CN211806160U

CN211806160U - Medical mechanical arm remote control device

Info

Publication number: CN211806160U
Application number: CN202020056783.6U
Authority: CN
Inventors: 邓辅秦; 李伟科; 钟悦江; 黄永深; 冯华
Original assignee: Wuyi University
Current assignee: Wuyi University
Priority date: 2020-01-10
Filing date: 2020-01-10
Publication date: 2020-10-30
Anticipated expiration: 2030-01-10

Abstract

The utility model discloses a medical arm remote control device, include: a robotic arm capable of performing a procedure; the sensor mechanism can acquire hand motion images and voice signals of an operator; the upper computer can convert hand motion images and voice signals of the operator into motion instructions and send the motion instructions to the mechanical arm, and the motion instructions are respectively connected with the mechanical arm and the sensor mechanism. Compared with the prior art, the utility model relates to a rationally, the structure is ingenious, can turn into the remote intelligent control to the arm with art person's actual medical situation, has broken through the restriction in medical treatment region, makes the arm have better use flexibility and higher work efficiency.

Description

Medical mechanical arm remote control device

Technical Field

The utility model relates to a medical equipment, especially medical arm remote control device.

Background

With the rapid development of modern industry, the mechanical arm becomes an indispensable member in modern intelligent equipment, has the characteristics of strong stability, high precision, high running speed and the like, and is widely applied to a plurality of fields. In the medical field, the rapid development of mechanical arm control technology towards great demand, diversification and intellectualization has become a trend. The control of traditional medical treatment arm, often medical staff accomplishes under traditional modes such as control lever, mouse keyboard, such medical staff's required training and the time of being familiar with this control mode are longer, often need spend a large amount of time study, and its flexibility and efficiency nature are not high moreover, can't use in complicated environment to the arm under this kind of mode has to some extent to medical region, and this also restricts its development prospect in the medical field.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model aims at providing a medical arm remote control device can turn into the remote intelligent control to the arm with the actual medical sight of art person, has broken through the restriction in medical treatment region, makes the arm have better use flexibility and higher work efficiency.

In order to compensate the deficiency of the prior art, the embodiment of the utility model provides an adopt technical scheme is:

medical arm remote control device includes:

a robotic arm capable of performing a procedure;

the sensor mechanism can acquire hand motion images and voice signals of an operator;

the upper computer can convert hand motion images and voice signals of the operator into motion instructions and send the motion instructions to the mechanical arm, and the motion instructions are respectively connected with the mechanical arm and the sensor mechanism.

The embodiment of the utility model provides an in one or more technical scheme, following beneficial effect has at least: can acquire art person's hand action image and speech signal through sensor mechanism to can upload the host computer, receive when the host computer after the information, then can turn into corresponding action command with it and send for the arm, thereby drive the arm and move according to this action command, consequently, the arm can be complete the operation information of simulation art person one end, the art person can realize the remote control to the arm promptly, make it can accurately simulate art person's actual medical situation, thereby can treat for the user more conveniently. Therefore, the utility model relates to a rationally, the structure is ingenious, can turn into the remote intelligent control to the arm with art person's actual medical situation, has broken through the restriction in medical treatment region, makes the arm have better use flexibility and higher work efficiency.

Further, the sensor mechanism comprises an image sensor for acquiring the hand motion image of the operator and a voice sensor for acquiring the voice signal of the operator, and the image sensor and the voice sensor are both connected with the upper computer.

Further, the image sensor comprises a depth camera for collecting the hand movement depth image of the operator and an RGB camera for collecting the hand movement RGB image of the operator.

Further, the voice sensor employs a microphone array device.

Further, this technical scheme still includes and is used for controlling the servo motor group that the arm carries out the motion, be used for overall control's master controller and be used for transmitting action command's communication module and CAN bus communication chip, the host computer passes through communication module is connected to the input of master controller, the output of master controller is connected to CAN bus communication chip, CAN bus communication chip still through servo motor group is connected to the arm.

Furthermore, this technical scheme still includes and is used for acquireing the arm is pointed the inductive mechanism of feeling of department, inductive mechanism set up in arm is pointed department and is passed through the feedback output of master controller with the host computer realizes connecting.

Further, the inductive mechanism includes a pressure sensor, a temperature sensor, and a tactile sensor.

Further, the master adopts an STM32F103C8T6 chip, and the CAN bus communication chip adopts a TJA1050 chip.

Further, the communication module adopts a wireless transmission module.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The following description of the preferred embodiments of the present invention will be made with reference to the accompanying drawings.

Fig. 1 is a block diagram schematically illustrating the structure of a medical manipulator remote control device according to an embodiment of the present invention;

fig. 2 is a schematic block diagram of the working principle of the medical manipulator remote control device according to the embodiment of the present invention.

Detailed Description

This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

The embodiments of the present invention will be further explained with reference to the drawings.

Referring to fig. 1, an embodiment of the present invention provides a medical remote manipulator 300 control device, including:

a robotic arm 300 capable of performing a procedure;

a sensor mechanism 100 capable of acquiring hand motion images and voice signals of an operator;

the upper computer 200 can convert hand motion images and voice signals of the operator into motion instructions and send the motion instructions to the mechanical arm 300, and the motion instructions are respectively connected with the mechanical arm 300 and the sensor mechanism 100.

In this embodiment, can acquire operator's hand action image and speech signal through sensor mechanism 100 to can upload host computer 200, after host computer 200 received the information, then can turn into corresponding action command with it and send for arm 300, thereby drive arm 300 and move according to this action command, consequently, arm 300 can the operation information of complete simulation operator one end, and operator can realize the remote control to arm 300 promptly, makes it can accurately simulate operator's actual medical situation, thereby can treat for the user more conveniently. Therefore, this embodiment reasonable in design, the structure is ingenious, can turn into the remote intelligent control to arm 300 with the actual medical situation of art person, has broken through the restriction in medical treatment region, makes arm 300 have better use flexibility and higher work efficiency.

Further, referring to fig. 2, the sensor mechanism 100 designed by the utility model includes an image sensor 110 for acquiring the hand movement image of the operator and a voice sensor 120 for acquiring the voice signal of the operator, and both the image sensor 110 and the voice sensor 120 are connected to the upper computer 200. Specifically, the medical situation of the operator can be completely displayed through the image sensor 110 and the voice sensor 120, that is, the operation information of the operator can be captured in real time, so that the operation information is transmitted to the upper computer 200 to realize instruction sending, and thus, the arrangement of the image sensor 110 and the voice sensor 120 ensures the normal operation of remote control.

Further, the image sensor 110 includes a depth camera for capturing the depth image of the hand movements of the operator and an RGB camera for capturing RGB images of the hand movements of the operator. The depth camera is based on a depth technology, can shoot hand motion images of an operator, reflects the operation effect of the operator in a panoramic mode, and meanwhile, the RGB camera can shoot and acquire various colors presented by the operator in the operation process, so that the capturing and restoring effect of the operation scene is deepened; through the cooperation of two cameras, can acquire operative person's operation image more accurately.

Further, the voice sensor 120 employs a microphone array device. Specifically, compared with a common radio device, the microphone array device can amplify and output a speaker's voice signal, prevent the speaker's voice signal from being distorted as much as possible, and achieve a better capturing effect.

In order to realize the complete transmission of action instruction, the utility model discloses the people has still designed and has been used for controlling the servo motor group 800 that arm 300 carries out the motion, be used for overall control's master controller 500 and be used for transmitting action instruction's communication module 400 and CAN bus communication chip 700, host computer 200 passes through communication module 400 is connected to master controller 500's input, master controller 500's output is connected to CAN bus communication chip 700, CAN bus communication chip 700 still passes through servo motor group 800 is connected to arm 300.

Specifically, referring to fig. 2, the upper computer 200 may transmit the motion instruction to the master controller 500 through the communication module 400, further, the master controller 500 may implement control transmission to the CAN bus communication chip 700 according to the motion instruction, and finally, the CAN bus communication chip 700 transmits the motion instruction to the servo motor set 800, so that the servo motor set 800 drives the mechanical arm 300 to implement corresponding motion; as CAN be seen, the servo motor set 800, the communication module 400, the CAN bus communication chip 700 and the master controller 500 are matched to completely apply the motion instruction to the mechanical arm 300, so that the mechanical arm 300 CAN work more stably and reliably; the servo motor set 800 includes a servo motor and a driver matched with the servo motor, and the driver CAN receive the motion command transmitted by the CAN bus communication chip 700 to control the robot 300.

Preferably, the master 500 adopts an STM32F103C8T6 chip, the CAN bus communication chip 700 adopts a TJA1050 chip, and the communication module 400 adopts a wireless transmission module.

Specifically, the STM32F103C8T6 chip has stable transceiving performance, and is suitable for the master controller 500 of the present embodiment as a control type device; the TJA1050 chip is a high-speed CAN bus transceiver capable of stably performing data transmission control, and is suitable for the CAN bus communication chip 700 in the present embodiment; the wireless transmission module is convenient to arrange, high in transmission speed and moderate in price, is suitable for the wireless transmission module in the embodiment, and particularly has a better development prospect when the current 5G wireless transmission technology is started.

Further, in practice, in view of the interaction of the surgical information, the utility model discloses the people still designs and is used for acquireing the induction type mechanism 600 that the arm 300 finger department felt, induction type mechanism 600 set up in the arm 300 finger department just passes through master controller 500's feedback output with host computer 200 realizes connecting. In this embodiment, the inductive mechanism 600 can realize the interaction between the fingers of the mechanical arm 300 and the operator, so as to feed the actual situation of the mechanical arm 300 back to the operator, thereby facilitating the operator to observe whether the actions of the mechanical arm 300 meet the specifications or not, and simultaneously transmitting the hand feeling to the operator, so that the operator can know the operation condition of the operator.

Preferably, the inductive mechanism 600 includes a pressure sensor, a temperature sensor, and a tactile sensor. Specifically, the pressure, temperature and touch of the fingers of the robot arm 300 can be fed back, so that the action of the robot arm 300 can be fully embodied, and the operator can conveniently understand the action, and of course, other sensors with similar functions can be adopted, which is not limited completely.

While the preferred embodiment and basic principles of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the embodiments disclosed, but is intended to cover various modifications, equivalents and alternatives falling within the scope of the invention as claimed.

Claims

1. Medical arm remote control device, its characterized in that includes:

a robotic arm capable of performing a procedure;

2. The medical robotic arm remote control device of claim 1, wherein: the sensor mechanism comprises an image sensor and a voice sensor, wherein the image sensor is used for acquiring the hand motion image of the operator, the voice sensor is used for acquiring the voice signal of the operator, and the image sensor and the voice sensor are both connected with the upper computer.

3. The medical robotic arm remote control device of claim 2, wherein: the image sensor comprises a depth camera for collecting the hand movement depth image of the operator and an RGB camera for collecting the hand movement RGB image of the operator.

4. The medical robotic arm remote control device of claim 2, wherein: the speech sensor employs a microphone array device.

5. The medical robotic arm remote control device of claim 1, wherein: still including being used for control the arm carries out the servo motor group of motion, is used for overall control's master controller and is used for transmitting action command's communication module and CAN bus communication chip, the host computer passes through communication module is connected to the input of master controller, the output of master controller is connected to CAN bus communication chip, CAN bus communication chip still passes through servo motor group connects to the arm.

6. The medical robotic arm remote control device of claim 5, wherein: the induction type mechanism is used for acquiring hand feeling of the finger of the mechanical arm and is arranged at the finger of the mechanical arm and connected with the upper computer through the feedback output end of the main controller.

7. The medical robotic arm remote control device of claim 6, wherein: the inductive mechanism includes a pressure sensor, a temperature sensor, and a tactile sensor.

8. The medical manipulator remote control device as claimed in any one of claims 5 to 7, wherein: the main controller adopts an STM32F103C8T6 chip, and the CAN bus communication chip adopts a TJA1050 chip.

9. The medical robotic arm remote control device of claim 5, wherein: the communication module adopts a wireless transmission module.