CN115590589A - Parallel six-degree-of-freedom puncture robot - Google Patents
Parallel six-degree-of-freedom puncture robot Download PDFInfo
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- CN115590589A CN115590589A CN202211244535.4A CN202211244535A CN115590589A CN 115590589 A CN115590589 A CN 115590589A CN 202211244535 A CN202211244535 A CN 202211244535A CN 115590589 A CN115590589 A CN 115590589A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The invention provides a parallel six-degree-of-freedom puncture robot, and relates to the technical field of medical equipment. The method comprises the following steps: z axle removes module, parallelly connected module, pjncture needle and feeds module, pjncture needle rotation module and the fixed needle module of puncture, wherein: the parallel module is arranged at the front end of the Z-axis moving module; the puncture needle feeding module is arranged at the front end of the parallel module; the puncture needle fixing module is arranged at the front end of the puncture needle feeding module; the puncture needle rotating module is arranged on the puncture needle fixing module and is connected with the puncture needle feeding module. The puncture needle feeding mechanism realizes the guiding positioning, angle adjustment and puncture needle feeding operation of the puncture needle based on a parallel mechanism, and has the advantages of high flexibility, high precision, compact structure and the like; the robot can also realize other operation operations by replacing other end tools.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a parallel six-degree-of-freedom puncture robot.
Background
The medical robot technology is a novel cross research field integrating multiple subjects such as medicine, mechanics, computer graphics, robots and the like, wherein robot-assisted surgery is one of important fields of the medical robot technology. The image guided puncture operation is an important means for diagnosing and treating tumors, and under the guidance of medical images such as ultrasound, CT, MRI and the like, a puncture needle is percutaneously punctured into a target region of a soft tissue focus to carry out operations such as biopsy sampling, radioactive particle implantation, ablation treatment and the like. However, the manual percutaneous puncture operation also has the problems of high dependence on doctor experience, limited puncture path selection of a guide frame, difficulty in accurately puncturing target points due to focus position drift and the like. The robot is an ideal way to solve the development problem of the manual puncture surgery by virtue of reliable accuracy, stability and safety.
Through retrieval, the Chinese patent invention with the application number of 202210340194.4, named as a miniature puncture robot, guides the needle inserting position and the posture of a puncture needle by jointly driving a first linear motion mechanism and a second linear motion mechanism of a two-layer driving assembly. According to the scheme, four linear motion mechanisms are used for realizing the guide control of the puncture needle, the number of drivers is large, and the control is complex; in addition, the scheme can only realize the positioning of the puncture needle, can not automatically complete the needle feeding and rotating operation, and has limited automation degree.
Disclosure of Invention
The invention aims to provide a parallel six-degree-of-freedom puncture robot, which can realize the positioning and guiding work of a puncture needle and the rotation and feeding operation of the puncture needle, has the advantage of compact working space and improves the working flexibility of the robot.
In order to solve the technical problems, the invention adopts the following technical scheme:
a parallel six-degree-of-freedom puncture robot, comprising: z axle removes module, parallelly connected module, pjncture needle and feeds module, pjncture needle rotation module and pjncture needle fixed die set, wherein: the parallel module is arranged at the front end of the Z-axis moving module; the puncture needle feeding module is arranged at the front end of the parallel module; the puncture needle fixing module is arranged at the front end of the puncture needle feeding module; the puncture needle rotating module is arranged on the puncture needle fixing module and is connected with the puncture needle feeding module.
Further, the Z-axis moving module comprises a first supporting base, a motor, a linear guide rail, a linear module lead screw and a linear sliding component; the linear guide rails are arranged on the left side and the right side of the first supporting base; the linear module lead screw is arranged on the first support base; the linear module lead screw is in power connection with the motor; the linear sliding component is in sliding connection with the linear guide rail and is in threaded connection with the linear module lead screw.
Furthermore, the parallel module comprises a second supporting base, a first servo push rod, a first rotating pair, an installation frame, a rotating shaft, a second rotating pair and a parallel mechanism tail end support; the second supporting base is fixedly connected with the first supporting base; the first servo push rods are provided with three groups, one group of the first servo push rods is arranged on the second supporting base, and the other two groups of the first servo push rods are hinged with the rotating shaft; the mounting rack is arranged above the second supporting base; the first rotating pair is arranged at the other end of the first servo push rod on the second supporting base; the second revolute pair is arranged at the other ends of the two groups of first servo push rods hinged with the rotating shaft; the upper end of the mounting rack is provided with a through hole; the rotating shaft is arranged on the mounting frame and is concentrically matched with the through hole; the parallel mechanism tail end support consists of a parallel mechanism tail end support main body, a belt shaft base I and a belt shaft base II; the tail end support main body of the parallel mechanism is hinged with the first belt shaft base and the second belt shaft base respectively; the shaft end surface of the second belt shaft base is connected with the first rotating pair; and the shaft end surface of the first belt shaft base is connected with the second revolute pair.
Furthermore, the first servo push rod comprises a push rod base, a first motor bracket, a first motor, a pre-tightening base, a first lead screw and a first sliding block; the first motor bracket is arranged above the push rod base; the first motor is arranged on the first motor bracket; a cavity is formed in the push rod base; the first lead screw and the first sliding block are arranged in a cavity of the push rod base; the first sliding block is provided with a threaded hole; the first sliding block is in threaded connection with the first lead screw through a threaded hole; the first motor is connected with a driving belt wheel in a power mode; the first lead screw is connected with a driven belt wheel; the driving belt wheel is connected with the driven belt wheel through a synchronous belt; the bottom of the pre-tightening base is provided with a groove track, and the side surface of the pre-tightening base is provided with a limiting baffle; the limiting baffle is provided with a threaded hole; the limit baffle is connected with a pre-tightening bolt through a threaded hole in a threaded manner
Furthermore, the puncture needle feeding module comprises a second servo push rod, a six-dimensional torque sensor, a puncture needle bracket and a hexagonal prism pin; one end of the six-dimensional torque sensor is fixedly connected with the puncture needle bracket, and the other end of the six-dimensional torque sensor is hinged with the puncture needle fixing module; one end of the puncture needle bracket is fixedly connected with the six-dimensional torque sensor, and the other end of the puncture needle bracket is fixedly connected with the first sliding block; the hexagonal prism pin is arranged below the second servo push rod; the front end of the support at the tail end of the parallel mechanism is provided with a hexagonal pin slot; and the hexagonal prism pins are inserted into hexagonal prism pin grooves in the brackets at the tail ends of the parallel mechanisms.
Furthermore, the second servo push rod comprises a lower half part base, an upper half part base, a second lead screw, a second sliding block and a second motor; the upper half part base is arranged above the lower half part base; cavities are formed in the lower half base and the upper half base; the second lead screw and the second sliding block are arranged in inner cavities of the lower half part base and the upper half part base; the second sliding block is provided with a threaded hole; the second lead screw is in threaded connection with the second sliding block; the second screw rod is connected with a driven belt wheel; the second motor is arranged on the base of the lower half part; the second motor is connected with a driving belt wheel; the driving belt wheel is connected with the driven belt wheel through a synchronous belt.
Furthermore, the puncture needle rotating module comprises a second motor bracket, a third motor output shaft, a first connecting rod and a second connecting rod; the second motor bracket is arranged on the puncture needle fixing module; the third motor is arranged on the second motor bracket; the output shaft of the third motor is in power connection with the third motor; the first connecting rod is concentrically matched with an output shaft of the third motor; one end of the second connecting rod is concentrically matched with the first connecting rod to form a revolute pair, and the other end of the second connecting rod is concentrically matched with the puncture needle support to form a revolute pair.
Furthermore, the puncture needle fixing module comprises a fixing base, a quick clamping mechanism and a puncture needle; the quick clamping mechanism is fixedly connected with the fixed base; the rapid clamping mechanism clamps the puncture needle on the fixed base; a plurality of infrared optical positioning balls are arranged above the puncture needle.
Compared with the prior art, the invention has the following beneficial effects:
the parallel six-degree-of-freedom puncture robot provided by the invention has the advantages that the spatial positioning and the guiding positioning of the puncture needle fixing module are realized by operating the parallel mechanism consisting of the three groups of servo push rods, the cost is low, and the precision is high.
The parallel six-degree-of-freedom puncture robot is simple in structure and compact in space, can work in a narrow CT scanning hole, and realizes accurate positioning of the tail end puncture mechanism under the guidance of a real-time CT image.
The parallel six-degree-of-freedom puncture robot disclosed by the invention can realize the rotation of the puncture needle in the operation through the puncture needle rotating module on the basis of realizing the autonomous puncture through the puncture needle feeding module, completely simulates the propelling and twisting operations in the puncture operation of a doctor, and has rich functions.
In addition, the parallel six-degree-of-freedom puncture robot can flexibly adjust the matching angle of the hexagonal prism pin and the hexagonal prism pin groove arranged behind the puncture needle feeding module according to actual needs, and working space is expanded.
Drawings
FIG. 1 is a schematic overall structure diagram of a preferred embodiment of the present invention;
FIG. 2 is a schematic overall structure of a preferred embodiment of the present invention;
fig. 3 is a schematic structural view of a puncture needle fixing module according to a preferred embodiment of the present invention;
FIG. 4 is a schematic view of a Z-axis moving module according to a preferred embodiment of the present invention;
FIG. 5 is a schematic view of a rotating shaft structure according to a preferred embodiment of the present invention;
FIG. 6 is a schematic view of the end bracket structure of the parallel mechanism according to a preferred embodiment of the present invention;
FIG. 7 is a schematic structural view showing one attitude of the puncture needle in accordance with a preferred embodiment of the present invention;
FIG. 8 is a schematic structural view showing one attitude of the puncture needle in accordance with a preferred embodiment of the present invention;
FIG. 9 is a schematic structural view showing one attitude of the puncture needle in accordance with a preferred embodiment of the present invention;
fig. 10 is a schematic view of the configuration of one posture of the puncture needle in a preferred embodiment of the present invention.
Wherein: I-Z axis moving module, II-parallel module, III-puncture needle feeding module, IV-puncture needle rotating module, V-puncture needle fixing module, 1-first supporting base, 2-linear guide rail, 3-linear module lead screw, 4-linear sliding member, 5-second supporting base, 6-first rotating pair, 7-mounting frame, 8-rotating shaft, 9-second rotating pair, 10-push rod base, 11-first motor support, 12-first motor, 13-pre-tightening base, 14-limit baffle, 15-pre-tightening bolt, 17-first slider, 18-synchronous belt, 19-parallel mechanism end support, 21-six-dimensional torque sensor, 22-puncture needle support, 23-lower half base, 24-upper half base, 25-second lead screw, 26-second slider, 27-second motor, 28-hexagonal prism pin, 29-second motor support, 30-third motor, 31-first connecting rod, 32-second connecting rod, 33-fixing base, 34-parallel mechanism end support body, 35-spherical ball-with shaft main body, 36-optical base, 37-infrared positioning base, 38-positioning base, and infrared positioning base.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; the connection can be mechanical connection or indirect connection through an intermediate medium, but the connection at each position does not influence the multi-position folding of the application. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-2, a specific embodiment of a parallel six-degree-of-freedom puncture robot is characterized by comprising: z axle removes module I, parallelly connected module II, pjncture needle and feeds module III, the rotatory module IV of pjncture needle and the fixed module V of pjncture needle, wherein: the parallel module II is arranged at the front end of the Z-axis moving module I; the puncture needle feeding module III is arranged at the front end of the parallel module II; the puncture needle fixing module V is arranged at the front end of the puncture needle feeding module III; and the puncture needle rotating module IV is arranged on the puncture needle fixing module V and is connected with the puncture needle feeding module III.
Specifically, the Z-axis moving module I drags the puncture robot to move along the Z-axis direction; the parallel module II adjusts the pitching angle and the side swinging angle of the puncture needle fixing module V according to the setting, and drags the puncture needle fixing module V, the puncture needle feeding module III and the puncture needle rotating module IV to move along the X-axis direction according to the setting; the front end of the puncture needle feeding module III is provided with the puncture needle fixing module V, and the puncture needle feeding module III controls the puncture needle fixing module V to perform feeding motion according to setting so as to reach a focus, an organ or a blood vessel; the puncture needle rotating module IV adjusts the puncture needle fixing module V to do rotary motion along the axial direction of the puncture needle according to setting; and the puncture needle fixing module V clamps the puncture needle to complete puncture operation.
In other preferred embodiments, as shown in fig. 4, the Z-axis moving module I includes a first support base 1, a linear guide rail 2, a linear module lead screw 3, and a linear sliding member 4; the linear guide rails 2 are arranged on the left side and the right side of the first support base 1; the linear module lead screw 3 is arranged on the first support base 1; the linear module lead screw 3 is in power connection with a motor; the linear sliding component 4 is connected with the linear guide rail 2 in a sliding mode, and the linear sliding component 4 is connected with the linear module lead screw 3 in a threaded mode.
Specifically, the linear module lead screw 3 is in screw transmission fit with the linear sliding component 4. The motor controls the linear module screw rod 3 to rotate, and then the linear sliding component 4 is pushed to move along the linear guide rail 2. Because the linear sliding component 4 is fixedly connected with the external fixed supporting structure, the first supporting base 1 drags the parallel module II to linearly translate along the Z-axis direction.
In other preferred embodiments, the parallel module II includes a second support base 5, a first servo push rod, a first rotating pair 6, a mounting frame 7, a rotating shaft 8, a second rotating pair 9, and a parallel mechanism end bracket 19; the second supporting base 5 is fixedly connected with the first supporting base 1; the first servo push rods are provided with three groups, wherein one group of the first servo push rods is arranged on the second supporting base 5, and the other two groups of the first servo push rods are respectively hinged with two ends of the rotating shaft 8; the mounting frame 7 is mounted above the second support base 5; the first rotating pair 6 is arranged at the other end of the first servo push rod on the second supporting base 5; the second revolute pair 9 is arranged at the other ends of the two groups of first servo push rods hinged with the rotating shaft 8; the upper end of the mounting rack 7 is provided with a through hole; the rotating shaft 8 is rotatably arranged in the through hole of the mounting frame 7 and is concentrically matched with the through hole; the parallel mechanism tail end support 19 consists of a parallel mechanism tail end support main body 34, a first belt shaft base 35 and a second belt shaft base 36; the tail end support main body 34 of the parallel mechanism is respectively rotatably connected with a first belt shaft base 35 and a second belt shaft base 36 through pin shafts; the shaft end surface of the second base 36 with the shaft is rotationally connected with the first rotating pair 6; the shaft end surface of the first belt shaft base 35 is rotatably connected with the second revolute pair 9.
Specifically, as shown in fig. 5 to 10, two groups of first servo push rods arranged on the mounting rack 7 perform telescopic movement according to setting, and the position and direction of the second revolute pair 9 are adjusted; a first servo rod arranged on the support base of the parallel module II makes telescopic motion according to the setting to adjust the position of the first rotating pair 6; the parallel module realizes pitching motion, side swinging motion and movement along the X-axis direction of the puncture needle fixing module by adjusting the position of the first rotating pair 6 and the position and direction of the second rotating pair 9.
Specifically, the pitching motion of the puncture needle fixing module V is realized by the motion of three first servo push rods in the parallel module II. By controlling the first lead screws on the second supporting base 5 to be stationary, two groups of first lead screws on the mounting rack 7 rotate in the same direction, and the corresponding first sliding blocks 17 are pushed to move linearly; or, the two groups of first lead screws on the mounting rack 7 are static, and the first lead screws on the second supporting base 5 move to push the corresponding first sliding blocks 17 to move linearly; and then the tail end bracket 19 of the parallel mechanism is pushed to deflect around the Y axis, so that the puncture needle fixing module V deflects around the Y axis.
Specifically, the lateral swinging motion of the puncture needle fixing module V is mainly realized by the motion of three first servo push rods in the parallel module II. Through controlling the first lead screws on the second supporting base 5 to be stationary respectively, two groups of first lead screws on the mounting rack 7 do differential motion to push the corresponding first sliding blocks 17 to move linearly. Two groups of first servo push rods, second revolute pairs 9 and a rotating shaft 8 on the mounting frame 7 form a plane trapezoid, wherein the two groups of first servo push rods are two trapezoidal waists, the second revolute pairs 9 are upper trapezoidal bottoms, and the rotating shaft 8 is lower trapezoidal bottoms. At this time, two groups of first lead screws on the mounting rack 7 do differential motion, so that the lengths of two groups of first servo push rods are changed, namely the lengths of two trapezoidal waists are changed. Due to the constraint limitation of the parallel structure, the second revolute pair 9 cannot perform deflection motion around the Z axis in the motion process, so that the upper bottom and the lower bottom of the trapezoid are always kept parallel. The lower bottom of the trapezoid is fixed, and because the upper bottom and the lower bottom are always parallel, when the lengths of the two waists change, the position of the upper bottom translates and is unique, namely, the second revolute pair 9 translates on the plane of the trapezoid;
specifically, the first lead screw on the second support base 5 is static, the two groups of first lead screws on the mounting rack 7 do differential motion, the lengths of the two groups of first servo push rods are changed, the length of the first servo push rod on the upper right side after motion is larger than that of the first servo push rod on the upper left side, the second revolute pair 9 is driven to move along the negative direction of the Y axis, the tail end support 19 of the parallel mechanism is driven to deflect around the positive direction of the X axis, and the puncture needle fixing module V is enabled to deflect around the X axis.
Specifically, the first lead screw on the second support base 5 is static, the two groups of first lead screws on the mounting rack 7 do differential motion, the lengths of the two groups of first servo push rods are changed, the length of the first servo push rod on the upper left side is greater than that of the first servo push rod on the upper right side after motion, the second revolute pair 9 is driven to move along the positive direction of the Y axis, the tail end support 19 of the parallel mechanism is driven to deflect along the negative direction of the X axis, and the puncture needle fixing module V is enabled to deflect around the X axis.
Specifically, the puncture needle fixing module V moves along the X-axis direction and is mainly realized by the motion of three first servo push rods in the parallel module II. Because the parallel module II of the robot is composed of three first servo push rods, the three first servo push rods are required to act in a coordinated manner to realize the linear translation of the puncture needle 37 along the X-axis direction. Namely, the three first lead screws are controlled to synchronously rotate to push the corresponding first slide blocks 17 to linearly move, so that the tail end support 19 of the parallel mechanism is pushed to linearly translate along the X-axis direction, and the puncture needle fixing module V is enabled to translate along the X-axis direction.
In other preferred embodiments, the first servo push rod comprises a push rod base 10, a first motor bracket 11, a first motor 12, a pre-tightening base 13, a first lead screw and a first sliding block 17; the pre-tightening base 13 is arranged above the push rod base 10; the first motor bracket 11 is arranged above the pre-tightening base 13; the first motor 12 is mounted on the first motor bracket 11; a cavity is formed in the push rod base 10; the first lead screw and the first sliding block 17 are arranged in a cavity of the push rod base 10; a threaded hole is formed in the first sliding block 17; the first sliding block 17 is in threaded connection with a first lead screw through a threaded hole; a driving belt wheel is connected to the first motor 12 in a power mode; the first lead screw is connected with a driven belt wheel; the driving belt wheel is connected with the driven belt wheel through a synchronous belt 18; the bottom of the pre-tightening base 13 is provided with a groove track, and the side surface of the pre-tightening base is provided with a limit baffle 14; the limiting baffle 14 is provided with a threaded hole; the limit baffle 14 is in threaded connection with a pre-tightening bolt 15 through a threaded hole.
Specifically, the first motor 12 drives the first lead screw to rotate through the synchronous belt 18, so as to drive the first sliding block 17 to move; the first motor support 11 is arranged above the pre-tightening base 13 through the groove in a matched mode, and the first motor 12 is dragged to slide along the groove to achieve pre-tightening under the pushing effect of the pre-tightening bolt 15.
In other preferred embodiments, the puncture needle feeding module III comprises a second servo push rod, a six-dimensional torque sensor 21, a puncture needle bracket 22 and a hexagonal prism pin 28; one end of the six-dimensional torque sensor 21 is fixedly connected with the puncture needle bracket 22, and the other end of the six-dimensional torque sensor is hinged with the fixed base of the puncture needle fixing module V; one end of the puncture needle bracket 22 is fixedly connected with the six-dimensional torque sensor 21, and the other end of the puncture needle bracket 22 is fixedly connected with the first sliding block 17; (ii) a The hexagonal prism pin 28 is arranged below the second servo push rod; the hexagonal pin 28 is inserted into a hexagonal pin slot in the parallel mechanism end bracket 19.
Specifically, the multi-angle flexible installation of the puncture feeding module is realized by changing the matching angle of the hexagonal prism pins 28 and the hexagonal prism pin grooves when the insertion is carried out.
In other preferred embodiments, the second servo push rod comprises a lower half base 23, an upper half base 24, a second lead screw 25, a second slide block 26 and a second motor 27; the upper half base 24 is arranged above the lower half base 23; cavities are formed in the lower half base 23 and the upper half base 24; the second lead screw 25 and the second sliding block 26 are arranged in the inner cavities of the lower half base 23 and the upper half base 24; a threaded hole is formed in the second sliding block 26; the second lead screw 25 is in threaded connection with the second sliding block 26; the second screw rod 25 is connected with a driven belt wheel; the second motor 27 is arranged on the lower half base 23; the second motor 27 is connected with a driving belt wheel; the driving pulley is connected to the driven pulley through a timing belt 18.
Specifically, the second motor 27 drives the second lead screw 25 to rotate through the timing belt 18, so as to move the second slider 26 and the puncture needle holder 22 connected to the second slider 26 up and down.
In other preferred embodiments, as shown in fig. 3, the puncture needle rotating module IV includes a second motor bracket 29, a third motor 30, a third motor output shaft, a first link 31 and a second link 32; the second motor bracket 29 is arranged on the puncture needle fixing module V; the third motor 30 is arranged on the second motor bracket 29; the output shaft of the third motor is in power connection with a third motor 30; the first connecting rod 31 is concentrically matched with the output shaft of the third motor; one end of the second connecting rod 32 is concentrically matched with the first connecting rod 31 to form a revolute pair, and the other end of the second connecting rod is concentrically matched with the puncture needle bracket 22 to form a revolute pair.
Specifically, the first connecting rod 31, the second connecting rod 32, the puncture needle bracket 22 and the puncture needle fixing module V form a hinge four-bar mechanism; the third motor 30 drives the first connecting rod 31 to rotate, and the six-dimensional torque sensor 21 is hinged to the fixing base 33 of the puncture needle fixing module, so that the puncture needle fixing module V can be driven to rotate by taking the puncture needle as an axis.
In other preferred embodiments, the puncture needle fixing module V comprises a fixing base 33, a quick clamping mechanism, a puncture needle 37 and an optical positioning ball 38; the rapid clamping mechanism is fixedly connected with the fixed base 33; the rapid clamping mechanism clamps the puncture needle 37 on the fixed base 33; a plurality of infrared optical positioning balls 38 are arranged above the puncture needle.
Specifically, a plurality of infrared optical positioning balls 38 are arranged above the puncture needle 37, so that the positioning and calibration of the posture position of the puncture needle in the working process are realized.
Finally, it should be noted that the present invention is not limited to the above embodiments, and many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.
Claims (8)
1. A parallel six-degree-of-freedom puncture robot is characterized by comprising: z axle removes module, parallelly connected module, pjncture needle and feeds module, pjncture needle rotation module and the fixed module of pjncture needle, wherein: the parallel module is arranged at the front end of the Z-axis moving module; the puncture needle feeding module is arranged at the front end of the parallel module; the puncture needle fixing module is arranged at the front end of the puncture needle feeding module; the puncture needle rotating module is arranged on the puncture needle fixing module and connected with the puncture needle feeding module.
2. The parallel six-degree-of-freedom piercing robot of claim 1, wherein the Z-axis moving module comprises a first support base, a motor, a linear guide rail, a linear module lead screw, and a linear slide member; the linear guide rails are arranged on the left side and the right side of the first support base; the linear module lead screw is arranged on the first supporting base; the linear module lead screw is in power connection with the motor; the linear sliding component is in sliding connection with the linear guide rail and is in threaded connection with the linear module lead screw.
3. The parallel six-degree-of-freedom puncture robot according to claim 2, wherein the parallel module comprises a second support base, a first servo push rod, a first revolute pair, a mounting frame, a rotating shaft, a second revolute pair and a parallel mechanism end support; the second supporting base is fixedly connected with the first supporting base; the first servo push rods are provided with three groups, wherein one group of first servo push rods are arranged on the second supporting base, and the other two groups of first servo push rods are hinged with the rotating shaft; the mounting rack is arranged above the second supporting base; the first rotating pair is arranged at the other end of the first servo push rod on the second supporting base; the second revolute pair is arranged at the other ends of the two groups of first servo push rods hinged with the rotating shaft; the upper end of the mounting rack is provided with a through hole; the rotating shaft is arranged on the mounting frame and is concentrically matched with the through hole; the parallel mechanism tail end support is composed of a parallel mechanism tail end support main body, a belt shaft base I and a belt shaft base II; the tail end support main body of the parallel mechanism is hinged with the first belt shaft base and the second belt shaft base respectively; the shaft end surface of the second belt shaft base is connected with the first rotating pair; and the shaft end surface of the first belt shaft base is connected with the second revolute pair.
4. The parallel six-degree-of-freedom puncture robot as claimed in claim 3, wherein the first servo push rod comprises a push rod base, a first motor bracket, a first motor, a pre-tightening base, a first lead screw and a first slide block; the first motor bracket is arranged above the push rod base; the first motor is arranged on the first motor bracket; a cavity is formed in the push rod base; the first lead screw and the first sliding block are arranged in a cavity of the push rod base; the first sliding block is provided with a threaded hole; the first sliding block is in threaded connection with the first lead screw through a threaded hole; the first motor is connected with a driving belt wheel in a power mode; the first lead screw is connected with a driven belt wheel; the driving belt wheel is connected with the driven belt wheel through a synchronous belt; the bottom of the pre-tightening base is provided with a groove track, and the side surface of the pre-tightening base is provided with a limiting baffle; the limiting baffle is provided with a threaded hole; the limiting baffle is connected with a pre-tightening bolt in a threaded mode through a threaded hole.
5. The parallel six-degree-of-freedom puncture robot as claimed in claim 4, wherein the puncture needle feeding module comprises a second servo push rod, a six-dimensional torque sensor, a puncture needle bracket and a hexagonal prism pin; one end of the six-dimensional torque sensor is fixedly connected with the puncture needle bracket, and the other end of the six-dimensional torque sensor is hinged with the puncture needle fixing module; one end of the puncture needle bracket is fixedly connected with the six-dimensional torque sensor, and the other end of the puncture needle bracket is fixedly connected with the first sliding block; the hexagonal prism pin is arranged below the second servo push rod; the front end of the support at the tail end of the parallel mechanism is provided with a hexagonal pin slot; and the hexagonal prism pins are inserted into hexagonal prism pin grooves on the supports at the tail ends of the parallel mechanisms.
6. The parallel six-degree-of-freedom piercing robot of claim 5, wherein the second servo push rod comprises a lower half base, an upper half base, a second lead screw, a second slide block and a second motor; the upper half part base is arranged above the lower half part base; cavities are formed in the lower half base and the upper half base; the second lead screw and the second sliding block are arranged in inner cavities of the lower half part base and the upper half part base; the second sliding block is provided with a threaded hole; the second lead screw is in threaded connection with the second sliding block; the second screw rod is connected with a driven belt wheel; the second motor is arranged on the base of the lower half part; the second motor is connected with a driving belt wheel; the driving belt wheel is connected with the driven belt wheel through a synchronous belt.
7. The parallel six-degree-of-freedom puncture robot according to claim 6, wherein the puncture needle rotating module comprises a second motor bracket, a third motor output shaft, a first connecting rod and a second connecting rod; the second motor bracket is arranged on the puncture needle fixing module; the third motor is arranged on the second motor bracket; the output shaft of the third motor is in power connection with the third motor; the first connecting rod is concentrically matched with an output shaft of the third motor; one end of the second connecting rod is concentrically matched with the first connecting rod to form a revolute pair, and the other end of the second connecting rod is concentrically matched with the puncture needle support to form a revolute pair.
8. The parallel six-degree-of-freedom puncture robot according to claim 7, wherein the puncture needle fixing module comprises a fixing base, a quick clamping mechanism and a puncture needle; the quick clamping mechanism is fixedly connected with the fixed base; the rapid clamping mechanism clamps the puncture needle on the fixed base; a plurality of infrared optical positioning balls are arranged above the puncture needle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211244535.4A CN115590589A (en) | 2022-10-12 | 2022-10-12 | Parallel six-degree-of-freedom puncture robot |
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| CN202211244535.4A CN115590589A (en) | 2022-10-12 | 2022-10-12 | Parallel six-degree-of-freedom puncture robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117340898A (en) * | 2023-12-05 | 2024-01-05 | 真健康(广东横琴)医疗科技有限公司 | Kinematic analysis method for miniaturized hybrid puncture robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117340898A (en) * | 2023-12-05 | 2024-01-05 | 真健康(广东横琴)医疗科技有限公司 | Kinematic analysis method for miniaturized hybrid puncture robot |
| CN117340898B (en) * | 2023-12-05 | 2024-02-20 | 真健康(广东横琴)医疗科技有限公司 | Kinematic analysis method for miniaturized hybrid puncture robot |
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