one hand, the ultrasonic knife is locked by a pin shaft to ensure the firm connection between the ultrasonic knife and the mechanical arm; on the other hand, the ultrasonic scalpel is convenient to disassemble or replace, and the operation is convenient.
Drawings
FIG. 1 is an overall view of the structure of a robot arm end gripping device according to a preferred embodiment of the present invention;
FIG. 2 is a side view of the end of arm gripping device of the preferred embodiment of the present invention;
FIG. 3 is an exploded view of the structure of the robot arm end gripping device in accordance with the preferred embodiment of the present invention;
fig. 4 is a flowchart of the surgical navigation robot performing the visual tracking marker positioning according to the preferred embodiment of the present invention.
Wherein the content of the first and second substances,
1-end of mechanical arm;
11-end flange; 12-a sensor; 13-a sensor mount;
2-ultrasonic knife locking device;
21-a base; 22-a fixing plate; 23-a pin shaft; 24-an ultrasonic blade; 241-ultrasonic knife handle; 242-ultrasonic blade tip;
3-a visual tracking identification means; 31-sign board connection base; 32-an identification plate; 33-a tracking identifier;
4-a connecting part; 41-end connection; 42-locking the handle; 43-locking the ground feet; 44-a fastening screw; 45-sheath.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The problems that the operation precision is poor, the operation stability cannot be guaranteed and the like exist in the conventional handheld ultrasonic osteotome spinal operation. The invention provides a mechanical arm tail end clamping device and a surgical navigation robot. Meanwhile, the ultrasonic knife is connected to the mechanical arm and moves along with the movement of the mechanical arm, so that on one hand, the stability of the ultrasonic knife during movement is guaranteed, on the other hand, the operation fatigue of operation operators is reduced by controlling the mechanical arm to replace manual holding, and the operation precision and efficiency are improved.
In one aspect of the embodiments of the present invention, preferably, there is provided a robot end gripping device, referring to fig. 1 and 2, including: the ultrasonic knife tracking device comprises a mechanical arm tail end 1, an ultrasonic knife locking device 2, a visual tracking identification device 3 and a connecting part 4; wherein, the ultrasonic knife 24 locking device 2 is fixedly connected with the tail end 1 of the mechanical arm through a connecting part 4; the ultrasonic knife 24 is arranged in the ultrasonic knife locking device 2 and is fastened; the visual tracking identification device 3 is arranged on the ultrasonic knife locking device 2 and is positioned above the ultrasonic knife 24; the mechanical arm moves to drive the ultrasonic knife to move.
Preferably, the robot arm end 1 comprises: a terminal flange 11, a sensor 12 and a sensor mount 13; the end flange 11, the sensor 12 and the sensor fixing member 13 are fastened and assembled in sequence by using a plurality of sets of fastening bolts to form an integral structure, and are connected with the robot arm.
Preferably, the sensor 12 uses a force sensor, which can be electrically connected to the control device of the robot arm, so as to realize the transmission of electric signals. Carry out the operation through control arm, do not need the handheld supersound sword of operator to carry out the operation, very big degree has reduced operator's operation burden, alleviates tired sense, promotes operation precision and operating efficiency.
Preferably, the ultrasonic blade lock 2 includes: a base 21, a fixing plate 22 and a pin 23; wherein, a positioning groove is arranged on one side surface of the base 21, and the ultrasonic knife 24 is firstly placed in the positioning groove; then, the fixing plate 22 wraps the ultrasonic blade 24 and is fixed to the base through the pin 23.
Specifically, with further reference to fig. 3, in the present embodiment, the ultrasonic blade 24 includes an upper ultrasonic blade handle 241 and a lower ultrasonic blade head 242, and when the ultrasonic blade 24 is fixed by using the ultrasonic blade lock device 2, the ultrasonic blade handle 241 is preferably fastened.
Preferably, the visual tracking identification means 3 comprise: a sign board connecting base 31 and a sign board 32; the identification plate connecting seat 31 is fixedly arranged on the surface of the base 21; the sign board 32 is tightly connected with the sign board connecting seat 31.
Further, the identification plate 32 is preferably a cross-shaped plate, the center of which is connected to the identification plate connecting seat 31, and the four ends of which are provided with tracking marks 33. The cross-shaped plate is used for calculating the space relative position relation between the ultrasonic knife and the mechanical arm and realizing tracking and positioning.
Preferably, the cross-shaped plate has an inclination angle towards the image acquisition device (such as a binocular camera), and the position of the cross-shaped plate is always above the ultrasonic scalpel, so that the cross-shaped plate can be always visible in the operation process, and the tracking identification part on the cross-shaped plate can be always clearly identified.
Preferably, the connection portion 4 includes: a terminal connector 41, a locking handle 42, a locking foot 43 and a fastening screw 44; one end of the locking anchor 43 is connected to the outer side of the sensor fixing piece 13 of the tail end 1 of the mechanical arm; the other end of the locking foot 43 is coupled to the locking handle 42 by a fastening screw 44, and the coupling portion is installed inside the base 21 by the end connector 41.
Further, the connecting portion 4 further includes a sheath 10, and the sheath 10 is sleeved outside the terminal connecting member 41.
In another aspect of the embodiments of the present invention, there is also provided a surgical navigation robot configured with the mechanical arm end clamping device described in the first aspect above, with particular reference to fig. 3.
Preferably, the visual tracking positioning process of the visual tracking identification device 3 includes the following steps:
s1: performing sub-pixel positioning on a tracking identification part on the identification plate;
s2: clustering the tracking identification parts in the S1, and deleting the tracking identification parts which are possibly duplicated;
s3: finding a matching point corresponding to the tracking identifier in S2;
s4: the depth parameter of the tracking identifier in S3 is obtained through parallax calculation, and the corresponding three-dimensional positioning parameter is obtained.
Further, the three-dimensional coordinates (X) of the marker are tracked c ,Y c ,Z c ) It can be calculated by the following formula:
Figure BDA0003660168450000071
Figure BDA0003660168450000072
Figure BDA0003660168450000073
in the formula (x) l ,y l ) And (x) r ,y r ) Respectively representing the pixel coordinates of the X-corner point in the left view and the right view of the binocular camera; d ═ x l -x r Namely parallax error; (c) x ,c y ) The normalized focal lengths in the X-axis and Y-axis directions are respectively corresponding to: f. of x ＝f/d x 、f y ＝f/d y (ii) a The baseline distance b may be obtained by binocular camera calibration.
According to the clamping device at the tail end of the mechanical arm and the surgical navigation robot, the ultrasonic knife is connected with the mechanical arm, and the movement of the ultrasonic knife is driven and controlled through the movement of the mechanical arm; the operation of continuously holding the ultrasonic knife by an operator is not needed, the problem that the operator is easy to fatigue during manual operation is solved, and the operation precision and efficiency are improved; the visual tracking identification device is always positioned above the ultrasonic knife, so that the identification plate can be always identified by the image acquisition equipment.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. The mechanical arm tail end clamping device is characterized by comprising a mechanical arm tail end (1), an ultrasonic knife locking device (2), a visual tracking identification device (3) and a connecting part (4); wherein the content of the first and second substances,
the ultrasonic knife locking device (2) is fixedly connected with the tail end (1) of the mechanical arm through the connecting part (4); the ultrasonic knife is arranged in the ultrasonic knife locking device (2) and is fastened; the visual tracking identification device (3) is arranged on the ultrasonic knife locking device (2) and is positioned above the ultrasonic knife; the mechanical arm moves to drive the ultrasonic knife to move.
2. The robot arm end gripping device according to claim 1, wherein the robot arm end (1) comprises an end flange (11), a sensor (12) and a sensor mount (13); fastening and assembling the tail end flange (11), the sensor (12) and the sensor fixing piece (13) in sequence by using a plurality of groups of fastening bolts; the tail end (1) of the mechanical arm is connected with the mechanical arm.
3. The end-of-arm-gripping device according to claim 2, characterized in that the sensor (12) uses a force sensor, which is electrically connected to the control device of the robot arm.
4. The mechanical arm tail end clamping device as claimed in claim 1, wherein the ultrasonic knife locking device (2) comprises a base (21), a fixing plate (22) and a pin shaft (23); a positioning groove is formed in one side face of the base (21), and the ultrasonic knife (24) is placed in the positioning groove; the fixing plate (22) wraps the ultrasonic knife (24) and is fixed with the base (21) through the pin shaft (23).
5. The end-of-arm-gripping device according to claim 4, wherein the visual tracking identification device (3) comprises an identification plate connecting seat (31) and an identification plate (32); the identification plate connecting seat (31) is fixedly arranged on the surface of the base (21); the identification plate (32) is fixedly connected with the identification plate connecting seat (31).
6. The end-of-arm-clamping device as claimed in claim 5, wherein the indicator plate (32) is a cross-shaped plate, the center of the cross-shaped plate is connected with the indicator plate connecting seat (31), and four ends of the cross-shaped plate are provided with tracking indicators (33).
7. The robot arm tip gripping device according to claim 4, wherein the joint part (4) includes a tip end coupling member (41), a locking handle (42), a locking foot (43), and a fastening screw (44); one end of the locking anchor foot (43) is connected to the outer side of a sensor fixing piece (13) of the tail end (1) of the mechanical arm; the other end of the locking anchor (43) is connected with a locking handle (42) through the fastening screw (44), and the connecting part is installed inside the base (21) through the end connecting piece (41).
8. The mechanical arm tip gripping device according to claim 7, wherein the connecting portion (4) further comprises a sheath (45), the sheath (45) being fitted over the tip end connector (41).
9. A surgical navigation robot, characterized in that the mechanical arm end clamping device of any one of claims 1-8 is adopted.
10. The surgical navigation robot of claim 9, wherein: the visual tracking positioning process of the visual tracking identification means (3) comprises the steps of,
s1: performing sub-pixel positioning on a tracking identification part on the identification plate;
s2: clustering the tracking identification parts in the S1, and deleting the tracking identification parts which are possibly duplicated;
s3: finding a matching point corresponding to the tracking identifier in S2;
s4: the depth parameter of the tracking identifier in S3 is obtained through parallax calculation, and the corresponding three-dimensional positioning parameter is obtained.
CN202210570727.8A 2022-05-24 2022-05-24 Mechanical arm tail end clamping device and surgical navigation robot with same Active CN114869477B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108577980A (en) * 2018-02-08 2018-09-28 南方医科大学南方医院 A kind of method, system and device ultrasonic cutter head carried out from motion tracking
CN109620415A (en) * 2019-02-14 2019-04-16 北京水木天蓬医疗技术有限公司 Robot assisted ultrasound bone dynamical system
US20200345430A1 (en) * 2017-12-27 2020-11-05 Mazor Robotics Ltd. Generic depth indicator for surgical navigational tools
CN113081270A (en) * 2021-03-09 2021-07-09 北京铸正机器人有限公司 Tail end clamping device for robotic surgery
CN113262050A (en) * 2021-05-13 2021-08-17 北京铸正机器人有限公司 Two-degree-of-freedom tail end execution device
US20220151704A1 (en) * 2019-03-04 2022-05-19 Smith & Nephew, Inc. Co-registration for augmented reality and surgical navigation

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200345430A1 (en) * 2017-12-27 2020-11-05 Mazor Robotics Ltd. Generic depth indicator for surgical navigational tools
CN108577980A (en) * 2018-02-08 2018-09-28 南方医科大学南方医院 A kind of method, system and device ultrasonic cutter head carried out from motion tracking
CN109620415A (en) * 2019-02-14 2019-04-16 北京水木天蓬医疗技术有限公司 Robot assisted ultrasound bone dynamical system
US20220151704A1 (en) * 2019-03-04 2022-05-19 Smith & Nephew, Inc. Co-registration for augmented reality and surgical navigation
CN113081270A (en) * 2021-03-09 2021-07-09 北京铸正机器人有限公司 Tail end clamping device for robotic surgery
CN113262050A (en) * 2021-05-13 2021-08-17 北京铸正机器人有限公司 Two-degree-of-freedom tail end execution device

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