WO2021022971A1 - 一种适用于临床人体截石位靶向粒子植入机器人 - Google Patents

一种适用于临床人体截石位靶向粒子植入机器人 Download PDF

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WO2021022971A1
WO2021022971A1 PCT/CN2020/101284 CN2020101284W WO2021022971A1 WO 2021022971 A1 WO2021022971 A1 WO 2021022971A1 CN 2020101284 W CN2020101284 W CN 2020101284W WO 2021022971 A1 WO2021022971 A1 WO 2021022971A1
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targeted particle
matched
friction wheel
gear
force
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PCT/CN2020/101284
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English (en)
French (fr)
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梁艺
汪步云
许德章
江本赤
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安徽工程大学
芜湖安普机器人产业技术研究院有限公司
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Priority to US17/275,668 priority Critical patent/US11931120B2/en
Publication of WO2021022971A1 publication Critical patent/WO2021022971A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A61N5/1007—Arrangements or means for the introduction of sources into the body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque

Definitions

  • the invention relates to the technical field of medical devices, in particular to a targeted particle implantation robot suitable for clinical human lithotomy positions.
  • the successful application of the Da Vinci surgical robot shows that the surgical robot is superior to the surgeon's bare-handed operation in terms of operating accuracy, reliability and reducing body damage.
  • Targeted particle implantation robots at home and abroad began in the early 21st century.
  • the University of Rochester in the United States has developed a rectangular coordinate particle implantation robot.
  • the use of moving joints to form a rectangular coordinate cantilever structure will reduce the overall rigidity and occupy more space. Yamato's responsiveness to exercise is also poor.
  • the CRRU+CRU modular parallel particle implantation robot developed by the Technical University of Hyundai schreib in Bulgaria has a problem of working singularities during control.
  • Tianjin University has designed a hybrid parallel particle implantation robot. Its structure and materials are all It is suitable for nuclear magnetic compatible environment, the overall structure is too complicated and it is difficult to control. Generally, a cantilever articulated robot is more suitable for operation in a narrow space at the human stone cutting position.
  • the present invention proposes a targeted particle implantation robot suitable for clinical human lithotomy position.
  • a targeted particle implantation robot suitable for clinical human lithotripsy positions including a frame, and also includes:
  • the posture adjustment mechanism is set on the frame to realize movement and force transmission under dynamic conditions
  • the force feedback friction wheel type targeted particle implanter is set on the posture adjustment mechanism to cooperate with the user to improve the force information perception ability of the targeted particle implantation process;
  • the sinusoidal elastic force amplification and torque compensation mechanism is arranged on the frame and cooperates with the pose adjustment mechanism to amplify the elastic force through the sinusoidal force for torque compensation.
  • the posture adjustment mechanism includes a big arm, a big arm deceleration motor connected with the big arm, a driving gear arranged on the big arm, a small arm arranged on the big arm, a wrist connected with the small arm through a hinge, The connecting flange at the wrist.
  • the contact force feedback friction wheel type targeted particle implanter includes an outer needle drive mechanism and a friction wheel type inner needle drive mechanism matched with a connecting flange, a particle loading transition device matched with a friction wheel type inner needle drive mechanism, Contact force feedback outer needle matched with particle loading transition device.
  • the friction wheel type inner needle driving mechanism includes a sliding table arranged on the outer needle driving mechanism, a bottom plate arranged on the sliding table, and an inner needle arranged on the bottom plate.
  • the inner needle cooperates with the friction wheel for transmission.
  • the particle loading transition device is a particle implantation channel
  • the contact force feedback type outer needle is a hollow multidimensional force sensor
  • the outer needle and the multidimensional force sensor are matched for injection.
  • the sinusoidal elastic force amplifying torque compensation mechanism includes a passive gear meshed with the driving gear, a crank slider mechanism matched with the passive gear, and an elastic force amplifier mechanism that cooperates with the crank slider mechanism to achieve elastic force amplification and compensation.
  • the crank slider mechanism includes a crank and a connecting rod matched with the crank;
  • the elastic force amplification mechanism includes a lower sliding rack matched with the connecting rod, a linear slide rail arranged on the lower sliding rack, and a lower sliding rack
  • a method suitable for the use of a targeted seed implantation robot at the clinical human body lithotripsy position and the specific steps are as follows:
  • the upper sliding rack movement compresses several sets of compression springs, and the elastic force of the compression springs is amplified by the pinion gear and the large gear matched with the pinion gear;
  • the beneficial effects of the present invention are: the use of a sinusoidal elastic force amplifying torque compensation mechanism can realize the compensation of the gravitational moment in any position of the boom, reduce the driving torque fluctuation, improve the stability of the low-speed operation of the robot end, and combine the position and posture adjustment mechanism to make implantation
  • the incident angle of the outer needle can be adjusted at a fixed point, so that the needle path can be planned more flexibly.
  • the contact force feedback friction wheel type targeted particle implanter installed at the end of the pose adjustment mechanism Improve the force information perception ability of the targeted particle implantation process.
  • Figure 1 is a schematic diagram of the three-dimensional structure of the present invention.
  • Figure 2 is a schematic diagram of the front view of the present invention.
  • FIG. 3 is a schematic diagram of the three-dimensional structure of the sinusoidal elastic force amplification torque compensation mechanism of the present invention.
  • FIG. 4 is a three-dimensional schematic diagram of the contact force feedback friction wheel type targeted particle implanter of the present invention.
  • Figure 5 is a schematic diagram of the principle structure of the sinusoidal elastic force amplification torque compensation mechanism of the present invention.
  • a targeted particle implantation robot suitable for clinical human lithotomy position includes a gantry 1, and also includes:
  • the posture adjustment mechanism 2, set on the frame 1, is used to realize movement and force transmission under dynamic conditions;
  • the force feedback friction wheel type targeted particle implanter 3 is set on the pose adjustment mechanism 2 to cooperate with the user to improve the force information perception ability of the targeted particle implantation process;
  • the sinusoidal elastic force amplification and torque compensation mechanism 4 is arranged on the frame 1 and cooperates with the pose adjustment mechanism 2 to amplify the elastic force through a sinusoid for torque compensation.
  • the posture adjustment mechanism 2 includes a boom 22, a boom reduction motor 23 connected to the boom 22, a driving gear 21 arranged on the boom 22, a small arm 24 arranged on the boom 22, and a hinge and The wrist 25 connected to the forearm 24 and the connecting flange 251 provided on the wrist 25.
  • the use of the sinusoidal elastic force amplification torque compensation mechanism 4 can realize the compensation of the gravity moment under any position of the boom 22, reduce the driving torque fluctuation, and improve the stability of the low-speed operation of the robot end.
  • the outer needle 342 of the implanter When entering the epidermal incident point, the incident angle of the outer needle can be adjusted at a fixed point, so that the needle path can be planned more flexibly.
  • the contact force feedback friction wheel type targeted particle implanter 3 installed at the end of the pose adjustment mechanism 2 Improve the force information perception ability of the targeted particle implantation process.
  • the force feedback friction wheel type targeted particle implanter 3 includes an outer needle drive mechanism 31 and a friction wheel type inner needle drive mechanism 32 that are matched with the connecting flange 251, and a friction wheel type inner needle drive mechanism 32.
  • the particle loading transition device 33 and the contact force feedback outer needle 34 matched with the particle loading transition device 33.
  • the outer needle driving mechanism 31 is a general linear sliding table, and the screw nut is driven by a servo motor to perform linear transmission of the outer needle 342.
  • the friction wheel type inner needle driving mechanism 32 includes a sliding table 312 arranged on the outer needle driving mechanism 31, a bottom plate 321 arranged on the sliding table 312, and two sets of friction wheels 323 matched with the inner needle 322 and distributed symmetrically.
  • the inner needle 322 cooperates with the friction wheel 323 for transmission.
  • the particle loading transition device 33 is a particle implantation channel 331
  • the contact force feedback outer needle 34 is a hollow multi-dimensional force sensor 341
  • the outer needle 342 cooperates with the multi-dimensional force sensor 341 for injection.
  • the friction wheel type inner needle drive mechanism 32 provided on the contact force feedback friction wheel type targeted particle implanter 3 controls the rotation of the friction wheel 323 to realize the rotation of the inner needle 322 installed by the friction wheel type inner needle drive mechanism 32
  • the reciprocating movement improves the compactness of the axial dimension design.
  • the inner needle 322 is coaxially matched with the particle implantation channel 331 of the particle loading and transition device 33, and the inner needle 322 is coaxially matched for reciprocating in and out of the particle implantation channel 331, so that the particles can be continuously bombed.
  • the inner needle 322 is installed coaxially with the outer needle 342, and the inner needle 322 can reach the tip of the outer needle 342 along the particle implantation channel 331, the hollow multi-dimensional force sensor 341, and the outer needle 342 to push the particles to The outer needle 342 realizes particle placement in front of the tip.
  • the contact force feedback outer needle 34 can collect multi-dimensional force and torque information when the tip of the outer needle 342 contacts the soft tissue in real time, thereby improving the force information perception ability of the targeted particle implantation process.
  • the sinusoidal elastic force amplifying torque compensation mechanism 4 includes a passive gear 41 meshing with the driving gear 21, a crank slider mechanism 41 that cooperates with the passive gear 32, and an elastic force amplifying mechanism 43 that cooperates with the crank slider mechanism 41 to achieve elastic force amplification and compensation. .
  • the driving gear 21 is connected to the sinusoidal elastic force amplifying torque compensation mechanism 4 through a gear pair.
  • the sinusoidal elastic force amplifying torque compensation mechanism 4 can compensate the gravitational moment of the boom 22, reduce the fluctuation and power of the driving torque of the boom reduction motor 23, and improve The stability of the robot when moving at low speeds.
  • the crank slider mechanism 41 includes a crank 421, a connecting rod 422 matched with the crank 421; the elastic force amplification mechanism 43 includes a lower sliding rack 431 matched with the connecting rod 422, and a straight line arranged on the lower sliding rack 431.
  • the lower sliding gear 431 meshes with the pinion 434 through a rack and pinion pair.
  • the small gear 434 and the large gear 435 cooperate through the coaxial 433.
  • the large gear 435 is connected to the upper sliding rack 436 through a rack and pinion pair.
  • the upper sliding rack 436 is consolidated with the sliding block 437.
  • the slider 437 is mounted on the linear guide rod 438, sliding left and right along the linear guide rod 438.
  • the two sets of compression springs 439 installed on the linear guide rod 438 are placed between the sliding block 437 and the right end of the linear guide rod 438.
  • a method suitable for the use of a targeted seed implantation robot at the clinical human body lithotripsy position and the specific steps are as follows:
  • the upper sliding rack 436 moves and compresses several sets of compression springs 439, and the elastic force of the compression springs 439 is amplified by the small gear 434 and the large gear 435 matched with the small gear 434;
  • the controller in step S9 is an embedded motion controller.

Abstract

一种适用于临床人体截石位靶向粒子植入机器人，包括机架（1），还包括：位姿调整机构（2）、触力反馈摩擦轮式靶向粒子植入器（3）、正弦弹力放大力矩补偿机构（4），其具体使用步骤如下：驱动（S1）；啮合（S2）；摆动（S3）；横向运动（S4）；补偿力矩（S5）；直线运动（S6）；回转运动（S7）；检测（S8）；传递信息（S9）；采用正弦弹力放大力矩补偿机构（4）可以实现大臂（22）任意位形下重力矩的补偿，减少驱动力矩波动，提高机器人末端低速操作的平稳性，结合位姿调整机构（2），使得触力反馈摩擦轮式靶向粒子植入器（3）的外针（342）可以定点调整外针（342）的入射角度，另外位姿调整机构（2）末端安装的触力反馈摩擦轮式靶向粒子植入器（3），提高了靶向粒子植入过程的力信息感知能力。

Description

一种适用于临床人体截石位靶向粒子植入机器人 技术领域
本发明涉及医疗器械技术领域，具体是一种适用于临床人体截石位靶向粒子植入机器人。
背景技术
据2018年癌症报告统计，中国每年新发癌症病例429万，占全球20％，死亡281万例。近距离放射性治疗适用于治疗泌尿生殖系统肿瘤、腹部肿瘤、消化系统肿瘤以及颅内肿瘤。临床该类手术通过腺体腔道作为手术入路，医生手持粒子植入器械经过导向模板到表皮，以表皮作为入口，刺破腺体硬膜，最后抵达肿瘤腺体靶区进行局部精准放射。通过大量临床手术评估，证实了该类手术靶向性强、创伤小、疗效快、副作用少等优势。当前国内外的粒子植入多为手动进行，操作中医生需要反复调整穿刺入口到靶点的路径，刺入过程必须保持手眼完全一致以及持续力控制，才能确保粒子放入放置位置。手工近距离放射性治疗存在问题：一方面医生为了保证手术质量，对于经皮刺入点到靶点路径都要调整，一般肿瘤患者需植入上百个粒子，长时间疲劳操作造成手灵敏度下降，难以保证≤2mm精度。另一方面长时间手术操作导致的手眼疲劳，难以实现恶性肿瘤的精准治疗，缺乏具备一定自主能力的治疗手段。
达芬奇手术机器人成功应用表明，手术机器人在操作准确性、可靠性及减少肌体损伤等方面都优于外科医生徒手操作。
国内外靶向粒子植入机器人始于21世纪初期，美国罗彻斯特大学研制了一种直角坐标式粒子植入机器人，采用移动关节组成直角坐标悬臂结构会降低整体刚度，其自身占用空间较大和运动响应能力也欠佳。罗马尼亚克卢日·纳波卡技术大学研制CRRU+CRU模块化并联式粒子植入机器人，控制时存在工作奇异点的问题，天津大学设计了混合式并联粒子植入机器人，它的结构和材料都适用于核磁兼容环境，整体结构过于复杂，控制起来较为困难。一般采用悬臂关节式机器人更适合人体截石位狭窄空间操作，但悬臂关节式构型在低速高精度 操作时，时变重力矩会造成驱动力矩波动较大，恶化机器人低速运动平稳性能。另外，机器人操控介入器械在软组织中定位时，如果穿刺过程遇到血管、动脉和骨骼时，机器人完全缺乏实时触力感知能力，依然采用固定程序进行穿刺必然会造成严重的医疗事故。因此，一种驱动过程平稳、种植精度高、带有触力感知装置、适用用于人体截石位狭窄空操作的靶向粒子植入机器人具有重要理论价值和现实意义。
发明内容
为了解决上述问题，本发明提出一种适用于临床人体截石位靶向粒子植入机器人。
一种适用于临床人体截石位靶向粒子植入机器人,包括机架，还包括：
位姿调整机构，设置在机架上，用于实现动态条件下运动和力的传递；
触力反馈摩擦轮式靶向粒子植入器，设置在位姿调整机构上，用于与使用者配合提高靶向粒子植入过程的力信息感知能力；
正弦弹力放大力矩补偿机构，设置在机架上且与位姿调整机构配合，通过正弦将弹力放大进行力矩补偿。
所述的位姿调整机构包括大臂、与大臂连接的大臂减速电机、设置在大臂上的主动齿轮、设置在大臂上的小臂、通过铰链与小臂连接的腕部、设置在腕部的连接法兰。
所述的触力反馈摩擦轮式靶向粒子植入器包括与连接法兰配合的外针驱动机构和摩擦轮式内针驱动机构、与摩擦轮式内针驱动机构配合的粒子装载过渡装置、与粒子装载过渡装置配合的触力反馈式外针。
所述的摩擦轮式内针驱动机构包括设置在外针驱动机构上的滑台、设置在滑台上的底板、设置在底板上的内针，内针与摩擦轮配合进行传输。
所述的粒子装载过渡装置为粒子植入通道，所述的触力反馈式外针为空心状的多维力传感器，外针与多维力传感器配合用于注射。
所述的正弦弹力放大力矩补偿机构包括与主动齿轮啮合的被动齿轮、与被动齿轮配合的曲柄滑块机构、与曲柄滑块机构配合实现弹力的放大补偿的弹力放大机构。
所述的曲柄滑块机构包括曲柄、与曲柄配合的连杆；所述的弹力放大机构包括与连杆配合的下滑动齿条、设置在下滑动齿条上的直线滑轨、与下滑动齿条上啮合的小齿轮、与小齿轮配合的大齿轮、与大齿轮通过齿轮齿条副配合的上滑动齿条、设置在上滑动齿条上的滑块、与滑块配合的直线导杆、设置在直线导杆上的若干组压缩弹簧。
一种适用于临床人体截石位靶向粒子植入机器人的使用方法,其具体步骤如下：
S1：驱动：驱动大臂减速电机分别使得使得主动齿轮和大臂动作；
S2：啮合：主动齿轮与被动齿轮啮合；
S3：摆动：被动齿轮与曲柄配合通过转动副与连杆连接，当主动齿轮进行转动时，带动曲柄转动，曲柄通过转动副带动连杆摆动，连杆末端驱动上滑动齿条运动；
S4：横向运动：下滑动齿条横向水平运动时，带动上滑动齿条反向水平运动；
S5：补偿力矩：
a：上滑动齿条运动压缩若干组压缩弹簧，压缩弹簧的弹力经过小齿轮和与小齿轮配合的大齿轮得到放大；
b：放大的弹力反作用于上滑动齿条上，并通过大臂与小臂将力矩传送至触力反馈摩擦轮式靶向粒子植入器上；
S6：直线运动：当外针驱动机构动作时，带动外针作直线运动，通过控制滑台的移动距离，实现外针的精确定位；
S7：回转运动：当外针到达指定位置时，摩擦轮式内针驱动机构带动两组左右对称布置的摩擦轮做回转运动，内针在摩擦轮提供的滚动摩擦力的作用下往复进出粒子植入通道并往复进入粒子装载过渡装置；
S8：检测：进入固接在触力反馈式外针的空心的多维力传感器后，经镂空的外针到达指定位置，空心状的多维力传感器在外针动作时，实时测量外针所受到的力和力矩；
S9：传递信息：将受力信息传输到控制器中，控制器根据受力情况控制外针驱动机构、摩擦轮式内针驱动机构的运动状态并进行粒子植入。
本发明的有益效果是：采用正弦弹力放大力矩补偿机构可以实现大臂任意位形下重力矩的补偿，减少驱动力矩波动，提高机器人末端低速操作的平稳性，结合位姿调整机构，使得植入器的外针在进入表皮入射点时，可以定点调整外针的入射角度，这样可更加灵活的规划进针路径，另外位姿调整机构末端安装的触力反馈摩擦轮式靶向粒子植入器，提高了靶向粒子植入过程的力信息感知能力。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1为本发明的立体结构示意图；
图2为本发明的主视结构示意图；
图3为本发明的正弦弹力放大力矩补偿机构立体结构示意图；
图4为本发明的触力反馈摩擦轮式靶向粒子植入器立体构示意图；
图5为本发明的正弦弹力放大力矩补偿机构原理结构示意图。
具体实施方式
为了使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面对本发明进一步阐述。
如图1至图5所示，一种适用于临床人体截石位靶向粒子植入机器人,包括机架1，还包括：
位姿调整机构2，设置在机架1上，用于实现动态条件下运动和力的传递；
触力反馈摩擦轮式靶向粒子植入器3，设置在位姿调整机构2上，用于与使用者配合提高靶向粒子植入过程的力信息感知能力；
正弦弹力放大力矩补偿机构4，设置在机架1上且与位姿调整机构2配合，通过正弦将弹力放大进行力矩补偿。
所述的位姿调整机构2包括大臂22、与大臂22连接的大臂减速电机23、设置在大臂22上的主动齿轮21、设置在大臂22上的小臂24、通过铰链与小臂24连接的腕部25、设置在腕部25的连接法兰251。
采用正弦弹力放大力矩补偿机构4可以实现大臂22任意位形下重力矩的补 偿，减少驱动力矩波动，提高机器人末端低速操作的平稳性，结合位姿调整机构，使得植入器的外针342在进入表皮入射点时，可以定点调整外针的入射角度，这样可更加灵活的规划进针路径，另外位姿调整机构2的末端安装的触力反馈摩擦轮式靶向粒子植入器3，提高了靶向粒子植入过程的力信息感知能力。
所述的触力反馈摩擦轮式靶向粒子植入器3包括与连接法兰251配合的外针驱动机构31和摩擦轮式内针驱动机构32、与摩擦轮式内针驱动机构32配合的粒子装载过渡装置33、与粒子装载过渡装置33配合的触力反馈式外针34。
所述的外针驱动机构31为通用的线性滑台，通过伺服电机驱动丝杠螺母进行外针342的直线传输。
所述的摩擦轮式内针驱动机构32包括设置在外针驱动机构31上的滑台312、设置在滑台312上的底板321、与内针322配合且左右对称分布的两组摩擦轮323，内针322与摩擦轮323配合进行传输。
所述的粒子装载过渡装置33为粒子植入通道331，所述的触力反馈式外针34为空心状的多维力传感器341，外针342与多维力传感器341配合用于注射。
所述的触力反馈摩擦轮式靶向粒子植入器3上设置的摩擦轮式内针驱动机构32，通过控制摩擦轮323转向，实现摩擦轮式内针驱动机构32安装的内针322的往复运动，提高了轴向尺寸设计的紧凑性。
如图4所示，通过驱动电机使得若干组相互配合的齿轮与摩擦轮323配合控制摩擦轮323转向，摩擦轮323转动并进行动力传输。
所述的内针322与粒子装载过渡装置33的粒子植入通道331同轴式配合，内针322往复进出粒子植入通道331同轴式配合，能实现粒子连续上弹。
所述的内针322与外针342同轴安装，所述的内针322可以沿着粒子植入通道331、空心的多维力传感器341、外针342到达外针342的针尖，将粒子推到外针342针尖前方实现粒子放置。
所述的触力反馈式外针34能实时采集外针342针尖接触软组织时的多维力和力矩信息，提高靶向粒子植入过程的力信息感知能力。
所述的正弦弹力放大力矩补偿机构4包括与主动齿轮21啮合的被动齿轮41、与被动齿轮32配合的曲柄滑块机构41、与曲柄滑块机构41配合实现弹力的放大补偿的弹力放大机构43。
正弦弹力放大力矩补偿机构原理：当大臂22上同轴式安装的主动齿轮21逆时针旋转θ角度时，通过减速比为2比1的齿轮副带动被动齿轮4-1顺时针转动θ/2角度，固结在被动齿轮41上的曲柄滑块机构42位形随之变化，此时曲柄滑块机构42上的曲柄421和连杆422之间的夹角变化为θ角度，同时带动连杆422的下端铰接的下滑动齿轮431向右移动距离x 下＝2lsin(θ/2)，即曲柄421长度＝连杆422长度＝l，上滑动齿轮436通过弹力放大机构43向左移动距离x 上＝2lsin(θ/2)r 2/r 1，即小齿轮4-3-4半径r 1，大齿轮4-3-5半径r 2，2组压缩弹簧439沿着直线导杆438向右压缩量x 弹簧＝x 上，至此大臂22减小的重力势能完全转化为2组压缩弹簧439增加的弹性势能；反之，当大臂22逆时针旋转θ角度时，2组压缩弹簧439的减小弹性势能完全转化为大臂22增加的重力势能。
所述主动齿轮21通过齿轮副与正弦弹力放大力矩补偿机构4连接，正弦弹力放大力矩补偿机构4可以实现大臂22重力矩的补偿，减少大臂减速电机23的驱动力矩的波动和功率，提高机器人低速运动时的平稳性。
所述的曲柄滑块机构41包括曲柄421、与曲柄421配合的连杆422；所述的弹力放大机构43包括与连杆422配合的下滑动齿条431、设置在下滑动齿条431上的直线滑轨432、与下滑动齿条431上啮合的小齿轮434、与小齿轮434配合的大齿轮435、与大齿轮435通过齿轮齿条副配合的上滑动齿条436、设置在上滑动齿条436上的滑块437、与滑块437配合的直线导杆438、设置在直线导杆438上的若干组压缩弹簧439。
所述的下滑动齿轮431通过齿轮齿条副与小齿轮434啮合.
所述的小齿轮434与大齿轮435通过同轴433配合。
所述的大齿轮435通过齿轮齿条副与上滑动齿条436连接。
所述的上滑动齿条436与滑块437固结.
所述的滑块437安装在直线导杆438上，沿着直线导杆438左右滑动.
所述的直线导杆438上安装的2组压缩弹簧439置于滑块437与直线导杆438右端之间。
一种适用于临床人体截石位靶向粒子植入机器人的使用方法,其具体步骤如下：
S1：驱动：驱动大臂减速电机23分别使得使得主动齿轮21和大臂22动作；
S2：啮合：主动齿轮21与被动齿轮41啮合；
S3：摆动：被动齿轮41与曲柄421配合通过转动副与连杆422连接，当主动齿轮21进行转动时，带动曲柄421转动，曲柄421通过转动副带动连杆422摆动，连杆422末端驱动上滑动齿条436运动；
S4：横向运动：下滑动齿条431横向水平运动时，带动上滑动齿条436反向水平运动；
S5：补偿力矩：
a：上滑动齿条436运动压缩若干组压缩弹簧439，压缩弹簧439的弹力经过小齿轮434和与小齿轮434配合的大齿轮435得到放大；
b：放大的弹力反作用于上滑动齿条436上，并通过大臂22与小臂24将力矩传送至触力反馈摩擦轮式靶向粒子植入器3上；
S6：直线运动：当外针驱动机构31动作时，带动外针342作直线运动，通过控制滑台312的移动距离，实现外针342的精确定位；
S7：回转运动：当外针342到达指定位置时，摩擦轮式内针驱动机构32带动两组左右对称布置的摩擦轮323做回转运动，内针322在摩擦轮323提供的滚动摩擦力的作用下往复进出粒子植入通道331并往复进入粒子装载过渡装置33；
S8：检测：进入固接在触力反馈式外针34的空心的多维力传感器341后，经镂空的外针342到达指定位置，空心状的多维力传感器341在外针342动作时，实时测量外针342所受到的力和力矩；
S9：传递信息：将受力信息传输到控制器中，控制器根据受力情况控制外针驱动机构31、摩擦轮式内针驱动机构32的运动状态并进行粒子植入。
所述的步骤S9的控制器为嵌入式运动控制器。
以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。

Claims (7)

  1. 一种适用于临床人体截石位靶向粒子植入机器人,包括机架(1)，其特征在于：还包括：
    位姿调整机构(2)，设置在机架(1)上，用于实现动态条件下运动和力的传递；
    触力反馈摩擦轮式靶向粒子植入器(3)，设置在位姿调整机构(2)上，用于与使用者配合提高靶向粒子植入过程的力信息感知能力；
    正弦弹力放大力矩补偿机构(4)，设置在机架(1)上且与位姿调整机构(2)配合，通过正弦将弹力放大进行力矩补偿。
  2. 根据权利要求1所述的一种适用于临床人体截石位靶向粒子植入机器人,其特征在于：所述的位姿调整机构(2)包括大臂(22)、与大臂(22)连接的大臂减速电机(23)、设置在大臂(22)上的主动齿轮(21)、设置在大臂(22)上的小臂(24)、通过铰链与小臂(24)连接的腕部(25)、设置在腕部(25)的连接法兰(251)。
  3. 根据权利要求2所述的一种适用于临床人体截石位靶向粒子植入机器人,其特征在于：所述的触力反馈摩擦轮式靶向粒子植入器(3)包括与连接法兰(251)配合的外针驱动机构(31)和摩擦轮式内针驱动机构(32)、与摩擦轮式内针驱动机构(32)配合的粒子装载过渡装置(33)、与粒子装载过渡装置(33)配合的触力反馈式外针(34)。
  4. 根据权利要求3所述的一种适用于临床人体截石位靶向粒子植入机器人,其特征在于：所述的摩擦轮式内针驱动机构(32)包括设置在外针驱动机构(31)上的滑台(312)、设置在滑台(312)上的底板(321)、与内针(322)配合且左右对称分布的两组摩擦轮(323)，内针(322)与摩擦轮(323)配合进行传输。
  5. 根据权利要求1所述的一种适用于临床人体截石位靶向粒子植入机器人,其特征在于：所述的粒子装载过渡装置(33)为粒子植入通道(331)，所述的触力反馈式外针(34)为空心状的多维力传感器(341)，外针(342)与多维力传感器(341)配合用于注射。
  6. 根据权利要求2所述的一种适用于临床人体截石位靶向粒子植入机器人, 其特征在于：所述的正弦弹力放大力矩补偿机构(4)包括与主动齿轮(21)啮合的被动齿轮(41)、与被动齿轮(32)配合的曲柄滑块机构(41)、与曲柄滑块机构(41)配合实现弹力的放大补偿的弹力放大机构(43)。
  7. 根据权利要求6所述的一种适用于临床人体截石位靶向粒子植入机器人,其特征在于：所述的曲柄滑块机构(41)包括曲柄(421)、与曲柄(421)配合的连杆(422)；所述的弹力放大机构(43)包括与连杆(422)配合的下滑动齿条(431)、设置在下滑动齿条(431)上的直线滑轨(432)、与下滑动齿条(431)上啮合的小齿轮(434)、与小齿轮(434)配合的大齿轮(435)、与大齿轮(435)通过齿轮齿条副配合的上滑动齿条(436)、设置在上滑动齿条(436)上的滑块(437)、与滑块(437)配合的直线导杆(438)、设置在直线导杆(438)上的若干组压缩弹簧(439)。
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