CN219170961U - Safety distance alarm device of bedside mechanical arm system of da vinci robot - Google Patents
Safety distance alarm device of bedside mechanical arm system of da vinci robot Download PDFInfo
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- CN219170961U CN219170961U CN202221942498.XU CN202221942498U CN219170961U CN 219170961 U CN219170961 U CN 219170961U CN 202221942498 U CN202221942498 U CN 202221942498U CN 219170961 U CN219170961 U CN 219170961U
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Abstract
The utility model discloses a safety distance alarm device of a bedside mechanical arm system of a da vinci robot, which comprises a visual alarm mechanism, a sound alarm mechanism and a homing detection mechanism, wherein the visual alarm mechanism is arranged on a first arm, a second arm, a third arm and a lens arm, the sound alarm mechanism is arranged on the first arm, the second arm, the third arm and the lens arm and used for prompting sound, and the homing detection mechanism is arranged at the lower part of a main body and used for detecting whether the first arm, the second arm, the third arm and the lens arm are homing.
Description
Technical Field
The utility model relates to the technical field of medical equipment, in particular to a safety distance alarm device of a bedside mechanical arm system of a da vinci robot.
Background
With the progress of science and technology and the improvement of medical conditions, the application of the da vinci robot surgical system in surgery is becoming wider and wider, and the da vinci robot surgical system comprises a doctor console, an image system and 3 parts of a bedside mechanical arm system, wherein the bedside mechanical arm system has the risk of potential pollution or damage before and after surgery.
After the instrument nurse carries out the installation of aseptic cover to bedside mechanical arm system, place each arm of bedside mechanical arm system and can carry out the preparation of other works, there may be operating doctor or other personnel in operating room to be close to or touch the phenomenon that has been overlapped the aseptic cover and be in the instrument arm of aseptic state, bedside mechanical arm system can have the potential risk of pollution this moment, in addition, withdraw the aseptic cover back with the arm of bedside mechanical arm system after the postoperative and retrieve the in-process, operating room cleaning personnel, nurse, staff such as operating doctor clean, walk or move instrument, equipment time have the potential risk of collision bedside mechanical arm system.
And when the existing da vinci robot bedside mechanical arm system returns to the home position after operation, a round nurse returns to the home position of arms and the like according to experience, the home position is not defined with distance standard, whether the home position is in place or not is not detected, and the risk of damage is caused by the fact that personnel in an operating room walk after operation is caused by the fact that the home position is not in place.
Therefore, it has been a considerable problem to provide a safety distance alarm device for a da vinci robot bedside mechanical arm system that defines a good safety margin and prevents collisions and damages to equipment.
Disclosure of Invention
The utility model aims to provide a safety distance alarm device of a da vinci robot bedside mechanical arm system, which needs to define a safety range and prevent collision and damage to equipment.
The purpose of the utility model is realized in the following way:
the utility model provides a safe distance alarm device of dacvinci robot bedside arm system, includes the visual warning mechanism of installing at first arm, second arm, third arm and camera lens arm, is located on first arm, second arm, third arm and the camera lens arm and is used for the sound alarm mechanism of sound suggestion, is located the main part lower part and is used for detecting whether first arm, second arm, third arm and camera lens arm are the qualified detection mechanism that returns to the home position, sound alarm mechanism includes the sensor assembly that is located on first arm, second arm, third arm and the camera lens arm, the controller that is connected with the sensor assembly, the alarm that is connected with the controller, the sensor assembly is used for detecting the people mistake and is close to the distance of bedside arm system and sends the sound of reporting to the police through the alarm.
The sensor assembly comprises a plurality of first infrared sensors located on a first arm, a plurality of second infrared sensors located on a second arm, a plurality of third infrared sensors located on a third arm and a fourth infrared sensor located on a lens arm, wherein the first infrared sensors, the second infrared sensors, the third infrared sensors and the fourth infrared sensors are all connected with the controller, and object distances around the detected arms are transmitted to the controller.
The first infrared sensor, the second infrared sensor, the third infrared sensor and the fourth infrared sensor are all GK105A infrared sensors.
The visual warning mechanism comprises a plurality of first infrared lamps positioned on a first arm, a plurality of second infrared lamps positioned on a second arm, a plurality of third infrared lamps positioned on a third arm and a plurality of fourth infrared lamps positioned on a lens arm, wherein the first infrared lamps, the second infrared lamps, the third infrared lamps and the fourth infrared lamps are respectively arranged in an inclined mode on the first arm, the second arm, the third arm and the lens arm.
The first infrared lamp, the second infrared lamp, the third infrared lamp and the fourth infrared lamp are all connected with the controller.
The homing detection mechanism comprises a homing sensor which is positioned at the lower part of the main body and is circumferentially arranged along the periphery of the main body.
Has the positive beneficial effects that: the utility model has simple structure, the visual warning mechanism and the sound warning mechanism are arranged, the safety range of the bedside mechanical arm system is convenient to be visualized, the infrared lamps of the visual warning mechanism set the inclination angle according to the requirement, namely, a plurality of infrared lamps form a circle to remind other people of mistakenly entering, thereby protecting the sterile area of the bedside mechanical arm system and the safety of the placed position, the alarm prompts people not to touch the arms and other parts, and prompts people to keep away from the bedside mechanical arm system until the distance between the object detected by the infrared sensor and the bedside mechanical arm system is larger than the set distance, the alarm does not sound any more, the phenomenon that people touch the bedside mechanical arm system mistakenly is effectively protected, the sound of the alarm can timely stop the action of approaching the bedside mechanical arm system, the set distance can be automatically adjusted according to the use requirement, and the operation process is individually applicable.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a schematic diagram of the present utility model;
the figure is: the robot comprises a main body 1, a first arm 2, a second arm 3, a third arm 4, a lens arm 5, a first infrared sensor 6, a first infrared lamp 7, a second infrared sensor 8, a second infrared lamp 9, a third infrared sensor 10, a third infrared lamp 11, a fourth infrared sensor 12, a fourth infrared lamp 13, a sensor 14, an alarm 15 and a homing sensor 16.
Detailed Description
The utility model is further described below with reference to the drawings and examples.
Example 1
As shown in fig. 1 and 2, the safety distance alarm device of the da vinci robot bedside mechanical arm system comprises a visual alarm mechanism, a sound alarm mechanism, a visual alarm mechanism and a sound alarm mechanism, wherein the visual alarm mechanism is arranged on a first arm 2, a second arm 3, a third arm 4 and a lens arm 5, the sound alarm mechanism is arranged on the first arm 2, the second arm 4, the third arm 4 and the lens arm 5 and is used for sound prompt, the visual alarm mechanism and the sound alarm mechanism are arranged, the safety range of the bedside mechanical arm system is convenient to visualize, the sound of an alarm can timely stop the action close to the bedside mechanical arm system, the safety distance requirement can be automatically adjusted according to the operation process, and the individualized and applicable operation process is realized.
The sound alarm mechanism comprises sensor assemblies positioned on the first arm 2, the second arm 3, the third arm 4 and the lens arm 5, a controller 14 connected with the sensor assemblies, and an alarm 15 connected with the controller 14, wherein the controller 14 adopts Siemens s7-200PLC controllers, and the sensor assemblies are used for detecting the safe distance of a person approaching the bedside mechanical arm system by mistake and sending out alarm sound through the alarm. The sensor assembly comprises a plurality of first infrared sensors 6 positioned on the first arm 2, a plurality of second infrared sensors 8 positioned on the second arm 3, a plurality of third infrared sensors 10 positioned on the third arm 4 and a fourth infrared sensor 12 positioned on the lens arm 5, wherein the first infrared sensors 6, the second infrared sensors 8, the third infrared sensors 10 and the fourth infrared sensors 12 are all connected with the controller 14, the distance between the object around the detected arm and the arm is transmitted to the controller 14 and is compared with the preset distance in the controller 14, if the distance between the arm detected by the infrared sensors and the object is smaller than the preset distance, the controller 14 transmits alarm information to the alarm 15 and gives out alarm information, prompts people not to touch the arm and other parts and prompts people to keep away from the bedside mechanical arm system until the distance between the object detected by the infrared sensors and the bedside mechanical arm system is larger than the preset distance, the alarm 14 does not sound any more, the phenomenon of the bedside mechanical arm system is effectively protected, the first infrared sensors 6, the second infrared sensors 8, the third infrared sensors 10 and the fourth infrared sensors are not convenient to monitor the bedside mechanical arm system, and the bedside mechanical arm system is not monitored in the same range.
The first infrared sensor, the second infrared sensor, the third infrared sensor and the fourth infrared sensor are all GK105A infrared sensors, and the existing infrared sensors are simple in structure and convenient to use and replace.
Example 2
As shown in fig. 1 and 2, the safety distance alarm device of the da vinci robot bedside mechanical arm system comprises a visual alarm mechanism arranged on a first arm 2, a second arm 3, a third arm 4 and a lens arm 5, and an acoustic alarm mechanism which is arranged on the first arm 2, the second arm 4, the third arm 4 and the lens arm 5 and used for acoustic prompt, wherein the visual alarm mechanism and the acoustic alarm mechanism are arranged, so that the safety range of the bedside mechanical arm system is visualized conveniently, the sound of an alarm can timely stop the action close to the bedside mechanical arm system, the mode can be automatically adjusted according to the requirements of anti-collision and postoperative homing detection, and the safety distance alarm device is suitable for an operation process in a personalized way.
The sound alarm mechanism comprises sensor assemblies positioned on the first arm 2, the second arm 3, the third arm 4 and the lens arm 5, a controller 14 connected with the sensor assemblies, and an alarm 15 connected with the controller 14, wherein the controller 14 adopts Siemens s7-200PLC controllers, and the sensor assemblies are used for detecting the safe distance of a person approaching the bedside mechanical arm system by mistake and sending out alarm sound through the alarm. The sensor assembly comprises a plurality of first infrared sensors 6 positioned on the first arm 2, a plurality of second infrared sensors 8 positioned on the second arm 3, a plurality of third infrared sensors 10 positioned on the third arm 4 and a fourth infrared sensor 12 positioned on the lens arm 5, wherein the first infrared sensors 6, the second infrared sensors 8, the third infrared sensors 10 and the fourth infrared sensors 12 are all connected with the controller 14, the distance between the object around the detected arm and the arm is transmitted to the controller 14 and is compared with the preset distance in the controller 14, if the distance between the arm detected by the infrared sensors and the object is smaller than the preset distance, the controller 14 transmits alarm information to the alarm 15 and gives alarm information, prompts people not to touch the arm and other parts and prompts people to keep away from the bedside mechanical arm system until the distance between the object detected by the infrared sensors and the bedside mechanical arm system is larger than the preset distance, the alarm 14 does not sound any more, the phenomenon that staff miss the bedside mechanical arm system is effectively protected, the first infrared sensors 6, the second infrared sensors 8, the third infrared sensors 10 and the fourth infrared sensors are arranged in the same direction as the monitoring system is not convenient to monitor the bedside mechanical arm system.
The first infrared sensor, the second infrared sensor, the third infrared sensor and the fourth infrared sensor are all GK105A infrared sensors, and the existing infrared sensors are simple in structure and convenient to use and replace.
The visual warning mechanism comprises a plurality of first infrared lamps 7 positioned on the first arm 2, a plurality of second infrared lamps 9 positioned on the second arm 3, a plurality of third infrared lamps 11 positioned on the third arm 4 and a plurality of fourth infrared lamps 13 positioned on the lens arm 4, wherein the first infrared lamps 7, the second infrared lamps 9, the third infrared lamps 11 and the fourth infrared lamps 13 are respectively obliquely arranged on the first arm 2, the second arm 3, the third arm 4 and the lens arm 5, the fourth infrared lamps 13, the first infrared lamps 7, the second infrared lamps 9, the third infrared lamps 11 and the fourth infrared lamps 13 are respectively connected with the first arm 2, the second arm 3, the third arm 4 and the lens arm 5 through connecting pieces, and the first infrared lamps 7, the second infrared lamps 9, the third infrared lamps 11 and the fourth infrared lamps 13 are adjustable and avoid included angles between the first arm 2, the second arm 3, the third arm 4 and the lens arm 5, and the visual warning mechanism is used for preventing other people from approaching the mechanical arm after operation. The first infrared lamp 2, the second infrared lamp 3, the third infrared lamp 4 and the fourth infrared lamp 5 are all connected with the controller 14, a plurality of first infrared lamps 6 irradiate on the ground, the distance between the mark irradiated on the ground by the first infrared lamp 6 and the first arm 2 in the horizontal direction is larger than the safety distance between the first arm in the horizontal direction, people can be warned in advance, people are reminded not to get close to the bedside mechanical arm system again, the distance between the mark irradiated on the ground by the second infrared lamp 8 and the second arm 3 in the horizontal direction is larger than the safety distance between the second arm 3 in the horizontal direction, people can be warned in advance, the distance between the mark irradiated on the ground by the third infrared lamp 10 and the third arm 10 in the horizontal direction is larger than the safety distance between the mark irradiated on the ground by the third infrared lamp 10 and the third arm 10 in the horizontal direction, people can be warned in advance, people can be reminded not to get close to the bedside by the fourth infrared lamp 13, the distance between the mark irradiated on the ground and the fourth infrared lamp 5 in the horizontal direction is larger than the safety distance between the mark irradiated on the horizontal direction by the first arm 5 and the second arm 3 in the horizontal direction, the included angle between the mark irradiated on the third infrared lamp 10 and the third infrared lamp 10 in the horizontal direction is larger than the safety distance between the third infrared lamp 10 and the third infrared lamp 10 in the horizontal direction, the first infrared lamp is reminded not to get close to the bedside by the third infrared lamp is required to be warned by the fourth infrared lamp in advance, the second infrared lamp is required to be warned by the fourth lamp in the infrared lamp 5, the infrared lamp is not in the second infrared lamp is far between the infrared lamp 6 and the infrared lamp is far between the infrared lamp and the fourth infrared lamp is far away in the ground, and far infrared lamp is far away, the distance between the mark irradiated on the ground by the second infrared lamp 8 and the second arm 3 in the horizontal direction is larger than the safe distance between the mark irradiated on the ground by the third infrared lamp 10 and the third arm 10 in the horizontal direction, and the distance between the mark irradiated on the ground by the fourth infrared lamp 13 and the lens arm 5 in the horizontal direction is larger than the safe distance between the lens arm 5 in the horizontal direction, so that the controller 14 controls the working states of the first infrared lamp 2, the second infrared lamp 3, the third infrared lamp 4 and the fourth infrared lamp 5, and a plurality of first infrared lamps 6, a plurality of first infrared lamps 7, a plurality of second infrared lamps 9, a plurality of third infrared lamps 11 and a plurality of fourth infrared lamps 13 are irradiated on the ground, namely, a circle is formed, and other personnel are reminded to enter by mistake, thereby protecting the sterile area and the placed position of the bedside mechanical arm system.
The homing detection mechanism comprises a homing sensor which is arranged at the lower part of the main body 2 and is circumferentially arranged along the periphery of the main body, the homing sensor 16 is connected with a controller, the homing sensor 16 is used for detecting the homing condition of the mechanical arm after operation, the homing sensor 16 adopts a type GK105A infrared sensor, the homing sensor 16 is provided with four homing sensors, the four homing sensors 16 are respectively used for detecting the horizontal distance between the infrared rays emitted by the first infrared lamp 2 and the main body 1, the horizontal distance between the infrared rays emitted by the second infrared lamp 3 and the main body 1, the horizontal distance between the infrared rays emitted by the third infrared lamp 4 and the main body 1, the horizontal distance between the infrared rays emitted by the fourth infrared lamp 5 and the main body 1, when the four homing sensors detect the horizontal distance between the infrared rays emitted by the first infrared lamp 2 and the main body 1, the horizontal distance between the infrared rays emitted by the second infrared lamp 3, the infrared rays emitted by the third infrared lamp 4 and the main body 1, the horizontal distance between the infrared rays emitted by the fourth infrared lamp 5 and the main body 1, the infrared light emitted by the third infrared lamp 4, the infrared lamp 2, the infrared light 2 and the main body 1, the infrared light 2 and the infrared light 2, the infrared light 2 and the main body 1 are detected by the infrared light 5, the infrared light 2 and the main body 1 are detected by the infrared light 2, the infrared light 2 and the infrared light 2 is detected by the infrared light 2 The second arm 3, the third arm 4, and the lens arm 5 are repositioned.
The distance between the lowest end of the first arm, the second arm and the lens arm after homing and the ground is 120-135 cm; the distance between the lowest end of the third arm after homing and the ground is 75-85 cm, and the distance between the rear side surface of the second arm after homing and the wall surface is 15-20 cm.
The utility model has simple structure, the visual warning mechanism and the sound warning mechanism are arranged, the safety range of the bedside mechanical arm system is convenient to be visualized, the infrared lamps of the visual warning mechanism set the inclination angle according to the requirement, namely, a plurality of infrared lamps form a circle to remind other people of mistakenly entering, thereby protecting the sterile area of the bedside mechanical arm system and the safety of the placed position, the alarm prompts people not to touch the arms and other parts, and prompts people to keep away from the bedside mechanical arm system until the distance between the object detected by the infrared sensor and the bedside mechanical arm system is larger than the set distance, the alarm does not sound any more, the phenomenon that people touch the bedside mechanical arm system mistakenly is effectively protected, the sound of the alarm can timely stop the action of approaching the bedside mechanical arm system, the set distance can be automatically adjusted according to the use requirement, and the operation process is individually applicable.
Claims (6)
1. The utility model provides a safe distance alarm device of da vinci robot bedside arm system which characterized in that: the device comprises a visual warning mechanism arranged on a first arm, a second arm, a third arm and a lens arm, a sound warning mechanism which is arranged on the first arm, the second arm, the third arm and the lens arm and used for prompting sound, and a homing detection mechanism which is arranged at the lower part of a main body and used for detecting whether the first arm, the second arm, the third arm and the lens arm are qualified in homing or not; the sound alarm mechanism comprises sensor assemblies positioned on the first arm, the second arm, the third arm and the lens arm, a controller connected with the sensor assemblies, and an alarm connected with the controller, wherein the sensor assemblies are used for detecting the distance that a person gets close to the bedside mechanical arm system by mistake and sending out alarm sound through the alarm.
2. The da vinci robot bedside mechanical arm system safety distance alarm device of claim 1, characterized by: the sensor assembly comprises a plurality of first infrared sensors located on a first arm, a plurality of second infrared sensors located on a second arm, a plurality of third infrared sensors located on a third arm and a fourth infrared sensor located on a lens arm, wherein the first infrared sensors, the second infrared sensors, the third infrared sensors and the fourth infrared sensors are all connected with the controller, and object distances around the detected arms are transmitted to the controller.
3. The da vinci robot bedside mechanical arm system safety distance alarm device of claim 2, characterized by: the first infrared sensor, the second infrared sensor, the third infrared sensor and the fourth infrared sensor are all GK105A infrared sensors.
4. The da vinci robot bedside mechanical arm system safety distance alarm device of claim 1, characterized by: the visual warning mechanism comprises a plurality of first infrared lamps positioned on a first arm, a plurality of second infrared lamps positioned on a second arm, a plurality of third infrared lamps positioned on a third arm and a plurality of fourth infrared lamps positioned on a lens arm, wherein the first infrared lamps, the second infrared lamps, the third infrared lamps and the fourth infrared lamps are respectively arranged in an inclined mode on the first arm, the second arm, the third arm and the lens arm.
5. The da vinci robot bedside mechanical arm system safety distance warning device of claim 4, characterized by: the first infrared lamp, the second infrared lamp, the third infrared lamp and the fourth infrared lamp are all connected with the controller.
6. The da vinci robot bedside mechanical arm system safety distance alarm device of claim 1, characterized by: the homing detection mechanism comprises a homing sensor which is positioned at the lower part of the main body and is circumferentially arranged along the periphery of the main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221942498.XU CN219170961U (en) | 2022-07-26 | 2022-07-26 | Safety distance alarm device of bedside mechanical arm system of da vinci robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221942498.XU CN219170961U (en) | 2022-07-26 | 2022-07-26 | Safety distance alarm device of bedside mechanical arm system of da vinci robot |
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| Publication Number | Publication Date |
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| CN219170961U true CN219170961U (en) | 2023-06-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202221942498.XU Active CN219170961U (en) | 2022-07-26 | 2022-07-26 | Safety distance alarm device of bedside mechanical arm system of da vinci robot |
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| CN (1) | CN219170961U (en) |
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- 2022-07-26 CN CN202221942498.XU patent/CN219170961U/en active Active
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