CN206151580U - Tight fixing device of supplementary flexible needle holder of accurate target puncture soft tissue target of robot - Google Patents
Tight fixing device of supplementary flexible needle holder of accurate target puncture soft tissue target of robot Download PDFInfo
- Publication number
- CN206151580U CN206151580U CN201620853178.5U CN201620853178U CN206151580U CN 206151580 U CN206151580 U CN 206151580U CN 201620853178 U CN201620853178 U CN 201620853178U CN 206151580 U CN206151580 U CN 206151580U
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- China
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- flexible needle
- oblique angle
- soft tissue
- fixing device
- puncture
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Abstract
The utility model discloses a tight fixing device of supplementary flexible needle holder of accurate target puncture soft tissue target of robot, including the rotary feed device, the rotary feed device is including setting a table, and the elastic barrel clamp of high accuracy, removable different internal diameters is installed to the flexible needle connecting piece of one side fixedly connected with of setting a table in the flexible needle connecting piece, and flexible needle connecting piece has to press through threaded connection and emits the nut, the utility model discloses a high accuracy elastic barrel clamp presses with the cooperation and emits the nut to press from both sides the oblique angle spatial position who tightly fixes a position the flexible needle in oblique angle, and positioning accuracy is high, has realized the accurate control in puncture route, and elastic barrel clamp load and unload conveniently, can realize that the fastening of pressing from both sides of the flexible needle in different diameter of axle oblique angles is decided to the elastic barrel clamp of the corresponding internal diameter of the flexible needle needle shaft diameter cooperation in oblique angle, have the controllability of puncture good, keep away the barrier well, characteristics such as target precision height.
Description
Technical field
The utility model is related to a kind of robot assisted and accurately targets puncture soft tissue targets flexible needle clamping and fixing device.
Background technology
The operation of robot assisted localised puncture is a kind of important method of Minimally Invasive Surgery, is widely used to various soft tissues
The targeting diagnosis and treatment operation of environment；Soft tissue environment not only has a complicated time-varying characteristics, and under live body and experiment condition its
Physiological property and biomechanics characteristic have very big difference, and to system dynamic modeling and stable operation great difficulty is brought,
Targeting precision poor during puncture can cause tissue damage, error diagnosis and improperly exit dose, therefore the position of venipuncture pin
Appearance manipulation is the key for percutaneously intervening surgical quality and success or not.
Medical puncturing operating robot is operated towards soft tissue, is related to biomethanics, fracture mechanics, friction
, iconography, the multidisciplinary basic science such as automatically control, in soft tissue field, the puncture mechanism of flexible needle, nonholomic system are punctured
System path planning and control have caused extensive concern and the research of Chinese scholars, but puncture mechanism, path planning and
Control need to be furtherd investigate.Therefore the targeting of robot manipulation flexible needle is punctured mechanism and technique study, it is possible to resolve flexible needle
Poor controllability, the problem that avoidance is difficult, targeting precision is low that artificial targeting is punctured；Can conscientiously improve in following surgical practices
The treatment diagnosis effect of puncturing operation, reduces the health damage to patient.
Research of the current medical robot in the rigid bodies such as orthopaedics or class rigid body field is more perfect, and application is relatively wide, and in people
The flexibility such as body soft tissue field, need to carry out further further investigation.The research of flexible body is from the beginning of the 90's of 20th century
's；At present, in the mechanism and technique study that the robot manipulation flexible needle targeting towards soft tissue is punctured, it is primarily present following
Three problems：(1) current human body soft tissue model, is primarily directed to what virtual reality was studied, in actual operation operation
In carried out some Primary Studies, pin-tissue interaction model characteristic and description method research on, must also deeply grind
Study carefully；When being applied to the robot real-time control towards soft tissue, need to solve the problems, such as real-time, accuracy, it is therefore desirable to pin
Modeling of Soft Tissue when manipulating to robot carries out further investigation；Meanwhile, the interaction between pin-tissue has complicated non-thread
Frottage characteristic, is related to multiple basic subjects such as tribology, fracture mechanics, needs to carry out deep for Journal of Sex Research.
(2) flexible needle puncture path planning is a challenge, is related to metaplasia, the border of different tissues layer
Migration, the anisotropy of tissue, incomplete characteristic, the needle movement uncertainty of the manipulation of crown portion etc., motion condition of uncertainty
Under trajectory planning, remain the research emphasis of flexible pin puncture；Have in some particular problems at present some stages into
Really, but without formation system, ripe theory.
(3) the robot control of flexible pin puncture, is the nonlinear problem under a nonholonomic constraint, how based on super
Sound imaging characteristic, designs the Observer-Controller of control system, how to control robot and manipulates puncture needle along advance planning
Track is advanced, and is a research puzzle；This is related to sensor configuration when controlling, image-guided, control strategy and method etc.
Research.
The curvilinear path that plastic deformation during pin puncture is realized, avoiding obstacles, while using biomethanics, computer skill
Art, Medical Imaging Technology and Robot Control Technology manipulation needle point reaches the target position that conventional rigid pin is not reached, to carry
Height targeting punctures precision, and then improves surgical result；But interacting modeling, path planning and super in pin-soft tissue
Puncture TRAJECTORY CONTROL under acoustic image to need to be furtherd investigate；Current human body soft tissue model, being primarily directed to virtual reality is carried out
Research, some Primary Studies are carried out in actual operation operation, the characteristic and description side in pin-tissue interaction model
In the research of method, further investigation is also needed.When being applied to towards soft tissue robot real-time control, need to solve real-time, accurately
The problem of property.Modeling of Soft Tissue carries out in-depth study when therefore needing to be manipulated for robot；Meanwhile, pin-soft tissue is mutual
Effect has complicated non-linear friction characteristic, is related to the basic subjects such as tribology, fracture mechanics, needs to carry out deep pin
To Journal of Sex Research.Puncture path planning problem.The planning of flexible needle puncture path is a challenge, is related to metaplasia, no
With the boundary migration of organized layer, the anisotropy of tissue, incomplete characteristic, the needle movement uncertainty of the manipulation of crown portion etc., fortune
Trajectory planning under dynamic condition of uncertainty, remains the research emphasis of flexible pin puncture.Have in some particular problems at present
Some phasic results, but without forming system, ripe theory.Puncture TRAJECTORY CONTROL problem under ultrasonoscopy；
The robot control of flexible pin puncture, is the nonlinear problem under a nonholonomic constraint, how based on ultrasonic image feature, if
How the Observer-Controller of meter control system, control robot and manipulate puncture needle along the track advance of advance planning, is one
Individual research puzzle.This is related to the research such as sensor configuration when controlling, image-guided, control strategy and method.
The content of the invention
Problem to be solved in the utility model is to overcome above-mentioned the deficiencies in the prior art, there is provided it is controllable that a kind of targeting is punctured
Property good, avoidance it is good, targeting high precision robot assisted accurately target puncture soft tissue targets flexible needle clamping and fixing device.
In order to solve the above problems, the utility model is employed the following technical solutions：
Robot assisted accurately targets puncture soft tissue targets flexible needle clamping and fixing device, including swivel feeding device,
Swivel feeding device includes setting a table, and the side set a table is fixedly connected with flexible needle connector, and in flexible needle connector height is provided with
The elastic collet chuck of precision, replaceable different inner diameters, flexible needle connector has been threaded connection pressure-pad nut, the axle of elastic collet chuck
Oblique angle flexible needle is installed at the heart and is rotatably compressed by pressure-pad nut, the opposite side set a table is fixedly connected with connector of setting a table.
The following is further optimization of the utility model to such scheme：
Oblique angle flexible needle is directly anchored at the axle center of elastic collet chuck, and elastic collet chuck is easy to loading and unloading, can be directed to needle shaft diameter
Different oblique angle flexible needles coordinates the elastic collet chuck of corresponding internal diameter, it is adaptable to which the clamping of the oblique angle flexible needle of various various outer diameters is consolidated
It is fixed.
Further optimization：
Set a table and set a table for commercially available LER is electronic, set a table and be connected with the straight-line feed device of two-layer misconstruction, straight-line feed
Device is YE using commercially available LEY electric putters, and by image precise control oblique angle flexibility pin puncture target is guided
Two frees degree of straight line and rotation of point process.
Further optimization：
Straight-line feed device includes first electric putter of two setting up and down and the second electric putter, the promotion of the first electric putter
End is fixedly connected by hexagon socket head cap screw with connector of setting a table, and the promote-side of the second electric putter is fixedly connected with by interior hexagonal props up
Fagging.
Further optimization：
Gripper shoe upper end is provided with flexible needle rack near the side set a table, and the opposite side of gripper shoe is fixedly connected with leads
Pipe, oblique angle flexible needle is coaxially disposed with flexible needle rack, conduit, and one end of oblique angle flexible needle is each passed through flexible needle rack and leads
Pipe.
Further optimization：
The two ends of the first electric putter are fixedly mounted in the second fixed plate respectively by runners, four below the second fixed plate
It is installed with second sleeve at angle respectively, each second sleeve is respectively sleeved on support, and is entered by bolt respectively
Row altitude location.
Further optimization：
Second electric putter is fixedly mounted in the first fixed plate by four hexagon socket head cap screws, below the first fixed plate
It is installed with the first sleeve at corner respectively, each first sleeve is respectively sleeved on support, and passes through fixing bolt respectively
Carry out altitude location.
This flexible needle clamping and fixing device operation principle is, based on medical image collection, three-dimensional image reconstruction, according to analysis
As a result, determine operation plan, by means of soft tissue deformation mechanical model, determine pre-applied force three-dimensional scope.Using soft tissue deformation
Simulation model, optimization punctures speed, position and the direction of oblique angle flexible needle, completes the prediction to pathological tissues target, determines
Position, determines point of puncture and puncture path；End high precision elastic collet chuck of setting a table coordinates pressure-pad nut to add to fasten oblique angle flexible needle,
Realize during action along the puncture function of putting forth effort on preloading direction；The straight-line feed fortune of the first electric putter control oblique angle flexible needle
It is dynamic, the swivel feeding motion of control oblique angle flexible needle of setting a table；Using unbalance stress at oblique angle flexible needle needle point, rotation changes needle point
Locus, you can realize the autonomous selection and high-precision control of flexible pin puncture track, actively avoid blood vessel, nerve, bone
The significant obstacle thing such as bone.
The utility model is by high precision elastic collet chuck and coordinates pressure-pad nut come the oblique angle of clamping and positioning oblique angle flexible needle
Locus, positioning precision is high, realizes the precise control of puncture path, and elastic collet chuck is easy to loading and unloading, can be flexible for oblique angle
The elastic collet chuck of the corresponding internal diameter of pin needle shaft diametric fit, realizes being fixedly clamped for different diameter of axle oblique angle flexible needles, can with puncturing
Control property good, avoidance it is good, targeting high precision the features such as.
With reference to the accompanying drawings and examples the utility model is described in further detail.
Description of the drawings
Accompanying drawing 1 is the axonometric drawing of the utility model embodiment flexible needle clamping and fixing device；
Accompanying drawing 2 is the front view of the utility model embodiment flexible needle clamping and fixing device；
Accompanying drawing 3 is the top view of the utility model embodiment flexible needle clamping and fixing device；
Accompanying drawing 4 is the left view of the utility model embodiment flexible needle clamping and fixing device；
Accompanying drawing 5 is the axonometric drawing of flexible needle connector in the utility model embodiment；
Accompanying drawing 6 is the front view of high precision elastic collet chuck in the utility model embodiment；
Accompanying drawing 7 is the axonometric drawing for coordinating pressure-pad nut in the utility model embodiment.
In figure：The electric putters of 1- first；2- hexagon socket head cap screws；3- sets a table connector；4- sets a table；5- flexible needle connectors；6-
Connecting bolt；7- elastic collet chucks；8- pressure-pad nuts；9- flexibility needle racks；11- gripper shoes；12- conduits；13- oblique angles flexible needle；
Hexagonal in 14-；The fixed plates of 15- first；The sleeves of 16- first；17- fixing bolts；The electric putters of 18- second；19- bases；20-
Frame；21- bolts；22- second sleeves；The fixed plates of 23- second；24- runners.
Specific embodiment
Embodiment, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, robot assisted accurately targets puncture soft tissue
Target flexibility pin clamping and fixing device, including swivel feeding device, swivel feeding device includes setting a table 4, and 4 side of setting a table is fixed
It is connected with flexible needle connector 5, flexible needle connector 5 and high accuracy, the elastic collet chuck 7 of replaceable different inner diameters is installed, it is soft
Property pin connector 5 has been threaded connection pressure-pad nut 8, oblique angle flexible needle 13 is provided with the axle center of elastic collet chuck 7 and is passed through
Pressure-pad nut 8 is rotatably compressed, and 4 opposite side of setting a table is fixedly connected with connector 3 of setting a table.
The oblique angle flexible needle 13 is directly anchored at the axle center of elastic collet chuck 7, and elastic collet chuck 7 is easy to loading and unloading, can be directed to
The different oblique angle flexible needle 13 of needle shaft diameter coordinates the elastic collet chuck 7 of corresponding internal diameter, it is adaptable to which the oblique angle of various various outer diameters is soft
Property pin 13 is fixedly clamped.
Described setting a table 4 is set a table for commercially available LER is electronic, the 4 straight-line feed devices for being connected with two-layer misconstruction of setting a table, directly
Line feed arrangement is YE using commercially available LEY electric putters, guides precise control oblique angle flexible needle 13 to wear by image
Two frees degree of straight line and rotation of dazzling target point process.
The flexible needle connector 5 is fixed on by uniform connecting bolt 6 sets a table on 4, and the specification of the connecting bolt 6 is
M5×4。
The straight-line feed device includes first electric putter 1 of two setting up and down and the second electric putter 18, and the first electricity is pushed away
The promote-side of bar 1 is fixedly connected by hexagon socket head cap screw 2 with connector 3 of setting a table, and the promote-side of the second electric putter 18 passes through interior six
Angle 14 is fixedly connected with gripper shoe 11, and the specification of the interior hexagonal 14 is M8 × 16.
The upper end of the gripper shoe 11 is provided with flexible needle rack 9 near 4 side of setting a table, and the opposite side of gripper shoe 11 is fixed
Conduit 12 is connected with, oblique angle flexible needle 13 is coaxially disposed with flexible needle rack 9, conduit 12, one end difference of oblique angle flexible needle 13
Through flexible needle rack 9 and conduit 12.
The flexible needle rack 9 is fixedly connected in gripper shoe 11 by connecting bolt 6, and the specification of the connecting bolt 6 is
M5×8。
The two ends of first electric putter 1 are fixedly mounted in the second fixed plate 23 respectively by runners 24, and second fixes
Second sleeve 22 is installed with respectively at the corner of the lower section of plate 23, and each second sleeve 22 is respectively sleeved on support 20, and
Respectively altitude location is carried out by bolt 21, the specification of the bolt 21 is M5 × 4.
Second electric putter 18 is fixedly mounted in the first fixed plate 15 by four hexagon socket head cap screws 2, and first fixes
The first sleeve 16 is installed with respectively at the corner of the lower section of plate 15, and each first sleeve 16 is respectively sleeved on support 20,
And respectively altitude location being carried out by fixing bolt 17, the specification of the fixing bolt 17 is M5 × 4.
Strong preloading tool test tube is installed in the end of second electric putter 18, realizes that the soft tissue before puncturing is pre- during action
Substrate hold-down function.
The lower end of each support 20 is respectively fixedly connected with base 19.
This flexible needle clamping and fixing device operation principle is, based on medical image collection, three-dimensional image reconstruction, according to analysis
As a result, determine operation plan, by means of soft tissue deformation mechanical model, determine pre-applied force three-dimensional scope；Using soft tissue deformation
Simulation model, optimization punctures speed, position and the direction of oblique angle flexible needle, completes the prediction to pathological tissues target, determines
Position, determines point of puncture and puncture path；4 end high precision elastic collet chucks 7 of setting a table coordinate pressure-pad nut 8 plus to fasten oblique angle flexible
Pin 13, realizes along the puncture function of putting forth effort on preloading direction during action；First electric putter 1 controls the straight line of oblique angle flexible needle 13
Feed motion, the swivel feeding motion of 4 control oblique angle flexible needles 13 of setting a table；Using unbalance stress at the needle point of oblique angle flexible needle 13,
Rotation changes the locus of needle point, you can realizes the autonomous selection and high-precision control of flexible pin puncture track, actively avoids
The significant obstacle thing such as blood vessel, nerve, bone.
The utility model is by high precision elastic collet chuck and coordinates pressure-pad nut come the oblique angle of clamping and positioning oblique angle flexible needle
Locus, positioning precision is high, realizes the precise control of puncture path, and elastic collet chuck is easy to loading and unloading, can be flexible for oblique angle
The elastic collet chuck of the corresponding internal diameter of pin needle shaft diametric fit, realizes being fixedly clamped for different diameter of axle oblique angle flexible needles, can with puncturing
Control property good, avoidance it is good, targeting high precision the features such as.
Claims (6)
1. robot assisted accurately targets puncture soft tissue targets flexible needle clamping and fixing device, including swivel feeding device and straight
Line feed arrangement, it is characterised in that：Swivel feeding device includes setting a table（4）, set a table（4）Side be fixedly connected with flexible needle company
Fitting（5）, flexible needle connector（5）High accuracy, the elastic collet chuck of replaceable different inner diameters are inside installed（7）, flexible needle connection
Part（5）It has been threaded connection pressure-pad nut（8）, elastic collet chuck（7）Axle center at oblique angle flexible needle is installed（13）And pass through
Pressure-pad nut（8）Rotatably compress, set a table（4）Opposite side be fixedly connected with connector of setting a table（3）.
2. robot assisted according to claim 1 accurately targets puncture soft tissue targets flexible needle clamping and fixing device,
It is characterized in that：Oblique angle flexible needle（13）It is directly anchored to elastic collet chuck（7）Axle center at, elastic collet chuck（7）It is easy to loading and unloading, can
For the different oblique angle flexible needle of needle shaft diameter（13）Coordinate the elastic collet chuck of corresponding internal diameter（7）, it is adaptable to various various outer diameters
Oblique angle flexible needle（13）Be fixedly clamped.
3. robot assisted according to claim 1 accurately targets puncture soft tissue targets flexible needle clamping and fixing device,
It is characterized in that：Straight-line feed device includes first electric putter of two setting up and down（1）With the second electric putter（18）, first is electric
Push rod（1）Promote-side pass through hexagon socket head cap screw（2）With connector of setting a table（3）It is fixedly connected, the second electric putter（18）Promotion
End is by interior hexagonal（14）It is fixedly connected with gripper shoe（11）.
4. robot assisted according to claim 3 accurately targets puncture soft tissue targets flexible needle clamping and fixing device,
It is characterized in that：Gripper shoe（11）Upper end is close to set a table（4）Side be provided with flexible needle rack（9）, gripper shoe（11）It is another
Side is fixedly connected with conduit（12）, oblique angle flexible needle（13）With flexible needle rack（9）, conduit（12）It is coaxially disposed, oblique angle is soft
Property pin（13）One end be each passed through flexible needle rack（9）And conduit（12）.
5. robot assisted according to claim 3 accurately targets puncture soft tissue targets flexible needle clamping and fixing device,
It is characterized in that：First electric putter（1）Two ends respectively pass through runners（24）It is fixedly mounted on the second fixed plate（23）On, second
Fixed plate（23）Second sleeve is installed with respectively at the corner of lower section（22）, each second sleeve（22）It is respectively sleeved at and props up
Frame（20）On, and pass through bolt respectively（21）Carry out altitude location.
6. robot assisted according to claim 3 accurately targets puncture soft tissue targets flexible needle clamping and fixing device,
It is characterized in that：Second electric putter（18）By four hexagon socket head cap screws（2）It is fixedly mounted on the first fixed plate（15）On, first
Fixed plate（15）The first sleeve is installed with respectively at the corner of lower section（16）, each first sleeve（16）It is respectively sleeved at and props up
Frame（20）On, and pass through fixing bolt respectively（17）Carry out altitude location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620853178.5U CN206151580U (en) | 2016-08-09 | 2016-08-09 | Tight fixing device of supplementary flexible needle holder of accurate target puncture soft tissue target of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620853178.5U CN206151580U (en) | 2016-08-09 | 2016-08-09 | Tight fixing device of supplementary flexible needle holder of accurate target puncture soft tissue target of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206151580U true CN206151580U (en) | 2017-05-10 |
Family
ID=58647939
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620853178.5U Expired - Fee Related CN206151580U (en) | 2016-08-09 | 2016-08-09 | Tight fixing device of supplementary flexible needle holder of accurate target puncture soft tissue target of robot |
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| CN (1) | CN206151580U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108175507A (en) * | 2017-08-31 | 2018-06-19 | 北京邮电大学 | Automatically control high-precision Soft tissue cutting robot |
| CN109091226A (en) * | 2018-09-08 | 2018-12-28 | 北京德康健医药科技有限公司 | A kind of surgical navigational robot end connection method |
| CN109394316A (en) * | 2018-12-10 | 2019-03-01 | 济南大学 | A kind of percutaneous automatic vibration sting device |
| WO2019120005A1 (en) * | 2017-12-21 | 2019-06-27 | 微创（上海）医疗机器人有限公司 | Surgical robot system and surgical instrument thereof |
| CN110568605A (en) * | 2019-08-30 | 2019-12-13 | 北京临近空间飞行器系统工程研究所 | Positioning assembly and microscope |
| CN112168309A (en) * | 2020-11-10 | 2021-01-05 | 哈尔滨理工大学 | Flexible needle puncture mechanism based on double mechanical claws |
| CN112568980A (en) * | 2020-12-15 | 2021-03-30 | 航天科工智能机器人有限责任公司 | Clamping device suitable for puncture needles of different models and specifications |
| CN113349896A (en) * | 2021-07-07 | 2021-09-07 | 北京精准医械科技有限公司 | Needle puncture mechanism and puncture surgical robot |
| CN114711920A (en) * | 2022-04-28 | 2022-07-08 | 哈尔滨理工大学 | Flexible needle clamping mechanism |
-
2016
- 2016-08-09 CN CN201620853178.5U patent/CN206151580U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108175507A (en) * | 2017-08-31 | 2018-06-19 | 北京邮电大学 | Automatically control high-precision Soft tissue cutting robot |
| CN108175507B (en) * | 2017-08-31 | 2020-09-04 | 北京邮电大学 | Automatic control high accuracy soft tissue cutting robot |
| WO2019120005A1 (en) * | 2017-12-21 | 2019-06-27 | 微创（上海）医疗机器人有限公司 | Surgical robot system and surgical instrument thereof |
| CN109091226A (en) * | 2018-09-08 | 2018-12-28 | 北京德康健医药科技有限公司 | A kind of surgical navigational robot end connection method |
| CN109394316A (en) * | 2018-12-10 | 2019-03-01 | 济南大学 | A kind of percutaneous automatic vibration sting device |
| CN110568605A (en) * | 2019-08-30 | 2019-12-13 | 北京临近空间飞行器系统工程研究所 | Positioning assembly and microscope |
| CN112168309A (en) * | 2020-11-10 | 2021-01-05 | 哈尔滨理工大学 | Flexible needle puncture mechanism based on double mechanical claws |
| CN112568980A (en) * | 2020-12-15 | 2021-03-30 | 航天科工智能机器人有限责任公司 | Clamping device suitable for puncture needles of different models and specifications |
| CN113349896A (en) * | 2021-07-07 | 2021-09-07 | 北京精准医械科技有限公司 | Needle puncture mechanism and puncture surgical robot |
| CN114711920A (en) * | 2022-04-28 | 2022-07-08 | 哈尔滨理工大学 | Flexible needle clamping mechanism |
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