CN212382732U

CN212382732U - Puncture surgical robot device

Info

Publication number: CN212382732U
Application number: CN202021110963.4U
Authority: CN
Inventors: 李红兵; 王艺芸; 李昱丞; 张婧
Original assignee: Shanghai Jiaotong University
Current assignee: Shanghai Jiaotong University
Priority date: 2020-06-16
Filing date: 2020-06-16
Publication date: 2021-01-22
Anticipated expiration: 2030-06-16

Abstract

The utility model relates to a puncture surgery robot device, which comprises an installation support, a double parallelogram support module, a puncture module, a first linear motion mechanism, a second linear motion mechanism and a first rotating mechanism; the puncture module comprises a shell, a handheld handle, a first force-torque sensor, a rotating assembly, a U-shaped rotating support, a second force-torque sensor and a puncture needle unit, wherein the handheld handle, the first force-torque sensor and the rotating assembly are sequentially connected, the second force-torque sensor is installed in the U-shaped rotating support, the top end of the U-shaped rotating support is connected with a second linear motion mechanism, the shell is wrapped outside the U-shaped rotating support, and the rotating assembly is rotatably connected with the shell. Compared with the prior art, the utility model can assist in puncture, effectively reduce the control requirement of pure manual puncture on doctors, and improve the puncture precision; meanwhile, the fatigue of taking the puncture equipment for a long time is reduced, and the working strength of a doctor is effectively reduced.

Description

Puncture surgical robot device

Technical Field

The utility model belongs to the technical field of medical instrument and specifically relates to a puncture surgery robot device is related to.

Background

Minimally invasive surgery is an important direction for the development of the current surgery, and is one of the most potential clinical medicine in the new century. The minimally invasive and even non-invasive treatment plays a positive role in reducing surgical wounds of patients, reducing bleeding amount, relieving pains of the patients, shortening hospitalization and recovery time of the patients and the like. As a typical application in minimally invasive surgery, percutaneous aspiration surgery is widely applied to surgical scenes such as lumbar puncture, anesthesia, biopsy, ablation surgery, and particle implantation. In the traditional puncture operation, a doctor combines medical imaging technologies such as X-ray, CT or ultrasonic and the like, and inserts a puncture needle into a target point by hand, the free-hand method depends on doctor experience seriously, the requirement on the hand-eye coordination capability of the doctor is high, the success rate of one-time puncture is low, and meanwhile, the puncture precision and the continuity of needle insertion are difficult to ensure.

In view of the above problems of the free-hand puncture surgery, it is proposed to apply the robot technique to the puncture surgery. For example, the utility model application with the application number of 201910111826.8 discloses a six-degree-of-freedom mechanical arm and a lung puncture robot adopting the mechanical arm; the utility model application with application number 201910650459.9 discloses a puncture robot and needle inserting system for mechanical arm thereof. However, the traditional manual mode is completely abandoned in the modes, and even the operations such as automatic needle insertion by a robot, automatic monitoring, automatic control and the like are completely adopted without the intervention of medical staff. However, in the current environment, the effectiveness of the fully automatically controlled robotic automatic lancing technique has not been confirmed. The existing market urgently needs a puncture surgical robot which can be matched with the existing manual puncture mode and can perform man-machine cooperation, improves the puncture progress of doctors, ensures the success rate of operations, does not change the working environment and the operation specification of the current hospital operating room, and is easy to popularize and realize.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a puncture operation robot device in order to overcome the defects of the prior art, realizing the coordination work of puncture equipment and doctors and reducing the workload of the doctors.

The purpose of the utility model can be realized through the following technical scheme:

a robot device for puncture surgery comprises an installation support, a double-parallelogram support module, a puncture module, a first linear motion mechanism, a second linear motion mechanism and a first rotating mechanism, wherein the installation support is connected with the double-parallelogram support module through the first rotating mechanism;

the puncture module comprises a shell, a handheld handle, a first force-torque sensor, a rotating assembly, a U-shaped rotating bracket, a second force-torque sensor and a puncture needle unit, wherein the handheld handle, the first force-torque sensor and the rotating assembly are sequentially connected, the second force-torque sensor is installed in the U-shaped rotating bracket, extension shafts at two ends of the second force-torque sensor are respectively and rotatably connected with two side walls of the U-shaped rotating bracket, the extension shaft at one end penetrates through the side walls and then is connected with the puncture needle unit, the extension shaft at the other end penetrates through the side walls and then is connected with the rotating assembly, the puncture needle unit, the second force-torque sensor, the rotating assembly, the first force-torque sensor and the handheld handle are coaxially arranged, and the top end of the U-shaped rotating bracket is connected with a second linear motion mechanism, the shell is wrapped outside the U-shaped rotating bracket, and the rotating assembly is rotatably connected with the shell.

Further, the lancing module includes a second rotation mechanism mounted to the housing and coupled to the extension shaft of the second force-torque sensor.

Furthermore, the double-parallelogram support module comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein the first connecting rod and the second connecting rod are parallel to each other, one ends of the first connecting rod and the second connecting rod are hinged with the mounting support, the third connecting rod and the fourth connecting rod are parallel to each other, one end of the third connecting rod is hinged with the other end of the first connecting rod through a rotating shaft, the middle of the third connecting rod and the middle of the second connecting rod are staggered with each other and hinged through the rotating shaft, one end of the fourth connecting rod is connected with the other end of the second connecting rod, and the other end of the fourth connecting rod is connected with the;

one end of the first linear motion mechanism is connected with the end part of the second linear motion mechanism, and the other end of the first linear motion mechanism is hinged with a rotating shaft arranged at the joint of the second connecting rod and the fourth connecting rod.

Further, the first linear motion mechanism comprises a first ball screw, a first driving motor, a first screw nut and a first motor support, the first motor support is provided with a mounting hole, a rotating shaft at the joint of the second connecting rod and the fourth connecting rod penetrates through the mounting hole, the first driving motor is fixed at one end of the first motor support, one end of the first ball screw penetrates through the first motor support and then is connected with the first driving motor, and the first screw nut is sleeved on the first ball screw and is connected with the second linear motion mechanism.

Further, the second linear motion mechanism comprises a second ball screw, a second driving motor, a second screw nut and a second motor support, the second motor support is provided with a support mounting hole, a rotating shaft located at the end of the fourth connecting rod penetrates through the support mounting hole, the second driving motor is fixed at one end of the second motor support, one end of the second ball screw penetrates through the second motor support and then is connected with the second driving motor, the other end of the second ball screw is connected with the first linear motion mechanism through a connecting structure, and the second screw nut is sleeved on the second ball screw and is connected with the puncture module.

Further, first rotary mechanism include first rotating electrical machines, pivot and pivot mount pad, the pivot through the vertical installation on erection support of pivot mount pad, the upper and lower both ends of pivot articulate the connecting rod of two parallelogram support modules respectively, first rotating electrical machines set up in erection support, first rotating electrical machines's output shaft passes through band pulley structure and connects the pivot.

Furthermore, the second rotating mechanism comprises a second rotating motor and a driving shaft sleeve, the driving shaft sleeve is connected with the extension shaft of the second force-torque sensor, and the second rotating motor is mounted on the shell and connected with the driving shaft sleeve through a belt wheel structure.

Furthermore, the puncture needle unit comprises a holder and a needle head which are connected with each other, and the needle head is detachably connected with the extension shaft of the second force-torque sensor through the holder.

Further, the rotating assembly is a boss bearing structure.

Furthermore, the handheld handle is provided with anti-skid lines.

Compared with the prior art, the utility model has the advantages of it is following:

1. the utility model has the advantages that the puncture module connecting the mounting support and the double parallelogram support modules is arranged to assist in puncture, so that the control requirement of pure manual puncture on doctors is effectively reduced, and the puncture precision is improved; and simultaneously, the utility model discloses a two parallelogram support module's auxiliary stay can reduce the fatigue of the puncture equipment of taking for a long time, effectively reduces doctor's working strength.

2. The utility model discloses a puncture module has set up first force-torque sensor and second force-torque sensor, detects the puncture state axial force of pjncture needle through first force-torque sensor, detects the axial force that manual control produced through second force-torque sensor, cooperates external robot control system to realize controlling puncture process more accurately.

3. The utility model discloses a two parallelogram support module compact structure, range of motion is big, easily attitude control, can help doctor control puncture module's gesture effectively to stability is high.

4. The linear motion mechanisms all adopt a screw rod structure, and the posture adjustment is accurately controlled.

5. The second rotating mechanism further improves the puncture capability by driving the puncture needle unit to rotate.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural diagram of the first linear motion mechanism.

Fig. 3 is a schematic structural view of the puncture module.

Fig. 4 is a schematic view of the structure of the puncture needle unit.

Reference numerals:

1. mounting a support;

2. the device comprises a double-parallelogram support module 21, a first connecting rod 22, a second connecting rod 23, a third connecting rod 24 and a fourth connecting rod;

3. the puncture module 31, the shell 32, the second rotating mechanism 321, the second rotating motor 322, the driving shaft sleeve 33, the handheld handle 34, the first force-torque sensor 35, the rotating component 36, the U-shaped rotating bracket 37, the second force-torque sensor 371, the extending shaft 38, the puncture needle unit 381, the needle head 382 and the holder;

4. the device comprises a first linear motion mechanism 41, a first ball screw 42, a first driving motor 421, a mounting hole 43, a first screw nut 44 and a first motor bracket;

5. the second linear motion mechanism 51, a second ball screw 52, a second driving motor 53, a second screw nut 54 and a second motor bracket;

6. first rotary mechanism, 61, first rotating electrical machines, 62, pivot, 63, pivot mount pad, 64, band pulley structure.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

As shown in fig. 1, the present embodiment provides a robotic puncture surgical device including a four-degree-of-freedom robot arm (a) and a handheld puncture apparatus (B). The four-degree-of-freedom mechanical arm (A) specifically comprises a mounting support 1, a double-parallelogram support module 2, a first linear motion mechanism 4, a second linear motion mechanism 5 and a first rotating mechanism 6; the hand-held lancing apparatus (B) is a lancing apparatus 3.

The mounting support 1 is fixed on an external wall surface or a pillar. The first rotating mechanism 6 includes a first rotating motor 61, a rotating shaft 62, and a rotating shaft mount 63. The rotating shaft mounting seat 63 is arranged on the side wall of the mounting support 1, the rotating shaft 62 is vertically fixed through the rotating shaft mounting seat 63, and two ends of the rotating shaft are suspended and used for connecting the double-parallelogram support module 2. The first rotating motor 61 is fixedly installed in the installation support 1 and is connected with the rotating shaft 62 through a belt wheel structure 64, and the structure transmits the rotating motion of the first rotating motor 61 to the rotating shaft 62, so that the double-parallelogram support module 2 connected with the rotating shaft 62 can perform front-back swinging motion.

The double parallelogram support module 2 comprises a first link 21, a second link 22, a third link 23 and a fourth link 24. The first link 21 and the second link 22 are parallel to each other, the left end of the first link 21 is hinged to the top end of the rotating shaft 62, and the left end of the second link 22 is hinged to the bottom end of the rotating shaft 62. The third link 23 and the fourth link 24 are parallel to each other, the upper end of the third link 23 is hinged to the right end of the first link 21 by a rotation shaft, and the middle of the third link 23 and the middle of the second link 22 are staggered with each other and hinged by a rotation shaft. The upper end of the fourth link 24 is connected to the right end of the second link 22, and the lower end of the fourth link 24 is connected to the second linear motion mechanism 5. And the lower end of the third link 23 is suspended.

The first linear motion mechanism 4 is arranged in the double-parallelogram support module 2 and used for adjusting the folding posture of the double-parallelogram support module 2. The first linear motion mechanism 4 includes, as shown in fig. 2, a first ball screw 41, a first drive motor 42, a first screw nut 43, and a first motor bracket 44. The lower side of the rear end of the first motor bracket 44 is provided with a mounting hole 421, the rotating shaft at the joint of the second connecting rod 22 and the fourth connecting rod 24 passes through the mounting hole 421, and forms a hinge joint with the first motor bracket 44. The first driving motor 42 is fixed at one end of the first motor bracket 44, one end of the first ball screw 41 passes through the first motor bracket 44 and then is connected with the first driving motor 42, and the other end is suspended. The first lead screw nut 43 is fitted over the first ball screw 41 and connected to the second linear motion mechanism 5. Under the driving action of the first motor, the first screw nut 43 slides on the first ball screw 41 to drive the double-parallelogram support module 2 to change the folding posture and swing up and down.

The second linear motion mechanism 5 is connected with the bottom of the double-parallelogram support module 2 and used for advancing and retreating the whole puncture module 3. The second linear motion mechanism 5 has substantially the same structure as the first linear motion mechanism 4, and includes a second ball screw 51, a second drive motor 52, a second screw nut 53, and a second motor bracket 54. A bracket mounting hole is also formed at a lower side of the rear end of the second motor bracket 54, and a rotation shaft at an end of the fourth link 24 passes through the bracket mounting hole, so that the fourth link 24 and the second motor bracket 54 are hinge-coupled to each other. The second driving motor 52 is fixed at one end of the second motor bracket 54, the left end of the second ball screw 51 passes through the second motor bracket 54 and is connected to the second driving motor 52, and the right end is connected to the end of the first ball screw 41 through a connecting structure. A hollow fixing plate is arranged at the lower end of the second linear motion mechanism 5. The second screw nut 53 is sleeved on the second ball screw 51 and passes through the hollow part of the fixing plate to be connected with the puncture module 3 below. Under the driving of the second driving motor 52, the second screw nut 53 makes a translational motion along the second ball screw 51, so as to drive the puncture module 3 to realize the translational motion.

As shown in fig. 3, the puncture module 3 includes a housing 31, a second rotation mechanism 32, a hand-held handle 33, a first force-torque sensor 34, a rotation member 35, a U-shaped rotation bracket 36, a second force-torque sensor 37, and a puncture needle unit 38. The hand-held handle 33, the first force-torque sensor 34 and the rotating member 35 are connected in sequence. A second force-torque sensor 37 is mounted in the U-shaped swivel bracket 36. The extension shafts 371 at both ends of the second force-torque sensor 37 are rotatably connected to both side walls of the U-shaped rotating bracket 36, respectively, and the extension shaft 371 at one end is connected to the puncture needle unit 38 after passing through the side walls, and the extension shaft 371 at the other end is connected to the rotating member 35 after passing through the side walls.

The puncture needle unit 38, the second force-torque sensor 37, the rotating assembly 35, the first force-torque sensor 34 and the hand-held handle 33 are coaxially arranged. The housing 31 is wrapped around the U-shaped swivel bracket 36. The top end of the U-shaped rotating bracket 36 is connected with the second linear motion mechanism 5. The rotating member 35 is a boss-type bearing structure rotatably inserted into one end side wall of the housing 31. The second rotating mechanism 32 mounted on the housing 31 is connected to the extension shaft 371 of the second force-torque sensor 37. The second rotating mechanism 32 includes a second rotating motor 321 and a drive boss 322. The driving bushing 322 is connected to the extension shaft 371 of the second force-torque sensor 37, and the second rotating electric machine 321 is installed on the housing 31 and connected to the driving bushing 322 through a pulley. The second rotation mechanism 32 can rotate the puncture needle unit 38.

As shown in fig. 4, the needle unit 38 includes a holder 382 and a needle 381 connected to each other, the needle 381 is detachably connected to the extension shaft 371 of the second force-torque sensor 37 via the holder 382. The resistance of the puncture needle unit 38 to penetrating through the body tissue is transmitted to the second force-torque sensor 37 through the holder 382, so that the puncture force can be accurately monitored.

The hand-held handle 33 is L-shaped and is provided with anti-slip threads.

The working principle of the embodiment is as follows:

in a specific operation process, motors at all joints of the device are set to be in a passive mode, and a doctor actively controls the puncture robot auxiliary device to adjust the posture and the position. In the process of puncture, the control system of the device can implement active motion control on the second driving motor 52 of the second linear motion mechanism 5 according to the magnitude and direction of the operation force detected by the first force-torque sensor 34 and the motion direction of the puncture needle, so as to carry out overall propulsion of the puncture module 3, and then carry out accurate force adjustment through the second-torque sensor 37, so as to realize man-machine cooperative control, assist a doctor in needle insertion operation, reduce the operation acting force of the doctor and reduce the fatigue of the doctor.

The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the teachings of the present invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.

Claims

1. A puncture surgical robot device is characterized by comprising a mounting support (1), a double-parallelogram support module (2), a puncture module (3), a first linear motion mechanism (4), a second linear motion mechanism (5) and a first rotating mechanism (6), wherein the mounting support (1) is connected with the double-parallelogram support module (2) through the first rotating mechanism (6), the first linear motion mechanism (4) is arranged in the double-parallelogram support module (2) and used for adjusting the folding posture of the double-parallelogram support module (2), and the puncture module (3) is connected with the bottom of the double-parallelogram support module (2) through the second linear motion mechanism (5) and used for moving the puncture module (3) forwards and backwards integrally;

the puncture module (3) comprises a shell (31), a handheld handle (33), a first force-torque sensor (34), a rotating assembly (35), a U-shaped rotating bracket (36), a second force-torque sensor (37) and a puncture needle unit (38), wherein the handheld handle (33), the first force-torque sensor (34) and the rotating assembly (35) are sequentially connected, the second force-torque sensor (37) is installed in the U-shaped rotating bracket (36), extension shafts (371) at two ends of the second force-torque sensor (37) are respectively connected with two side walls of the U-shaped rotating bracket (36) in a rotating mode, an extension shaft (371) at one end penetrates through the side walls and then is connected with the puncture needle unit (38), an extension shaft (371) at the other end penetrates through the side walls and then is connected with the rotating assembly (35), and the puncture needle unit (38), The second force-torque sensor (37), the rotating component (35), the first force-torque sensor (34) and the handheld handle (33) are coaxially arranged, the top end of the U-shaped rotating support (36) is connected with the second linear motion mechanism (5), the shell (31) is wrapped outside the U-shaped rotating support (36), and the rotating component (35) is rotatably connected with the shell (31).

2. A robotic puncture surgical device according to claim 1, wherein said puncture module (3) further comprises a second rotation mechanism (32), said second rotation mechanism (32) being mounted on the housing (31) and being connected to the extension shaft (371) of the second force-torque sensor (37).

3. A robotic puncture surgical device according to claim 1, wherein said double parallelogram support module (2) comprises a first link (21), a second link (22), a third link (23) and a fourth link (24), the first link (21) and the second link (22) are parallel to each other and one end is hinged to the mounting base (1), the third link (23) and the fourth link (24) are parallel to each other, one end of the third link (23) is hinged to the other end of the first link (21) through a rotation shaft, the middle of the third link (23) and the middle of the second link (22) are staggered to each other and hinged through a rotation shaft, one end of the fourth link (24) is connected to the other end of the second link (22), and the other end of the fourth link (24) is connected to the second linear motion mechanism (5);

one end of the first linear motion mechanism (4) is connected with the end part of the second linear motion mechanism (5), and the other end of the first linear motion mechanism (4) is hinged with a rotating shaft at the joint of the second connecting rod (22) and the fourth connecting rod (24).

4. A robotic device for puncture surgery as defined in claim 1, wherein the first linear motion mechanism (4) comprises a first ball screw (41), a first driving motor (42), a first screw nut (43) and a first motor bracket (44), the first motor bracket (44) is provided with a mounting hole (421), a rotating shaft at the joint of the second connecting rod (22) and the fourth connecting rod (24) passes through the mounting hole (421), the first driving motor (42) is fixed at one end of the first motor bracket (44), one end of the first ball screw (41) passes through the first motor bracket (44) and then is connected to the first driving motor (42), and the first screw nut (43) is sleeved on the first ball screw (41) and connected to the second linear motion mechanism (5).

5. A robotic device for puncture surgery according to claim 1, wherein the second linear motion mechanism (5) comprises a second ball screw (51), a second driving motor (52), a second screw nut (53) and a second motor bracket (54), the second motor bracket (54) is provided with a bracket mounting hole, a rotating shaft at the end of the fourth connecting rod (24) passes through the bracket mounting hole, the second driving motor (52) is fixed at one end of the second motor bracket (54), one end of the second ball screw (51) passes through the second motor bracket (54) and then is connected to the second driving motor (52), the other end is connected to the first linear motion mechanism (4) through a connecting structure, and the second screw nut (53) is sleeved on the second ball screw (51) and is connected to the puncture module (3).

6. The robotic device for puncture surgery according to claim 1, wherein the first rotating mechanism (6) comprises a first rotating motor (61), a rotating shaft (62) and a rotating shaft mounting seat (63), the rotating shaft (62) is vertically mounted on the mounting base (1) through the rotating shaft mounting seat (63), the upper end and the lower end of the rotating shaft (62) are respectively hinged with the connecting rods of the double-parallelogram support module (2), the first rotating motor (61) is arranged in the mounting base (1), and the output shaft of the first rotating motor (61) is connected with the rotating shaft (62) through a belt wheel structure (64).

7. A robotic device for puncture surgery as defined in claim 2, wherein said second rotation mechanism (32) comprises a second rotation motor (321) and a driving hub (322), said driving hub (322) being connected to the extension shaft (371) of the second force-torque sensor (37), said second rotation motor (321) being mounted on the housing (31) and being connected to the driving hub (322) via a pulley structure.

8. A robotic puncture surgical device according to claim 1, wherein the puncture needle unit (38) comprises a holder (382) and a needle tip (381) connected to each other, the needle tip (381) being detachably connected to the extension shaft (371) of the second force-torque sensor (37) via the holder (382).

9. A robotic puncture surgical device according to claim 1, wherein said rotating member (35) is a boss bearing structure.

10. A robotic puncture surgical device according to claim 1, wherein said hand-held handle (33) is provided with anti-slip threads.