CN213217590U

CN213217590U - Laser treatment robot

Info

Publication number: CN213217590U
Application number: CN202021881289.XU
Authority: CN
Inventors: 张颂; 王君臣; 赵振民; 杜姗姗
Original assignee: Beihang University; Peking University Third Hospital Peking University Third Clinical Medical College
Current assignee: Beihang University; Peking University Third Hospital Peking University Third Clinical Medical College
Priority date: 2020-09-01
Filing date: 2020-09-01
Publication date: 2021-05-18
Anticipated expiration: 2030-09-01

Abstract

The utility model relates to a laser therapy robot belongs to the medical instrument field, including main control system, arm, install laser treatment head and laser generator on the arm, the laser treatment head passes through laser energy transmission line and links to each other with laser generator, the one end that main control system was kept away from to the arm is provided with the fixing base, be provided with fixture on the fixing base, the laser treatment head passes through the fixture centre gripping is fixed on the fixing base, the laser energy transmission line passes the fixing base, the laser energy transmission line is provided with the spiral flexible section that is with the one end that the laser treatment head links to each other. According to the method and the device, switching between manual operation and automatic operation can be performed according to actual conditions.

Description

Laser treatment robot

Technical Field

The application relates to the technical field of medical instruments, in particular to a laser treatment robot.

Background

The laser spot-removing method adopts high-energy light beams which are beneficial to human bodies, have strong penetrating power and high human tissue absorption rate, generates heat action on target tissues in a very short time, and finally achieves the treatment purpose through selective destruction. Specifically, laser speckle removal is achieved by transmitting a laser beam with a specific wavelength through epidermis and dermis layers without damaging normal skin tissues, and causing the laser energy to act on pigment cells and pigment particles in a concentrated manner by virtue of strong instantaneous power, highly concentrated radiation energy, pigment selectivity and extremely short pulse width, so as to directly vaporize or smash the pigment cells and the pigment particles. Fundamentally overcomes the defects of the prior freckle removing method.

Chinese patent No. CN209221348U discloses an artificial intelligence robot for skin treatment, which includes a treatment tool for treating skin; a robotic arm for operating the processing tool; a system controller in communication with the robotic arm for planning movement of the robotic arm; the data input device is in communication connection with the system controller and is used for acquiring body surface contour data of a processing object and sending the body surface contour data to the system controller; the system controller is used for generating the motion trail of the mechanical arm according to the input body surface contour data.

The above prior art solutions have the following drawbacks: the treatment tools are generally not removable from the robotic arm when mounted thereto, but for some particular locations, it is still necessary to hold the treatment tool in a hand to perform a treatment. Therefore, when manual operation is required, only the corresponding hand-held treatment tool can be used, and therefore, the hand-held treatment tool needs to be equipped.

SUMMERY OF THE UTILITY MODEL

The laser treatment robot can rapidly take off the laser treatment head from the mechanical arm according to actual conditions, so that the laser treatment head can be held by hands to perform manual treatment.

The above utility model of this application aim at can realize through following technical scheme:

the utility model provides a laser therapy robot, includes main control system, arm, installs laser treatment head and laser generator on the arm, the laser treatment head passes through laser energy transmission line and links to each other with laser generator, the one end that main control system was kept away from to the arm is provided with the fixing base, be provided with fixture on the fixing base, the laser treatment head passes through the fixture centre gripping is fixed on the fixing base, the laser energy transmission line passes the fixing base, the one end that laser energy transmission line and laser treatment head link to each other is provided with to coil and is spiral helicine flexible section.

By adopting the technical scheme, when the laser treatment head needs to be manually used, the clamping mechanism is loosened, so that the laser treatment head is taken down from the mechanical arm, and the telescopic section coiled into the spiral shape is arranged at one end of the laser energy transmission line connected with the laser treatment head, so that medical personnel can hold the laser treatment head to move.

The present application may be further configured in a preferred example to: the clamping mechanism is detachably connected with the fixed seat.

By adopting the technical scheme, when the clamping mechanism breaks down or is damaged, the clamping mechanism is convenient to detach from the mechanical arm for maintenance or replacement.

The present application may be further configured in a preferred example to: the clamping mechanism comprises a mounting seat, a first clamping jaw and a second clamping jaw are arranged on the mounting seat, the first clamping jaw and the second clamping jaw are connected with the mounting seat in a sliding mode, and a control assembly for synchronously driving the first clamping jaw and the second clamping jaw to be close to or far away from each other is arranged on the mounting seat.

Through adopting above-mentioned technical scheme, move through first gripper jaw of synchronous drive and second gripper jaw to ensure that first gripper jaw and second gripper jaw position are same position when fixed with the clamping of laser treatment head.

The present application may be further configured in a preferred example to: the control assembly is connected including the gyration double lead screw on the mount pad, double lead screw includes the levogyration section and the dextrorotation section of coaxial setting, the levogyration section with first gripper jaw screw thread links to each other, the dextrorotation section links to each other with the second gripper jaw screw thread, double lead screw's one end is provided with and is used for the drive double lead screw pivoted driving piece.

Through adopting above-mentioned technical scheme, drive double-end lead screw through the driving piece and rotate, can drive first gripper jaw and second gripper jaw in step and be close to each other or keep away from, and can adjust the distance between first gripper jaw and the second gripper jaw wantonly.

The present application may be further configured in a preferred example to: and elastic pads are arranged on the surfaces of one sides of the first clamping claw and the second clamping claw, which are opposite to each other.

Through adopting above-mentioned technical scheme, thereby can protect laser treatment head through the cushion.

The present application may be further configured in a preferred example to: the fixing seat is provided with an accommodating groove for accommodating the telescopic section, and a wire fixing device for clamping the telescopic section in the accommodating groove is arranged in the accommodating groove.

Through adopting above-mentioned technical scheme, when installing the laser treatment head on the arm, fill in the holding tank with flexible section to avoid when the arm drives the laser treatment head and treats, flexible section causes the interference to the laser treatment head.

The present application may be further configured in a preferred example to: the line fixer is including fixing the fixed plate at the holding tank bottom, the fixed plate is provided with relative elastic clamping piece towards the side surface of the notch of mounting groove, when the laser energy transmission line is located between the relative clamping piece, the distance between the one end that the fixed plate was kept away from to relative clamping piece is less than the cross-sectional diameter of laser energy transmission line.

Through adopting above-mentioned technical scheme, block the laser energy transmission line in relative centre gripping piece, can be quick fix the laser energy transmission line, when needs take out the laser energy transmission line from holding the groove, draw the laser energy transmission line hard, can make the laser energy transmission line break away from relative centre gripping piece.

The present application may be further configured in a preferred example to: the clamping pieces are arc-shaped clamping pieces.

Through adopting above-mentioned technical scheme, can be better carry out the centre gripping to laser energy transmission line, make laser energy transmission line be difficult for appearing removing between relative centre gripping piece.

In summary, the present application includes at least one of the following beneficial technical effects:

1. when the laser treatment head needs to be manually used, the clamping mechanism is loosened so that the laser treatment head is taken down from the mechanical arm, and as the spiral telescopic section is arranged at the end, connected with the laser treatment head, of the laser energy transmission line, the medical staff can hold the laser treatment head to move;

2. when installing the laser treatment head on the arm, fill in the holding tank with flexible section to avoid when the arm drives the laser treatment head and treats, flexible section causes the interference to the laser treatment head.

Drawings

FIG. 1 is a schematic structural view of a laser treatment robot;

FIG. 2 is a schematic view of the structure at the free end of the robotic arm;

FIG. 3 is an exploded view of the mounting base, clamping mechanism and laser treatment head attachment structure;

FIG. 4 is a schematic structural view of the fixing base;

fig. 5 is a structural schematic diagram of the wire fixing device.

In the figure, 1, a control host; 2. a mechanical arm; 3. a laser treatment head; 4. a laser energy transmission line; 41. a telescopic section; 5. a fixed seat; 51. a mounting surface; 511. mounting grooves; 512. accommodating grooves; 6. a clamping mechanism; 61. a mounting seat; 611. a chute; 62. a first gripper jaw; 621. a first slider; 63. a second gripper jaw; 631. a second slider; 64. a double-ended lead screw; 641. a left-handed segment; 642. a right-handed segment; 65. a servo motor; 66. a rubber pad; 7. a wire fixing device; 71. a fixing plate; 72. a clamping piece; 8. a laser generator.

Detailed Description

The present application is described in further detail below with reference to the attached drawings.

Referring to fig. 1, for a laser treatment robot that this application discloses, including main control system 1, install in the arm of main control system 1 top ann, install and keep away from laser treatment head 3 and laser generator 8 of main control system 1's one end department with arm 2, laser treatment head 3 is linked together with laser generator 8 through laser energy transmission line 4. The laser generated by the laser generator 8 is delivered into the laser treatment head 3 by the laser energy transmission 4.

Referring to fig. 2, one end of the mechanical arm 2, which is far away from the control host 1, is a free end of the mechanical arm 2, a fixing seat 5 is fixed at the free end of the mechanical arm 2, and a side surface of the fixing seat 5, which is far away from the mechanical arm 2, is a mounting surface 51 of the fixing seat 5. The laser treatment head 3 is positioned on the mounting surface 51 of the fixed seat 5. A clamping mechanism 6 is arranged on the mounting surface 51 of the fixed seat 5, and the laser treatment head 3 is clamped and fixed on the mounting surface 51 of the fixed seat 5 through the clamping mechanism 6.

Referring to fig. 2 and 3, the mounting surface 51 of the fixing base 5 is provided with a mounting groove 511, and two ends of the mounting groove 511 are respectively communicated with two opposite side wall surfaces of the fixing base 5. The clamping mechanism 6 comprises a mounting seat 61 embedded in the mounting groove 511, and the mounting seat 61 is fixed with the fixed seat 5 through a bolt. Both ends of the mounting seat 61 in the length direction respectively extend out from both ends of the mounting groove 511. One side surface of the mounting seat 61 facing the notch of the mounting groove 511 is provided with a sliding groove 611, and a length direction of the sliding groove 611 is arranged along a length direction of the mounting seat 61.

The first holding claw 62 and the second holding claw 63 are provided on the mounting surface 51 of the fixed base 5, and the first holding claw 62 and the second holding claw 63 are arranged in line along the longitudinal direction of the slide groove 611. The first clamping claw 62 is provided with a first sliding block 621 which extends into the sliding groove 611 of the mounting base 61 and is connected with the sliding groove 611 in a sliding manner, and the first sliding block 621 and the first clamping claw 62 are integrally formed. The second clamping claw 63 is provided with a second sliding block 631 extending into the sliding groove 611 of the mounting base 61 and connected with the sliding groove 611 in a sliding manner, and the second sliding block 631 and the second clamping claw 63 are integrally formed.

A double-headed lead screw 64 is arranged in the sliding groove 611 along the length direction of the sliding groove 611 in the axial direction, and the double-headed lead screw 64 is rotatably connected in the sliding groove 611. The double-headed lead screw 64 includes a left-handed section 641 and a right-handed section 642 coaxially disposed, and the left-handed section 641 and the right-handed section 642 are integrally formed. The left-hand segment 641 of the double-headed screw 64 passes through the first slider 621 of the first clamping claw 62 and is in threaded connection with the first slider 621. The right-hand segment 642 of the double-ended lead screw 64 passes through the second slide 631 of the second clamping jaw 63 and is threadedly coupled to the second slide 631.

Since the left-hand segment 641 is threadedly coupled to the first slider 621 and the right-hand segment 642 is threadedly coupled to the second slider 631, the first clamping claw 62 and the second clamping claw 63 approach or separate from each other when the double lead screw 64 rotates.

One end of the double-headed screw 64 passes through a groove wall of the sliding groove 611 to protrude to the outside of the mount 61. The outer side of one end, which extends out of the mounting base 61, of the double-head screw 64 is provided with a servo motor 65 for driving the double-head screw 64 to rotate, and a motor shaft of the servo motor 65 is coaxially arranged with the double-head screw 64 and fixedly connected with the double-head screw 64. The servo motor 65 is fixed to a side wall surface of the mount base 61.

Rubber pads 66 are respectively stuck and fixed on the surfaces of the opposite sides of the first clamping claw 62 and the second clamping claw 63.

Referring to fig. 2, the laser energy transmission line 4 passes through the fixing base 5. The one end that laser energy transmission line 4 and laser therapy head 3 link to each other is provided with to coil and is the flexible section 41 of heliciform, when taking off laser therapy head 3 from fixing base 5, medical staff can hand laser therapy head 3 and remove.

Referring to fig. 2 and 3, an accommodating groove 512 for accommodating the telescopic section 41 is disposed on the mounting surface 51 of the fixing base 5, and when the laser treatment head 3 is clamped and fixed on the fixing base 5 by the clamping mechanism 6, the telescopic section 41 of the laser energy transmission line 4 is located inside the accommodating groove 512. When the laser treatment head 3 needs to be held by hand to move, the telescopic section 41 is taken out from the accommodating groove 512, and the laser treatment head 3 can be pulled.

Referring to fig. 4 and 5, a wire fixing device 7 is disposed inside the accommodating groove 512, the wire fixing device 7 includes a fixing plate 71 fixed at the bottom of the accommodating groove 512, a side surface of the fixing plate 71 facing the notch of the accommodating groove 512 is provided with elastic clamping pieces 72 disposed at opposite intervals, and the clamping pieces 72 are integrally formed with the fixing plate 71. The holding piece 72 adopts an arc-shaped sheet structure. And the space between the two clamping pieces 72 enables the laser energy transmission line 4 to be inserted between the opposite clamping pieces 72. When the laser energy transmission line 4 is interposed between the two holding pieces 72, the distance between the ends of the two holding pieces 72 remote from the fixed plate 71 is smaller than the diameter of the cross section of the laser energy transmission line 4.

The embodiments of the present invention are preferred embodiments of the present application, and the scope of protection of the present application is not limited by the embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. The utility model provides a laser treatment robot, includes main control system (1), arm (2), installs laser treatment head (3) and laser generator (8) on arm (2), laser treatment head (3) link to each other its characterized in that with laser generator (8) through laser energy transmission line (4): one end that control host computer (1) was kept away from in arm (2) is provided with fixing base (5), be provided with fixture (6) on fixing base (5), laser treatment head (3) are passed through fixture (6) centre gripping is fixed on fixing base (5), laser energy transmission line (4) are passed fixing base (5), the one end that laser energy transmission line (4) and laser treatment head (3) link to each other is provided with to coil and is spiral helicine flexible section (41).

2. The laser treatment robot of claim 1, wherein: the clamping mechanism (6) is detachably connected with the fixed seat (5).

3. The laser treatment robot of claim 1, wherein: fixture (6) are including mount pad (61), be provided with first gripper jaw (62) and second gripper jaw (63) on mount pad (61), slide between first gripper jaw (62) and second gripper jaw (63) all and mount pad (61) and link to each other, be provided with the control assembly that drives first gripper jaw (62) and second gripper jaw (63) each other and be close to or keep away from on mount pad (61) in step.

4. The laser treatment robot of claim 3, wherein: the control assembly is including the gyration to be connected double lead screw (64) on mount pad (61), double lead screw (64) are including levogyration section (641) and the dextrorotation section (642) of coaxial setting, levogyration section (641) with first gripper jaw (62) screw thread links to each other, dextrorotation section (642) and second gripper jaw (63) screw thread link to each other, the one end of double lead screw (64) is provided with and is used for the drive double lead screw (64) pivoted driving piece.

5. The laser treatment robot of claim 4, wherein: and an elastic pad is arranged on one side surface of the first clamping claw (62) opposite to one side surface of the second clamping claw (63).

6. The laser treatment robot of claim 1, wherein: the fixing seat (5) is provided with an accommodating groove (512) for accommodating the telescopic section (41), and a wire fixing device (7) for clamping the telescopic section (41) in the accommodating groove (512) is arranged in the accommodating groove (512).

7. The laser treatment robot of claim 6, wherein: solidus ware (7) are including fixing fixed plate (71) at holding tank (512) tank bottom, fixed plate (71) are provided with relative elastic clamping piece (72) towards the side surface of the notch of mounting groove (511), when laser energy transmission line (4) are located between relative clamping piece (72), the distance between the one end that fixed plate (71) were kept away from to relative clamping piece (72) is less than the cross-sectional diameter of laser energy transmission line (4).

8. The laser treatment robot of claim 7, wherein: the clamping pieces (72) are arc-shaped clamping pieces (72).