CN211067009U - Dynamic adjustment device and dynamic adjustment system - Google Patents
Dynamic adjustment device and dynamic adjustment system Download PDFInfo
- Publication number
- CN211067009U CN211067009U CN201920902724.3U CN201920902724U CN211067009U CN 211067009 U CN211067009 U CN 211067009U CN 201920902724 U CN201920902724 U CN 201920902724U CN 211067009 U CN211067009 U CN 211067009U
- Authority
- CN
- China
- Prior art keywords
- dynamic adjustment
- positioning
- dynamic
- telescopic
- adjusting
- 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.)
- Active
Links
Images
Abstract
The utility model provides a dynamic adjustment device and dynamic adjustment system. The dynamic adjusting device comprises at least two groups of adjusting components which are positioned in different planes; each group of adjusting assembly comprises at least two telescopic pieces, one ends of the at least two telescopic pieces are hinged to the connecting platform, the other ends of the at least two telescopic pieces are hinged to each other, the other end of at least one telescopic piece in each group of adjusting assembly is further connected with a spherical hinge structural piece, and one ends of the at least two telescopic pieces in the other group of adjusting assembly are hinged to the connecting platform. The utility model provides a dynamic adjustment device is through setting up adjusting part respectively in different planes, through articulated extensible member on connection platform and with the one end of ball pivot structure connection at the extensible member, can confirm an exclusive straight line through the pin joint of two ball pivot structures, and then make actuating element can move along this straight line. In addition, the dynamic adjusting device also has the advantages of simple structure and small size.
Description
Technical Field
The utility model relates to a positioner technical field especially relates to a dynamic adjustment device and dynamic adjustment system.
Background
In the treatment process of trauma orthopedics, malignant tumor and the like, the traditional operation doctor only can perform the operation by virtue of clinical experience and skill during operation, the operation risk is large, the postoperative trauma is large, the complications are more, and the recovery period is long. The auxiliary treatment by means of the image technology can effectively improve the operation efficiency, but doctors are exposed to rays for a long time and are harmful to health. The operation navigation technology can provide real-time guidance for doctors, obviously improves operation efficiency and safety, and has important significance in the application of the operation navigation system in surgical operations. The patient image data is linked with the focus by using the surgical navigation technology, the positioning precision is effectively improved by using a high-precision terminal execution instrument, the surgical efficiency and success rate are improved, and the surgical risk is reduced.
At present, an optical positioning system and a multi-degree-of-freedom tandem type active mechanical arm are adopted for space positioning clinically, and the specific operation method is as follows:
1. fixing the operation positioning device on the patient body, and scanning the operation positioning device by using imaging equipment to form an image containing positioning points;
2. installing a tracer on the surgical mechanical arm, tracking the positions of the surgical positioning device and the tracer through an optical tracer, acquiring the position information of the surgical positioning device and the tracer in real time and transmitting the position information to a computer;
3. and obtaining a conversion matrix of the tracer and the surgical positioning device according to the position information, and controlling the surgical mechanical arm to move to the target position.
At present, the navigation system on the market is used for multiple active tandem robots as an actuator, but the active robot is large in size and high in cost due to complex control, and a miniaturized and low-cost solution is of great significance in an operating room environment with a narrow space. In addition, the tandem robot has accumulated errors, and the positioning accuracy and safety of the tandem robot are low for the operation with high operation accuracy requirement.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
The utility model aims at providing a dynamic adjustment device and dynamic adjustment system are in order to solve among the prior art operation robot in the problem that the accumulative error that exists is big, positioning accuracy is low of regulation, navigation in-process.
(II) technical scheme
In order to solve the above technical problem, the present invention provides a dynamic adjustment device, which comprises at least two groups of adjustment assemblies located in different planes; each group of adjusting assembly comprises at least two telescopic pieces, one ends of the at least two telescopic pieces are hinged to the connecting platform, the other ends of the at least two telescopic pieces are hinged to each other, at least one end of each telescopic piece in each adjusting assembly is connected with a spherical hinge structural piece, and one ends of the at least two telescopic pieces in each adjusting assembly are hinged to the connecting platform.
Further, the extensible member includes fixed part and movable part, the movable part movably wears to establish in the fixed part, the fixed part articulates on the connection platform, at least two in the extensible member the movable part is articulated each other.
Further, the dynamic adjustment device further comprises a driving part, wherein the driving part drives the movable part to move relative to the fixed part, or the driving part drives the fixed part to rotate relative to the connecting platform.
Further, the dynamic adjusting device further comprises a guide piece, and the guide piece is respectively arranged in the spherical hinge structural piece in each group of adjusting components in a penetrating mode.
According to another aspect of the present invention, the present invention further provides a dynamic adjustment system, which comprises a positioning device, a tracking device, a control device and the dynamic adjustment device as mentioned in any one of the above; the tracking device is in communication connection with the positioning device and the control device respectively and sends the position signal to the control device, and the control device controls the dynamic adjustment device to move to the target position.
Furthermore, the positioning device at least comprises a first positioning part and a second positioning part, the first positioning part is connected with the target object, and the second positioning part is connected with the dynamic adjusting device.
Furthermore, a first connecting port is arranged on the connecting platform, and the second positioning piece is connected with the connecting platform through the first connecting port.
Further, the dynamic adjustment system further comprises a pose presetting device, and the pose presetting device is connected with the dynamic adjustment device.
Further, the degree of freedom of the pose presetting device is greater than or equal to 4.
Furthermore, a second connector is arranged on the connecting platform, and the pose presetting device is connected with the connecting platform through the second connector.
(III) advantageous effects
The utility model provides a dynamic adjustment device is through setting up adjusting part respectively in different planes, through articulated extensible member on connection platform and with the one end of ball pivot structure connection at the extensible member, can confirm an exclusive straight line through the pin joint of two ball pivot structures, and then make actuating element can move along this straight line. In addition, when the dynamic adjusting device is applied to a multi-degree-of-freedom operation adjusting mechanism, the dynamic adjusting device can be used for compensating errors of the operation adjusting mechanism, so that the operation precision is effectively improved, and the cost is reduced; the local stability is increased, and the precision is ensured. Moreover, the dynamic adjusting device also has the advantages of simple structure and small size, can effectively save the space of an operating room, and is convenient for a doctor to operate.
Drawings
FIG. 1 is a schematic diagram of a dynamic adjustment device;
fig. 2 is a schematic structural diagram of a dynamic adjustment system according to an embodiment of the present invention.
The reference numbers illustrate:
1. a telescoping member; 2. connecting the platform; 3. a spherical hinge structure; 4. a tracking device; 5. a control device; 6. a first positioning member; 7. a second positioning member; 8. a pose presetting device; 9. a guide; 10. a dynamic adjustment device; 11. an object.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
As shown in fig. 1, a dynamic adjustment device 10 according to a first embodiment of the present invention includes at least two sets of adjustment components located in different planes; each group of adjusting assembly comprises at least two telescopic parts 1, one ends of the at least two telescopic parts 1 are hinged to the connecting platform 2, the other ends of the at least two telescopic parts 1 are hinged to each other, the other end of at least one telescopic part 1 in each group of adjusting assembly is further connected with a spherical hinge structural part 3, and one ends of the at least two telescopic parts 1 in the other group of adjusting assembly are hinged to the same connecting platform 2.
The utility model provides a dynamic adjustment device 10 is through setting up adjusting part respectively in different planes, through articulated extensible member 1 on connection platform 2 and with ball pivot structure 3 connection in the one end of extensible member 1, can confirm an exclusive straight line through the pin joint of two ball pivot structures 3, and then makes actuating element can move along this straight line. In addition, when the dynamic adjusting device 10 is applied to a surgical adjusting mechanism with multiple degrees of freedom, the dynamic adjusting device 10 can be used for compensating errors of the surgical adjusting mechanism, so that the surgical precision is effectively improved, and the cost is reduced; the local stability is increased, and the precision is ensured. Moreover, the dynamic adjusting device 10 has the advantages of simple structure and small size, and can effectively save the space of an operating room and facilitate the operation of a doctor.
Specifically, the two groups of adjusting components are respectively positioned in different planes, and further, the two planes are parallel to each other; still further, two planes are perpendicular to the plane of the connecting platform 2, wherein the connecting platform 2 is used to carry the dynamic adjusting device 10.
At least one group of adjusting components are arranged in each plane, each group of adjusting components comprises at least two mutually hinged telescopic pieces 1, and one end of each telescopic piece 1 is hinged with the connecting platform 2 through a rotary joint. The other set of adjustment assemblies likewise comprises at least two telescopic elements 1 articulated to each other, and the two telescopic elements 1 of this set of adjustment assemblies are articulated to the same connecting platform 2 as the two telescopic elements 1 of the previous set of adjustment assemblies.
The other end of at least one telescopic member 1 in each group of adjusting components is also connected with a spherical hinge structural member 3. Further, the guide piece 9 is further arranged in the at least two spherical hinge structural members 3 in a penetrating mode, and the degree of freedom of the guide piece 9 can be improved by arranging the spherical hinge structural members 3. The spherical hinge structural member 3 may be a spherical joint, a fisheye bearing joint, or other structural members having three degrees of freedom.
For example, when the dynamic adjustment device 10 is applied to an operation, the length of the telescopic member 1 can be adjusted, so that the two spherical hinge structural members 3 can determine a unique straight line, and the guide member 9 can be accurately pointed to a specific position of an operation point such as injection, puncture and the like, thereby improving the accuracy of the operation.
In this embodiment, every extensible member 1 includes fixed part and movable part, and the movable part movably wears to establish in the fixed part, and the fixed part articulates on connection platform 2, and the movable part in at least two extensible members 1 is articulated each other. For example, the telescopic member 1 may be a screw nut, an electric push rod, a hydraulic rod, or other structural members capable of performing linear telescopic motion.
Further, the dynamic adjustment device 10 further includes a driving portion, wherein the driving portion drives the movable portion to move relative to the fixed portion, or the driving portion drives the fixed portion to rotate relative to the connection platform 2.
The driving part may be a component capable of providing power source, such as a motor, and the driving part is used for driving the telescopic member 1 to move. The driving part can drive the movable part to extend or contract relative to the fixed part; the driving part can also drive the fixing part to rotate relative to the connecting platform 2 so as to adjust the angle between the fixing part and the connecting platform 2. The position of the ball joint structure 3 in space can be adjusted regardless of the driving method.
The first embodiment of the present invention provides a dynamic adjustment device 10, which is explained by two-two 4 expansion pieces 1 distributed in two planes. It should be noted, however, that the dynamic adjustment device 10 of the present invention can achieve the above-mentioned effects by ensuring at least two planes and at least one extension member 1 in each plane. Wherein, if be provided with a plurality of extensible member 1 in the plane, only need guarantee that the movable part of a plurality of extensible member 1 articulates in a little can.
Example two
As shown in fig. 2, a second embodiment of the present invention provides a dynamic adjustment system, which includes a positioning device, a tracking device 4, a control device 5, and a dynamic adjustment device 10 according to the first embodiment; the positioning device is used for positioning a target position and generating a position signal, the tracking device 4 is respectively in communication connection with the positioning device and the control device 5 and sends the position signal to the control device 5, and the control device 5 controls the dynamic adjusting device 10 to move to the target position according to the position signal.
The dynamic adjusting system provided by the second embodiment of the utility model has the advantages that the dynamic adjusting device 10 provided by the first embodiment is arranged in the dynamic adjusting system, and when the dynamic adjusting system is applied to a multi-degree-of-freedom passive operation adjusting mechanism, the dynamic adjusting device 10 can be utilized to compensate errors of the operation adjusting mechanism, so that the operation precision is effectively improved, and the cost is reduced; moreover, the dynamic adjusting device 10 in the first embodiment is adopted at the tail end of the operation adjusting mechanism, so that the action error of the manipulator in the prior art can be compensated, the local stability is increased, and the accuracy is ensured; and the dynamic adjusting device 10 adopts a miniaturized design, has the advantages of simple structure, small structural size and the like, can effectively save the space of an operating room, and is convenient for a doctor to operate.
Specifically, the positioning device may be an optical positioning device, the tracking device 4 may be an optical tracking device 4, and the control device 5 may be a computer or the like having integrated processing capability.
Wherein, the tracking device 4 is respectively connected with the positioning device and the control device 5 in a communication way. The positioning device generates a position signal after positioning the target object 11 and sends the position signal to the tracking device 4; the tracking means 4 process the position signals to generate signals that can be recognized by the control means 5; the control device 5 generates a corresponding control instruction after receiving the position signal, and the dynamic adjustment device 10 completes corresponding dynamic adjustment after receiving the control instruction so as to adjust the scalpel or the acupuncture to the position of the target object 11.
In the present embodiment, the positioning device includes at least a first positioning member 6 and a second positioning member 7. Wherein, the first positioning piece 6 is connected with the target object 11, and the second positioning piece 7 is connected with the dynamic adjusting device 10. The position and orientation information of the first positioning element 6 and the second positioning element 7 can be recognized and recorded by the optical tracking device 4 and sent to a computer.
Furthermore, a first connecting port is arranged on the connecting platform 2, and the second positioning element 7 is connected with the connecting platform 2 through the first connecting port. In addition, the first connection port can also be used for connecting a surgical positioning device, and the surgical positioning device can be an active positioning device (robot) or a passive positioning device (such as various other operation bedside supports and the like), for example.
Further, the dynamic adjustment system further comprises a pose presetting device 8, and the pose presetting device 8 is connected with the dynamic adjustment device 10. The pose presetting device 8 is a space adjusting mechanism with multiple degrees of freedom (the degree of freedom is more than or equal to 4), such as a flexible holding arm, a gantry frame, a surgical manipulator and the like.
In addition, a second connecting port is further arranged on the connecting platform 2, and the pose pre-adjusting device 8 can be in safe sterile connection with the dynamic adjusting device 10 through the second connecting port. Preferably, the pose presetting device 8 is a 6-degree-of-freedom passive arm.
EXAMPLE III
The embodiment three of the present invention provides a method for using a dynamic adjustment system as in embodiment two, which comprises the following steps:
s1, acquiring a spatial position point of the target 11 and a directional position point of the target 11, and marking the spatial position point and the directional position point in a spatial coordinate system formed by the first positioning member 6;
in the step, firstly, a spatial position point a of the target 11 and a directional position point B of the target 11 are obtained, then the spatial position point a and the directional position point B of the target 11 are obtained through the tracking device 4, then the first positioning member 6 is fixedly connected to the target 11, for example, the first positioning member 6 can be connected to a patient, and then the spatial position point a and the directional position point B of the target 11 are identified in a spatial coordinate system of the first positioning member 6;
s2, the first positioning element 6 sends the position signals of the spatial position point and the directional position point to the control device 5;
in the step, the first positioning element 6 sends the position signals of the space position point A and the direction position point B of the target object 11 to the tracking device 4, and then the tracking device 4 sends the processed position signals of the space position point A and the direction position point B of the target object 11 to the control device 5;
s3, converting the spatial position points and the direction position points into a spatial coordinate system formed by the second positioning piece 7, and acquiring spatial connection lines of the spatial position points and the direction position points by the tracking device 4;
in this step, after the control device 5 obtains the position signals of the spatial position point a and the directional position point B of the target 11, the dynamic adjustment device 10 is preset to the vicinity of the target 11 by the pose presetting device 8 according to the spatial position point a and the directional position point B of the target 11. At this time, the spatial position point a and the directional position point B of the target object 11 are converted into the spatial coordinate system of the second positioning member 7, and the tracking device 4 obtains the spatial position point a and the directional position point B of the target object 11 at corresponding position points in the spatial coordinate system formed by the second positioning member 7. At this time, the tracking device 4 acquires a two-point connection line between the spatial position point a and the directional position point B of the target object 11 in the spatial coordinate system formed by the second positioning element 7, and the tracking device 4 sends the related information of the spatial connection line to the control device 5;
s4, acquiring two intersection points of the space connecting line and the plane where the at least two groups of adjusting components are located by the control device 5;
in this step, after the control device 5 obtains the information of the spatial connection line between the spatial position point a and the directional position point B of the target 11, the position information of two intersection points of the spatial connection line and the plane where the two groups of adjusting components are located is obtained;
and S5, the control device 5 controls the spherical hinge structural member 3 in each group of adjusting assemblies to move to two intersection points respectively.
In this step, the control device 5 controls the spherical hinge structural members 3 in the two sets of adjusting assemblies to move to the positions of the two intersection points according to the position information of the two intersection points in step S4. Namely, the control device 5 respectively controls the extension or contraction of the movable parts of the telescopic parts 1 in the two groups of adjusting assemblies, so that the two spherical hinge structural parts 3 respectively move to the positions of two intersection points;
s6, the control device 5 controls the actuator to move along the axial direction of the guide 9;
in this step, as mentioned above, the guide 9 is further inserted into the spherical hinge structure 3, so that the axis of the guide 9 is the traveling path of the actuator, and the actuator is controlled to move along the axis of the guide 9 to complete corresponding operations, such as injection and puncture.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A dynamic adjusting device is characterized by comprising at least two groups of adjusting components which are positioned in different planes;
each group of adjusting assembly comprises at least two telescopic parts (1), one end of each telescopic part (1) is hinged to a connecting platform (2), the other ends of the at least two telescopic parts (1) are hinged to each other, the other end of at least one telescopic part (1) in each group of adjusting assembly is also connected with a spherical hinge structural part (3),
one end of at least two telescopic pieces (1) in the other group of adjusting components is hinged on the connecting platform (2).
2. The dynamic adjustment device according to claim 1, characterized in that said telescopic elements (1) comprise a fixed part and a movable part, said movable part being movably inserted in said fixed part, said fixed part being hinged to said connection platform (2), said movable parts of at least two telescopic elements (1) being hinged to each other.
3. A dynamic adjustment device according to claim 2, characterized in that it further comprises a drive part which drives the movable part to move relative to the fixed part or which drives the fixed part to rotate relative to the attachment platform (2).
4. A dynamic adjustment device according to any of claims 1-3, characterized in that the dynamic adjustment device further comprises guides (9), which guides (9) are arranged through the ball joint structure (3) in each set of adjustment assemblies, respectively.
5. A dynamic adjustment system, characterized by comprising positioning means, tracking means (4), control means (5) and a dynamic adjustment device according to any of claims 1-4;
the positioning device is used for positioning the target position and generating a position signal,
the tracking device (4) is respectively connected with the positioning device and the control device (5) in a communication way and sends the position signal to the control device (5),
the control device (5) controls the dynamic adjustment device to move to the target position.
6. The dynamic adjustment system of claim 5, wherein the positioning device comprises at least a first positioning element (6) and a second positioning element (7), the first positioning element (6) being connected to the object and the second positioning element (7) being connected to the dynamic adjustment device.
7. The dynamic adjustment system according to claim 6, characterized in that a first connection port is provided on the connection platform (2), and the second positioning element (7) is connected with the connection platform (2) through the first connection port.
8. The dynamic adjustment system according to claim 5, characterized in that the dynamic adjustment system further comprises a pose pre-adjustment device (8), the pose pre-adjustment device (8) being connected to the dynamic adjustment device.
9. The dynamic adjustment system according to claim 8, characterized in that the degree of freedom of the pose presetting device (8) is greater than or equal to 4.
10. The dynamic adjustment system according to claim 8, characterized in that a second connection port is provided on the connection platform (2), and the pose pre-adjustment device (8) is connected with the connection platform (2) through the second connection port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920902724.3U CN211067009U (en) | 2019-06-14 | 2019-06-14 | Dynamic adjustment device and dynamic adjustment system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920902724.3U CN211067009U (en) | 2019-06-14 | 2019-06-14 | Dynamic adjustment device and dynamic adjustment system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211067009U true CN211067009U (en) | 2020-07-24 |
Family
ID=71635414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920902724.3U Active CN211067009U (en) | 2019-06-14 | 2019-06-14 | Dynamic adjustment device and dynamic adjustment system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211067009U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110279470A (en) * | 2019-06-14 | 2019-09-27 | 北京罗森博特科技有限公司 | Dynamic regulation device, dynamic adjusting system and its application method |
-
2019
- 2019-06-14 CN CN201920902724.3U patent/CN211067009U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110279470A (en) * | 2019-06-14 | 2019-09-27 | 北京罗森博特科技有限公司 | Dynamic regulation device, dynamic adjusting system and its application method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20230070004A1 (en) | Catheter insertion system and method of fabrication | |
| JP5667175B2 (en) | Robot arm | |
| US10070931B2 (en) | System and method for maintaining a tool pose | |
| EP3515353B1 (en) | Tracking and guidance arrangement for a surgical robot system and related method | |
| CN112155739A (en) | System and method for providing feedback during manual joint positioning | |
| WO2006069288A2 (en) | Overhead mount for a medical robot for use with medical scanning equipment | |
| WO2020046214A1 (en) | Robotic arm, minimal invasive surgery robot, and respective manufacturing method thereof | |
| CN110279470A (en) | Dynamic regulation device, dynamic adjusting system and its application method | |
| CN110623731A (en) | High-integration orthopaedic surgery robot | |
| CN211067009U (en) | Dynamic adjustment device and dynamic adjustment system | |
| CN114767274A (en) | Three-dimensional positioning micro surgical robot | |
| CN113715029B (en) | Autonomous learning method of mechanical arm control method | |
| CN102462533A (en) | Mechanical arm for clamping propelling mechanism of minimally invasive blood vessel interventional surgery | |
| CN114176902A (en) | Robot automatic compensation motion control method | |
| Dachs et al. | A novel surgical robot design: Minimizing the operating envelope within the sterile field | |
| CN112006780B (en) | Minimally invasive surgery robot system and artificial cochlea minimally invasive implantation surgery device | |
| CN109381261A (en) | Surgical procedures arm and surgical operation robot | |
| CN110584778A (en) | Method and device for adjusting object posture and application of device in automation equipment | |
| CN110547875A (en) | method and device for adjusting object posture and application of device in automation equipment | |
| WO2021145792A1 (en) | Combined manipulator for robotic surgical system | |
| CN115089304B (en) | Multi-arm multi-degree-of-freedom minimally invasive surgery platform | |
| CN107049495B (en) | Three-degree-of-freedom robot for minimally invasive surgery | |
| CN113456239A (en) | Robot tail end operation system and method thereof | |
| KR101538041B1 (en) | Device for positioning of surgical tool and sergical robot system including the same | |
| CN113580141B (en) | Pose solving method for 6-axis mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |