CN215149134U - Remote interactive slave robot and remote interactive medical system - Google Patents
Remote interactive slave robot and remote interactive medical system Download PDFInfo
- Publication number
- CN215149134U CN215149134U CN202120316736.5U CN202120316736U CN215149134U CN 215149134 U CN215149134 U CN 215149134U CN 202120316736 U CN202120316736 U CN 202120316736U CN 215149134 U CN215149134 U CN 215149134U
- Authority
- CN
- China
- Prior art keywords
- slave
- robot
- master
- end robot
- force
- 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
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a remote interactive slave-end robot, which is communicated with a master-end robot in an interconnected manner, and the slave-end robot acts in real time based on the received action information of the master-end robot; the slave end robot comprises a slave end mechanical arm, the slave end mechanical arm adopts a cooperative mechanical arm, a clamp and a multi-dimensional force sensor are arranged at the tail end of the slave end mechanical arm, the clamp is used for clamping a medical instrument, and the multi-dimensional force sensor is used for monitoring the force applied to a patient by the medical instrument and feeding back the force to the master end. The utility model has the advantages of simple structure, it is with low costs, press close to patient's health along the axial through the terminal medical instrument of axial driving motor drive, improved the promptness from the end response, adopt the mounting means of invering simultaneously, not only can effectively utilize the arm exhibition, improved system security moreover.
Description
Technical Field
The utility model relates to a telemedicine technical field, concretely relates to remote interactive slave robot.
Background
With the improvement of medical science and technology, remote interactive medical treatment is generally applied, and most of the existing remote modes at present are that experts guide remote medical operation in a video and audio mode; however, medical operations or medical examinations such as ultrasonic examinations, punctures, ultrasonic guided punctures and the like are required to have high professional skills of doctors, and because medical resources in China are highly concentrated, most of experts with the skills are distributed in first-line cities such as wide and deep in the north, and doctors in vast primary medical units rarely have high medical skills; this necessarily affects the timely treatment of the local patient.
The existing remote interactive medical system can not realize synchronous action of a master end and a slave end, and the master end mechanical arm and the slave end mechanical arm have complex structures and high cost. One of the main end mechanical arms adopts commercial forces, haptic and other commercial main hands, the haptic working space is small, and the requirement of the B-ultrasonic detection range cannot be met. forcediameter is expensive, and dragging is relatively laborious due to the driving parts such as motors and the like in the forcediameter. The main end also adopts a simulated B-ultrasonic probe and a touch pad to detect the position (X, Y direction), and the touch pad is a plane, so that the real hand feeling (human body curved surface, hardness and the like) during the examination of a doctor cannot be simulated, and the examination of the side surface of the human body cannot be realized. Moreover, the end medical device of the slave end mechanical arm cannot be quickly attached to the body of the patient, the response is slow, and the end medical device cannot accurately and quickly reach the surface of the patient, so that the safety of the slave end cannot be guaranteed.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is: the problems in the prior art are solved. The utility model relates to a long-range interactive slave robot, the utility model has the advantages of simple structure, it is with low costs, press close to patient's health along the axial through the terminal medical instrument of axial driving motor drive, improved the promptness from the end response, adopt the mounting means of invering, not only can effectively utilize the arm exhibition, improved system security moreover.
The purpose of the utility model is realized like this:
in one aspect, a remote interactive slave-end robot is provided, the slave-end robot is in communication with a master-end robot, and the slave-end robot acts in real time based on received action information of the master-end robot;
the slave end robot comprises a slave end mechanical arm, wherein a clamp and a multi-dimensional force sensor are arranged at the tail end of the slave end mechanical arm, the clamp is used for clamping a medical instrument, and the multi-dimensional force sensor is used for monitoring the force applied to a patient by the medical instrument and feeding back the force to the master end.
Further, the slave end robot arm employs a cooperative robot arm.
Furthermore, a distance measuring sensor and an axial driving motor are arranged at the tail end of the slave end mechanical arm, the distance measuring sensor is used for measuring three-dimensional surface information of the surface of the patient in an initial state, and the axial driving motor is used for controlling the medical instrument to move along the axial direction and to be close to the surface of the body of the patient.
Furthermore, the medical instrument is arranged on a clamp through the axial driving motor, and an elastic rubber layer is arranged on the clamping surface of the clamp.
Furthermore, a chassis is arranged at the fixed mounting end of the slave-end robot, and the chassis is used for fixing the slave-end robot on the mounting table.
Further, the slave end robot is installed in an inverted manner, and the tail end of the slave end robot extends downwards to the body part of the patient.
Furthermore, the multi-dimensional force sensor adopts a six-dimensional force sensor.
Further, the slave-end robot further comprises a slave-end computing unit, the slave-end computing unit processes the received action information of the master-end robot, and the slave-end robot acts in real time according to the signal processed by the slave-end computing unit.
In another aspect, there is also provided a remote interactive medical system, comprising:
the slave-end robot of any one of the above technical schemes;
a master end robot;
a prosthesis for simulating a real human body;
a simulated operating table for supporting placement of the prosthesis;
and the display unit displays the posture information of the master end, the multidimensional force information of the master end, the on-site audio and video information of the slave end, the medical image of the slave end and the man power signal of the slave end machine in real time.
Furthermore, the simulated operating table comprises a table top and a driving mechanism, the prosthesis is arranged on the table top, and the driving mechanism is used for driving the table top to move in a space range.
Compared with the prior art, the utility model discloses a long-range interactive slave end robot has one of following beneficial effect at least:
1) the six-dimensional force sensor is arranged at the tail end of the cooperative robot from the end, the compliance force control technology is adopted, the constant force fit of different human body shapes is realized, no impact force is generated at the moment of contact, and the safety of different human body shapes can be ensured.
2) And the slave end mechanical arm adopts a cooperative mechanical arm, so that the structure is simple and the cost is low.
3) The inverted installation mode is adopted by the slave end cooperative robot, so that the arm extension can be effectively utilized, the tail end of the cooperative robot can reach each part of the body of a patient to the maximum extent, the impact of a mechanical arm on the human body, which is possibly caused by the non-unique inverse solution of a series structure, is avoided, the system safety is improved, and the working space is not sacrificed while the safety is ensured.
4) In an initial state, the distance measuring sensor moves in a grid (grid interval is 1.5cm) in a plane with set absolute safety height (about 20cm away from the body of a patient) through the robot to obtain rough three-dimensional surface information of the body surface of the patient; the system response speed can be improved.
5) The axial driving motor can drive the tail end medical device to be close to the body of a patient along the axial direction, the axial motor can control the tail end medical device to move along the axial direction, the six-axis inverse solution and linkage processes of the slave end mechanical arm are omitted, the tail end medical device is enabled to be close to the body more quickly, and the timeliness of slave end response is improved; meanwhile, due to the existence of the ranging sensor, the condition that the medical device is not close to the human body or the pressure of the human body is too high due to the inherent defect of overshoot or slow response of a control algorithm is avoided.
Drawings
Fig. 1 is a schematic diagram of the system structure of the present invention;
FIG. 2 is a schematic view of the overall structure of the main operating arm of the present invention;
FIG. 3 is a schematic structural view of the manual linkage part;
fig. 4-5 are schematic diagrams illustrating the overall structure of the slave robot of the present invention;
FIG. 6 is a schematic diagram of the signal principle for performing the ultrasound guided lancing operation according to the present invention;
FIG. 7 is a diagram of a model for coordinate analysis of a main end manipulator;
FIG. 8 is a first schematic structural view of the simulated operating table of the present invention;
FIG. 9 is a second schematic structural view of the simulated operating table of the present invention;
FIG. 10 is a schematic view of a front-loading slave robot and patient interface configuration;
FIGS. 11-12 are schematic diagrams of dual system configurations;
fig. 13 is a schematic control flow diagram of the present invention.
1-vacuum chuck; 2-a base; 3-a large arm rotating shaft; 4-a small arm rotating shaft; 5-a wiring pipe; 6-stay cord displacement sensor; 7-a lifting mechanism; 8-lifting damping adjusting knob; 9-a universal joint; 9-1-T-shaped pin shaft; 9-2-a first oscillating member; 9-3-a second oscillating member; 10-a three-axis tilt sensor; 11-a grip portion; 12-a primary end six-dimensional force sensor; 13-a chassis; 14-slave end robot; 15-slave end six-dimensional force sensor; 16-a clamp; 17-B ultrasonic probe; 18-patient; 19-a prosthesis; 20-axial drive motor; 21-a ranging sensor; 22-a table top; 221-first layer; 222-a second layer; 23-a lifting drive mechanism; 24-a rotating mechanism.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For the purpose of facilitating understanding of the embodiments of the present application, the following description will be made in terms of specific embodiments with reference to the accompanying drawings, which are not intended to limit the embodiments of the present application.
Example one
The utility model discloses a concrete embodiment discloses a long-range interactive supersound guide puncture system, as shown in FIG. 1, the system includes:
a prosthesis 19, said prosthesis 19 for simulating a real human body;
a simulated operating table for supporting the prosthesis 19;
the main-end robot is provided with a holding part 11, a doctor operates the holding part to contact with the prosthesis 19 to realize simulation operation, can acquire the position, posture information and stress information of the holding part 11 in real time, and transmits the position, posture information and stress information of the holding part 11 to the slave-end robot 14 through a 5G low-delay communication network;
the slave-end robot 14 is provided with a slave-end multi-dimensional force sensor, and the slave-end multi-dimensional force sensor is used for detecting the fitting force of the instrument and the human body in real time; the slave-end robot 14 is in interconnection communication with a master-end operation arm of the master-end robot, the position, posture and stress information of the master-end holding part 11 is transmitted to the slave-end robot 14 in real time, the slave-end computing unit processes the received position, posture and stress information of the master-end holding part 11, and the slave-end robot 14 acts in real time according to signals processed by the slave-end computing unit;
and the display unit displays the posture information of the master end, the multidimensional force information of the master end, the on-site audio and video information of the slave end, the medical image of the slave end and the man power signal of the slave end machine in real time.
Specifically, the master end is connected with the slave end through a 5G low-delay communication network, so that high-speed and real-time transmission of information such as control signals, audio, video, images and the like is guaranteed, and the problem that the master end and the slave end are asynchronous due to the fact that the physical distance is long is solved.
The utility model discloses the position, gesture and the downforce of end according to the main part are moved in real time from the end to feedback patient's medical image and atress, the main part is according to the medical image and the atress real-time adjustment position of end, gesture and downforce from the end, and the end is according to the real-time action of adjustment and the feedback signal of main part again from the end, forms the closed loop between the principal and subordinate two, can simulate real scene in order to reach accurate medical treatment operation with the operation of guaranteeing the doctor.
The prosthesis of the embodiment can be the whole human body model, can also be a part of the human body model, and can also be customized according to the physical characteristics of the patient before the operation;
in a preferred embodiment of this embodiment, the simulated operating table comprises a table top 22 and a driving mechanism, the prosthesis 19 is disposed on the table top 22, the driving mechanism is configured to drive the table top 22 to move in a space range, that is, the driving mechanism drives the table top 22 to move, so as to realize the movement of the prosthesis 19 in the space range, and the movement of the prosthesis 19 includes actions such as lifting, rotating, and adjusting the inclined posture.
The master doctor holds the grip 11 to contact the prosthesis 19 for simulation operation, during which the driving mechanism drives the table 22 to move, such as lifting and lowering, the prosthesis 19 in a spatial range, and the master multi-dimensional force sensor detects the contact force between the grip 11 and the prosthesis 19 in real time. Because the prosthesis 19 can apply feedback force to the holding part 11 under the driving action of the driving mechanism in the simulation operation process, the primary doctor can feel the feedback force of the prosthesis 19, and the operation reality is improved.
In a preferred embodiment of this embodiment, the driving mechanism includes a lifting driving mechanism 23, a top end of the lifting driving mechanism 23 is fixedly connected to the table top 22, the number of the lifting driving mechanisms 23 is one or more, and the lifting driving mechanism 23 is driven by a hydraulic cylinder or a motor.
If a lifting driving mechanism 23 is provided, the driving end of the lifting driving mechanism 23 is provided at the center of the lower surface of the table top 22, and the driving mechanism of this structure can only be used for the lifting and lowering of the table top 22.
If a plurality of lifting driving mechanisms 23 are arranged, the plurality of lifting driving mechanisms 23 are symmetrically arranged, the driving ends of the plurality of lifting driving mechanisms 23 are uniformly distributed on the lower surface of the table top 22 and are rotatably connected with the lower surface of the table top 22, each lifting driving mechanism 23 can independently control lifting, and the lifting, descending and inclining states of the table top 22 are adjusted by controlling the lifting distances of the lifting driving mechanisms 23 at different positions.
In a preferred embodiment of this embodiment, the driving mechanism may further include a rotating mechanism 24, and the rotating mechanism 24 is used to drive the table top 22 to rotate, that is, the driving mechanism includes a lifting driving mechanism 23 and the rotating mechanism 24, and the lifting driving mechanism 23 and the rotating mechanism 24 cooperate to enable the table top 22 to perform combined operations of lifting, rotating, and adjusting the inclined state.
As shown in fig. 8, in the first configuration of the driving mechanism, the elevation driving mechanism 23 is disposed above the rotating mechanism 24 through the mounting plate, the top end of the rotating mechanism 24 is fixedly connected to the lower surface of the mounting plate, the bottom end of the elevation driving mechanism 23 is fixedly disposed on the upper surface of the mounting plate, and the top end of the elevation driving mechanism 23 is connected to the lower surface of the table top 22. When the angle of the prosthesis 19 needs to be adjusted, the rotating mechanism 24 is controlled to rotate by a certain angle, and the lifting driving mechanism 23 is matched to lift, so that the spatial position and the posture of the prosthesis 19 can be conveniently and quickly adjusted, and the operation of a doctor is facilitated.
As shown in fig. 9, in the second structure of the driving mechanism, the table top 22 is a double-layer structure, and includes a first layer 221 and a second layer 222 which are arranged in parallel, the first layer 221 and the second layer 222 are connected through the rotating mechanism 24, the table top 22 of the double-layer structure is located above the lifting driving mechanism 23, and the top end of the lifting driving mechanism 23 is connected with the lower surface of the second layer 222. Specifically, the first layer 221 is located above the second layer 222, the first layer 221 and the second layer 222 are arranged in parallel, the prosthesis 19 is directly placed on the upper surface of the first layer 221, the second layer 222 is connected with the lifting driving mechanism 23, the rotating driving end of the rotating mechanism 24 is connected with the lower surface of the first layer 221, the first layer 221 of the table top 22 can be driven to rotate, the prosthesis 19 is enabled to rotate, and meanwhile the lifting driving mechanism 23 controls the lifting of the second layer 222, so that the adjustment of the spatial position and the posture of the prosthesis 19 is achieved.
Through set up actuating mechanism at the main extreme, not only can convenient and fast adjust the spatial position and the gesture of false body 19, the operation of the doctor of main extreme of being convenient for, can exert feedback force to the doctor of main extreme through going up and down in addition in the simulation operation process for the doctor of main extreme can experience the size of the feedback force of false body 19, promotes the operation sense of reality of the doctor of main extreme.
A preferred embodiment of this embodiment, simulation operation platform still includes the base, and actuating mechanism locates on the base, and the base is equipped with the gyro wheel, the horizontal migration of the simulation operation platform of being convenient for to, the gyro wheel still is supporting to be equipped with the brake structure, removes to the assigned position back when the simulation operation platform, utilizes the dead gyro wheel of brake mechanism lock, prevents that the intraoperative simulation operation platform from removing.
Compared with the prior art, the remote interactive ultrasonic guided puncture system of the embodiment has the advantages of simple structure, convenience in operation, high operation precision and good stability, adopts a remote interactive puncture positioning operation mode, utilizes 5G low-delay transmission data, ensures the safety and reliability of remote guidance puncture operation, and can meet the requirement of puncture guidance in areas with poor medical conditions. The master-slave end can be in a many-to-many mode, namely one master end can respectively control a plurality of slave ends, and one slave end can be controlled by different master ends, so that interaction between the same doctor and the slave ends in different regions can be realized, meanwhile, the slave end in the same region can also receive remote medical operation of different doctors, but only one-to-one operation mode can be realized after the remote medical pairing is realized.
Example two
The utility model discloses a still another concrete embodiment discloses the main end robot in embodiment one, particularly, this embodiment discloses a long-range interactive ultrasound guidance puncture system's main end robot, as shown in fig. 2-3, the main end robot includes the main end action arm, the main end action arm is passive form robot arm, including base 2, big arm, forearm, manual linkage portion and angle adjustment mechanism 9, base 2 rotates through big arm axis of rotation 3 with big arm and is connected, big arm and forearm pass through forearm axis of rotation 4 and rotate and be connected, the one end of manual linkage portion is passed through angle adjustment mechanism 9 and is connected with the forearm, the other end of manual linkage portion sets up the portion of gripping 11, and the portion of gripping 11 sets up the operation end at the main end action arm, and the main end doctor operates the portion of gripping 11 realizes analog operation with the contact of false body 19.
The main terminal expert simulates medical operation on the virtual human body model 19 by operating the passive mechanical arm of the main terminal, the position, posture information and stress information of the holding part 11 can be obtained in real time, the posture information of the holding part 11 is processed by the computing unit and then transmitted to the slave terminal computing unit through the server, and the slave terminal enables the remote cooperative mechanical arm to execute actions on the body of the patient 18 based on the posture information corrected by the slave terminal computing unit.
In the embodiment, the manual control linkage part can change the vertical height and flexibly move the posture, the large arm can swing to a larger extent, the small arm can swing to a small extent for the second time, the size is smaller under the condition of realizing the same swing distance through the arrangement of the large arm and the small arm, and any medical action can be realized in a space as small as possible through the mutual matching of the mechanisms.
In this embodiment, the main-end operation arm further includes a lifting mechanism 7, the manual control linkage part is connected with the small arm through the lifting mechanism 7, the lifting mechanism 7 is slidably disposed on the small arm, the manual control linkage part is manually controlled by an operator, and the specialist and doctor manually controls the holding part 11 to move up and down and rotate in all directions in space.
In order to prevent the hands of the main doctor from slipping when the main doctor operates the holding part to perform the operation, the holding part 11 is provided with an anti-slip structure, and the anti-slip structure is arranged on the outer circumference of the holding part 11. Optionally, the anti-slip structure is an anti-slip elastic protrusion, or the anti-slip structure is a rubber layer, and the rubber layer is coated on the outer circumference of the grip 11.
In a preferred embodiment of the present embodiment, the lifting mechanism 7 is connected to the small arm through a slide rail, and the lifting mechanism 7 is driven by an operator to move up and down parallel to the axes of the rotating shafts 3 and 4; the distance measuring sensor is arranged on the lifting mechanism 7, the lifting displacement of the lifting mechanism 7 can be accurately detected, the lifting displacement parameter of the holding part 11 is obtained by combining the angle parameter, the lifting mechanism 7 can move on the concave-convex surface of the prosthesis more flexibly, the operation reality of a main end doctor is improved, and the main end operation arm with the structure is simple in structure and easy to operate and is highly matched with the operation height of an expert in the actual operation process.
In this embodiment, the main-end operation arm is provided with an encoder, a three-axis tilt sensor 10 and a main-end multi-dimensional force sensor; specifically, a first encoder is provided at the upper arm rotation shaft 3, a second encoder is provided at the lower arm rotation shaft 4, the encoders are not shown in the figure, the three-axis tilt sensor 10 is provided at the manual linkage portion, and the main-end six-dimensional force sensor 12 is provided at the lower end position of the manual linkage portion. And acquiring the position, the posture and the stress information of the holding part based on the data monitored by the encoder, the distance measuring sensor and the inclination angle sensor.
In this embodiment, the main-end multi-dimensional force sensor is configured to detect force-bearing information of the grip portion in real time, so as to realize real-time detection of force applied by a doctor. In order to more accurately acquire the posture and the mechanical information, the main-end multi-dimensional force sensor adopts a six-dimensional force sensor and can acquire the magnitude and the direction of the resultant force.
In this embodiment, two rotary joints of the main end mechanical arm are respectively provided with an absolute encoder for detecting the rotary angles of the large arm and the small arm, the two rotary shafts 3 and 4 are arranged in parallel, the axis of the large arm rotary shaft 3 and the axis of the small arm rotary shaft 4 are perpendicular to the installation plane, and the large arm and the small arm enable the plane action to be more flexible and free, and the reachable area is large. According to the length L of the big arm1Length L of the forearm2And angle theta of rotation of the large and small arms1、θ2The x, y coordinates of point a can be calculated as shown in fig. 7, where point a is at the end of the forearm.
In this embodiment, the distance measuring sensor provided at the main end is the pull rope displacement sensor 6, and the change in position can be detected more easily. Stay cord displacement sensor 6 installs in the upper portion of forearm, and stay cord displacement sensor 6 includes stay cord, spool and adjustable resistance, and the stay cord twines on precision finishing's straight cylindrical spool, and the removal end and the elevating system 7 of stay cord are connected, and the stay cord moves the resistance size that can change resistance along the 7 moving direction of elevating system, and then converts the mechanical motion of stay cord into the signal of telecommunication that can measure, record, obtains elevating system 7's removal information. The stay cord displacement sensor 6 has small installation size, compact structure, large measurement stroke and high precision.
When a doctor at the main end operates the holding part to perform simulation operation on the prosthesis, the server acquires first position information according to the first encoder, acquires second position information according to the second encoder, and obtains first spatial position information by combining the first position information and the second position information; acquiring second spatial position information according to the tilt angle sensor and the distance sensor, and acquiring force application information according to the main-end six-dimensional force sensor; and the slave-end robot executes actions according to the pose information calculated by the server, and the master end corrects the position instruction according to the force information fed back by the slave end. The slave-end robot can completely follow the position, the posture and the force of the master end through information such as the position, the distance, the angle, the stress and the like, executes positioning action, and is high in accuracy and reliability.
The master end and the slave end are connected with the computing unit through a network, the master end signals are transmitted to the master end computing unit, the slave end signals are transmitted to the slave end computing unit, and the slave end receives the pose signals processed by the slave end computing unit. See fig. 13. The end computing unit collects and processes the pose signal and the force signal of the master end, and the processed signals are transmitted to the slave end through the server; the slave end computing unit receives force signals of the master end computing unit and the slave end, processes the force signals and transmits the processed force signals to the slave end; the display unit receives medical images of the slave end, force signals of the master end and the slave end, pose signals of the master end and audio and video information of the slave end on site.
In a preferred embodiment of this embodiment, the main end operation arm is provided with a base, the base supports the main end, and the base is provided with a roller structure and a brake mechanism, so that the base can be conveniently moved and maintained, and can be flexibly adjusted according to the change of the operation chamber.
In this embodiment, base 2 is fixed to be located on the base, and the below of base 2 is equipped with vacuum chuck 1, the one end and the 1 fixed connection of vacuum chuck of base 2, vacuum chuck 1 be used for with workstation mounting surface fixed connection, the other end of base 2 passes through rotary joint and is connected with big arm, big arm and forearm pass through rotary joint and be connected.
In the embodiment, the vacuum chuck 1 is a mechanical chuck, can realize adsorption through manual operation, is convenient to move and flexible to operate, and can adjust the position of the main end operating arm according to the on-site condition of a doctor.
The utility model relates to a preferred embodiment, elevating system 7 is upper and lower, and the rotation department of base and big arm, big arm and forearm all is provided with damping device, and the damping size is adjustable, and corresponding position can also set up corresponding damping adjust knob 8, and the damping that can change when dragging through setting up damping device is in order to adapt to different experts's feeling, consequently can be according to the damping force of doctor's operation custom arbitrary regulation motion, promotes the operation sense of reality.
In this embodiment, the angle adjusting mechanism 9 is composed of two universal joints, and the first universal joint and the second universal joint are matched to realize rotation in x, y and z directions; specifically, the first gimbal is connected to the lifting mechanism 7 via a bearing, the second gimbal is connected to the grip portion 11 via a link, and the link is provided with an inclination sensor mounting portion for mounting an inclination sensor.
In a preferred embodiment of the present embodiment, the angle adjusting mechanism 9 includes a t-shaped pin 9-1, a first swinging member 9-2 and a second swinging member 9-3, the lower end of the t-shaped pin 9-1 is hinged to the first swinging member 9-2, the lower end of the first swinging member 9-2 is hinged to the second swinging member 9-3, and the t-shaped pin 9-1, the first swinging member 9-2 and the second swinging member 9-3 form two connected universal joint structures. The T-shaped pin shaft 9-1 is rotatably arranged in the opening at the top of the small arm. The ball hinge can be rotated in a wider angle range by the pin shaft and the hinge swinging piece, and any medical action can be realized in a space as small as possible.
In a preferred embodiment of the present embodiment, the large arm and the small arm are made of high-strength aluminum alloy materials.
Compared with the prior art, the main-end robot of the remote interactive ultrasonic guided puncture system has at least the following beneficial effects:
1. the operation precision is high, the stability is good, the operation mode of remote interactive puncture positioning is adopted, 5G low-delay transmission data is utilized, the safety and the reliability of remote guidance puncture operation are ensured, and puncture guidance in areas with poor medical conditions can be met.
2. The main end mechanical arm is completely driven by hand, so that the operation is more flexible, the actual operation can be embodied to the maximum extent, and the cost is lower. Covering the operation area and having large working space.
3. The main end adopts a six-dimensional force sensor to collect the full force information of the holding part in a three-dimensional space in real time, and the proper force information is transmitted to the slave end through calculation, so that the slave end is controlled by the main end and is in a proper range, the safety of the operation can be ensured, the definition of a B-ultrasonic acquisition image can be ensured, and the operability of the puncture system is improved.
EXAMPLE III
The utility model discloses a still another specific embodiment, discloses slave-end robot 14 in embodiment one, specifically, this embodiment discloses a remote interactive slave-end robot, as shown in fig. 4-5, the remote interactive slave-end robot includes a slave-end mechanical arm, the end of the slave-end mechanical arm is provided with a clamp 16 and a slave-end multidimensional force sensor, the clamp 16 is used for holding the medical instrument, the slave-end multidimensional force sensor is used for monitoring the force exerted on the patient 18 by the medical instrument at the slave end; the slave-end robot 14 is in communication with the master-end robot in an interconnected manner, the action information of the master-end robot is transmitted to the slave-end robot 14 in real time, the slave-end computing unit processes the received action information of the master-end robot, and the slave-end robot 14 acts in real time according to the signal processed by the slave-end computing unit.
The action information of the master-end robot may be action information of a partial structure of the master-end robot, such as position, posture information and stress information of the tail end holding part 11 of the master-end robot, the position, posture and stress information of the master-end holding part 11 can be transmitted to the slave-end robot 14 in real time, the slave-end computing unit processes the received position, posture and stress information of the master-end holding part 11, and the slave-end robot 14 acts in real time according to signals processed by the slave-end computing unit.
In a preferred embodiment of this embodiment, the slave-end multi-dimensional force sensor is a six-dimensional force sensor, the slave-end robot 14 is provided with a slave-end multi-dimensional force sensor 15, and the slave-end multi-dimensional force sensor 15 can not only collect the fitting force between the medical instrument and the human body in real time, but also collect the direction of the resultant force applied to the medical instrument, so as to obtain more accurate slave-end mechanical information.
In a preferred embodiment of the present invention, the slave end mechanical arm is a cooperative mechanical arm, which is simple in structure and low in cost.
In this embodiment, the distance measuring sensor 21 and the axial driving motor 20 are provided at the distal end of the slave end robot arm, and the medical instrument is mounted to the distal end of the slave end robot by the axial driving motor 20. Specifically, the medical instrument is mounted to the fixture 16 by the axial drive motor 20, with the drive end of the axial drive motor 20 being coupled to the medical instrument.
Specifically, the distance measuring sensor 21 is used for measuring the three-dimensional surface information of the surface of the patient in an initial state, the three-dimensional surface information of the surface of the human body can be obtained at an initial position through the distance measuring sensor 21, and due to the inherent defect of overshoot or slow response of a control algorithm, the medical device is not close to the human body or the pressure of the human body is too large; the axial driving motor 20 is used for controlling the B-ultrasonic probe 17 to move along the axial direction and approach to the surface of the body of a patient, and the axial movement motor can control the medical device to move along an axial joint, so that the six-axis inverse solution and linkage process of the slave end mechanical arm is omitted, the tail end medical device is enabled to approach to the body more quickly, and the timeliness of the slave end response is improved.
In a preferred embodiment of this embodiment, the medical instrument may employ a B-mode ultrasound probe 17 for performing ultrasound guided surgery.
In a preferred embodiment of this embodiment, the clamp 16 has an elastic rubber layer on its clamping surface. Specifically, the clamp 16 is provided with a clamping space, the side wall of the clamping space is provided with an elastic rubber layer, and the B-ultrasonic probe 17 is directly contacted with the elastic rubber layer after being arranged in the mounting space of the clamp 16; or, the clamp 16 comprises a first clamping plate and a second clamping plate, an elastic rubber layer is arranged on the clamping surface of the first clamping plate and the second clamping plate, and the B-ultrasonic probe 17 is arranged between the first clamping plate and the second clamping plate and is in direct contact with the elastic rubber layer. Through set up the elastic rubber layer on anchor clamps for be elastic contact relation between B ultrasonic probe 17 and the anchor clamps 16, not only can prevent B ultrasonic probe 17 landing, because the existence on elastic rubber layer moreover, from the end robot in the executive operation on patient's health, can have weak removal between B ultrasonic probe 17 and the anchor clamps 16, avoid causing the damage because of rigid connection to patient's health.
As shown in fig. 4 to 5, a chassis 13 is provided at the fixed mounting end of the slave end robot, the chassis 13 is used for fixing the slave end robot to the mounting table, and the slave end robot 14 is mounted in an inverted manner, that is, the chassis 13 of the slave end robot is mounted on the mounting table and extends from the tail end of the slave end robot to the body part of the patient 18. The adoption of the inverted installation mode can effectively utilize the arm extension, so that the tail end of the robot reaches all parts of the body of the patient 18 to the maximum extent, the impact of the elbow joint of the mechanical arm on the human body, which is possibly caused by the non-unique reverse solution of the serial structure, is avoided, and as shown in figure 10, the system safety is improved.
Compared with the prior art, the remote interactive slave-end robot of the embodiment has at least the following beneficial effects:
1. and the slave end mechanical arm adopts a cooperative mechanical arm, so that the structure is simple and the cost is low.
2. The six-dimensional force sensor is arranged at the tail end of the cooperative robot from the end, the compliance force control technology is adopted, the constant force fit of different human body shapes is realized, no impact force is generated at the moment of contact, and the safety of different human body shapes can be ensured.
3. The inverted installation mode is adopted by the slave end cooperative robot, so that the arm extension can be effectively utilized, the tail end of the cooperative robot can reach each part of the body of a patient to the maximum extent, the impact of a mechanical arm on the human body, which is possibly caused by the non-unique inverse solution of a series structure, is avoided, the system safety is improved, and the working space is not sacrificed while the safety is ensured.
4. In an initial state, the distance measuring sensor moves in a grid (grid interval is 1.5cm) in a plane with set absolute safety height (about 20cm away from the body of a patient) through the robot to obtain rough three-dimensional surface information of the body surface of the patient; the system response speed can be improved.
5. The axial driving motor can drive the tail end medical device to be close to the body of a patient along the axial direction, the axial motor can control the tail end medical device to move along the axial direction, the six-axis inverse solution and linkage processes of the slave end mechanical arm are omitted, the tail end medical device is enabled to be close to the body more quickly, and the timeliness of slave end response is improved; meanwhile, due to the existence of the ranging sensor, the condition that the medical device is not close to the human body or the pressure of the human body is too high due to the inherent defect of overshoot or slow response of a control algorithm is avoided.
Example four
The utility model discloses a still another concrete embodiment discloses the operating method of long-range interactive ultrasonic guidance puncture system in embodiment one, and long-range interactive ultrasonic guidance puncture system includes the master robot of embodiment two and the slave robot of embodiment three, the method includes following step:
1) before a surgery, measuring the shape of a human body by a slave end robot to obtain three-dimensional shape information of a surgical area of a patient;
2) the doctor at the main end controls the driving mechanism to adjust the spatial position and the posture of the prosthesis 19 according to the operation requirement, the doctor operates the operating arm at the main end to move on the prosthesis 19, the driving mechanism controls the table top to lift in the simulation operation process so as to realize the lifting of the prosthesis 19, the doctor at the main end can feel the feedback force of the prosthesis 19, and the calculating unit at the main end acquires signals of the position, the posture and the force of the operating arm at the main end and feeds the signals back to the robot at the slave end after calculation processing;
3) the slave-end robot executes actions according to the received pose signals until the force applied by the slave end is consistent with that of the master end, and the actions are stopped;
4) the doctor at the master end adjusts operation and force application according to the medical image and the stress data fed back by the slave end displayed by the display unit;
5) and repeating the steps 2) to 4) until a proper positioning point is reached.
Preferably, as shown in fig. 11-12, two sets of master end manipulator arms and slave end robots are included; one hand of the doctor is used for operating and positioning the focus position in real time, and the other hand is used for operating and implementing medical operation action or operation positioning in real time.
Taking the implementation of the ultrasound guided puncture surgery as an example, the utility model works in the following way:
before operation, measuring the shape of a human body by a slave robot ranging sensor 21 to obtain three-dimensional shape information of an operation area of a patient;
the main end mechanical arm is fixed on a main end workbench in advance by using a vacuum chuck 1, and the main end workbench can move and is suitable for different working places of main end doctors. The slave end mechanical arm is arranged on the mounting frame in an inverted mode in advance, the roller mechanism is arranged at the bottom of the mounting frame, a slave end doctor pushes the slave end mechanical arm to a region to be operated, the roller mechanism of the mounting frame is fixedly locked, and the posture of the slave end is adjusted, so that the tail end of the slave end mechanical arm extends downwards to the body part of a patient 18.
The primary doctor controls the driving mechanism to adjust the spatial position and the posture of the prosthesis 19 according to the operation requirement, the primary doctor holds the holding part 11, the simulation B-ultrasonic probe scans and moves on the virtual human body model 19, and the primary doctor can feel the feedback force of the prosthesis 19; the sensing assembly monitors the sensor information of the holding part 11 in real time to obtain a main end signal, the main end signal is transmitted to the calculating unit through the 5G communication network, the calculating unit calculates and calibrates the received main end signal to obtain the space pose information of the holding part 11, and the calculating unit transmits the space pose information to the slave end.
Specifically, a master end expert doctor holds the holding part 11 with one hand to drive the large arm rotating shaft 3 and the small arm rotating shaft 4 so as to change the spatial position of the holding part 11, the master end doctor operates the holding part 11 to drive the lifting mechanism 7 to move up and down, the stay cord displacement sensor 6 monitors a moving distance signal of the holding part 11 in the Z direction in real time, and the lifting damping adjusting device 8 can be adjusted according to the hand feeling of the master end expert doctor so as to meet the requirement of different experts to realize accurate adjustment; the holding part 11 can realize the change of various angles under the action of the universal joint; an inclination angle sensor 10 is connected below the universal joint mechanism 9 and can detect the inclination angle information of the holding part 11; the main end six-dimensional force sensor 12 on the holding part 11 can monitor contact force and direction information between the holding part 11 and the human body model 19 in real time, so that a B-ultrasonic probe is simulated to scan on the virtual human body model 19, the process is completely completed by manually driving the holding part 11 by a main end doctor, in the process of simulation operation, the driving mechanism controls the table top to lift, so that the lifting of the prosthesis 19 is realized, and the main end doctor can feel the magnitude of feedback force of the prosthesis 19. The holding part 11 can reach each required position, the sensing assembly can accurately acquire pose and position information (x, y, z, alpha, beta and gamma), the pose and position information can be displayed on the display module in real time and uploaded to the calculating unit, and the pose and position information is transmitted to the slave end through a 5G low-delay communication network after being processed by the calculating unit.
In the present embodiment, the X, Y coordinates of the grip 11 can be obtained from the length and angle of each mechanism (the encoder measures the joint angle). The moving distance of the holding part 11 in the Z direction is acquired by the pull rope displacement sensor 6, the rotation angle of the holding part 11 around X, Y, Z can be acquired by the tilt angle sensor 10, and the position and the posture of the contact part of the tail end of the holding part 11 and the virtual human body model 19 can be obtained by combining the length parameters of all mechanisms. The primary doctor can know the magnitude of the force exerted by the grip 11 on the virtual phantom 19 by the primary six-dimensional force sensor 12. The force applied to operate the grip 11 can be adjusted at any time according to clinical experience. The posture information is directly sent to the slave end robot through the network, and the slave end robot adjusts the posture of the B-ultrasonic probe according to the posture signal. The position information needs to be corrected by the PC according to the real-time fitting force of the B-ultrasonic probe and the patient, the force applied by the main end is corrected by using an impedance control algorithm, and the corrected position parameters are transmitted to the slave end robot by the PC. The slave end acts according to the signal transmitted from the master end, wherein the inclination angle parameter is directly transmitted to the robot, and the position parameter is corrected by applying force to the master end according to the real-time fitting force of the B-ultrasonic probe and the patient.
The slave end drives the B-ultrasonic probe 17 to approach the body of the patient 18 to start detection based on the received master end signal; the slave end sensing assembly transmits the acquired slave end signals to the computing unit in real time, and the slave end signals are processed by the computing unit and then display the force information fed back by the slave end and the B-mode ultrasonic image on the master end display; the main doctor determines the positioning puncture point according to the clear B-ultrasonic image on the main display, and transmits the signal of the positioning puncture point to the slave, and the slave is locked at the position to complete the positioning of the puncture.
Specifically, when a master end signal is transmitted to a slave end, the slave end cooperative robot automatically approaches the B-ultrasonic probe 17 to the body of the patient 18 according to the signal, starts to detect on the body of the patient 18 according to the operation of the master end, the slave end six-dimensional force sensor 15 at the tail end of the slave end cooperative robot collects force information collected during detection and a B-ultrasonic image detected by the B-ultrasonic probe, and transmits the force information and the B-ultrasonic image to the computing unit in real time, the computing unit processes the received information, and a master end doctor sees the force information of the slave end through a master end display and can also see whether the B-ultrasonic image is clear, and the signal principle is shown in fig. 6. The expert doctor at the main end can accurately position the puncture point according to the clear B-ultrasonic image, and transmits the signal of the positioning point to the slave end, and the slave end can be locked at the position to complete the positioning of puncture.
In this embodiment, the slave-end operation force refers to a contact force between the B-mode ultrasonic probe 17 and the body of the patient, and the slave-end operation force varies with the master-end operation force, and the master-end operation force is required to be within an appropriate range in order to prevent the B-mode ultrasonic image from being unclear due to too small slave-end operation force and prevent the patient from being injured due to too large slave-end operation force. Normally, the operating force of the slave end has a proper threshold range Fmin-Fmax, namely, when the operating force of the slave end is in the Fmin-Fmax range, the B-mode ultrasonic image is clear and the patient does not feel uncomfortable; when the operating force of the slave end is smaller than Fmin, the B-mode ultrasonic image is unclear; when the operation force of the slave end is larger than Fmax, the operation force of the slave end is too large, and the patient feels a sense of discomfort. The main end can control the contact force of the auxiliary end in the range, and the main end applies the fitting force of the auxiliary end in the range. And when the main end force is lower than the threshold value, the attaching force of the slave end is Fmin. And when the master end force is greater than the threshold value, the slave end force is Fmax. The position is corrected according to the force required by the slave end and according to an impedance control algorithm.
FrealFor real-time application of force from the end, FmasterApplying force F to the primary enddesiredTo a desired adhesive force
ΔF＝Freal-Fdesired
Delta d is axial increment and can be changed by changing the pose of the tail end of the robot;
In this embodiment, the slave end six-dimensional force sensor 15, which is based on the slave end of the cooperative robot, adopts the compliance force control technology to realize constant force fitting of different human body shapes, has no impact force at the moment of contact, and can ensure the safety of different human body shapes and the weight (hardness degree).
And the slave doctor positions the puncture point based on the locking to complete the puncture operation.
After the master end doctor finishes puncture positioning, the positioning puncture point information can be displayed on the slave end display, and the slave end doctor finishes a puncture operation based on the locked positioning puncture point. In the process of puncturing, the puncturing image is transmitted to the main-end display through the 5G network, and a main-end doctor can observe the puncturing operation of a slave-end doctor in real time, so that real-time guidance can be performed, and the smooth operation of the puncturing operation is ensured.
In the present embodiment, the ultrasound-guided puncture is performed as an example, but the technique of the present invention is not limited to the ultrasound-guided puncture, and any operation that can be performed by the technique of the present invention to realize telemedicine is applicable.
Compared with the prior art, the method has the following beneficial effects:
1. the operation precision is high, the stability is good, the operation mode of remote interactive puncture positioning is adopted, 5G low-delay transmission data is utilized, the safety and the reliability of remote guidance puncture operation are ensured, and puncture guidance in areas with poor medical conditions can be met.
2. The master-slave end can be in a many-to-many mode, namely one master end can respectively control a plurality of slave ends, and one slave end can be controlled by different master ends, so that interaction between the same doctor and the slave ends in different regions can be realized, meanwhile, the slave end in the same region can also receive remote medical operation of different doctors, but only one-to-one operation mode can be realized after the remote medical pairing is realized.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and it should be understood by those skilled in the art that the embodiments can be modified and improved without departing from the principle and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents, and the modifications and improvements should be considered within the scope of the present invention.
Claims (10)
1. A remote interactive slave-end robot is characterized in that the slave-end robot is in communication with a master-end robot in an interconnection mode, and the slave-end robot acts in real time based on received action information of the master-end robot;
the slave-end robot comprises a slave-end mechanical arm, wherein the tail end of the slave-end mechanical arm is provided with a clamp and a multi-dimensional force sensor, the clamp is used for clamping the medical instrument, and the multi-dimensional force sensor is used for monitoring the force applied to the patient by the medical instrument and feeding back the force to the master end;
the simulated operation table at the main end comprises a table top and a driving mechanism, the prosthesis is arranged on the table top, the driving mechanism drives the table top to act, and the lifting, the rotation and the inclination of the prosthesis in a space range are realized, so that a doctor at the main end can feel the feedback force of the prosthesis.
2. The slave-end robot of claim 1, wherein the slave-end robotic arm employs a cooperating robotic arm.
3. The slave end robot of claim 2, wherein a distance measuring sensor for measuring three-dimensional shape information of a surface of a patient in an initial state and an axial driving motor for controlling the medical instrument to move in an axial direction and to be close to the surface of the body of the patient are provided at a distal end of the slave end robot arm.
4. The slave end robot of claim 3, wherein the medical instrument is mounted on a fixture by the axial drive motor.
5. The slave end robot of claim 4, wherein the fixed mounting end of the slave end robot is provided with a chassis for securing the slave end robot to the mounting table.
6. The slave-end robot of claim 5, wherein the slave-end robot is mounted in an inverted manner, the slave-end robot extending downwardly from a distal end of the slave-end robot to a body part of the patient.
7. The slave end robot of any of claims 1-6, wherein the multi-dimensional force sensor is a six-dimensional force sensor.
8. The slave-end robot according to claim 7, further comprising a slave-end computing unit, wherein the slave-end computing unit processes the received motion information of the master-end robot, and the slave-end robot moves in real time according to the signal processed by the slave-end computing unit.
9. A remote interactive medical system, comprising:
the slave end robot of any one of claims 1 to 8;
a master end robot;
a prosthesis for simulating a real human body;
a simulated operating table for supporting placement of the prosthesis;
and the display unit displays the posture information of the master end, the multidimensional force information of the master end, the on-site audio and video information of the slave end, the medical image of the slave end and the man power signal of the slave end machine in real time.
10. The remote interactive medical system of claim 9, wherein the simulated surgical table comprises a table top on which the prosthesis is disposed and a drive mechanism for driving the table top to move through a spatial range;
the driving mechanism comprises a plurality of lifting driving mechanisms, the top ends of the lifting driving mechanisms are fixedly connected with the table board, the driving ends of the lifting driving mechanisms are rotatably connected with the lower surface of the table board, each lifting driving mechanism can independently control lifting, and the lifting driving mechanisms at different positions are controlled to drive the lifting, descending and inclining states of the table board to be adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120316736.5U CN215149134U (en) | 2021-02-04 | 2021-02-04 | Remote interactive slave robot and remote interactive medical system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120316736.5U CN215149134U (en) | 2021-02-04 | 2021-02-04 | Remote interactive slave robot and remote interactive medical system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215149134U true CN215149134U (en) | 2021-12-14 |
Family
ID=79409817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120316736.5U Active CN215149134U (en) | 2021-02-04 | 2021-02-04 | Remote interactive slave robot and remote interactive medical system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215149134U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115256419A (en) * | 2022-08-12 | 2022-11-01 | 中科院南昌高新技术产业协同创新研究院 | Mechanical arm for clinical operation simulation and simulation method thereof |
-
2021
- 2021-02-04 CN CN202120316736.5U patent/CN215149134U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115256419A (en) * | 2022-08-12 | 2022-11-01 | 中科院南昌高新技术产业协同创新研究院 | Mechanical arm for clinical operation simulation and simulation method thereof |
| CN115256419B (en) * | 2022-08-12 | 2023-08-04 | 中科院南昌高新技术产业协同创新研究院 | Mechanical arm for clinical operation simulation and simulation method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112568998B (en) | Remote master-slave interactive medical system and method | |
| CN114788735A (en) | Remote interactive ultrasound guided puncture system and method with main end force feedback | |
| US10568638B2 (en) | Intelligent orthopedic surgical system | |
| CN105848606B (en) | A kind of Intelligent orthopaedic surgery systems | |
| CN113842165B (en) | Portable remote ultrasonic scanning system and safe ultrasonic scanning compliance control method | |
| CN111067760B (en) | Upper limb rehabilitation training robot based on omnidirectional mobile platform | |
| JP6931420B2 (en) | Surgical robot system | |
| CN108210078B (en) | Surgical robot system | |
| CN108992086A (en) | Supersonic detection device, trolley and ultrasonic system | |
| CN215149134U (en) | Remote interactive slave robot and remote interactive medical system | |
| RU2720830C1 (en) | Assisting surgical complex | |
| CN215130040U (en) | Auxiliary positioning surgical robot | |
| WO2022100480A1 (en) | Control method for location and orientation of surgical robot end, and control method for surgical robot | |
| AU2024201458A1 (en) | Controlling movement of a surgical robot arm | |
| CN214805207U (en) | Remote interactive ultrasonic guided puncture system | |
| CN106473774A (en) | The regulating arm ultrasonic device of accuracy of detection can be improved | |
| US20230053162A1 (en) | Method for robot to simulate passive mechanical state of human limb muscles | |
| CN214342595U (en) | Remote master-slave interactive medical system | |
| CN115137519B (en) | Intelligent robot system for oral surgery | |
| CN212415893U (en) | Handle movement device of flexible endoscope surgical robot system | |
| CN117357267A (en) | Surgical robot, control method and device thereof, and surgical system | |
| CN213698709U (en) | Lower limb rehabilitation training device | |
| CN113907886A (en) | Operation execution arm, system and control system of spine operation robot | |
| CN217219055U (en) | Remote manipulator and remote ultrasonic system | |
| CN208598426U (en) | Supersonic detection device, trolley and ultrasonic system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |