CN114869477B - Mechanical arm tail end clamping device and surgical navigation robot with same - Google Patents
Mechanical arm tail end clamping device and surgical navigation robot with same Download PDFInfo
- Publication number
- CN114869477B CN114869477B CN202210570727.8A CN202210570727A CN114869477B CN 114869477 B CN114869477 B CN 114869477B CN 202210570727 A CN202210570727 A CN 202210570727A CN 114869477 B CN114869477 B CN 114869477B
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- Prior art keywords
- mechanical arm
- ultrasonic knife
- tail end
- identification
- plate
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- 230000000007 visual effect Effects 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 3
- 210000000988 bone and bone Anatomy 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- 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
Abstract
The invention discloses a mechanical arm tail end clamping device and an operation navigation robot, which comprise a mechanical arm tail end, an ultrasonic knife locking device, a visual tracking and marking 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 for the tail end of the mechanical arm, the ultrasonic knife is connected with the mechanical arm, and an operator does not need to continuously hold the ultrasonic knife for operation, so that the problem that the operation of hands 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
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 necessarily constitute prior art or prior art.
In the general orthopedic operation, a doctor needs to hold an ultrasonic bone knife to cut tissues, the positioning precision in the operation process is difficult to ensure, and the doctor can easily feel tired when standing for a long time and holding the ultrasonic bone knife to perform the operation, so that the judgment on the accuracy of the force is lost, and the operation quality is affected; that is, there are high demands on the operation experience of the operator and the operation stability.
In recent years, the technical problems are solved to a certain extent by the surgical navigation robot, which can simulate the operation of a human hand and meet the requirements of operation flexibility, accuracy and stability; and can also carry out fine operation in a narrow space which is difficult to reach by manual operation. The tail end structure of the surgical navigation robot becomes a key component part of the surgical navigation robot, and the positioning precision of the surgical navigation robot can be further improved through reasonable structural design.
The end clamping device for the robot surgery, which is proposed by the invention patent application (CN 113081270A), is very complex in structure by integrating technical characteristic analysis, and particularly when an ultrasonic knife is inclined forwards in the surgery, a camera cannot recognize a marking plate, so that the safety strategy of the robot is very easy to be triggered, and the robot stops acting; when the tail end pose is adjusted, the ultrasonic bone knife always blocks the identification plate due to the view angle, so that the identification plate cannot be identified; all the problems bring operation risks to the operation and influence the operation quality, so that the related technology needs to be optimized.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a mechanical arm tail 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 a robot arm end gripping device comprising: the ultrasonic knife comprises a mechanical arm tail end, an ultrasonic knife locking device, a visual tracking and marking 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.
Optionally, the mechanical arm end includes: an end flange, a sensor and a sensor mount; and a plurality of groups of fastening bolts are used for sequentially fastening and assembling the tail end flange, the sensor and the sensor fixing piece to form an integrated structure, and the integrated structure is connected with the mechanical arm.
Optionally, the sensor uses a force sensor, and the force sensor can be electrically connected with a control device of the mechanical arm, so that electric signal transmission is realized.
Optionally, the ultrasonic blade locking device comprises: the device comprises a base, a fixing plate and a 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 ultrasonic knife is wrapped by the fixing plate and is fixed with the base through the pin shaft.
Optionally, the visual tracking identification device includes: the marking board is connected with the seat and the marking board; the marking plate connecting seat is fixedly arranged on the surface of the base; the marking plate is fixedly connected with the marking plate connecting seat.
Further, 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 tail end connecting piece, the locking handle, the locking foot margin and the 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 foot margin is connected with the locking handle through a fastening screw, and the connecting part is arranged inside the base through a terminal connecting piece.
Further, the connection part further comprises a sheath sleeved outside the end connector.
In another aspect of the present invention, there is also provided a surgical navigation robot configured with the mechanical arm end gripping device described in the first aspect above.
Optionally, the visual tracking positioning process of the visual tracking identification device comprises the following steps:
s1: sub-pixel positioning is carried out on the tracking identification part on the identification plate;
s2: clustering the tracking identification parts in the S1, and deleting the possibly repeated tracking identification parts;
s3: finding a matching point corresponding to the tracking identification part in the step S2;
s4: and (3) obtaining depth parameters of the tracking identification part in the step S3 through parallax calculation, and obtaining corresponding three-dimensional positioning parameters.
The mechanical arm tail end clamping device and the surgical navigation robot can realize the following beneficial effects:
(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 that the ultrasonic knife is connected to the mechanical arm, and the ultrasonic knife is driven and controlled to move through the movement of the mechanical arm; the operation is carried out without continuously holding an ultrasonic knife by an operator, so that the problem that the operation is easy to fatigue due to the manual operation is solved, and the operation precision and efficiency are improved;
(3) The ultrasonic knife locking device is designed to be detachable, and on one hand, the ultrasonic knife is locked through a pin shaft to ensure firm connection between the ultrasonic knife and the mechanical arm; on the other hand, the ultrasonic knife is convenient to detach or replace, and is convenient to operate.
Drawings
FIG. 1 is a structural assembly view of a robot arm end gripping device according to a preferred embodiment of the present invention;
FIG. 2 is a side view of a robot end effector of a preferred embodiment of the present invention;
FIG. 3 is an exploded view of the mechanical arm end clamp device according to the preferred embodiment of the present invention;
fig. 4 is a flow chart of the surgical navigation robot in the preferred embodiment of the present invention in performing visual tracking, identification and positioning.
Wherein,
1-the tail end of a mechanical arm;
11-end flanges; 12-a sensor; 13-sensor mount;
2-an ultrasonic knife locking device;
21-a base; 22-a fixed plate; 23-pin shafts; 24-ultrasonic knife; 241-ultrasonic blade handle; 242-ultrasonic knife head;
3-visual tracking identification means; 31-a sign board connecting seat; 32-an identification plate; 33-tracking the identification part;
41-end connectors; 42-locking the handle; 43, locking the ground feet; 44-fastening screws; 45-sheath.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Aiming at the problems that the existing hand-held ultrasonic osteotome spine operation has poor operation precision, the operation stability can not be ensured and the like. 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 mechanical arm is used for controlling to replace the hand holding of a person, the operation fatigue of operation operators is relieved, and the operation precision and efficiency are improved.
In one aspect of the embodiments of the present invention, there is preferably provided a robot arm end clamping device, referring to fig. 1 and 2, including: the ultrasonic knife comprises a mechanical arm tail end 1, an ultrasonic knife locking device 2, a visual tracking and marking device 3 and a connecting part; wherein, the ultrasonic knife 24 locking device 2 is fixedly connected with the tail end 1 of the mechanical arm through a connecting part; 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 arm tip 1 includes: an end flange 11, a sensor 12 and a sensor mount 13; the end flange 11, the sensor 12 and the sensor fixing member 13 are sequentially fastened and assembled by using a plurality of groups of fastening bolts to form an integrated structure, and are connected with the mechanical arm.
Preferably, the sensor 12 uses a force sensor, which can be electrically connected to a control device of the mechanical arm, so as to realize electric signal transmission. The manipulator is controlled to perform operation, an operator does not need to hold an ultrasonic knife to perform operation, the operation burden of the operator is greatly reduced, the fatigue is relieved, and the operation accuracy and the operation efficiency are improved.
Preferably, the ultrasonic blade locking device 2 includes: a base 21, a fixing plate 22 and a pin 23; wherein, a positioning groove is arranged on one side of the base 21, and the ultrasonic knife 24 is firstly placed in the positioning groove; thereafter, the ultrasonic blade 24 is wrapped by the fixing plate 22 and fixed with 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 the ultrasonic blade 24 is preferably fastened and fixed to the ultrasonic blade handle 241 by the ultrasonic blade locking device 2.
Preferably, the visual tracking identification means 3 comprises: a sign board connecting seat 31 and a sign board 32; the marking plate connecting seat 31 is fixedly arranged on the surface of the base 21; the marking plate 32 is fastened to the marking plate holder 31.
Further, the marking plate 32 is preferably a cross-shaped plate, the center of the cross-shaped plate is connected with the marking plate connecting seat 31, and four ends of the cross-shaped plate are provided with tracking marking parts 33. The cross-shaped plate is used for calculating the spatial 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 knife, so that the cross-shaped plate can be ensured to be always visible in the operation process, and the tracking identification part on the cross-shaped plate can be clearly identified all the time.
Preferably, the connection portion includes: the end connector 41, the locking handle 42, the locking foot 43 and the fastening screw 44; one end of the locking foot 43 is connected to the outer side of the sensor fixing member 13 of the arm end 1; the other end of the locking leg 43 is connected to the locking handle 42 by a fastening screw 44, and the connection portion is installed inside the base 21 by the end connector 41.
Further, the connection part further comprises a sheath 45, and the sheath 45 is sleeved outside the end connector 41.
In another aspect of an embodiment 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 and positioning process of the visual tracking and marking device 3 comprises the following steps:
s1: sub-pixel positioning is carried out on the tracking identification part on the identification plate;
s2: clustering the tracking identification parts in the S1, and deleting the possibly repeated tracking identification parts;
s3: finding a matching point corresponding to the tracking identification part in the step S2;
s4: and (3) obtaining depth parameters of the tracking identification part in the step S3 through parallax calculation, and obtaining corresponding three-dimensional positioning parameters.
According to the mechanical arm tail end clamping device and the surgical navigation robot, the ultrasonic knife is connected with the mechanical arm, and the ultrasonic knife is driven and controlled to move through the movement of the mechanical arm; the operation is carried out without continuously holding an ultrasonic knife by an operator, so that the problem that the operation is easy to fatigue due to the 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 embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The clamping device for the tail end of the mechanical arm is characterized by comprising the tail end (1) of the mechanical arm, an ultrasonic knife locking device (2), a visual tracking and marking device (3) and a connecting part; wherein,
the ultrasonic knife locking device (2) is fixedly connected with the tail end (1) of the mechanical arm through the connecting part; 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;
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 surface of the base (21), and an ultrasonic knife (24) is placed in the positioning groove; the ultrasonic knife (24) is wrapped by the fixing plate (22) and is fixed with the base (21) through the pin shaft (23);
the visual tracking identification device (3) comprises an identification plate connecting seat (31) and an identification plate (32); the marking plate connecting seat (31) is fixedly arranged on the surface of the base (21); the marking plate (32) is fixedly connected with the marking plate connecting seat (31);
the connecting part comprises a tail end connecting piece (41), a locking handle (42), a locking foot leg (43) and a fastening screw (44); one end of the locking foot (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 margin (43) is connected with a locking handle (42) through the fastening screw (44), and the connecting part is arranged inside the base (21) through the tail end connecting piece (41);
the connecting part further comprises a sheath (45), and the sheath (45) is sleeved outside the tail end connecting piece (41).
2. The mechanical arm end gripping device according to claim 1, characterized in that the mechanical arm end (1) comprises an end flange (11), a sensor (12) and a sensor mount (13); sequentially fastening and assembling the tail end flange (11), the sensor (12) and the sensor fixing piece (13) 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 robot arm end gripping device according to claim 2, characterized in that the sensor (12) uses a force sensor, which force sensor is electrically connected to the control device of the robot arm.
4. A manipulator end gripping device according to claim 3, characterised in that the identification plate (32) is a cross-shaped plate, the centre of which is connected to the identification plate connection seat (31), and the four ends of which are provided with tracking identification parts (33).
5. A surgical navigation robot employing the mechanical arm end clamping device of any one of claims 1-4.
6. The surgical navigation robot of claim 5, wherein: the visual tracking and positioning process of the visual tracking and marking device (3) comprises the following steps,
s1: sub-pixel positioning is carried out on the tracking identification part on the identification plate;
s2: clustering the tracking identification parts in the S1, and deleting the possibly repeated tracking identification parts;
s3: finding a matching point corresponding to the tracking identification part in the step S2;
s4: and (3) obtaining depth parameters of the tracking identification part in the step S3 through parallax calculation, and obtaining corresponding three-dimensional positioning parameters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210570727.8A CN114869477B (en) | 2022-05-24 | 2022-05-24 | Mechanical arm tail end clamping device and surgical navigation robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210570727.8A CN114869477B (en) | 2022-05-24 | 2022-05-24 | Mechanical arm tail end clamping device and surgical navigation robot with same |
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| Publication Number | Publication Date |
|---|---|
| CN114869477A CN114869477A (en) | 2022-08-09 |
| CN114869477B true CN114869477B (en) | 2024-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210570727.8A Active CN114869477B (en) | 2022-05-24 | 2022-05-24 | Mechanical arm tail end clamping device and surgical navigation robot with same |
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Citations (4)
| 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 |
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019130314A1 (en) * | 2017-12-27 | 2019-07-04 | Mazor Robotics Ltd. | Generic surgical navigation interface |
| WO2020180917A1 (en) * | 2019-03-04 | 2020-09-10 | Smith & Nephew, Inc. | Co-registration for augmented reality and surgical navigation |
-
2022
- 2022-05-24 CN CN202210570727.8A patent/CN114869477B/en active Active
Patent Citations (4)
| 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 |
| 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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| CN114869477A (en) | 2022-08-09 |
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