CN117338435B - Electric end effector for robotic lancing operation and lancing robot - Google Patents
Electric end effector for robotic lancing operation and lancing robot Download PDFInfo
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- CN117338435B CN117338435B CN202311652201.5A CN202311652201A CN117338435B CN 117338435 B CN117338435 B CN 117338435B CN 202311652201 A CN202311652201 A CN 202311652201A CN 117338435 B CN117338435 B CN 117338435B
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- 239000012636 effector Substances 0.000 title claims abstract description 37
- 230000033001 locomotion Effects 0.000 claims abstract description 104
- 238000001356 surgical procedure Methods 0.000 claims description 13
- 230000003287 optical effect Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000035515 penetration Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims 8
- 230000036544 posture Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000000452 restraining effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The application discloses an electric end effector for a robot puncture operation and a puncture robot, wherein the electric end effector comprises a mounting platform, a moving platform and an end; the moving platforms are arranged on the mounting platform, and the moving platforms are arranged in two and are distributed up and down; the motion platform comprises two linear motion components, a connecting piece, a universal joint and a parallel limiting component; the two linear motion members are respectively arranged at two sides of the mounting platform, the first ends of the two linear motion members are hinged with the mounting platform, the second ends of the two linear motion members are respectively hinged with two ends of the connecting piece, and the universal joint is hinged with the connecting piece; one end of the limiting parallel component is connected with the mounting platform, and the other end is connected with the connecting piece; the tail end is provided with a first guide rail, a universal joint in one moving platform is in sliding connection with the first guide rail through a first sliding block, and a universal joint in the other moving platform is connected with the tail end. The end effector solves the problems that in the related art, the longitudinal size of the end effector with multiple degrees of freedom is large, and the operation accuracy is affected.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to an electric end effector for robotic puncture surgery and a puncture robot.
Background
The robot puncture can effectively improve the stability and the accuracy of the puncture operation, and the robot can stably clamp the puncture needle and keep the puncture position and the puncture angle.
The robot holds the puncture needle by the end effector and performs the puncture needle insertion operation, and the end effector needs to have a function of holding the puncture needle. In addition, the end effector also releases the needle quickly, and after the puncture is completed, the needle is released and the needle is CT scanned with the patient to verify that the puncture is in place.
Due to the complexity of the lancing procedure, the end effector needs to have multiple degrees of freedom of movement. In the related art, in order to realize multi-degree-of-freedom operation, a mode of stacking a plurality of motion platforms is adopted. For example, two large motion platforms are used in the related art to be superimposed, and each large motion platform is composed of two superimposed sub motion platforms, the output directions of which are perpendicular. This type of end effector, while capable of satisfying the freedom of movement requirements, can result in an increase in the longitudinal bulk of the end effector, affecting the accuracy of operation.
Disclosure of Invention
The utility model provides a main aim at provides an electronic end effector for robot puncture operation to solve the end effector longitudinal bulk of multi freedom among the correlation technique great, influenced the problem of operation accuracy.
To achieve the above object, the present application provides a motorized end effector for robotic puncture surgery, comprising: the device comprises a mounting platform, a motion platform and a tail end; wherein,
the moving platforms are arranged on the mounting platform, and the number of the moving platforms is two and distributed up and down; the motion platform comprises two linear motion components, a connecting piece, a universal joint and a parallel limiting component;
the two linear motion members are respectively arranged at two sides of the mounting platform, the first ends of the two linear motion members are hinged with the mounting platform, the second ends of the two linear motion members are respectively hinged with two ends of the connecting piece, and the universal joint is hinged with the connecting piece;
a first connecting line is formed between the two linear motion members and the hinge point of the mounting platform, a second connecting line is formed between the two linear motion members and the hinge point of the connecting piece, the first connecting line is parallel to the second connecting line, and the linear motion directions of the two linear motion members are not parallel;
one end of the limiting parallel component is connected with the mounting platform, and the other end of the limiting parallel component is connected with the connecting piece, so that a second connecting line is parallel to a first connecting line in the moving process;
the end is provided with a first guide rail parallel to the needle inserting direction, one universal joint in the moving platform is in sliding connection with the first guide rail through a first sliding block, and the other universal joint in the moving platform is connected with the end.
Further, the two moving platforms are respectively arranged on the upper side and the lower side of the mounting platform.
Further, the restraining parallel member includes a second rail, a slider, and a guide;
the second guide rail is arranged on the mounting platform and extends along a first direction, the sliding seat is slidably arranged on the second guide rail, the guide piece extends along a second direction and is slidably arranged on the sliding seat, the end part of the guide piece is fixedly connected with the connecting piece, the first direction is parallel to the second connecting line, and the first direction is perpendicular to the second direction.
Further, the sliding seat is provided with a mounting hole, a linear bearing is arranged in the mounting hole, the guide piece is arranged to be a guide optical axis, the guide optical axis is sleeved in the linear bearing in a sliding manner, and the end part of the guide optical axis is fixedly connected with the connecting piece.
Further, the linear motion component comprises a linear motor and a connecting arm, wherein the linear motor is hinged with the mounting platform, the first end of the connecting arm is hinged with the output end of the linear motor, and the second end of the connecting arm is hinged with the connecting piece.
Further, the linear motor comprises a motor seat, a motor shell, a driving motor, a screw rod nut, a third guide rail and a guide rail sliding block;
the motor seat is fixedly arranged at one end of the motor shell, the driving motor is fixedly arranged in the motor seat, the screw rod is arranged in the motor shell and is in transmission connection with the driving motor, the screw rod nut is in threaded connection with the screw rod, and the screw rod nut can linearly move along with the rotation of the screw rod;
the third guide rail is fixedly connected with the screw nut, the end part of the third guide rail extends out of the motor shell and is connected with the connecting arm, and the guide rail sliding block is fixed in the motor shell and is in sliding connection with the third guide rail so as to limit the movement direction of the third guide rail.
Further, the linear motor further comprises a position sensor, and a detection end of the position sensor is connected with the screw nut so as to detect the moving position of the screw nut.
Further, the tail end comprises a puncture connecting plate, a tail end connecting piece, a tail end detachable piece and a puncture sleeve;
the first side of the puncture connecting plate is provided with the first guide rail, the universal joint in one moving platform is in sliding connection with the first guide rail through a first sliding block, and the universal joint in the other moving platform is connected with the puncture connecting plate;
the tip connector is removably secured to the second side of the piercing connector plate, the tip removable member is removably secured to the tip connector, and the piercing sleeve is removably secured to the tip removable member.
Further, a connecting column is arranged at the upper end of the puncture connecting plate, a connecting hole in plug-in fit with the connecting column is arranged at the upper end of the tail end connecting piece, a fixing column is arranged at the second side of the puncture connecting plate, and a fixing hole in plug-in fixation with the fixing column is arranged on the tail end connecting piece;
after the connecting column is in plug-in fit with the connecting hole, the tail end connecting piece can rotate to plug-in the fixing hole on the fixing column.
Further, first buckling grooves are formed in two sides of the lower end of the tail end connecting piece, and a first fixing groove is formed in one end, facing the tail end detachable piece, of the tail end connecting piece;
the tail end detachable piece is provided with a second buckling groove which is buckled and fixed with the first buckling groove, a second fixing groove corresponding to the first fixing groove is arranged in the second buckling groove, and the puncture sleeve is fixed between the first fixing groove and the second fixing groove.
Further, the two sides of the end detachable piece are provided with handles which are outwards expanded, and the handles are arranged to enable the second buckling groove to be separated from the first buckling groove in a pressing mode.
According to another aspect of the present application, there is provided a penetration robot including the above-described electric end effector.
In the embodiment of the application, the two moving platforms are arranged up and down, the two linear moving members in each moving platform are horizontally arranged, the two linear moving members in each moving platform are connected with the mounting platform and the connecting piece to form a trapezoidal moving member, and the parallelism of the two parallel sides in the moving member is kept by the limiting parallel member in the moving process, so that the purpose of realizing the multi-degree-of-freedom precise operation of the tail end while reducing the longitudinal volume of the tail end actuator is achieved, and the problem that the longitudinal volume of the multi-degree-of-freedom tail end actuator in the related art is larger and the operation precision is influenced is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application and to provide a further understanding of the application with regard to the other features, objects and advantages of the application. The drawings of the illustrative embodiments of the present application and their descriptions are for the purpose of illustrating the present application and are not to be construed as unduly limiting the present application. In the drawings:
FIG. 1 is a schematic diagram of a structure according to an embodiment of the present application;
FIG. 2 is a schematic view of a structure of a restraining parallel member according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an exploded structure of a linear motor according to an embodiment of the present application;
fig. 4 is a schematic diagram of an assembly structure of a linear motor according to an embodiment of the present application;
FIG. 5 is a schematic cross-sectional view of a linear motor according to an embodiment of the present application;
FIG. 6 is a schematic view of an exploded structure of a tip according to an embodiment of the present application;
FIG. 7 is a schematic side view of a tip according to an embodiment of the present application;
FIG. 8 is a schematic cross-sectional view of B-B of FIG. 7;
fig. 9 is a schematic view of an assembly of a tip according to an embodiment of the present application.
The device comprises a mounting platform 1, a moving platform 2, a limiting parallel component 21, a sliding seat 211, a mounting hole 212, a guide piece 213, a second guide rail 214, a linear bearing 215, a linear motion component 22, a connecting arm 221, a motor seat 222, a driving motor 223, a screw nut 224, a screw rod 225, a third guide rail 226, a motor shell 227, a guide rail slide block 228, a connecting piece 23, a universal joint 24, a tail end 3, a puncture connecting plate 31, a connecting column 311, a fixing column 312, a tail end 32, a connecting hole 321, a first buckling groove 322, a first fixing groove 323, a tail end 33, a second fixing groove 331, a second buckling groove 332, a handle 333, a puncture sleeve 34, a first guide rail 4 and a first slide block 5.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein.
In the present application, the terms "upper", "lower", "inner", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "disposed," "configured," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Due to the complexity of the lancing procedure, the end effector needs to have multiple degrees of freedom of movement. In the related art, in order to realize multi-degree-of-freedom operation, a mode of stacking a plurality of motion platforms is adopted. For example, two large motion platforms are used in the related art to be superimposed, and each large motion platform is composed of two superimposed sub motion platforms, the output directions of which are perpendicular. This type of end effector, while capable of satisfying the freedom of movement requirements, can result in an increase in the longitudinal bulk of the end effector, affecting the accuracy of operation.
To solve the above technical problems, as shown in fig. 1, an embodiment of the present application provides an electric end effector for a robotic puncture operation, the electric end effector including: a mounting platform 1, a moving platform 2 and a tail end 3; wherein,
the moving platforms 2 are arranged on the mounting platform 1, and the moving platforms 2 are arranged in two and are distributed up and down; the motion platform 2 includes two rectilinear motion members 22, a link 23, a universal joint 24, and a restricting parallel member 21 arranged in the horizontal direction;
the two linear motion members 22 are respectively arranged at two sides of the mounting platform 1, the first ends of the two linear motion members 22 are hinged with the mounting platform 1, the second ends of the two linear motion members are respectively hinged with two ends of the connecting piece 23, and the universal joint 24 is hinged with the connecting piece 23;
a first connecting line is formed between the two linear motion members 22 and the hinge point of the mounting platform 1, a second connecting line is formed between the two linear motion members 22 and the hinge point of the connecting piece 23, the first connecting line is parallel to the second connecting line, and the linear motion directions of the two linear motion members 22 are not parallel;
one end of the limiting parallel component 21 is connected with the mounting platform 1, and the other end is connected with the connecting piece 23, so that the second connecting line and the first connecting line can be limited to be kept parallel in the moving process;
the tail end 3 is provided with a first guide rail 4 parallel to the needle inserting direction, a universal joint 24 in one moving platform 2 is connected with the first guide rail 4 in a sliding mode through a first sliding block 5, and the universal joint 24 in the other moving platform 2 is connected with the tail end 3.
In this embodiment, the motorized end 3 effector mainly comprises a mounting platform 1, a motion platform 2 and an end 3. The mounting platform 1 is a fixing piece, and serves as a mounting base of the moving platform 2 and also serves as a structure connected with a mechanical arm of the puncture robot. The structure of the mounting platform 1 only needs to meet the requirement of mounting two moving platforms 2, and in one embodiment, the mounting platform 1 is frame-shaped or plate-shaped, preferably frame-shaped, so that the weight can be reduced while the structural strength is ensured. The moving platform 2 is used as a moving component in the end 3 actuator, the moving component is arranged on the mounting platform 1, the end 3 is used as an operated piece to be connected with the output end of the moving platform 2, and the moving platform 2 drives the end 3 to move in multiple degrees of freedom.
To enable the end 3 to be held in a posture, it is necessary to configure the movement platform 2 to be connected to both ends thereof. For this purpose, the motion platform 2 in the present embodiment is provided as two vertically distributed motion platforms. The two moving platforms 2 may be installed at the same time on the upper side or the lower side of the installation platform 1, or the two moving platforms 2 may be installed at the upper and lower sides of the installation platform 1, respectively. It is preferable to install it on both upper and lower sides of the installation platform 1, so that the interaction between the two moving platforms 2 can be avoided. Two connection points with the tip 3 are defined by two motion platforms 2 arranged up and down, so that the tip 3 can be kept in a posture during the motion.
To reduce the longitudinal volume of the end effector 3, as shown in fig. 1, two linear motion members 22 in the motion stage 2 in the present embodiment are arranged in the horizontal direction and mounted on both sides of the mounting stage 1, respectively. The longitudinal volume is significantly reduced relative to the manner in which the four sub-motion stages are stacked. As the structure capable of generating the linear motion, the linear motion member 22 may be constituted by a linear motor, a cylinder, or the like capable of generating the linear motion.
To achieve multiple degrees of freedom of movement of the tip 3, the motion platform 2 in this embodiment can constitute a trapezoidal motion member. Specifically, as shown in fig. 1, a first end of the linear motion member 22 is hinged to the mounting platform 1, and for one motion platform 2, a connecting line formed between the hinge points of the two linear motion members 22 and the mounting platform 1 is used as a base of a trapezoid, and the base is fixed. The linear motion directions of the two linear motion members 22 are not parallel, and thus the linear motion paths of the two linear motion members 22 serve as hypotenuses of trapezoids. The second ends of the two rectilinear motion elements 22 are hinged to the two ends of the connecting piece 23, so that the second line formed between the two hinge points serves as the top edge of the trapezoid. The top edge is connected with the output end of the linear motion member 22, and the top edge needs to move under the action of the linear motion member 22, so that the tail end 3 can be adjusted in different postures through the position change between the top edges of the upper and lower motion platforms 2.
To stabilize the structure, the trapezoidal moving member needs to be constrained so that the bottom and top sides remain parallel at all times. For this purpose, in this embodiment, a limiting parallel member 21 is additionally disposed, and one end of the limiting parallel member 21 is connected to the mounting platform 1, and the other end is connected to the connecting piece 23, so that the second connection line is kept parallel to the first connection line during the movement. The movement of the top edge can be broken down into linear movements in the X-axis and Y-axis in the horizontal plane, so that the effect of the restraining parallel member 21 is to keep the top edge parallel to the bottom edge without tilting during the movement of the top edge. Thus, in one embodiment, the constraining parallel member 21 may be a composite structure capable of rectilinear motion along the X and Y axes, and after it is connected to the top edge, constrains the position of the top edge so that it likewise can only rectilinear motion along the X and Y axes, ultimately achieving parallel constraint of the top edge.
In some attitude adjustment of the tip 3, the distance between the two gimbals 24 on the tip 3 needs to be changed, for which purpose the first guide rail 4 is provided on the tip 3 in this embodiment, and the first guide rail 4 is parallel to the needle insertion direction. The universal joint 24 of one of the motion platforms 2 is slidably connected with the first guide rail 4 through the first sliding block 5, and the universal joint 24 of the other motion platform 2 is directly connected with the tail end 3. When the posture of the tail end 3 is changed, the distance between the two universal joints 24 is changed, and the universal joints 24 connected with the first guide rail 4 through the first sliding block 5 slide along the guide rail, so that the posture of the tail end 3 is adjusted.
According to the embodiment, the two moving platforms 2 are arranged up and down, the two linear moving members 22 in each moving platform 2 are horizontally arranged, the two linear moving members 22 in each moving platform 2 are connected with the mounting platform 1 and the connecting piece 23 to form a trapezoidal moving member, and the parallelism of two parallel sides in the moving member is kept by the limiting parallel member 21 in the moving process, so that the purpose of reducing the longitudinal volume of the end 3 actuator and simultaneously realizing the multi-degree-of-freedom precise operation of the end 3 is achieved, and the problems that the longitudinal volume of the multi-degree-of-freedom end 3 actuator in the related art is large and the operation precision is affected are solved.
In one embodiment of the restraining parallel member 21, as shown in fig. 1 and 2, it includes a second rail 214, a slider 211, and a guide 213;
the second guide rail 214 is disposed on the mounting platform 1 and extends along a first direction, the sliding seat 211 is slidably disposed on the second guide rail 214, the guide member 213 is disposed on the sliding seat 211 and extends along a second direction, an end of the guide member 213 is fixedly connected with the connecting member 23, the first direction is parallel to the second connecting line, and the first direction is perpendicular to the second direction.
In this embodiment, the second rail 214 is mounted at the front end of the mounting platform 1 (i.e. the end near the end 3) along the first direction, the sliding seat 211 is mounted on the second rail 214 and can slide along the first direction, the guiding element 213 is arranged along the second direction and slidingly connected with the sliding seat 211, and the end of the guiding element 213 near the connecting element 23 is fixedly connected with the connecting element 23. When the two linear members of the moving platform 2 move linearly forward from the zero position synchronously, the slide 211 remains stationary and the guide 213 moves linearly forward with the link 23, while the slide 211 serves as a guide for the guide 213 and also as a guide for the link 23. When the amounts of rectilinear motion of the two rectilinear motion members of the motion platform 2 are different, the first ends of the two rectilinear motion members 22 are rotated about the hinge point while the slider 211 is linearly moved along the first rail 4, and the guide 213 is linearly moved along the slider 211 to restrain the link 23 from translational motion.
In one embodiment, in order to facilitate the guide 213 to move linearly along the sliding seat 211, in this embodiment, the sliding seat 211 is provided with two mounting holes 212, a linear bearing 215 is disposed in the mounting hole 212, the guide 213 is disposed as a guiding optical axis, the guiding optical axis is slidably sleeved in the linear bearing 215, the end of the guiding optical axis is fixedly connected with the connecting piece 23, two mounting holes 212 may be disposed, and two corresponding guiding optical axes may also be disposed, so that stability may be improved.
Since the linear motion direction of the linear motion member 22 is not parallel and the connector 23 is a short side of a trapezoid, in order to enable the linear motion member 22 to move along the smooth driving connector 23, as shown in fig. 1, the linear motion member 22 in this embodiment includes a linear motor and a connecting arm 221, the linear motor is hinged to the mounting platform 1, a first end of the connecting arm 221 is hinged to an output end of the linear motor, a second end of the connecting arm 221 is hinged to the connector 23, and the connecting arm 221 and the output end of the linear motor form an obtuse angle.
The output stability and accuracy of the linear motor directly affect the performance of the terminal 3. Therefore, in order to enable the linear motor to realize stable and accurate linear output, as shown in fig. 3 to 5, the linear motor in the present embodiment includes a motor housing 222, a motor housing 227, a driving motor 223, a screw rod 225, a screw rod nut 224, a third guide rail 226, and a guide rail slider 228;
the motor seat 222 is fixedly arranged at one end of the motor shell 227, the driving motor 223 is fixedly arranged in the motor seat 222, the screw rod 225 is arranged in the motor shell 227 and is in transmission connection with the driving motor 223, the screw rod nut 224 is in threaded connection with the screw rod 225, and the screw rod nut 224 can linearly move along with the rotation of the screw rod 225;
the third guide rail 226 is fixedly connected with the screw nut 224, the end part of the third guide rail 226 extends out of the motor housing 227 and is connected with the connecting arm 221, and the guide rail slider 228 is fixed in the motor housing 227 and is in sliding connection with the third guide rail 226 so as to limit the movement direction of the third guide rail 226.
In the present embodiment, the motor housing 227 can limit the rotational degree of freedom of the lead screw nut 224 so that the lead screw nut 224 can move linearly when the lead screw 225 rotates. To enable stable rotation of the screw 225, both ends of the screw 225 may be coupled to the motor housing 227 through bearings. The motor housing 222 is configured to hold the drive motor 223, and is mounted at an end of the motor housing 227 remote from the connector 23. After the driving motor 223 is in transmission connection with the screw rod 225, the driving motor 223 drives the screw rod 225 to rotate, so that the screw rod nut 224 is driven to linearly move.
In order to enable the linear movement of the screw nut 224 to be output stably, this embodiment is implemented by the cooperation of the third guide rail 226 and the guide rail slider 228. The guide rail slider 228 is fixed in the motor housing 227, and the third guide rail 226 is in sliding fit with the guide rail slider 228 when being fixedly connected with the screw nut 224, and the guide rail slider 228 can guide the linear motion of the guide rail, so that the guide rail can not deviate when carrying out longer linear motion, and the stability and the accuracy of the motion are improved.
It will be appreciated that the screw in this embodiment may be a ball screw, a threaded rod or a trapezoidal screw 225, or the like.
To facilitate detection of displacement during movement, the linear motor in this embodiment further includes a position sensor, the detection end of which is connected to the lead screw nut 224 to detect the position of movement of the lead screw nut 224.
To facilitate the mounting and dismounting of the tip 3, the tip 3 in this embodiment includes a puncture connection plate 31, a tip connector 33, a tip detachable member 33, and a puncture sleeve 34, as shown in fig. 6 to 9;
a first side of the puncture connecting plate 31 is provided with a first guide rail 4, wherein the universal joint 24 in one motion platform 2 is in sliding connection with the first guide rail 4 through a first sliding block 5, and the universal joint 24 in the other motion platform 2 is connected with the puncture connecting plate 31;
the tip connector 33 is detachably fixed to the second side of the puncture connection plate 31, the tip connector 33 is detachably fixed to the tip connector 33, and the puncture sleeve 34 is detachably fixed to the tip connector 33.
In the present embodiment, the puncture connecting plate 31 and the tip connector 33 are provided in a substantially L-shape, and the first guide rail 4 is arranged on the vertical surface of the puncture connecting plate 31. The lower end of the puncture connecting plate 31 has a connection directly articulated to the universal joint 24, and the first slider 5 arranged on the first rail 4 also has a connection directly articulated to the universal joint 24. The end connection 33 is detachably connected to the side of the puncture connection plate 31 facing away from the first guide rail 4. Specifically, the upper end of the puncture connecting plate 31 is provided with a connecting post 311, and the upper end of the end connecting piece 33 is provided with a connecting hole 321 in plug-in fit with the connecting post 311. The aperture of the connection hole 321 is larger than the diameter of the connection post 311, and when the end connector 33 is inserted into the connection post 311 through the connection hole 321, the end connector 33 can be rotated clockwise or counterclockwise against the connection post 311.
In order to fix the puncture connection plate 31 with the end connector 33, in this embodiment, a fixing column 312 is disposed on the second side of the puncture connection plate 31, and a fixing hole for plugging and fixing with the fixing column 312 is disposed on the end connector 33; after the connecting post 311 is in plug-in fit with the connecting hole 321, the end connector 33 can rotate to plug-in the fixing hole on the fixing post 312. The fixing column 312 has a connection part in the shape of a spinning cone, and a slot body clamped with the connection part is arranged in the fixing hole.
In order to facilitate the installation and the disassembly of the end connector 33 and the end detachable piece 33, in this embodiment, the two sides of the lower end of the end connector 33 are provided with a first buckling groove 322, and the end detachable piece 33 is provided with a second buckling groove 332 which is buckled and fixed with the first buckling groove 322. The first buckling groove 322 and the second buckling groove 332 can be fixedly connected in a buckling manner. To facilitate removal, the end removable member 33 is provided with outwardly flared handles 333 on both sides, the handles 333 being configured to allow the second catching groove 332 to be disengaged from the first catching groove 322 in a pressing manner. In order to fix the puncture sleeve 34, in this embodiment, a first fixing groove 323 is disposed at an end of the end connector 33 facing the end detachable member 33, a second fixing groove 331 corresponding to the first fixing groove 323 is disposed in the second fastening groove 332, and the puncture sleeve 34 is fixed between the first fixing groove 323 and the second fixing groove 331. When the penetration sleeve 34 is cylindrical, the first and second fixing grooves 323 and 331 may be provided in a semicircular shape.
According to another aspect of the present application, there is provided a penetration robot including the above-described electric end effector.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present application, are intended to be included within the scope of the present application.
Claims (12)
1. A motorized end effector for robotic penetrating surgery, comprising: the device comprises a mounting platform, a motion platform and a tail end; wherein,
the moving platforms are arranged on the mounting platform, and the number of the moving platforms is two and distributed up and down; the motion platform comprises two linear motion components, a connecting piece, a universal joint and a parallel limiting component;
the two linear motion members are respectively arranged at two sides of the mounting platform, the first ends of the two linear motion members are hinged with the mounting platform, the second ends of the two linear motion members are respectively hinged with two ends of the connecting piece, and the universal joint is hinged with the connecting piece;
a first connecting line is formed between the two linear motion members and the hinge point of the mounting platform, a second connecting line is formed between the two linear motion members and the hinge point of the connecting piece, the first connecting line is parallel to the second connecting line, and the linear motion directions of the two linear motion members are not parallel;
one end of the limiting parallel component is connected with the mounting platform, and the other end of the limiting parallel component is connected with the connecting piece, so that a second connecting line is parallel to a first connecting line in the moving process;
the end is provided with a first guide rail parallel to the needle inserting direction, one universal joint in the moving platform is in sliding connection with the first guide rail through a first sliding block, and the other universal joint in the moving platform is connected with the end.
2. The motorized end effector for robotic penetrating surgery of claim 1, wherein two of the motion platforms are disposed on upper and lower sides of the mounting platform, respectively.
3. The motorized end effector for robotic penetrating surgery of claim 1, wherein the constraining parallel member comprises a second rail, a sled, and a guide;
the second guide rail is arranged on the mounting platform and extends along a first direction, the sliding seat is slidably arranged on the second guide rail, the guide piece extends along a second direction and is slidably arranged on the sliding seat, the end part of the guide piece is fixedly connected with the connecting piece, the first direction is parallel to the second connecting line, and the first direction is perpendicular to the second direction.
4. The electric end effector for a robotic penetrating surgery according to claim 3, wherein a mounting hole is provided in the slider, a linear bearing is provided in the mounting hole, the guide member is provided as a guide optical axis, the guide optical axis is slidably sleeved in the linear bearing, and an end portion of the guide optical axis is fixedly connected with the connecting member.
5. The motorized end effector for robotic aspiration surgery of claim 1, wherein the linear motion member comprises a linear motor and a connecting arm, the linear motor being hinged to the mounting platform, the connecting arm having a first end hinged to an output end of the linear motor and a second end hinged to the connector.
6. The motorized end effector for robotic penetrating surgery of claim 5, wherein the linear motor comprises a motor mount, a motor housing, a drive motor, a lead screw nut, a third rail, and a rail slide;
the motor seat is fixedly arranged at one end of the motor shell, the driving motor is fixedly arranged in the motor seat, the screw rod is arranged in the motor shell and is in transmission connection with the driving motor, the screw rod nut is in threaded connection with the screw rod, and the screw rod nut can linearly move along with the rotation of the screw rod;
the third guide rail is fixedly connected with the screw nut, the end part of the third guide rail extends out of the motor shell and is connected with the connecting arm, and the guide rail sliding block is fixed in the motor shell and is in sliding connection with the third guide rail so as to limit the movement direction of the third guide rail.
7. The motorized end effector for robotic penetrating surgery of claim 6, wherein the linear motor further comprises a position sensor having a sensing end coupled to the lead screw nut to detect a position of movement of the lead screw nut.
8. The motorized end effector for robotic piercing surgery of claim 1, wherein the tip comprises a piercing web, a tip connector, a tip detacher, and a piercing sleeve;
the first side of the puncture connecting plate is provided with the first guide rail, the universal joint in one moving platform is in sliding connection with the first guide rail through a first sliding block, and the universal joint in the other moving platform is connected with the puncture connecting plate;
the tip connector is removably secured to the second side of the piercing connector plate, the tip removable member is removably secured to the tip connector, and the piercing sleeve is removably secured to the tip removable member.
9. The electric end effector for robotic aspiration surgery according to claim 8, wherein a connecting post is provided at an upper end of the aspiration connecting plate, a connecting hole is provided at an upper end of the end connecting piece in plug-in fit with the connecting post, a fixing post is provided at a second side of the aspiration connecting plate, and a fixing hole is provided on the end connecting piece in plug-in fixation with the fixing post;
after the connecting column is in plug-in fit with the connecting hole, the tail end connecting piece can rotate to plug-in the fixing hole on the fixing column.
10. The electric end effector for robotic penetrating surgery of claim 9, wherein the lower end of the end connector is provided with a first snap groove on both sides, and wherein the end connector is provided with a first fixed groove on an end thereof facing the end detachable member;
the tail end detachable piece is provided with a second buckling groove which is buckled and fixed with the first buckling groove, a second fixing groove corresponding to the first fixing groove is arranged in the second buckling groove, and the puncture sleeve is fixed between the first fixing groove and the second fixing groove.
11. The motorized end effector for robotic penetrating surgery of claim 10, wherein the end-detachable member is provided with flared handles on both sides, the handles being configured to compressively disengage the second clasp from the first clasp.
12. A penetration robot comprising the electric end effector of any one of claims 1 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311652201.5A CN117338435B (en) | 2023-12-05 | 2023-12-05 | Electric end effector for robotic lancing operation and lancing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311652201.5A CN117338435B (en) | 2023-12-05 | 2023-12-05 | Electric end effector for robotic lancing operation and lancing robot |
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| Publication Number | Publication Date |
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| CN117338435A CN117338435A (en) | 2024-01-05 |
| CN117338435B true CN117338435B (en) | 2024-02-06 |
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| CN104323861A (en) * | 2014-11-21 | 2015-02-04 | 山东科技大学 | Three-degree-of-freedom parallel serial joint plastic operation robot |
| CN109475384A (en) * | 2016-05-25 | 2019-03-15 | 赞克特机器人有限公司 | Automatic-inserting device |
| CN113288435A (en) * | 2021-05-24 | 2021-08-24 | 上海卓昕医疗科技有限公司 | Medical robot and control method thereof |
| CN115317135A (en) * | 2022-09-02 | 2022-11-11 | 苏州恒瑞迪生医疗科技有限公司 | Puncture robot |
| CN218651957U (en) * | 2022-08-02 | 2023-03-21 | 山东威高医疗科技有限公司 | Puncture positioning device |
| CN218960928U (en) * | 2022-12-23 | 2023-05-05 | 真健康（北京）医疗科技有限公司 | Automatic puncture device |
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| CN104323861A (en) * | 2014-11-21 | 2015-02-04 | 山东科技大学 | Three-degree-of-freedom parallel serial joint plastic operation robot |
| CN109475384A (en) * | 2016-05-25 | 2019-03-15 | 赞克特机器人有限公司 | Automatic-inserting device |
| CN113288435A (en) * | 2021-05-24 | 2021-08-24 | 上海卓昕医疗科技有限公司 | Medical robot and control method thereof |
| CN218651957U (en) * | 2022-08-02 | 2023-03-21 | 山东威高医疗科技有限公司 | Puncture positioning device |
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| CN117338435A (en) | 2024-01-05 |
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