WO2017101149A1

WO2017101149A1 - Vertical mobile puncture robot

Info

Publication number: WO2017101149A1
Application number: PCT/CN2015/098917
Authority: WO
Inventors: 熊璟; 夏泽洋; 甘志坚; 刘勇; 梁闳肆
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2015-12-18
Filing date: 2015-12-25
Publication date: 2017-06-22
Also published as: CN105411653A; CN105411653B

Abstract

Disclosed is a vertical mobile puncture robot, comprising a chassis platform (2), a lifting mechanism, a rotating mechanism (6), an inclination angle adjustment mechanism, a translating mechanism and a puncture execution mechanism. The lifting mechanism is mounted on the chassis platform (2), the lifting mechanism is connected to the rotating mechanism (6), the rotating mechanism (6) is mounted at the top end of the lifting mechanism, the inclination angle adjustment mechanism is mounted on the rotating mechanism (6), the translating mechanism is mounted on the inclination angle adjustment mechanism, and the puncture execution mechanism is mounted on the translating mechanism; the rotating mechanism (6) adjusts the circumferential angles of the inclination angle adjustment mechanism, the translating mechanism and the puncture execution mechanism by horizontal rotation; the inclination angle adjustment mechanism adjusts the inclination angle of a puncture position; the translating mechanism adjusts the horizontal position of the puncture execution mechanism; and the puncture execution mechanism carries out a puncturing operation. The puncture robot can realize multi-angle and multi-mode puncturing, and has a high positioning precision.

Description

Vertical mobile puncture robot

Technical field

The invention relates to the technical field of surgical instruments, in particular to a vertical mobile puncture robot.

Background technique

Traditional puncture surgery is done manually by doctors or by simple fixation devices. There are obvious shortcomings, such as: specialists need long-term training, skillful surgical methods, high risk of surgery; long operation time when the operation is complicated It is easy to fatigue, and the instability of manual operation seriously affects the quality of surgery and increases the risk of surgery. The simple fixture is fixedly connected to the bed or ultrasonic probe, and the range of motion is small, which can not meet the requirements of fast moving and multi-angle positioning, and the adjustment speed, motion stability and precision are limited, which increases the difficulty and risk of surgery.

In recent years, minimally invasive surgery technology has been continuously developed, and doctors have a great demand for a puncture device that can accurately and smoothly locate an affected part during surgery. At present, the minimally invasive puncture surgery robots are mainly various multi-joint series manipulators, which can realize multi-degree-of-freedom multi-angle acupoint puncture, but due to the manual or electric operation adjustment, the motion control is complicated, and the motion accuracy is on the model. Accuracy is high and motion flexibility is low, resulting in limited stability and accuracy, and the response positioning is not fast enough.

Patent 201510091184.1 relates to a puncture surgical robot device with a circular arc bracket, which adopts a circular arc bracket to improve multi-position adaptive puncture, has the advantages of smooth motion, fast and compact structure, but is limited by the volume and shape of the arc support. The puncture position and angle cannot be flexible. Only the outside of the thoracic cavity can move on the radius of the arc. Many positions and angles cannot be realized. For example, it is difficult to achieve horizontal puncture outside the thoracic cavity, and the volume is large. The bed is large and flat to be installed. It can be seen that the defects of the puncture device bring a lot of inconvenience to the clinical use and affect the use effect.

Summary of the invention

The embodiment of the invention provides a vertical mobile puncture robot, which has flexible and variable puncture position and angle, can realize multi-angle and multi-mode puncture, has high positioning precision, fast movement speed, small volume and convenient operation. The vertical mobile puncture robot includes:

Chassis platform 2, lifting mechanism, rotating mechanism 6, tilt angle adjusting mechanism, translation mechanism and puncture actuator;

The lifting mechanism is coupled to the rotating mechanism 6, the lifting mechanism is mounted on the chassis platform 2, the rotating mechanism 6 is mounted on the top end of the lifting mechanism, and the tilt angle adjusting mechanism is mounted on the rotating mechanism 6; or , The rotating mechanism 6 is mounted on the chassis platform 2, the lifting mechanism is mounted on the top end of the rotating mechanism 6, and the tilt angle adjusting mechanism is mounted on the lifting mechanism;

The lifting mechanism is configured to adjust the height of the puncture position by lifting;

The rotating mechanism 6 is configured to adjust a circumferential angle of the tilt angle adjusting mechanism, the translation mechanism, and the puncture actuator by horizontal rotation;

The tilt angle adjusting mechanism is configured to adjust an inclination angle of the puncture position;

The translation mechanism is mounted on the tilt angle adjustment mechanism for adjusting a horizontal position of the puncture actuator;

The puncture actuator is mounted on the translation mechanism for performing a puncture operation.

In one embodiment, the vertical mobile puncture robot further comprises:

The caster 1 is mounted on the bottom of the chassis platform 2 for moving the puncture robot.

In one embodiment, a locking device is mounted on the caster 1 for fixing the puncture robot by the locking caster 1.

In one embodiment, the number of casters 1 is more than three.

In one embodiment, the vertical mobile puncture robot further comprises:

The mobile platform is mounted on the bottom of the chassis platform 2 for moving the puncture robot.

In one embodiment, the lifting mechanism comprises a first motor 3, a sleeve 4 and a push rod 5;

The first motor 3 is mounted on a sleeve 4, and the push rod 5 is mounted in a sleeve 4 for driving the push rod 5 to move up and down within the sleeve 4.

In one embodiment, the rotating mechanism 6 includes a disk motor 61 and a rotating disk 62;

The disc motor 61 is fixed to a push rod 5 for adjusting the circumferential angle of the tilt angle adjusting mechanism, the shifting mechanism, and the puncture actuator by rotating the rotating disc 62.

In one embodiment, the tilt angle adjustment mechanism includes a second motor 7 and a mounting plate 8;

The second motor 7 is mounted on the rotating disc 62;

The mounting plate 8 and the second motor 7 are connected by a rotating shaft;

The second motor 7 is used to rotate the driving rotary shaft to drive the mounting plate 8 to tilt, and adjust the tilting angle of the puncture position.

In one embodiment, the tilt angle adjustment mechanism further includes a support block 18;

The support block 18 is mounted on a rotating disc 62 that is movably coupled to a rotating shaft for supporting the mounting plate 8, the translation mechanism, and the puncture actuator through a rotating shaft.

In one embodiment, the translation mechanism includes a first screw nut mechanism 9, a third motor 10, and a slider 17;

The first screw nut mechanism 9 is mounted on the mounting plate 8;

The third motor 10 is mounted on one end of the first screw nut mechanism 9;

The lead screw of the first screw nut mechanism 9 penetrates the slider 17;

The third motor 10 is used to translate the slider 17 along the lead screw of the first screw nut mechanism 9 by driving the screw of the spindle nut mechanism 9.

In one embodiment, the puncture actuator includes a second screw nut mechanism 11, a puncture needle 13, a moving slider 14 and a propulsion motor 16;

The second screw nut mechanism 11 is mounted on the slider 17 and moves as the slider 17 moves;

The propulsion motor 16 is mounted on one end of the second screw nut mechanism 11;

The screw of the second screw nut mechanism 11 penetrates the moving slider 14;

The puncture needle 13 is mounted on the moving slider 14;

The propulsion motor 16 is configured to translate the moving slider 14 along the screw of the second screw nut mechanism 11 by driving the screw of the second screw nut mechanism 11, while driving the puncture needle 13 to translate.

In one embodiment, the puncture actuator further comprises:

The rotary electric machine 15 is mounted on the moving slider 14, and the rotary electric machine 15 is for driving the puncture needle 13 to rotate.

In one embodiment, the vertical mobile puncture robot further comprises:

The bracket 12 is mounted on the second screw nut mechanism 11 for supporting the puncture needle 13.

In the embodiment of the invention, the puncture robot can realize rapid lifting by the lifting mechanism, is more stable than the hydraulic or pneumatic method, has high motion positioning accuracy and sensitive response; and adopts a rotating and tilting angle adjusting mechanism to realize multi-angle and multi-directional The puncture method is used for puncture. The invention has the advantages of compact structure, stable movement, multi-angle and multi-mode puncture, and can be used for various kinds of puncture operations such as tumor ablation, tissue biopsy, and close-range particle implantation, and has high positioning precision and fast movement speed. Easy to operate and so on.

In addition, the use of casters or mobile platforms makes it easy to move around the bed and choose the right position for the robot.

DRAWINGS

The drawings described herein are provided to provide a further understanding of the invention, and are not intended to limit the invention. In the drawing:

1 is a schematic overall structural view of a vertical mobile puncture robot according to an embodiment of the present invention;

2 is a schematic diagram of a lifting mechanism of a vertical mobile puncture robot according to an embodiment of the present invention;

3 is a schematic diagram of a rotating mechanism of a vertical mobile puncture robot according to an embodiment of the present invention;

4 is a schematic diagram of a tilt angle adjustment mechanism of a vertical mobile puncture robot according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a translation mechanism of a vertical mobile puncture robot according to an embodiment of the present invention; FIG.

FIG. 6 is a schematic diagram of a piercing mechanism and a bracket of a vertical mobile puncture robot according to an embodiment of the present invention.

detailed description

In order to make the objects, technical solutions and advantages of the present invention more comprehensible, the present invention will be further described in detail with reference to the embodiments and drawings. The illustrative embodiments of the present invention and the description thereof are intended to explain the present invention, but are not intended to limit the invention.

The existing puncture surgical robot has the following disadvantages: the motion control is complicated, the motion precision depends on the accuracy of the model, the motion flexibility is low, the stability and precision are limited, the response positioning is not fast enough, and the puncture position and angle cannot be flexible. Wait. The present invention provides a vertical mobile puncture robot that overcomes the shortcomings of the prior art.

1 is a schematic diagram of an overall structure of a vertical mobile puncture robot according to an embodiment of the present invention. As shown in FIG. 1 , the vertical mobile puncture robot includes: a chassis platform 2, a lifting mechanism, a rotating mechanism 6, a tilt angle adjusting mechanism, Translation mechanism and puncture actuator;

Wherein, the lifting mechanism is connected to the rotating mechanism 6, the lifting mechanism is mounted on the chassis platform 2, the rotating mechanism 6 is mounted on the top of the lifting mechanism, and the tilt angle adjusting mechanism is mounted on the rotating mechanism 6; or the rotating mechanism 6 is mounted on the chassis platform 2 The lifting mechanism is mounted on the top of the rotating mechanism 6, and the tilt angle adjusting mechanism is mounted on the lifting mechanism;

All structures are described in detail below.

In the specific implementation, in order to enable the puncture robot to move better, the caster 1 is attached to the bottom of the chassis platform 2, so that the overall movement of the puncture robot can be realized. In order to keep the puncture robot in balance while moving, caster 1 The number of the number needs to be more than three, and it can be four. Further, a lock device is attached to the caster 1, and after the position of the puncture robot at the bedside is determined, the puncture robot is fixed by the lock caster 1.

In addition to the above-described mounting caster 1, a mobile platform can be mounted on the bottom of the chassis platform 2, which also enables the puncture robot to move better.

In a specific implementation, in order to adjust the puncture needle to puncture at different heights, the lifting mechanism may include a first motor 3, a sleeve 4 and a push rod 5; the first motor 3 is mounted on the sleeve 4, and the push rod 5 is mounted on In the sleeve 4, the push rod 5 is driven by the first motor 3 so that the push rod 5 can be moved up and down within the sleeve 4, as shown in Fig. 2, and the arrows indicate the direction of movement.

In a specific implementation, in order to achieve the adjustment of the circumferential angle of the upper half of the puncture robot, the adjustment rotation mechanism 6 may include a disc motor 61 and a rotary disc 62; wherein the disc motor 61 is fixed on the push rod 5 through the disc The motor 61 drives the rotary disk 62 to rotate, as shown in Fig. 3, and the arrows indicate the direction of motion.

In practice, the lifting mechanism can be mounted on the chassis platform 2, and the adjusting rotation mechanism 6 is mounted on the lifting mechanism; the lifting mechanism and the adjusting rotation mechanism 6 can also be exchanged, that is, the adjusting rotation mechanism 6 can be mounted on the chassis platform 2, The lifting mechanism is mounted on the lifting mechanism and can also perform the above functions.

In a specific implementation, in order to adjust the tilt angle of the puncture needle puncture position, the tilt angle adjusting mechanism may include a second motor 7 and a mounting plate 8; wherein the second motor 7 is mounted on the rotating disc 62, and the mounting plate 8 is The second motor 7 is connected by a rotating shaft, the mounting plate 8 is fixedly connected with the rotating shaft, the second motor 7 is fixedly connected with the rotating shaft, and the second motor 7 drives the rotating shaft to rotate, and the mounting plate 8 is tilted, thereby puncturing the position. The tilt angle is adjusted as shown in Fig. 4, and the arrows indicate the direction of motion.

Since the mounting plate 8 is mounted with a translation mechanism and a puncture actuator, the load is large. Therefore, the tilt angle adjustment mechanism may further include a support block 18 for supporting the other end of the rotating shaft to increase the motion stability and the rigidity of the mechanism. The support block 18 is mounted on a rotating disk 62 that is movably coupled to the rotating shaft for supporting the mounting plate 8, the translation mechanism, and the puncture actuator through the rotating shaft, as shown in Figure 4, with arrows indicating the direction of motion.

In a specific implementation, in order to adjust the puncture position of the puncture needle in the horizontal direction, the translation mechanism may include the first screw nut mechanism 9, the third motor 10, and the slider 17. The first screw nut mechanism 9 is mounted on the mounting plate 8; the third motor 10 is mounted on one end of the first screw nut mechanism 9; the lead screw of the first screw nut mechanism 9 runs through the slider 17; The three motor 10 drives the screw of the screw nut mechanism 9 to rotate, thereby driving the slider 17 to translate along the screw of the first screw nut mechanism 9, as shown in Fig. 5, the arrow in the figure indicates the direction of motion.

In a specific implementation, in order to achieve advancement of the puncture needle, the puncture actuator may include a second screw nut mechanism 11, a puncture needle 13, a moving slider 14, and a propulsion motor 16. Wherein the second screw nut mechanism 11 is mounted on the slide The block 17 moves with the movement of the slider 17; the propulsion motor 16 is mounted on one end of the second screw nut mechanism 11; the lead screw of the second screw nut mechanism 11 extends through the moving slider 14; the puncture needle 13 is mounted on the movement On the slider 14; the propulsion motor 16 drives the screw of the second screw nut mechanism 11 to rotate, thereby driving the moving slider 14 to translate along the screw of the second screw nut mechanism 11, and simultaneously driving the puncture needle 13 to translate, as shown in the figure As shown in Fig. 6, the arrows indicate the direction of motion.

The above is only to complete the advancement of the puncture needle. When the puncture needle 13 enters the human body, slight bending may occur. In this case, the puncture needle 13 needs to be rotated, and the puncture actuator may further include a rotary electric machine 15 mounted on the movement. On the slider 14, the rotary motor 15 drives the puncture needle 13 to rotate, as shown in Fig. 6, in which the arrows indicate the direction of motion.

The advancement of the puncture needle 13 is achieved by the advancement motor 16, and the rotation of the puncture needle 13 is effected by the rotary motor 15, thereby controlling the puncture trajectory of the puncture needle 13.

In the specific implementation, the puncture needle used may be made of different materials, such as nickel titanium alloy, stainless steel, and the like. When puncture is performed with some needles with lower rigidity, the puncture needle may bend and the puncture direction of the puncture needle may not be maintained. Based on this, the present invention may further include a bracket 12 mounted on the second screw nut mechanism 11 for supporting the puncture needle 13, as shown in Fig. 6, in which the arrows indicate the direction of movement.

In summary, the vertical mobile puncture robot proposed by the present invention is combined with the lifting mechanism, the rotating mechanism, the tilting angle adjusting mechanism, the translation mechanism, the puncture mechanism and the bracket, and has the multi-degree of freedom of the conventional mechanical arm. Puncture, and has the advantages of smooth, fast and compact motion of the arc-screw needle surgical robot. The lifting mechanism can realize rapid lifting, which is more stable and stable than the hydraulic or pneumatic method, and the motion positioning accuracy is high. The multi-angle and multi-directional puncture method can be used for puncture by using the rotation and tilt angle adjustment mechanism. Mobile casters make it easy to move around the bed and choose the right position for the robot. The invention has the advantages of compact structure, stable movement, multi-angle and multi-mode puncture, and can be used for various puncture operations such as tumor ablation, tissue biopsy, and close-range particle implantation, and has the advantages of high positioning precision, fast movement speed, convenient operation and the like.

Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computers are available Program instructions to a processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that instructions executed by a processor of a computer or other programmable data processing device are generated for implementation in a process A device or a plurality of processes and/or block diagrams of a device in a block or a plurality of blocks.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various changes and modifications may be made to the embodiments of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

A vertical mobile puncture robot, comprising: a chassis platform (2), a lifting mechanism, a rotating mechanism (6), a tilt angle adjusting mechanism, a translation mechanism and a puncture actuator;

The lifting mechanism is coupled to the rotating mechanism (6), the lifting mechanism is mounted on a chassis platform (2), the rotating mechanism (6) is mounted on a top end of the lifting mechanism, and the tilt angle adjusting mechanism is mounted on the a rotating mechanism (6); or, the rotating mechanism (6) is mounted on a chassis platform (2), the lifting mechanism is mounted on a top end of the rotating mechanism (6), and the tilt angle adjusting mechanism is mounted on the Lifting mechanism;

The lifting mechanism is configured to adjust the height of the puncture position by lifting;

The rotating mechanism (6) is configured to adjust a circumferential angle of the tilt angle adjusting mechanism, the translation mechanism, and the puncture actuator by horizontal rotation;

The tilt angle adjusting mechanism is configured to adjust an inclination angle of the puncture position;

The translation mechanism is mounted on the tilt angle adjustment mechanism for adjusting a horizontal position of the puncture actuator;

The puncture actuator is mounted on the translation mechanism for performing a puncture operation.
The vertical mobile puncture robot according to claim 1, further comprising:

The caster (1) is mounted on the bottom of the chassis platform (2) for moving the puncture robot.
The vertical mobile puncture robot according to claim 2, characterized in that the caster (1) is provided with a locking device for fixing the puncture robot by the locking caster (1).
The vertical mobile puncture robot according to claim 2 or 3, characterized in that the number of the casters (1) is more than three.
The vertical mobile puncture robot according to claim 1, further comprising:

The mobile platform is mounted on the bottom of the chassis platform (2) for moving the puncture robot.
The vertical mobile puncture robot according to claim 1, wherein the elevating mechanism comprises a first motor (3), a sleeve (4) and a push rod (5);

The first motor (3) is mounted on a sleeve (4), the push rod (5) is mounted in a sleeve (4), and the first motor (3) is used to drive the push rod (5) The sleeve (4) moves up and down.
The vertical mobile puncture robot according to claim 6, wherein said rotating mechanism (6) comprises a disc motor (61) and a rotating disc (62);

The disc motor (61) is fixed on a push rod (5) for rotating by rotating the rotating disc (62), for the tilt angle adjusting mechanism, the translation mechanism and the puncture actuator The circumferential angle is adjusted.
The vertical mobile puncture robot according to claim 7, wherein the tilt angle adjusting mechanism comprises a second motor (7) and a mounting plate (8);

The second motor (7) is mounted on the rotating disk (62);

The mounting plate (8) and the second motor (7) are connected by a rotating shaft;

The second motor (7) is configured to rotate the driving rotating shaft to drive the mounting plate (8) to tilt, and adjust the tilting angle of the puncture position.
The vertical mobile puncture robot according to claim 8, wherein the tilt angle adjustment mechanism further comprises a support block (18);

The support block (18) is mounted on a rotating disc (62) that is movably coupled to the rotating shaft for supporting the mounting plate (8), the translation mechanism, and the puncture actuator through the rotating shaft.
The vertical mobile puncture robot according to claim 8, wherein the translation mechanism comprises a first screw nut mechanism (9), a third motor (10) and a slider (17);

The first screw nut mechanism (9) is mounted on the mounting plate (8);

The third motor (10) is mounted to one end of the first screw nut mechanism (9);

The lead screw of the first screw nut mechanism (9) penetrates the slider (17);

The third motor (10) is for translating the slider (17) along the lead screw of the first screw nut mechanism (9) by driving the screw of the screw nut mechanism (9).
The vertical mobile puncture robot according to claim 10, wherein said puncture actuator comprises a second screw nut mechanism (11), a puncture needle (13), a moving slider (14), and a propulsion motor (16). );

The second screw nut mechanism (11) is mounted on the slider (17) and moves as the slider (17) moves;

The propulsion motor (16) is mounted to one end of the second screw nut mechanism (11);

The screw of the second screw nut mechanism (11) runs through the moving slider (14);

The puncture needle (13) is mounted on the moving slider (14);

The propulsion motor (16) is configured to drive the moving slider (14) along the screw of the second screw nut mechanism (11) by driving the screw of the second screw nut mechanism (11) to rotate The puncture needle (13) translates.
The vertical movement puncture robot according to claim 11, wherein the puncture actuator further comprises:

A rotary electric machine (15) is mounted on the moving slider (14) for driving the puncture needle (13) for rotation.
The vertical mobile puncture robot according to claim 11, further comprising:

The bracket (12) is mounted on the second screw nut mechanism (11) for supporting the puncture needle (13).