CN212592401U

CN212592401U - Puncture exciting device of puncture surgical robot

Info

Publication number: CN212592401U
Application number: CN202020379311.4U
Authority: CN
Inventors: 李振晓; 宋岭; 韩玥; 牛福永
Original assignee: Suzhou New Medical Zhiyue Robot Technology Co ltd
Current assignee: Suzhou New Medical Zhiyue Robot Technology Co ltd
Priority date: 2020-03-23
Filing date: 2020-03-23
Publication date: 2021-02-26
Anticipated expiration: 2030-03-23

Abstract

The utility model discloses a puncture excitation device for a puncture operation robot, which comprises a puncture module and an adjusting slider, wherein the adjusting slider is sleeved at the position on the right side of the puncture module, the utility model is additionally provided with a novel six-dimensional force measuring module and a force controller on the basis of the prior equipment, in the working process of the utility model, the force applied by the utility model can be transmitted into the force controller by the gravity compensation algorithm through the six-dimensional force measuring module, then the force controller can transmit data into the master controller, then the master controller correspondingly adjusts the puncture robot, the damage to the needle point vicinity during the working can be effectively reduced, the aggravation of the operation wound can be prevented, simultaneously, the utility model can work by the auxiliary control of the six-dimensional force side module and the force controller in the working process, the working accuracy of the utility model can be effectively improved, errors caused by manual operation can be effectively reduced.

Description

Puncture exciting device of puncture surgical robot

Technical Field

The utility model belongs to the technical field of medical equipment is relevant, concretely relates to puncture surgical robot puncture excitation device.

Background

The puncture operation is operated through the robot system, so that not only can real-time puncture needle path guidance be realized, but also the influence of hand trembling can be overcome, and the operation precision is greatly improved.

The puncture excitation device technology of the existing puncture surgical robot has the following problems: the existing puncture operation robot puncture exciting device can damage human tissues near a needle point during working, and the operation wound is aggravated.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a puncture surgical robot puncture excitation device to solve the problem of aggravating the operation wound that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a puncture surgical robot puncture excitation device, includes puncture module and adjusting block, the position department on the upper side has cup jointed adjusting block in the middle of the right side of puncture module, adjusting block's right side intermediate position department is provided with the grafting piece, the position department on the upper side in the middle of the left side of puncture module is provided with six-dimensional power measurement module, the left side position department of six-dimensional power measurement module is provided with the force controller.

Preferably, the force controller includes a low-voltage dc driver, a band brake, a frameless torque motor, a harmonic reducer, an incremental encoder, and a single-valve absolute value encoder, the single-valve absolute value encoder is disposed at a right side position of the low-voltage dc driver, the incremental encoder is disposed at a right side position of the single-valve absolute value encoder, the band brake is disposed at the right side position of the incremental encoder, the frameless torque motor is disposed at the right side position of the band brake, and the harmonic reducer is sleeved at a right side middle position of the frameless torque motor.

Preferably, a 220V alternating current motor is arranged in the puncture module.

Preferably, a stepping motor is arranged in the adjusting slide block.

Preferably, the sleeving connection block is of a T-shaped structure, and a circular through hole structure is arranged in the sleeving connection block.

Compared with the prior art, the utility model provides a puncture surgical robot puncture excitation device possesses following beneficial effect: the utility model discloses installed neotype six dimension power measuring module and force controller additional on the basis of current equipment the utility model discloses the in-process of work, the utility model discloses the institute atress can carry out the gravity compensation algorithm through six dimension power measuring module then conduct to the force controller in, then the force controller can be with data transmission to total controller in, then total controller carries out corresponding adjustment to the robot that punctures, can effectual reduction through above-mentioned working procedure the utility model discloses at the destruction near the during operation to the pinpoint, the effectual aggravation that prevents the operation wound, simultaneously the utility model discloses at the in-process of work, carry out auxiliary control through six dimension power side module and force controller and carry out work, can effectual improvement the utility model discloses a work precision can effectual reduction because of the error that manual operation produced.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description, do not constitute a limitation of the invention, in which:

fig. 1 is a schematic structural view of a puncture excitation device of a puncture surgical robot according to the present invention;

fig. 2 is a schematic structural diagram of a force controller according to the present invention;

FIG. 3 is a schematic view of the operation structure of the puncture excitation device of the robot for puncture surgery of the present invention;

in the figure: 1. a force controller; 2. a puncture module; 3. adjusting the sliding block; 4. sleeving and connecting blocks; 5. a six-dimensional force measurement module; 11. a low voltage DC driver; 12. a brake contracting device; 13. a frameless torque motor; 14. a harmonic reducer; 15. an incremental encoder; 16. a single-valve absolute value encoder.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: a puncture surgical robot puncture excitation device comprises a puncture module 2 and an adjusting slider 3, wherein the adjusting slider 3 is sleeved at the middle upper position of the right side of the puncture module 2, a 220V alternating current motor is arranged in the puncture module 2, a stepping motor is arranged in the adjusting slider 3, stable operation sliding work of the adjusting slider 3 on the puncture module 3 can be realized by adopting the arrangement, a sleeving block 4 is arranged at the middle position of the right side of the adjusting slider 3, the sleeving block 4 is of a T-shaped structure, a circular through hole structure is arranged in the sleeving block 4, a user can conveniently install and fix equipment such as a puncture module by adopting the arrangement, a six-dimensional force measuring module 5 is arranged at the middle upper position of the left side of the puncture module 2, a force controller 1 is arranged at the left side position of the six-dimensional force measuring module 5, and the force controller 1 comprises a low-voltage direct current driver 11, a band-type brake 12 and a, The system comprises a harmonic reducer 14, an incremental encoder 15 and a single-valve absolute value encoder 16, wherein the single-valve absolute value encoder 16 is arranged at the right side position of the low-voltage direct-current driver 11, the incremental encoder 15 is arranged at the right side position of the single-valve absolute value encoder 16, the incremental encoder 15 and the single-valve absolute value encoder 16 can provide effective data operation functions, a band-type brake 12 is arranged at the right side position of the incremental encoder 15, a frameless torque motor 13 is arranged at the right side position of the band-type brake 12, the harmonic reducer 14 is sleeved at the right middle position of the frameless torque motor 13, and the frameless torque motor 13 and the harmonic reducer 14 can assist in adjusting the puncture module 2.

The utility model discloses a theory of operation and use flow: after the utility model is installed, a user firstly checks whether the external appearance of the utility model is intact, confirms that the utility model is in a normal working state, then the user moves the utility model to a position where the utility model is needed to be used, the user firstly installs and fixes the puncture module on the utility model through the sleeving block 4, then the user installs and fixes the puncture module on the puncture device through the force controller 1, then the user starts the utility model through the puncture device, in the working process of the utility model, the utility model is firstly controlled through the puncture device, the general controller on the puncture device can adjust the position of the adjusting slide block 3 on the puncture module 2, then the puncture module in the sleeving block 4 can carry out normal puncture work, in the working process of the puncture module, the force of the utility model can carry out the gravity compensation algorithm through the six-dimensional force measuring module 5 and then be transmitted into the force controller 1, then in force controller 1 can be with data transmission to total controller, then total controller carries out corresponding adjustment to the piercing robot, can effectual reduction through above-mentioned work step the utility model discloses at the destruction near during operation to the pinpoint, the effectual aggravation that prevents the operation wound, simultaneously the utility model discloses at the in-process of work, carry out auxiliary control through six-dimensional power side module 5 and force controller 1 and carry out work, can effectual improvement the utility model discloses a work precision can effectual reduction because of the error that manual operation produced.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a puncture surgical robot puncture excitation device, includes puncture module (2) and adjusting block (3), its characterized in that: the utility model discloses a puncture module, including puncture module (2), adjusting slider (3) has been cup jointed to the position department on the upper side in the middle of the right side of puncture module (2), adjusting slider's (3) right side intermediate position department is provided with cup joint piece (4), the position department on the upper side in the middle of the left side of puncture module (2) is provided with six-dimensional power measurement module (5), the left side position department of six-dimensional power measurement module (5) is provided with power controller (1).

2. A robotic puncture excitation device according to claim 1, wherein: the force controller (1) comprises a low-voltage direct-current driver (11), a band-type brake (12), a frameless torque motor (13), a harmonic reducer (14), an increment encoder (15) and a single-valve absolute value encoder (16), wherein the single-valve absolute value encoder (16) is arranged at the right side position of the low-voltage direct-current driver (11), the increment encoder (15) is arranged at the right side position of the single-valve absolute value encoder (16), the band-type brake (12) is arranged at the right side position of the increment encoder (15), the frameless torque motor (13) is arranged at the right side position of the band-type brake (12), and the harmonic reducer (14) is sleeved at the right middle position of the frameless torque motor (13).

3. A robotic puncture excitation device according to claim 1, wherein: and a 220V alternating current motor is arranged in the puncture module (2).

4. A robotic puncture excitation device according to claim 1, wherein: a stepping motor is arranged in the adjusting slide block (3).

5. A robotic puncture excitation device according to claim 1, wherein: the sleeving connection block (4) is of a T-shaped structure, and a circular through hole structure is arranged in the sleeving connection block (4).