CN220938155U - Two-stage self-adaptive power operation mechanical arm device - Google Patents

Abstract

The application discloses a two-stage self-adaptive power operation mechanical arm device, which comprises: the mechanical arm base (3) provides an installation environment for each mechanical arm, and leads out independent signal wires (6) of each mechanical arm to be connected to the main control workstation (7); at least two mechanical arms are arranged on the mechanical arm base (3), corresponding actuators are arranged at the output ends of the mechanical arms, the actuators are used for being connected with interventional instruments, a plurality of cascaded degrees of freedom joints are integrated on the single mechanical arm, independent power mechanisms are arranged on any one of the degrees of freedom joints, each power mechanism is connected to the main control workstation (7) through a signal wire (6) so as to control adjustment of corresponding degrees of freedom based on the main control workstation (7), and the interventional instrument can complete required interventional operation based on the corresponding actuators. The control mechanical arm is used for completing accurate positioning of the preoperative mechanical arm and resetting and recycling of the postoperative mechanical arm, simplifying the operation flow, shortening the operation time, and improving the operation efficiency and operation stability.

Description

Two-stage self-adaptive power operation mechanical arm device

Technical Field

The application relates to the technical field of medical equipment, in particular to a two-stage self-adaptive power operation mechanical arm device.

Background

Along with factors such as improvement of human living standard, living and eating habit change and the like, the incidence rate of cardiovascular diseases climbs year after year, the technology such as computer, imaging and the like is widely applied in the medical field, the transformation of subversion is brought for the traditional medical field, cardiac and vascular intervention operation is an emerging disease diagnosis and treatment means such as cardiac and cerebral vessels and the like, doctors directly reach in-vivo focus positions along blood vessels through catheters under the guidance of medical images, treatment is carried out, intervention operation robots are used for gradually starting operation modes for assisting doctors to control intervention instruments to operate, the intervention operation robots are generally composed of mechanical arms and mechanical arm actuators, the axial movement, bidirectional bending and circumferential rotation of the cardiovascular intervention instruments are controlled by the actuators, part of operation modes are needed to be operated by two mechanical arms and two actuators respectively, the operators need to manually adjust the two actuators to the specified positions of vascular access points of patients under the condition that mutual interference does not occur, the mechanical arms are easy to adjust due to certain volumes of the mechanical arm actuators, the two mechanical arms are easy to adjust each other, and the operation modes are difficult to form a manual operation standard when the two mechanical arms are mutually high, and the operation standard is not convenient.

Because the mechanical arm support of the surgical robot with a pure mechanical structure, an operator is required to manually adjust the mechanical arm to a proper surgical position at the beginning of each operation, and the operator is required to manually retract the mechanical arm to an initial position after the operation is finished, so that the surgical process is complicated and inconvenient to use. Especially when a plurality of mechanical arms are needed to perform operation in the operation, an operator needs to adjust two mechanical arms to proper vascular access positions in a limited operation space, the adjustment difficulty is high, the collision between the two mechanical arms easily occurs in the adjustment process, the damage of instruments is caused, and operation safety accidents are caused. Because the operation space above the operation table is required to keep a sterile environment, the mechanical arm needs to be sleeved in the sterile protective cover for adjustment, and the sterile isolation cover is generally thinner, so that the sterile isolation cover is easy to break in the manual adjustment process of the mechanical arm, and the operation environment is polluted.

The conventional mechanical arm operation mode has the following problems:

1. after each operation is finished, an operator needs to manually retract the mechanical arm to the initial position so as to empty the operation table, provide space for preparation of the lower operation, have lower manual retraction efficiency and increase the complicated degree of the operation process.

2. In the process of manually adjusting the mechanical arm, the sterile cover is easy to damage, and the sterile environment of the operation is destroyed.

3. When operation needs to be performed by using a plurality of mechanical arms, manual adjustment on a large scale is difficult, interference is easy to occur among the plurality of mechanical arms, and operators are required to be trained in a professional way, so that clinical application and popularization of the operation robot are affected.

Disclosure of Invention

The embodiment of the application provides a two-stage self-adaptive power mechanical arm device for operation, which is based on the fact that the mechanical arm is accurately positioned before operation and the mechanical arm is recovered after operation in a resetting way, so that the operation flow is simplified, the operation time is shortened, and the operation efficiency is improved.

The embodiment of the application provides a two-stage self-adaptive power operation mechanical arm device, which comprises:

the mechanical arm base provides an installation environment for each mechanical arm, and leads out independent signal wires of each mechanical arm to be connected to the main control workstation;

At least two mechanical arms are arranged on the mechanical arm base, corresponding actuators are arranged at the output ends of the mechanical arms, the actuators are used for being connected with interventional instruments, a plurality of cascaded degrees of freedom joints are integrated on the single mechanical arm, independent power mechanisms are arranged on any one of the degrees of freedom joints, the power mechanisms have a locking function, and any one of the degrees of freedom joints has preset damping, and each power mechanism is connected to a main control workstation through a signal wire so as to control adjustment of the corresponding degrees of freedom based on the main control workstation, and achieve the required interventional operation actions based on the corresponding actuators.

Optionally, a single robotic arm is integrated with at least six cascaded degrees of freedom joints.

Optionally, at least two mechanical arms have a height difference based on the mechanical arm base.

Optionally, the mechanical arm base is further provided with a connecting portion, and the connecting portion is used for being connected with an operating table.

Optionally, a mechanical arm power supply control unit is arranged in the mechanical arm base.

The embodiment of the application designs the mechanical arm with a plurality of degrees of freedom joints, controls the mechanical arm to finish accurate positioning of the mechanical arm before operation and resetting and recycling of the mechanical arm after operation, simplifies the operation flow, shortens the operation time, and improves the operation efficiency and operation stability.

The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 is a schematic diagram of an overall structure of a control system of a mechanical arm device according to an embodiment of the present application;

FIG. 2 is a schematic view of a robot arm according to an embodiment of the present application;

FIG. 3 is a side view of a control system of a robot arm apparatus according to an embodiment of the present application;

FIG. 4 is a top view illustrating an operating state of a control system of a robot arm device according to an embodiment of the present application;

FIG. 5 is a schematic view of an initial position of a mechanical arm according to an embodiment of the present application;

fig. 6 is a joint schematic diagram of a mechanical arm device according to an embodiment of the present application.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

When operation needs to be controlled a plurality of mechanical arms and operation is carried out simultaneously, need to adjust two mechanical arm terminals to patient's vascular income on the way before beginning the operation to near with suitable angle setting at the puncture mouth, because operation environment is limited, can produce the mutual interference between a plurality of mechanical arms of adjustment in-process, adjust a plurality of mechanical arms to suitable form cooperation and carry out the operation, the operation degree of difficulty is higher, and the operator needs to pass through professional training and exercise, and takes place to collide with easily between two mechanical arms of manual adjustment mechanical arm's in-process and cause the apparatus to damage. The embodiment of the application provides a two-stage self-adaptive power operation mechanical arm device, which is shown in fig. 1-5 and comprises:

The mechanical arm base 3 provides an installation environment for each mechanical arm, and leads out independent signal wires 6 of each mechanical arm to be connected to the main control workstation 7. In some specific examples, the manipulator base 3 is further provided with a connection part, so that the manipulator base 3 and the manipulator in the subsequent embodiments can be connected to the operating table 5 together based on the connection part, and the operating table 5 can be a DSA operating table. In some specific examples, the mechanical arm base 3 may be provided with a mechanical arm power supply control unit, may be combined with a DSA operation table guide rail, and the mechanical arm is integrally designed with the operation table, may integrally move with the DSA operation table, and may be driven by the bed during DSA radiography.

At least two mechanical arms are arranged on the mechanical arm base 3, corresponding actuators are arranged at the output ends of the mechanical arms, the actuators are used for being connected with the interventional instrument 4, the interventional instrument 4 is used for being connected with the interventional catheter 9, a plurality of cascaded degrees of freedom joints are integrated on the single mechanical arm, independent power mechanisms are arranged on any one of the degrees of freedom joints, each power mechanism is connected to the main control workstation 7 through the signal wire 6, and accordingly adjustment of corresponding degrees of freedom is controlled based on the main control workstation 7, and required interventional operation actions based on the corresponding actuators are achieved.

The embodiment of the present application is illustrated by two mechanical arms, as shown in fig. 1-5, including a first mechanical arm 1 and a second mechanical arm 2, and in some specific examples, a single mechanical arm is integrated with at least six cascaded degrees of freedom joints. Each degree of freedom joint is provided with a separate power mechanism for controlling the adjustment of the corresponding degree of freedom joint, and the tail ends of the first mechanical arm 1 and the second mechanical arm 2 are respectively connected with the first actuator 11 and the second actuator 21. The mechanical arms of the embodiment of the application have preset damping effects, and the degree of freedom joints of the mechanical arms respectively have locking functions.

The main control workstation 7 converts the final position information of the tail end of the mechanical arm into output control of the joint power mechanism of each degree of freedom through a preset algorithm, so that intelligent navigation of the tail end of the mechanical arm is realized. The mechanical arm assembly is installed at the side of the DSA operation bed through a mechanical arm base, so as to avoid mutual interference between two mechanical arms and a mechanical arm end effector in the mechanical arm adjusting process, and in some embodiments, at least two mechanical arms have a height difference based on the mechanical arm base 3.

According to the mechanical arm device provided by the embodiment of the application, a plurality of mechanical arms can be expanded and added, each mechanical arm is integrated with six or more degrees of freedom joints, and each degree of freedom joint is provided with a driving unit and has a locking function.

In some specific applications, the master workstation 7 is used to complete a primary robotic arm system in place. The main control workstation can be integrated with the operation robot host computer, and according to patient basic information input by the operator, such as height and weight, actual vascular access operation type, such as left and right side femoral vein access, a plurality of mechanical arm terminals are moved to respective first-level positioning positions through the self-adaptive control algorithm. The power driving unit is embedded in the freedom degree joint of the mechanical arm and cooperatively drives the mechanical arm to automatically control the mechanical arm to move in place.

The mechanical arm base 3 is internally provided with a mechanical arm power supply control unit, can be combined with a DSA operating table guide rail, is integrally designed with the operating table 5, can integrally move along with the DSA operating table 5, and can follow up with the operating table 5 during DSA radiography.

The mechanical arm device can greatly reduce the operation difficulty of operators, does not need professional culture and training, greatly simplifies the operation flow, shortens the operation time, and improves the operation efficiency and the operation stability.

In some embodiments, a terminal controller 8 may also be provided to input control instructions including basic surgical information including, in some specific examples, patient height, weight, etc., based on the terminal controller 8 and determine the puncture vascular access location. Surgical information such as the direction of vascular access may be input, and the basic information and the surgical information may be transmitted to the main control workstation 7. The terminal controller 8 is configured with a man-machine interaction interface and at least three control keys based on the terminal controller 8, wherein the man-machine interaction interface is used for inputting control instructions, and the at least three control keys are respectively used for sending primary control commands, secondary control instructions and resetting, and the resetting is used for controlling at least two mechanical arms to execute position recovery.

FIG. 6 in particular illustrates a specific example of a joint of a secondary robotic arm, in some embodiments, position restoration may be performed using at least two robotic arms controlled by the following process:

controlling the fourth joint 104 of the first mechanical arm to rotate, and turning up the first actuator;

Controlling the first mechanical arm third joint 103 to rotate, and turning the mechanical arm at the far end of the third joint upwards;

Controlling the first joint 201 of the second mechanical arm to rotate, and adjusting the second mechanical arm to be vertical to the operating bed;

Controlling the second mechanical arm sixth joint 206 to rotate, and adjusting the second actuator to the parallel position of the operating table;

controlling the fifth joint 205 of the second mechanical arm to rotate, and adjusting the second actuator to a horizontal position;

Sequentially controlling the third joint 203 and the second joint 202 of the fourth joint 204 of the second mechanical arm to rotate, and folding the second actuator to an initial position;

Controlling the first joint 101 of the first mechanical arm to rotate, and adjusting the first mechanical arm to the vertical position of the operating table;

sequentially controlling the first mechanical arm second joint 102 and the third joint 103 to rotate, and folding the mechanical arm at the far end to the side surface of the operating table;

controlling the fourth joint 104 of the first mechanical arm to rotate, and adjusting the first actuator to a vertical plane position;

the first mechanical arm sixth joint 106 is controlled to rotate, and the first actuator is adjusted to the parallel position of the operating table;

the first manipulator fifth joint 105 is controlled to rotate, and the first actuator is adjusted to the horizontal position.

According to the application, the plurality of mechanical arms are integrally arranged beside the DSA operation table through the mechanical arm base, and the installation positions of the two adjacent mechanical arms are provided with the height difference, so that the two mechanical arms are prevented from interfering with each other in the action process. The mechanical arm terminal control keyboard is provided with a key power source locking key, and when the key is pressed down, the mechanical arm terminal control keyboard can control all the degrees of freedom joint power mechanisms, so that operators can manually fine tune the position and the direction of the mechanical arm conveniently, after cancellation, the mechanical arm terminal control keyboard is automatically locked by the degrees of freedom joints, and the operation stability is improved.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.

Claims (5)

1. A two-stage adaptive power surgical robotic arm apparatus, comprising:

The mechanical arm base (3) provides an installation environment for each mechanical arm, and the mechanical arm base (3) also leads out independent signal wires (6) of each mechanical arm and is connected to the main control workstation (7);

At least two mechanical arms are arranged on the mechanical arm base (3), corresponding actuators are arranged at the output ends of the mechanical arms, the actuators are used for being connected with interventional instruments, a plurality of cascaded degrees of freedom joints are integrated on the single mechanical arm, independent power mechanisms are arranged on any one of the degrees of freedom joints, the power mechanisms have locking functions, any one of the degrees of freedom joints has preset damping, each power mechanism is connected to the main control workstation (7) through a signal wire (6), so that adjustment of the corresponding degrees of freedom joint is completed based on control instructions of the main control workstation (7), and required interventional operation actions based on the corresponding actuators are achieved.

2. The dual-stage adaptive powered surgical robotic arm apparatus of claim 1, wherein a single robotic arm is integrated with at least six cascaded degrees of freedom joints.

3. The two-stage adaptive power surgical robot arm device according to claim 1, wherein at least two robot arms have a height difference based on the robot arm base (3).

4. The two-stage adaptive power surgical robot arm device according to claim 1, wherein the robot arm base (3) is further provided with a connection portion for connection with a surgical bed (5).

5. The two-stage adaptive power surgical robot arm device according to claim 1, wherein the robot arm base (3) has a robot arm power control unit built therein.