CN116672011A - Intelligent knotting system - Google Patents
Intelligent knotting system Download PDFInfo
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- CN116672011A CN116672011A CN202310749851.5A CN202310749851A CN116672011A CN 116672011 A CN116672011 A CN 116672011A CN 202310749851 A CN202310749851 A CN 202310749851A CN 116672011 A CN116672011 A CN 116672011A
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- 230000033001 locomotion Effects 0.000 claims abstract description 40
- 238000001514 detection method Methods 0.000 claims abstract description 34
- 230000003139 buffering effect Effects 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 30
- 230000008569 process Effects 0.000 description 29
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000000056 organ Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 210000001519 tissue Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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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
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/0482—Needle or suture guides
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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
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/0491—Sewing machines for surgery
Abstract
The invention relates to the technical field of surgical instruments, in particular to an intelligent knotting system, which comprises: the device comprises a knotting module, a buffer movement auxiliary module, a detection module, a knotting auxiliary module, a knotting analysis module and a positioning adjustment module; the device comprises a knotting module, a buffering moving auxiliary module, a detecting module, a knotting analysis module and a positioning adjusting module, wherein the knotting module is used for knotting, the buffering moving auxiliary module is used for stably moving the knotting module, the detecting module is used for detecting position information and characteristic information of a knotting part, the knotting auxiliary module is used for adjusting the opening width of the knotting position, the knotting analysis module is used for determining the knotting scheme, and the positioning adjusting module is used for moving the knotting module to the knotting position.
Description
Technical Field
The invention relates to the technical field of surgical instruments, in particular to an intelligent knotting system.
Background
In the prior art, the method of knotting in the surgery is mainly manual knotting, and the manual knotting process is as follows: the forceps are used for winding a thread around a tissue or a blood vessel to be ligated, then two single knots are sequentially wound by two hands, and the two single knots are stranded to form a square knot, but the manual knotting speed is low, and the technical requirement on medical staff is high.
Chinese patent publication No.: CN113069160a provides an automatic knotter for operation, including the control main part, the control main part appearance is the cuboid, the control main part side is equipped with middle finger supporting ring, control main part upper portion is equipped with the flow start button, the control main part openly is equipped with the system switch, the control main part bottom is equipped with the prismatic knotter main part, three anchor clamps are stretched out from interior to the knotter main part, anchor clamps are anchor clamps that tie a knot No. one, expansion clamp and anchor clamps that tie a knot No. two respectively, expansion clamp locates knotter main part bottom central point put, anchor clamps that tie a knot No. two and anchor clamps that tie a knot are dislocation set for the expansion clamp, can operate the type of tying a knot of needs according to the flow of setting for a key, realize that a key is tied a knot. Therefore, in the above technical scheme, the automatic knotter for operation has the following problems: when knotting is carried out on the knotting position, the knotting position and the knot distance are determined by experience of a doctor, so that the knotting difficulty of the doctor is increased, if the knotting position is overlong, the flexibility of muscle is reduced after long-time operation, the subsequent knotting quality is reduced, and the knotting is inaccurate.
Disclosure of Invention
Therefore, the invention provides an intelligent knotting system which is used for solving the problems that the knotting operation position and interval are not matched with the knotting position due to the fact that the accurate measurement of the knotting position is not carried out in the prior art, so that the knotting quality is affected, and the knotting quality reduction caused by operation fatigue can be relieved by independently determining the knotting position.
The invention provides an intelligent knotting system, which comprises:
the knotting module is used for knotting the target knotting position through the wire rod in a penetrating manner;
the buffering movement auxiliary module is movably loaded with the knotting module and is used for resisting external force to reduce the movement speed of the knotting module in a first mode and moving the knotting operation end of the knotting module to a set position through a power source in a second mode;
the detection module is connected with the knotting module and is used for detecting the position of the target knotting position, the position of the knotting operation end and the characteristic size and the characteristic height of the target knotting position;
the knotting auxiliary module is used for stabilizing the target knotting position so as to adjust the opening width of the target knotting position to meet the knotting standard;
the knotting analysis module is respectively connected with the detection module and the knotting auxiliary module, and is used for determining the type and the diameter of the wire rod according to the target knotting position, determining the length, the knotting direction, the knotting initial position, the knotting number or the knotting interval size of the wire rod according to the detected characteristic size of the target knotting position, and determining the tension adjustment of the knotting unit according to the detected uplift height of the knotting-completed internode opening size;
the positioning adjustment module is respectively connected with the detection module and the knotting module, and is used for determining a moving adjustment mode and an adjustment amount of the knotting operation end according to the detected position difference between the target knotting position and the knotting operation end so as to enable the knotting operation end to be positioned at an initial knotting position, and controlling the knotting operation end to sequentially move the knotting interval size according to the determined knotting quantity and the knotting direction so as to complete knotting work;
the characteristic dimension comprises an initial length of a position to be knotted and an opening width of the position to be knotted, and the characteristic height comprises a plurality of heights of edge positions to be knotted.
Further, the buffering mobile auxiliary module comprises a six-degree-of-freedom mobile arm, a stress induction component, a plurality of impedance motors, a plurality of power motors and a transmission mechanism:
the six-degree-of-freedom moving arm is connected with the positioning adjustment module and used for precisely moving the knotting module;
the stress sensing assembly is arranged at each joint of the six-degree-of-freedom moving arm and is used for detecting external force applied to the six-degree-of-freedom moving arm;
the impedance motor is respectively connected with the six-degree-of-freedom moving arm and the stress induction component and is used for reducing the moving speed of the knotting module;
the power motors and the transmission mechanisms are used for moving the knotting operation ends of the knotting modules to set positions through the transmission mechanisms under the action of power output by the power motors.
Further, the knot tying auxiliary module comprises at least one group of binding surfaces and interval adjusting components which are oppositely arranged at two sides of the target knot tying position, wherein:
the single binding surface forms fixed connection with a single position of the first range through direct or indirect contact, and a group of oppositely arranged binding surfaces are oppositely arranged in the first range;
the interval adjusting assembly is connected with each group of binding surfaces to respectively adjust the interval between the binding surfaces oppositely arranged in each group;
wherein the first range is a closed region around the target knotting site.
Further, the positioning adjustment module determines a movement adjustment mode of the knotting operation end according to the detected position difference between the target knotting position and the knotting operation end;
if the position difference is larger than the preset position difference, the positioning adjustment module controls the knotting operation end to continuously move by a plurality of units by taking the first displacement as a unit in a fuzzy calibration mode until the position difference is smaller than or equal to the preset position difference;
if the position difference is smaller than or equal to the preset position difference, the positioning adjustment module controls the knotting operation end to continuously move for a plurality of times by taking the second displacement as a unit in an accurate calibration mode until the position difference is smaller than or equal to the second displacement;
wherein the first displacement amount is set to be greater than 3 times the second displacement amount.
Further, the positioning adjustment module determines whether the knotting operation end is positioned at the initial knotting position according to the detected position difference between the target knotting position and the knotting operation end;
if the position difference is larger than the preset precision difference, judging that the knotting operation end is not at the initial knotting position, and adjusting the knotting operation end to a corresponding position;
if the position difference is smaller than or equal to the preset precision difference, judging that the knotting operation end is at the initial knotting position, and not adjusting the knotting operation end;
wherein the second displacement is greater than or equal to a preset precision difference greater than 0.
Further, the knot tying auxiliary module determines a center movement amount of the knot tying auxiliary unit according to the opening width of the knot tying position to be tied in a free state so as to adjust the opening size of the target knot tying position.
Further, the knotting analysis module determines the length and the knotting quantity of the wire rod according to the initial length of the position to be knotted, and determines whether the knotting quantity needs to be adjusted according to the free open width of the position to be knotted and the steady open width of the position to be knotted;
if the opening width difference of the two is larger than the preset width difference, the knotting analysis module correspondingly increases the knotting quantity according to the opening width difference value and the preset opening width difference value;
if the opening width difference of the two is smaller than or equal to the preset width difference, the knotting analysis module keeps the knotting number unchanged or correspondingly reduces the knotting number according to the difference between the opening width and the preset opening width.
Further, the ratio of the height of the bulge of the knotted open size between knots detected by the knotting analysis unit to the preset height of the bulge is compared with the tension adjustment amount of the knotting unit.
Further, the difference between the width of the knotted open size and the preset degree detected by the knotting analysis unit and the adjustment amount for determining the knotting quantity are obtained.
Further, the detection module includes a target detection unit and a feature detection unit:
the target detection unit is connected with the buffer movement auxiliary module and is provided with a visual detector and a distance detector, the visual detector is used for identifying the target knotting position and the knotting operation end, and the distance detector is used for detecting the distance between the target knotting position and the knotting operation end;
the characteristic detection unit is connected with the knotting module and is provided with a first size detector and a second size detector, the first size detector is used for detecting the initial length of a knotting position to be knotted of a target knotting position and the opening width of the knotting position to be knotted, and the second size detector is used for detecting a plurality of heights of knotting edge positions of the target knotting position.
Compared with the prior art, the invention has the beneficial effects that the influence of external force on the stability of the knotting system is overcome in the moving process of the buffer moving auxiliary module; the knotting part information is accurately detected by arranging the detection module, so that the knotting module is positioned more accurately; the knotting auxiliary module is arranged to adjust the opening width of the target knotting position, so that the knotting module works in a normal working range; the knotting analysis module is arranged to determine knotting information and adjustment amount after knotting is finished, so that knotting accuracy is improved; the positioning adjustment module is arranged to adjust the position of the knotting operation end, so that the working position of the knotting module is more accurate.
Furthermore, the buffer movement auxiliary module can control the movement speed of the knotting module, sense the resistance received in the movement process and the force generated by the collision of medical staff in the working process, and transmit the resistance and the force to the six-degree-of-freedom movement arm, so that the six-degree-of-freedom movement arm can ensure the stable state in the movement and working processes, and the stability in the knotting process is ensured.
Furthermore, the knotting auxiliary module aims to stabilize the target knotting position, avoid the target knotting position deviation caused by the external force influence of the knotting operation end in the knotting process, and improve the integral knotting quality.
Furthermore, the positioning adjustment module is provided with two knotting operation end moving modes, and the preset position difference is used for distinguishing fuzzy calibration and accurate calibration according to the two conditions of large position deviation and small position deviation of the target knotting position and the knotting operation end, so that the setting of the value can be determined according to the knotting accuracy requirement of the target knotting position, and the accuracy of the working position of the knotting module is ensured.
Furthermore, the positioning adjustment module is provided with a comparison judging mode for the knotting operation end position, and accuracy of judging the moving mode is improved for the two cases that the difference of the accuracy between the target knotting position and the knotting operation end is large and within an allowable range.
Furthermore, according to the knotting auxiliary module, the position of the binding surface is adjusted according to the opening width condition when the position to be knotted is in the free state, so that the effect of adjusting the opening size of the target knotting position is achieved, and the stability of the knotting process is ensured.
Furthermore, the knotting analysis module is provided with two knotting quantity adjusting modes, the knotting quantity is respectively adjusted according to the two conditions of large and small opening widths after knotting, the knotting tension is adjusted according to the ratio of the uplift height of the knotting-completed knot opening size to the preset uplift height, and the quality of knotting results is ensured.
Further, the detection module firstly determines the initial movement position of the knotting module according to the distance between the target knotting position and the distance between the knotting operation ends, and then detects the initial length of the target knotting position to be knotted, the opening width of the target knotting position and a plurality of heights of the knotting edge positions, so that the working position of the knotting module is more accurate.
Drawings
FIG. 1 is a schematic diagram of the connection of an intelligent knotting system in an embodiment of the present invention;
FIG. 2 is a knotting flow chart of an intelligent knotting system in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a knot tying auxiliary module according to an embodiment of the invention;
in the figure: 1, a target knotting position; 21 a first binding surface; 22 a second binding surface; 3, a first range; 4, a spacing adjusting assembly.
Detailed description of the preferred embodiments
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, the present invention provides an intelligent knotting system, which includes:
the knotting module is used for knotting the target knotting position through the wire rod in a penetrating manner;
the buffering movement auxiliary module is movably loaded with the knotting module and is used for resisting external force to reduce the movement speed of the knotting module in a first mode and moving the knotting operation end of the knotting module to a set position through a power source in a second mode;
the detection module is connected with the knotting module and is used for detecting the position of the target knotting position, the position of the knotting operation end and the characteristic size and the characteristic height of the target knotting position;
the knotting auxiliary module is used for stabilizing the target knotting position so as to adjust the opening width of the target knotting position to meet the knotting standard;
the knotting analysis module is respectively connected with the detection module and the knotting auxiliary module, and is used for determining the type and the diameter of the wire rod according to the target knotting position, determining the length, the knotting direction, the knotting initial position, the knotting number or the knotting interval size of the wire rod according to the detected characteristic size of the target knotting position, and determining the tension adjustment of the knotting unit according to the detected uplift height of the knotting-completed internode opening size;
the positioning adjustment module is respectively connected with the detection module and the knotting module, and is used for determining a moving adjustment mode and an adjustment amount of the knotting operation end according to the detected position difference between the target knotting position and the knotting operation end so as to enable the knotting operation end to be positioned at an initial knotting position, and controlling the knotting operation end to sequentially move the knotting interval size according to the determined knotting quantity and the knotting direction so as to complete knotting work;
the characteristic dimension comprises an initial length of a position to be knotted and an opening width of the position to be knotted, and the characteristic height comprises a plurality of heights of edge positions to be knotted.
In the specific implementation process, firstly, the position of a target knotting position and the position of a knotting operation end are detected, the initial length of the target knotting position, the opening width of the position to be knotted and a plurality of heights of the position to be knotted are detected, the detected position of the target knotting position and the position information of the knotting operation end are transmitted to a positioning adjustment module, the detected initial length of the target knotting position, the opening width of the position to be knotted and a plurality of height information of the position to be knotted are transmitted to a knotting analysis module, a knotting auxiliary module stabilizes the target knotting position and adjusts the opening width, the knotting analysis module determines the type and the diameter of a wire used for knotting according to the received specific characteristic information of the knotting position, the length, the direction, the knotting initial position, the number or the knotting interval size of the wire are determined according to the detected characteristic size of the target knotting position, the positioning adjustment module moves according to the received position information, and in the moving process, the buffering movement auxiliary module provided with the knotting module guarantees the stability of the moving process, and knotting is performed after the moving is completed; after the knotting is finished, the knotting analysis module determines the tension adjustment quantity of the knotting unit according to the detected uplift height of the open size between the knots, and after the adjustment is finished, the whole knotting process is finished.
The invention overcomes the influence of external force on the stability of the knotting system in the moving process of the buffer moving auxiliary module; the knotting part information is accurately detected by arranging the detection module, so that the knotting module is positioned more accurately; the knotting auxiliary module is arranged to adjust the opening width of the target knotting position, so that the knotting module works in a normal working range; the knotting analysis module is arranged to determine knotting information and adjustment amount after knotting is finished, so that knotting accuracy is improved; the positioning adjustment module is arranged to adjust the position of the knotting operation end, so that the working position of the knotting module is more accurate.
Specifically, the buffering removes auxiliary module includes six degrees of freedom removal arms, stress induction subassembly, a plurality of impedance motor, a plurality of power motor and drive mechanism:
the six-degree-of-freedom moving arm is connected with the positioning adjustment module and used for precisely moving the knotting module;
the stress sensing assembly is arranged at each joint of the six-degree-of-freedom moving arm and is used for detecting external force applied to the six-degree-of-freedom moving arm;
the impedance motor is respectively connected with the six-degree-of-freedom moving arm and the stress induction component and is used for reducing the moving speed of the knotting module;
the power motors and the transmission mechanisms are used for moving the knotting operation ends of the knotting modules to set positions through the transmission mechanisms under the action of power output by the power motors.
It is to be understood that the structures and implementation forms of the six-degree-of-freedom moving arm, the stress sensing assembly, the impedance motor and the power motor are not limited, and only the energy supply of the present invention can be realized, and are not described herein.
In the specific implementation process, the buffer movement auxiliary module continuously works, so that the knotting module can stably move when initially positioning the initial knotting position, and the movement speed of the knotting module is reduced through impedance in the knotting process, so that the knotting module is kept stable.
The buffer movement auxiliary module can control the movement speed of the knotting module, sense the resistance force received in the movement process and the force generated by the collision of medical staff in the working process, and transmit the force to the six-degree-of-freedom movement arm, so that the stable state of the knotting module in the movement and working processes is ensured, and the stability of the knotting process is ensured.
Please refer to fig. 3, which is a schematic structural diagram of a knotting assistance module according to an embodiment of the present invention, the knotting assistance module includes at least one set of binding surfaces and a spacing adjustment assembly disposed opposite to each other on two sides of the target knotting position, wherein:
the first binding surface 21 forms fixed connection with a single position of the first range 3 through direct or indirect contact, and the first binding surface 21 and the second binding surface 22 which are oppositely arranged in the first range 3;
the interval adjusting component 4 is connected with each group of binding surfaces to respectively adjust the interval between the opposite binding surfaces of each group;
wherein the first range is a closed region around the target knotting site.
In the specific implementation process, when knotting is performed on the outer part of the body, the binding surface is in direct contact with two sides of the target knotting position, and when knotting is performed on the inner organ of the body, the binding surface is in indirect contact with two sides of the target knotting position.
The knotting auxiliary module aims to stabilize the target knotting position, avoid the target knotting position deviation caused by the external force influence of the knotting operation end in the knotting process, and improve the integral knotting quality.
Specifically, the positioning adjustment module determines a movement adjustment mode of the knotting operation end according to the detected position difference between the target knotting position and the knotting operation end;
if the position difference is larger than the preset position difference, the positioning adjustment module controls the knotting operation end to continuously move by a plurality of units by taking the first displacement as a unit in a fuzzy calibration mode until the position difference is smaller than or equal to the preset position difference;
if the position difference is smaller than or equal to the preset position difference, the positioning adjustment module controls the knotting operation end to continuously move for a plurality of times by taking the second displacement as a unit in an accurate calibration mode until the position difference is smaller than or equal to the second displacement;
wherein the first displacement amount is set to be greater than 3 times the second displacement amount.
In the specific implementation process, setting the position difference value between the detected target knotting position and the knotting operation end as an absolute value, wherein the preset position difference is larger than 0.
According to the invention, the positioning adjustment module is provided with two knotting operation end moving modes, and the preset position difference is used for distinguishing fuzzy calibration and accurate calibration according to the two conditions of large position deviation and small position deviation of the target knotting position and the knotting operation end, and the setting of the value can be determined according to the knotting accuracy requirement of the target knotting position, so that the accuracy of the working position of the knotting module is ensured.
Specifically, the positioning adjustment module determines whether the knotting operation end is positioned at the initial knotting position according to the detected position difference between the target knotting position and the knotting operation end;
if the position difference is larger than the preset precision difference, judging that the knotting operation end is not at the initial knotting position, and adjusting the knotting operation end to a corresponding position;
if the position difference is smaller than or equal to the preset precision difference, judging that the knotting operation end is at the initial knotting position, and not adjusting the knotting operation end;
wherein the second displacement is greater than or equal to a preset precision difference greater than 0.
It can be understood that the preset precision difference is used for determining the magnitude of the position difference between the current knotting operation end and the target knotting position, the setting of the value of the preset precision difference can be determined according to the knotting positioning precision requirement of the target knotting position, and the detected target knotting position can be generally set as the initial knotting position of the target knotting position.
According to the invention, the positioning adjustment module is provided with a comparison judging mode for the knotting operation end position, and the accuracy of judging the moving mode is improved for the two cases that the difference of the accuracy between the target knotting position and the knotting operation end is large and within the allowable range.
Specifically, the knot tying auxiliary module determines a center movement amount of the knot tying auxiliary unit according to an opening width of the knot tying position to be tied in a free state so as to adjust an opening size of the target knot tying position.
In the specific implementation process, if the opening width is larger than the preset width, the knotting auxiliary module controls the center movement amount of the oppositely arranged binding surface to be in a first movement range in a first preset stable mode, and keeps the position of the binding surface fixed after the binding surface moves;
if the opening width is smaller than or equal to the preset width, the knotting auxiliary module controls the center movement amount of the oppositely arranged binding surfaces to be in a second movement range in a second preset stable mode, and the positions of the binding surfaces are kept fixed after the knotting auxiliary module moves;
wherein the first movement range is set to be greater than 2 times the second movement range.
According to the knotting auxiliary module, the position of the binding surface is adjusted according to the opening width condition when the position to be knotted is in the free state, so that the effect of adjusting the opening size of the target knotting position is achieved, and the stability of the knotting process is ensured.
Specifically, the knotting analysis module determines the length and the knotting quantity of the wire rod according to the initial length of the position to be knotted, and determines whether the knotting quantity needs to be adjusted according to the free open width of the position to be knotted and the steady open width of the position to be knotted;
if the opening width difference of the two is larger than the preset width difference, the knotting analysis module correspondingly increases the knotting quantity according to the opening width difference value and the preset opening width difference value;
if the opening width difference of the two is smaller than or equal to the preset width difference, the knotting analysis module keeps the knotting number unchanged or correspondingly reduces the knotting number according to the difference between the opening width and the preset opening width.
In the specific implementation process, the knotting quantity is determined according to the initial length of the position to be knotted and the length of the wire rod, in the knotting process, the organs of the knotting positions are different from one patient body tissue to another, the distances between the knots are different, and the lengths of the knotting positions are different, so that the wire rod types are different, the lengths are also different, and therefore, the knotting quantity needs to be determined again each time.
Specifically, the ratio of the height of the bulge of the knotted open size between knots detected by the knotting analysis unit to the preset height of the bulge is compared with the tension adjustment amount of the knotting unit.
In the specific implementation process, if the knotting analysis unit detects that the ratio of the uplift height of the knotted open size between knots to the preset uplift height exceeds a preset ratio interval, the tension adjustment amount of the knotting unit is reduced; if the ratio is lower than the preset ratio interval, the tension adjustment amount of the knotting unit is adjusted to be high.
Specifically, the difference between the width of the knotted open size and the preset degree detected by the knotting analysis unit and the adjustment amount for determining the knotting number are calculated.
In the specific implementation process, if the difference between the width of the knotted open size between knots detected by the knotting analysis unit and the preset degree is larger than a preset difference interval, correspondingly increasing the knotting quantity according to the difference between the detected difference and the preset difference;
if the difference between the width of the knotted open size and the preset degree detected by the knotting analysis unit is lower than the preset difference interval, the knotting quantity is correspondingly reduced according to the difference between the detected difference and the preset difference.
According to the knotting analysis module, two knotting quantity adjusting modes are arranged, the knotting quantity is adjusted according to the two conditions of large and small opening widths after knotting, the knotting tension is adjusted according to the ratio of the uplift height of the knotting-completed knot opening size to the preset uplift height, and the quality of knotting results is guaranteed.
Specifically, the detection module includes a target detection unit and a feature detection unit:
the target detection unit is connected with the buffer movement auxiliary module and is provided with a visual detector and a distance detector, the visual detector is used for identifying the target knotting position and the knotting operation end, and the distance detector is used for detecting the distance between the target knotting position and the knotting operation end;
the characteristic detection unit is connected with the knotting module and is provided with a first size detector and a second size detector, the first size detector is used for detecting the initial length of a knotting position to be knotted of a target knotting position and the opening width of the knotting position to be knotted, and the second size detector is used for detecting a plurality of heights of knotting edge positions of the target knotting position.
In the specific implementation process, the in-vitro detection unit of the target detection unit is accurate to millimeter, and the detection unit of the in-vivo organ is accurate to the effective number after millimeter; the detection precision of the first size detector and the second size detector of the feature detection unit is accurate to the last significant digit of millimeter.
According to the invention, the detection module firstly determines the initial movement position of the knotting module according to the distance between the target knotting position and the knotting operation end, and then detects the initial length of the target knotting position to be knotted, the opening width of the target knotting position and a plurality of heights of the knotting edge positions, so that the working position of the knotting module is more accurate.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and rules of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An intelligent knotting system, comprising:
the knotting module is used for knotting the target knotting position through the wire rod in a penetrating manner;
the buffering movement auxiliary module is movably loaded with the knotting module and is used for resisting external force to reduce the movement speed of the knotting module in a first mode and moving the knotting operation end of the knotting module to a set position through a power source in a second mode;
the detection module is connected with the knotting module and is used for detecting the position of the target knotting position, the position of the knotting operation end and the characteristic size and the characteristic height of the target knotting position;
the knotting auxiliary module is used for stabilizing the target knotting position so as to adjust the opening width of the target knotting position to meet the knotting standard;
the knotting analysis module is respectively connected with the detection module and the knotting auxiliary module, and is used for determining the type and the diameter of the wire rod according to the target knotting position, determining the length, the knotting direction, the knotting initial position, the knotting number or the knotting interval size of the wire rod according to the detected characteristic size of the target knotting position, and determining the tension adjustment of the knotting unit according to the detected uplift height of the knotting-completed internode opening size;
the positioning adjustment module is respectively connected with the detection module and the knotting module, and is used for determining a moving adjustment mode and an adjustment amount of the knotting operation end according to the detected position difference between the target knotting position and the knotting operation end so as to enable the knotting operation end to be positioned at an initial knotting position, and controlling the knotting operation end to sequentially move the knotting interval size according to the determined knotting quantity and the knotting direction so as to complete knotting work;
the characteristic dimension comprises an initial length of a position to be knotted and an opening width of the position to be knotted, and the characteristic height comprises a plurality of heights of edge positions to be knotted.
2. The intelligent knotting system of claim 1, wherein the cushioned motion assistance module comprises a six degree of freedom motion arm, a stress sensing assembly, a plurality of resistance motors, a plurality of power motors, and a transmission mechanism:
the six-degree-of-freedom moving arm is connected with the positioning adjustment module and used for precisely moving the knotting module;
the stress sensing assembly is arranged at each joint of the six-degree-of-freedom moving arm and is used for detecting external force applied to the six-degree-of-freedom moving arm;
the impedance motor is respectively connected with the six-degree-of-freedom moving arm and the stress induction component and is used for reducing the moving speed of the knotting module;
the power motors and the transmission mechanisms are used for moving the knotting operation ends of the knotting modules to set positions through the transmission mechanisms under the action of power output by the power motors.
3. The intelligent knotting system of claim 1, wherein the knotting assistance module comprises at least one set of binding surfaces and spacing adjustment assemblies positioned opposite sides of the target knotting location, wherein:
the single binding surface forms fixed connection with a single position of the first range through direct or indirect contact, and a group of oppositely arranged binding surfaces are oppositely arranged in the first range;
the interval adjusting assembly is connected with each group of binding surfaces to respectively adjust the interval between the binding surfaces oppositely arranged in each group;
wherein the first range is a closed region around the target knotting site.
4. The intelligent knotting system of claim 2, wherein the positioning adjustment module determines a movement adjustment mode of the knotting operation end according to a detected position difference between the target knotting position and the knotting operation end;
if the position difference is larger than the preset position difference, the positioning adjustment module controls the knotting operation end to continuously move by a plurality of units by taking the first displacement as a unit in a fuzzy calibration mode until the position difference is smaller than or equal to the preset position difference;
if the position difference is smaller than or equal to the preset position difference, the positioning adjustment module controls the knotting operation end to continuously move for a plurality of times by taking the second displacement as a unit in an accurate calibration mode until the position difference is smaller than or equal to the second displacement;
wherein the first displacement amount is set to be greater than 3 times the second displacement amount.
5. The intelligent knotting system of claim 4, wherein the positioning adjustment module determines whether the knotting operation end is located at an initial knotting position according to a detected position difference between a position of a target knotting position and a position difference of the knotting operation end;
if the position difference is larger than the preset precision difference, judging that the knotting operation end is not at the initial knotting position, and adjusting the knotting operation end to a corresponding position;
if the position difference is smaller than or equal to the preset precision difference, judging that the knotting operation end is at the initial knotting position, and not adjusting the knotting operation end;
wherein the second displacement is greater than or equal to a preset precision difference greater than 0.
6. The intelligent knotting system of claim 3, wherein the knotting assistance module determines a central movement amount of the knotting assistance unit according to an opening width of the knotting location in a free state to adjust an opening size of the target knotting location.
7. The intelligent knotting system of claim 6, wherein the knotting analysis module determines the length and the knotting number of the wire according to the initial length of the position to be knotted, and determines whether the knotting number needs to be adjusted according to the free open width of the position to be knotted and the steady open width of the position to be knotted;
if the opening width difference of the two is larger than the preset width difference, the knotting analysis module correspondingly increases the knotting quantity according to the opening width difference value and the preset opening width difference value;
if the opening width difference is smaller than or equal to the preset width difference, the knotting analysis module keeps the knotting number unchanged or correspondingly reduces the knotting number according to the difference between the opening width and the preset opening width.
8. The intelligent knotting system of claim 7, wherein the ratio of the height of the bulge of the knotted open size between knots detected by the knotting analysis unit to the preset height of the bulge is used to determine the tension adjustment of the knotting unit.
9. The intelligent knotting system of claim 7, wherein the difference between the width of the knotted open size and the preset degree detected by the knotting analysis unit and the adjustment amount determining the number of knots.
10. The intelligent knotting system of claim 7, wherein the detection module comprises a target detection unit and a feature detection unit:
the target detection unit is connected with the buffer movement auxiliary module and is provided with a visual detector and a distance detector, the visual detector is used for identifying the target knotting position and the knotting operation end, and the distance detector is used for detecting the distance between the target knotting position and the knotting operation end;
the characteristic detection unit is connected with the knotting module and is provided with a first size detector and a second size detector, the first size detector is used for detecting the initial length of a knotting position to be knotted of a target knotting position and the opening width of the knotting position to be knotted, and the second size detector is used for detecting a plurality of heights of knotting edge positions of the target knotting position.
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| CN202310749851.5A CN116672011B (en) | 2023-06-25 | 2023-06-25 | Intelligent knotting system |
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| CN116672011B (en) | 2023-11-28 |
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