CN204581319U - A kind of Medical CT checks auxiliary manipulator - Google Patents
A kind of Medical CT checks auxiliary manipulator Download PDFInfo
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- CN204581319U CN204581319U CN201420760631.9U CN201420760631U CN204581319U CN 204581319 U CN204581319 U CN 204581319U CN 201420760631 U CN201420760631 U CN 201420760631U CN 204581319 U CN204581319 U CN 204581319U
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- arm
- dimensional bar
- manipulator
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Abstract
A kind of Medical CT checks auxiliary manipulator, and it comprises base 1, three-dimensional bar fixed mount 2, three-dimensional bar 3, chassis electric rotating machine 4, horizontal arm 5, flexible motor 6, lifting motor 7, little armed lever 8, software clamping manipulator 9, computer 10 to it is characterized in that its primary structure.This mechanical arm for medical use is primarily of compositions such as actuator, drive mechanism, driving mechanism and operating mechanisms, by hi-Fix, among a small circle motor control, the stretching of arm can be realized, circle round, move up and down, the rotation of wrist and the pick-and-place action of hand, grip patient's both arms and arrive designated space position, and the patient of physical palsy or unconsciousness can be helped to keep stable, help doctor to obtain high-quality CT image.
Description
Technical field
This utility model relates to technical field of medical treatment mechanical, is specifically related to a kind of Medical CT and checks auxiliary manipulator.
Background technology
Mechanical hand is industrial inevitable outcome, and it is a kind of imitation human upper limb partial function, requires that conveying workpieces or holding tool carry out the application apparatus operated according to control sequence.Mechanical hand adopts hydraulic-driven and control, can realize the stretching of arm, circles round, move up and down, the rotation of wrist and the pick-and-place action of hand.It is to reduction labor intensity, and the development promoting commercial production and social production has important effect, thus has powerful vitality, the dark attention by people and welcome.
Mechanical arm for medical use is the method solving some defects in Hospitals at Present service, can replace the part operation of medical personnel, completes that some are heavy with irksome work, can improve the working condition of medical personnel, have the suitability and safety.Mechanical arm for medical use can lasting, endure hardships, not only healthcare givers can be freed from the work of heavy, dull machinery, progressively realize the mechanization of therapeutic treatment, sequencing and automatization, improve the safety and reliability of medical care treatment, simultaneously, can avoid again, artificially by the operate miss of ectocine, there is high precision and high stability.Thus, a lot of country all drops into a large amount of manpower and materials and carrys out investigation and application mechanical hand.
Along with the extensive use of iconography CT scan diagnostic techniques, CT examination has become the routine examination project of hospital, proposes renewal, higher requirement to image department medical personnel.When carrying out CT examination, position support is the essential condition of the secondary high-quality CT image of acquisition one accurately, has certain help simultaneously, thus improve the accuracy of pathological changes diagnosis to increase diagnostic message.
When carrying out CT scan to human chest or epigastrium, needs of patients lies low on platform (examinating couch), and take dorsal position, position is ajusted, and two arm held upward, flexing embraces head.In the process of scanning, person under inspection wants as request, keeps health static as far as possible, steadily breathes, avoid the situation of trembling.The process of scanning generally needs about 1 ~ 15 minute.
In the scanning process of reality, some patient, because physical palsy, arm disease or unconsciousness, cannot, from being about to both arms are lifted, more cannot keep both arms to fix in whole scanning process.And need in turnover scanner unit frame aperture due to scanning bed, by the restriction of scanning holes size, cannot be fixed by artificial long-time both arms by this kind of patient.Therefore, this utility model provides a kind of Medical CT to check Aided Machine arm device, and the arm of patient is fixed by rational mechanism design and control mode paramedical personnel by this device, and doctor can be helped to obtain high-quality CT image.
Utility model content
The purpose of this utility model is to provide a kind of Medical CT to check auxiliary manipulator, when CT examination, carries out medical auxiliary operation by prespecified program.This mechanical arm for medical use is primarily of compositions such as actuator, drive mechanism, driving mechanism and operating mechanisms, by hi-Fix, among a small circle motor control, the stretching of arm can be realized, circle round, move up and down, the rotation of wrist and the pick-and-place action of hand, grip patient's both arms and arrive designated space position, and the patient of physical palsy or unconsciousness can be helped to keep stable, help doctor to obtain high-quality CT image.
In order to solve the problem existing for background technology, this utility model is by the following technical solutions: it comprises base 1, three-dimensional bar fixed mount 2, three-dimensional bar 3, chassis electric rotating machine 4, horizontal arm 5, flexible motor 6, lifting motor 7, little armed lever 8, software clamping manipulator 9, computer 10.This device have employed run-in index dual-arm robot structure, and its both arms have the motion of 3 degree of freedom, can complete that arm is flexible, arm is traversing, arm is elevated 3 main movements, and can complete the crawl of paw and decontrol action.Each mechanism carries out medical care precess according to prespecified program, and reaches the requirement of friction speed and precise movement; Utilize operating means to send instruction to actuator, thus the arm making mechanical hand grip patient arrive designated space position simultaneously.
Described base 1 is mainly used in fixing three-dimensional bar fixed mount 2, and each parts of actuator and drive system are all installed on base, plays supporting and is connected.Bottom adopts the rubber support of four-point supporting, ensures that mechanical hand does not wave and displacement in motor process, makes whole mechanism easy motion.
Described three-dimensional bar fixed mount 2 has two, is installed in parallel on base, the two spacing 35cm.Three-dimensional bar fixed mount 2 height is 60cm, and three-dimensional bar 3 height is 100cm.Three-dimensional bar 3 can move up and down along three-dimensional bar fixed mount 2 under the drive of lifting motor 7, and lifting travel is 80cm, and rising or falling speed is 5cm/s, thus realizes the drawing-off of mechanical hand and fix.
The Main Function of described chassis electric rotating machine 4 drives body rotation, this motor due to torque smaller, therefore adopt DC motor Driver, the model of the direct current generator used is 37RG240, design parameter is as follows: voltage: DC12V, rated speed: 20r/min, and weight is 5kg.
Described horizontal arm 5 has two, is arranged on two three-dimensional bar fixed mounts 2 respectively, and adjusts the level of manipulator arm by adjustment bolt.The side-to-side movement of mechanical hand horizontal arm 5 drives lead screw assembly to complete by the motor 6 that stretches.
Wherein Y90S-4 type motor selected by flexible motor 6, belongs to cage type asynchronous motor, and adopt B-class insulation, shell protection grade is IP44, and rated voltage is 220V, and rated power is 50HZ.Its translational speed is 10cm/s, and power is 6KW.
Described lifting motor 7 and flexible motor 6 adopt with a motor, configure also identical.
Described little armed lever 8 is important component parts of mechanical hand, its structure, working range, motility and grab the service behaviour that great little and positioning precision directly affects mechanical hand.Its effect supports software clamping manipulator 9, and drive them to do space motion.Little armed lever 8 has three degree of freedom, i.e. flexible, left rotation and right rotation, lifting 3 main movements of armed lever, its design technical parameter: flexible stroke: 75cm, stretching speed: 10cm/s, maximum lift weight is 60Kg.
Described software clamping manipulator 9 is important holding assemblies of whole system, is installed on the front end of manipulator arm, and its holding area adopts soft material to make, and has good mechanical strength, fatigue strength and mechanical characteristic.The mechanical hand that this utility model relates to can complete a rotation around vertical pivot, vertically moves, captures and decontrol action.Its rotation angle range is 0 ~ 270 °, vertical moving range 0 ~ 50cm.The potential energy realization of end grip part is to the clamping of patient's arm and loosening up, and maximum lift weight is 10Kg.
Described software clamping manipulator 9 is provided with micro pressure sensor, in order to the detection identification of achieve a butt joint when gripping tactile signal and slip signals, thus realizes soft grasping.The pressure change produced when pressure transducer is by detecting foreign body and tentacle interaction, judges whether grabbed object has the degree of sliding and sliding, for robot arm applying clamping dynamics provides foundation.Piezoresistive pressure sensor is that the air pressure change signal caused sliding is converted to signal of telecommunication output, and the main working process wherein capturing control system is: complete A/D initialization and A/D conversion, serial ports initialization, date processing, threshold parameter mensuration, touch sliding signal judgement and execution soft grasping strategy.This sensor can collect comparatively ideal signal, thus realizes the control to the dynamics of crawl, finally reaches and captures without wound.
Medical CT in this utility model checks that the work process of aided arm prosthesis system is: when patient is from when lying low, arm-and-hand system starts action, the step motor drive longitudinal axis rises, another step motor drive transverse axis starts to go ahead, motor drives the longitudinal axis to decline again, and after arriving assigned address, mechanical hand grips patient's arm, and then the step motor drive longitudinal axis rises, transverse axis starts to walk backward, and patient's arm is drawing to assigned address.
This utility model is optimized analysis and performance study to whole system.Complete in early stage on the basis of structural model initial stage design, set up kinesiology and the kinetics equation of mechanical tentacle, simulation analysis has been carried out to the kinesiology of robot and typical mode of operation; By the dynamic characteristic to arm, analyze stability and the motility of mechanical tentacle integral working; Use Finite Element Method and Optimization Design, analysis and bamboo product are optimized to the key structure part of tentacle; Finally, many software associative simulation technology is adopted to complete optimal design and the simulation analysis work of end effector mechanism.Mechanical hand in this utility model has positioning precision, high stability and high flexibility.
Accompanying drawing explanation
Fig. 1 is this utility model side structure schematic diagram;
Detailed description of the invention:
Referring to Fig. 1, this detailed description of the invention is by the following technical solutions: it comprises base 1, three-dimensional bar fixed mount 2, three-dimensional bar 3, chassis electric rotating machine 4, horizontal arm 5, flexible motor 6, lifting motor 7, little armed lever 8, software clamping manipulator 9, computer 10.
This device have employed run-in index dual-arm robot structure, has the motion of 3 degree of freedom, can complete that arm is flexible, arm is traversing, arm is elevated 3 main movements, and can complete the crawl of paw and decontrol action.
Described base 1 is mainly used in fixing three-dimensional bar fixed mount 2, and each parts of actuator and drive system are all installed on base, plays supporting and is connected.
Described three-dimensional bar fixed mount 2 has two, is installed in parallel on base, the two spacing 35cm.Three-dimensional bar fixed mount 2 height is 60cm, and three-dimensional bar 3 height is 100cm.Three-dimensional bar 3 can move up and down along three-dimensional bar fixed mount 2 under the drive of lifting motor 7, and lifting travel is 80cm, and rising or falling speed is 5cm/s
The model of the direct current generator that described chassis electric rotating machine 4 uses is 37RG240, and design parameter is: voltage: DC12V, rated speed: 20r/min, weight: 5kg.
Described horizontal arm 5 has two, have employed completely parallel mounting means, and adjusts the level of manipulator arm by adjustment bolt.The side-to-side movement (left and right directions) of mechanical hand horizontal arm 5 drives lead screw assembly to complete by flexible motor 6.
Wherein Y90S-4 type motor selected by flexible motor 6, belongs to cage type asynchronous motor, and adopt B-class insulation, shell protection grade is IP44, and rated voltage is 220V, and rated power is 50HZ.Its translational speed is 10cm/s, and power is 6KW.
Described little armed lever 8 has three degree of freedom, i.e. flexible, left rotation and right rotation, lifting 3 main movements of armed lever, its design technical parameter: flexible stroke: 75cm, stretching speed: 10cm/s, maximum lift weight is 60Kg.
Described software clamping manipulator 9 is installed on the front end of manipulator arm, and its holding area adopts soft material to make, and its rotation angle range is 0 ~ 270 °, vertical moving range 0 ~ 50cm, and maximum lift weight is 10Kg.
Claims (1)
1. Medical CT checks an auxiliary manipulator, and it comprises base (1), three-dimensional bar fixed mount (2), three-dimensional bar (3), chassis electric rotating machine (4), horizontal arm (5), flexible motor (6), lifting motor (7), little armed lever (8), software clamping manipulator (9), computer (10) to it is characterized in that its primary structure;
Three-dimensional bar fixed mount (2) is wherein fixed by base (1), and each parts of actuator and drive system are all installed on base (1), plays supporting and is connected;
Horizontal arm (5) wherein adopts run-in index arm structure, and be arranged on respectively on two three-dimensional bar fixed mounts (2), its both arms have the motion of 3 degree of freedom, drives lead screw assembly to complete by flexible motor (6);
Little armed lever (8) is wherein arranged on the end of horizontal arm (5), and its effect supports the software clamping manipulator (9) being installed on the front end of manipulator arm, and drive it to do space motion;
The holding area of software clamping manipulator (9) wherein adopts soft material to make, and can realize the clamping to patient's arm and loosening up; Its inside is provided with micro pressure sensor, in order to the detection identification of achieve a butt joint when gripping tactile signal and slip signals, thus realizes soft grasping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420760631.9U CN204581319U (en) | 2014-12-05 | 2014-12-05 | A kind of Medical CT checks auxiliary manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420760631.9U CN204581319U (en) | 2014-12-05 | 2014-12-05 | A kind of Medical CT checks auxiliary manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204581319U true CN204581319U (en) | 2015-08-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420760631.9U Expired - Fee Related CN204581319U (en) | 2014-12-05 | 2014-12-05 | A kind of Medical CT checks auxiliary manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204581319U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105277963A (en) * | 2015-12-02 | 2016-01-27 | 成都理工大学 | Positioning searching device and method for three-dimensional space gamma radiation source |
-
2014
- 2014-12-05 CN CN201420760631.9U patent/CN204581319U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105277963A (en) * | 2015-12-02 | 2016-01-27 | 成都理工大学 | Positioning searching device and method for three-dimensional space gamma radiation source |
| CN105277963B (en) * | 2015-12-02 | 2018-01-02 | 成都理工大学 | Three dimensions gamma ray radiator positioning searching apparatus and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150826 Termination date: 20161205 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |