CN204951153U - Operation system of robot with interactive path planning function - Google Patents
Operation system of robot with interactive path planning function Download PDFInfo
- Publication number
- CN204951153U CN204951153U CN201520685348.9U CN201520685348U CN204951153U CN 204951153 U CN204951153 U CN 204951153U CN 201520685348 U CN201520685348 U CN 201520685348U CN 204951153 U CN204951153 U CN 204951153U
- Authority
- CN
- China
- Prior art keywords
- revolution
- turning arm
- interactive
- image
- omni
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Apparatus For Radiation Diagnosis (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses an operation system of robot with interactive path planning function, include: the all direction movement platform has the image system of revolution and rotation mechanism to and one set of interactive path planning system, the all direction movement platform is received female wheel by moving platform fuselage and mike and is formed, have revolution and the image ystem installation of rotation mechanism on the all direction movement platform, can be around waiting central point rotatory, interactive path planning system has the interactive dull and stereotyped of touching function or display and the orbit planning system of robot by one and constitutes. The utility model discloses the scheme is through the path planning of interactive path planning system implementation robot operation system, and the convenience of customers operation has improved flexibility, interaction and the intelligent degree of machine staff art system.
Description
Art
This utility model relates to field of medical device, specifically a kind of robotic surgical system with interactive route planning function.
Background technology
Along with the patient of the diseases such as China's cardiovascular and cerebrovascular vessel, tumor significantly increases, in recent years, China's digital diagnosis and treat equips average speedup more than 20%, and one-stop its advantage of compound operation system addresses of multidisciplinary therapeutic alliance, becomes the inundant trend of medical domain gradually.Compound operation is because of by interventional therapy equipment and technology, and accurate and Wicresoft, and Medicine and Surgery advantage organically being combined, fully demonstrates centered by patient, deeply welcome by domestic doctor.And existing surgical operation armarium, vascular machine is got involved for surgery, traditional vascular machine control system and functional module comparatively single, Installation Modes also can only be by sky rail sus-pension, or console model fixed form, and this had both hindered carrying out in a deep going way of interventional therapeutic technique, the personalization of compound operation room, design were also restrain.
Therefore, existing resource how is utilized to set up compound operation room, how the therapeutic equipments such as large-scale vascular machine, X-ray machine are integrated, build a kind of motility high, comprehensive good, can to perform the operation integral type robotic surgical system for various disease conditions, and possessing and move between different department, to adapt to many section office combination therapy of taking as the leading factor with surgical system, is the trend of following surgical system.But realize the movement of robotic surgical system, path planning is most important, for hospital operation person, reasonability and the alternative of its good interactive function and path planning are the targets pursued.But more existing medical operating product and equipment, can realize the less of autonomous intelligence movement, major part still relies on Manual-pushing to pull, and this governs accurate medical treatment, especially the Intelligent Developing Trends of surgical device.
Summary of the invention
The purpose of this utility model is to overcome prior art deficiency, provides a kind of mobile robot's surgery systems with interactive route planning function.
The purpose of this utility model is realized by following technical proposals:
There is a robotic surgical system for interactive route planning function, comprising: omni-directional moving platform, there is the image system of revolution and free-wheeling system, and a set of interactive route planning system;
Described omni-directional moving platform is received female wheel by mobile platform fuselage and 4 Mikes and is formed, and what wherein 4 Mikes received female wheel is divided into two rows, parallelization, and the Mike of same row receives female wheel and is arranged on the two ends of mobile platform fuselage respectively;
The described image system with revolution and free-wheeling system is arranged on omni-directional moving platform, and wherein revolution rotates around x-axis, and rotation rotates around y-axis, can realize the rotation of image system around isocenter point by the cooperation of revolution and rotation;
By interactive mode with touching function, dull and stereotyped or display and robot trajectory planning's system form interactive route planning system.
In such scheme, described interactive route planning system also comprises for omni-directional moving platform and/or the interactive planing method of image system turning arm with revolution and free-wheeling system, be specially: by along Z axis negative direction, singly refer to the reference running orbit setting omni-directional moving platform, refer to by X-direction is two the rotational trajectory rotating the revolution of setting of image system, rotate the rotation rotational trajectory of specifying image system by Y direction two finger; The track that Trajectory Planning System sets according to interactive mode, automatic generation collisionless omni-directional moving platform motion and/or there is the track of image system turning arm of revolution and free-wheeling system, thus realize omni-directional moving platform motion and/or have revolving round the sun and the automatic motion of image system turning arm of free-wheeling system.
In such scheme, the described image system with revolution and free-wheeling system is made up of L turning arm, C type turning arm and x-ray image documentation equipment, described L turning arm is arranged on omni-directional moving platform, C type turning arm is arranged on L pivot arm ends, described X ray image equipment comprises a set of high tension generator, x-ray bulb and x-ray flat panel detector, and X ray image equipment is installed in C type turning arm internal ring; Wherein revolution is that L turning arm rotates around x-axis, and rotation is that C type turning arm rotates around y-axis, can realize the rotation of image system around isocenter point by the cooperation of revolution and rotation.
In such scheme, further comprise numerical control therapeutic bed, subsidiary conduit equipment, ablation apparatus and transfusion auxiliary device etc.; Therapeutic bed is for supporting patient, and subsidiary conduit equipment, ablation apparatus and transfusion auxiliary device etc. carry out surgical operation for the auxiliary robotic surgical system with interactive route planning function.
The beneficial effect of scheme described in the utility model is: 1) adopt omni-directional moving platform by moving the image system carrying and have revolution and free-wheeling system, image system can be made to realize indoor all-around mobile, portable intervention diagnosis or auxiliary treatment can be realized easily; 2) path planning of robotic surgical system is realized by interactive route planning system, user-friendly, improve the motility of robotic surgical system, interactivity and intelligence degree.
Accompanying drawing explanation
Fig. 1 is scheme schematic diagram described in the utility model.
Fig. 2 is that the interactive route planning system of this utility model embodiment realizes robotic surgical system trajectory planning schematic diagram.
Fig. 3 is that the interactive route planning system of this utility model embodiment realizes image system L turning arm revolution trajectory planning schematic diagram.
Fig. 4 is that the interactive route planning system of this utility model embodiment realizes image system C type turning arm rotation trajectory planning schematic diagram.
Fig. 5 is another embodiment scheme schematic diagram described in the utility model.
In accompanying drawing, the implication of each digitized representation is:
1: mobile platform fuselage; 2: Mike receives female wheel; 3:L turning arm; 4:C type turning arm; 5: high tension generator; 6:X ray tube; 7:X line flat panel detector; 8: interactive flat board/display; 9: therapeutic bed; 10: patient.
Detailed description of the invention
Be described in further detail this utility model below in conjunction with drawings and Examples, but this utility model is not limited only to described embodiment.
Embodiment one
As shown in Figure 1, a kind of robotic surgical system with interactive route planning function described in the present embodiment, comprising: omni-directional moving platform, has the image system of revolution and free-wheeling system, and a set of interactive route planning system; Described omni-directional moving platform is received female wheel (2) by mobile platform fuselage (1) and 4 Mikes and is formed, and what wherein 4 Mikes received female wheel (2) is divided into two rows, parallelization, and the Mike of same row receives female wheel and is arranged on the two ends of mobile platform fuselage (1) respectively; Described Mike receive female wheel (2) axle core on hollow-cup motor is installed, make often to overlap Mecanum wheel (2) drive, to realize the all-around mobile of omni-directional moving platform.Described have revolution and the image system of free-wheeling system by L turning arm (3), C type turning arm (4) and x-ray image documentation equipment composition, described L turning arm (3) is arranged on omni-directional moving platform, C type turning arm (4) is arranged on L turning arm (3) end, described X ray image equipment comprises a set of high tension generator (5), x-ray bulb (6) and x-ray flat panel detector (7), X ray image equipment is installed in C type turning arm (4) internal ring, wherein revolution is that L turning arm (3) rotates around x-axis, rotation is that C type turning arm (4) rotates around y-axis, the rotation of image system around isocenter point can be realized by the cooperation of revolution and rotation.Described interactive route planning system is made up of an interactive mode flat board (8) with touching function and robot trajectory planning's system.
The planning system of interactive route described in the present embodiment comprises for omni-directional moving platform and the interactive planing method of image system turning arm with revolution and free-wheeling system, be specially: as shown in Figure 2, by along Z axis negative direction, singly refer to the reference running orbit setting omni-directional moving platform; As shown in Figure 3, refer to by X-direction is two the rotational trajectory rotating the revolution of setting of image system; As shown in Figure 4, the rotation rotational trajectory of specifying image system is rotated by Y direction two finger.The track that Trajectory Planning System sets according to interactive mode, automatic generation collisionless omni-directional moving platform motion and there is the track of image system turning arm of revolution and free-wheeling system, thus realize omni-directional moving platform motion and have revolving round the sun and the automatic motion of image system turning arm of free-wheeling system.
The feature of scheme described in the present embodiment is: 1) adopt omni-directional moving platform by moving the image system carrying and have revolution and free-wheeling system, image system can be made to realize indoor all-around mobile, portable intervention diagnosis or auxiliary treatment can be realized easily; 2) realized the path planning of robotic surgical system by interactive route planning system, facilitate clinician user to operate, improve the motility of robotic surgical system, interactivity and intelligence degree.
Embodiment two
As shown in Figure 5, the present embodiment also comprises a therapeutic bed (9), and all the other structures are with described in embodiment one.The present embodiment is carrying out patient (10) Coronary Artery Disease Intervention Treatment, during the coronary angiography imaging of its cardia, doctor workstation carries out plan, doctor operates on interactive flat board, robotic surgical system is made to move to therapeutic bed (9) place according to A to B path in Fig. 3, spend position according to the orbiting motion to 135 of the rotation positive direction of the image system described in Fig. 4 simultaneously, and revolution location keeps L turning arm (3) at level 0 degree of invariant position, coronary angiography is carried out to patient, and guides doctor to implement surgical operation with contrastographic picture.
Claims (4)
1. there is a robotic surgical system for interactive route planning function, comprising: omni-directional moving platform, there is the image system of revolution and free-wheeling system, and a set of interactive route planning system; Described omni-directional moving platform is received female wheel (2) by mobile platform fuselage (1) and 4 Mikes and is formed, and wherein 4 Mikes receive female wheel (2) and are divided into two rows, parallelization, and the Mike of same row receives female wheel and is arranged on the two ends of mobile platform fuselage (1) respectively; The described image system with revolution and free-wheeling system is arranged on omni-directional moving platform, and wherein revolution rotates around x-axis, and rotation rotates around y-axis, can realize the rotation of image system around isocenter point by the cooperation of revolution and rotation; By interactive mode with touching function, dull and stereotyped or display (8) and robot trajectory planning's system form interactive route planning system.
2. a kind of robotic surgical system with interactive route planning function as claimed in claim 1, it is characterized in that: described interactive route planning system also comprises for omni-directional moving platform and/or the interactive planing method of image system turning arm with revolution and free-wheeling system, be specially: by along Z axis negative direction, singly refer to the reference running orbit setting omni-directional moving platform, refer to by X-direction is two the rotational trajectory rotating the revolution of setting of image system, rotate the rotation rotational trajectory of specifying image system by Y direction two finger; The track that Trajectory Planning System sets according to interactive mode, automatic generation collisionless omni-directional moving platform motion and/or there is the track of image system turning arm of revolution and free-wheeling system, thus realize omni-directional moving platform motion and/or have revolving round the sun and the automatic motion of image system turning arm of free-wheeling system.
3. a kind of robotic surgical system with interactive route planning function as claimed in claim 2, it is characterized in that: described in there is revolution and the image system of free-wheeling system by L turning arm (3), C type turning arm (4) and x-ray image documentation equipment composition, described L turning arm (3) is arranged on omni-directional moving platform, C type turning arm (4) is arranged on L turning arm (3) end, described X ray image equipment comprises a set of high tension generator (5), x-ray bulb (6) and x-ray flat panel detector (7), X ray image equipment is installed in C type turning arm (4) internal ring, wherein revolution is that L turning arm (3) rotates around x-axis, and rotation is that C type turning arm (4) rotates around y-axis, can realize the rotation of image system around isocenter point by the cooperation of revolution and rotation.
4. a kind of robotic surgical system with interactive route planning function as claimed in claim 3, is characterized in that: further comprise therapeutic bed (9), subsidiary conduit equipment, ablation apparatus and transfusion auxiliary device etc.; Therapeutic bed is for supporting patient, and subsidiary conduit equipment, ablation apparatus and transfusion auxiliary device etc. carry out surgical operation for the auxiliary robotic surgical system with interactive route planning function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520685348.9U CN204951153U (en) | 2015-09-07 | 2015-09-07 | Operation system of robot with interactive path planning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520685348.9U CN204951153U (en) | 2015-09-07 | 2015-09-07 | Operation system of robot with interactive path planning function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204951153U true CN204951153U (en) | 2016-01-13 |
Family
ID=55046249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520685348.9U Expired - Fee Related CN204951153U (en) | 2015-09-07 | 2015-09-07 | Operation system of robot with interactive path planning function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204951153U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105596083A (en) * | 2015-09-07 | 2016-05-25 | 四川大学 | Robot surgical system with interactive route planning function |
| CN106137394A (en) * | 2016-06-15 | 2016-11-23 | 谢东儒 | A kind of method obtaining pedicle of vertebral arch standard axle bitmap |
-
2015
- 2015-09-07 CN CN201520685348.9U patent/CN204951153U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105596083A (en) * | 2015-09-07 | 2016-05-25 | 四川大学 | Robot surgical system with interactive route planning function |
| CN106137394A (en) * | 2016-06-15 | 2016-11-23 | 谢东儒 | A kind of method obtaining pedicle of vertebral arch standard axle bitmap |
| CN106137394B (en) * | 2016-06-15 | 2019-09-24 | 苏州铸正机器人有限公司 | A method of obtaining pedicle of vertebral arch standard axle bitmap |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104307113A (en) | Radiation therapy system | |
| CN103584918B (en) | Remote control gets involved robot system | |
| CN105082160B (en) | A kind of mobile robot's surgery systems with anti-collision | |
| CN105434048B (en) | Robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment | |
| CN104784831B (en) | A kind of achievable full track mark radiotherapy equipment | |
| CN104548328A (en) | Robot device for minimally-invasive local radiotherapy | |
| CN108392253B (en) | Automatic puncture device for floor type tumor radioactive particle implantation treatment | |
| CN204951153U (en) | Operation system of robot with interactive path planning function | |
| CN202776345U (en) | Medical bed | |
| CN203379504U (en) | 360-degree therapy device suitable for fixed hadron beams | |
| CN105920686B (en) | Drainage treatment device is administered in a kind of carcinoma intervention formula | |
| CN105596083A (en) | Robot surgical system with interactive route planning function | |
| CN203280909U (en) | Radiotherapeutic system | |
| CN106725898A (en) | It is a kind of for CT guided percutaneous needle biopsies and the device of seeds implanted Template Location | |
| CN104307114A (en) | Five degree of freedom O-shaped arm radiation therapy system | |
| CN102065767A (en) | A method and arrangement for a mobile imaging system | |
| CN204619201U (en) | One can realize full track mark radiotherapy equipment | |
| CN203379503U (en) | 360-degree therapy device suitable for fixed hadron beams | |
| CN106725579A (en) | Medical Devices | |
| CN204033356U (en) | A kind of linear accelerator | |
| CN105078581A (en) | Mobile robot-assisted surgical system having positioning function | |
| CN205007036U (en) | Mobile robot surgical system with self -align function | |
| CN106798567A (en) | A kind of RT-CT integrated equipments | |
| CN108969911A (en) | A kind of MRI radiotherapy system with the double-deck magnetizer | |
| CN206228357U (en) | One kind suspention frame |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160113 Termination date: 20210907 |