CN111256633B - Tracking and measuring mechanical arm device of operation sickbed - Google Patents
Tracking and measuring mechanical arm device of operation sickbed Download PDFInfo
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- CN111256633B CN111256633B CN202010188604.9A CN202010188604A CN111256633B CN 111256633 B CN111256633 B CN 111256633B CN 202010188604 A CN202010188604 A CN 202010188604A CN 111256633 B CN111256633 B CN 111256633B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/101—Clamping means for connecting accessories to the operating table
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention provides a tracking and measuring mechanical arm device of an operation sickbed, which comprises a sickbed clamp holder, a position tracking mechanism and an attitude tracking mechanism; the posture tracking mechanism, the position tracking mechanism and the sickbed holder are sequentially connected, the sickbed holder is fixed at the tail of the sickbed, and when the sickbed is adjusted in a three-dimensional straight line, the three-dimensional track of the sickbed is measured in real time and is calculated into a self coordinate system. The invention can be used for real-time tracking of sickbeds and has the characteristics of compact and reliable structure, low cost and the like.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a tracking and measuring mechanical arm device of an operation sickbed. In particular to a method for realizing automatic real-time tracking of a sickbed by sensing the position change of the sickbed by using sensors of all joints on a passive serial mechanical arm.
Background
Currently, a robotic surgery assistance system has appeared in the field of vascular intervention, which has technical advantages in that it enables a doctor to avoid radiation damage of DSA and to achieve more precise surgical operation. The robot operation auxiliary system generally adopts a master-slave structure, and a doctor sends an action command through a master hand and executes the action command of the doctor from a slave end to realize the clamping, pushing and rotating of equipment. During surgery, it is necessary to move the head of the DSA to image the site of surgical interest, and to move the table to coordinate imaging where the DSA arm cannot reach. When the operation bed moves, if the robot clamps the equipment from the end, the equipment needs to be clamped, the slave end and the operation bed need to move together, and the position of the equipment in a blood vessel of a human body is prevented from being unchanged. In order to achieve synchronous movement of the slave end and the operating bed, it is necessary to monitor the movement position of the operating bed and to give this position as an input to the slave end system, which controls the slave end to move along with the operating bed.
The movement of the operating table is typically three vertical movements, independent of each other and random, typically visualized by the surgeon pulling or by motorized coordination of the DSA. A guide rail type measuring method can be used for detecting the movement of the operating table, but the measurement in three directions needs to be decoupled from the structure, so that mutual independence is realized, the occupied space is large, and certain installation difficulty exists in an operating room. In addition, a common method is to use a binocular or trinocular optical tracking system, fixedly mount the optical markers on the patient bed, give the spatial coordinates and motion trail of the operating bed through the optical tracking system, and transform the spatial coordinates from the visual tracking system coordinate system to the robot coordinate system through spatial coordinate transformation. A disadvantage of optical tracking systems is that they are prone to occlusion, and the effects of frequent random, chaotic movements of medical staff, especially near the operating bed, are difficult to eliminate.
From various data, a new method for solving the above problems is necessary for the operating table tracking system required in the vascular intervention robot assistance system. Key issues to be addressed include: (1) the movement amounts in the three degrees of freedom need to be completely decoupled; (2) the device has larger movement space and range and ensures certain precision; (3) the method has the advantages that the safety is possible, the data volume is continuous, and reliable and effective acquisition can be realized; (4) the device is suitable for being installed in an operating room, occupies small space and is easy to disassemble and assemble.
Patent document CN103895023B (application number: 201410135361.7) discloses a robot arm end tracking measurement system and method based on a coded orientation device. The system comprises a mechanical arm, a polyhedral coding point characteristic measuring target, a mechanical arm end effector, a mechanical arm control cabinet, a measuring camera and an upper computer.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a tracking and measuring mechanical arm device for a surgical sickbed.
The invention provides a tracking and measuring mechanical arm device of a surgical sickbed, which is characterized by comprising the following components:
the sickbed clamping device, the position tracking mechanism and the posture tracking mechanism;
the posture tracking mechanism, the position tracking mechanism and the sickbed holder are sequentially connected, the sickbed holder is fixed at the tail of the sickbed, and when the sickbed is adjusted in a three-dimensional straight line, the three-dimensional track of the sickbed is measured in real time and is calculated into a self coordinate system.
Preferably, the sickbed holder consists of a rotating handle, a guide rod, a holder and a spherical hinge;
the position tracking mechanism consists of a first telescopic rod, a second telescopic rod, a third telescopic rod, a stay wire steel wire and a stay wire sensor;
the posture tracking mechanism is composed of a first supporting frame, a first joint corner encoder, a second joint corner encoder, a first supporting rod, a third joint corner encoder, a second supporting frame, a second supporting rod, a fourth joint corner encoder, a third supporting frame and a base.
Preferably, the rotating handle is connected with the clamping seat through threads, threads are arranged on the rotating handle, and the rotating handle is screwed in the threads of the clamping seat;
the guide rod comprises a left guide rod-and a right guide rod-and the left guide rod-and the right guide rod-are inserted into the guide holes of the clamping seat;
the magnet is bonded with the tail ends of the left guide rod and the right guide rod, and the tail end of the rotary handle adsorbs the magnet by virtue of magnetic force;
when the rotating handle rotates, the magnet is pushed to press the clamping surface-, the left guide rod and the right guide rod of the clamping seat to play a role in keeping the guide;
the spherical hinge is composed of a spherical head rod and a spherical cavity rod, is a spherical connecting pair, can realize three-axis rotation around the spherical center, and the spherical cavity rod is connected to the end part of the subsequent first telescopic rod.
Preferably, the first telescopic rod of the position tracking mechanism is sleeved in the second telescopic rod and can freely slide;
the second telescopic rod is sleeved in the third telescopic rod and can freely slide;
the stay wire sensor is fixed at the end part of the third telescopic rod, and the end part of the stay wire steel wire is fixed at the tail end of the first telescopic rod;
when the first telescopic link stretches out, the stay wire steel wire is pulled out from the stay wire sensor, when the first telescopic link retracts, the stay wire steel wire retracts into the stay wire sensor by means of the resetting force in the stay wire sensor, and the stay wire sensor outputs the movement amount.
Preferably, the stay wire steel wire is fixed at the end part of the first telescopic rod;
the movement amount output by the stay wire sensor is the movement amount of the stay wire steel wire, and the movement amount of the stay wire steel wire is the movement amount of the first telescopic rod.
Preferably, a third telescopic rod of the position tracking mechanism of the attitude tracking mechanism is mounted on the first support frame, rotates around the axis B of the support shaft of the first support frame, and measures a rotation angle by a first joint corner encoder;
the first support frame is arranged in the first support rod and rotates around the axis A of the first support rod, and the second joint angle encoder measures a rotating angle;
the first supporting rod is arranged on the second supporting frame and rotates around the axis C of the second supporting frame, and the third joint corner encoder measures a rotating angle;
the second support frame is installed on the second bracing piece, and the second bracing piece is installed on the third support frame, rotates around the axis D of third support frame, and rotation angle is measured to fourth joint corner encoder.
Preferably, the real-time measurement of the three-dimensional trajectory of the patient bed refers to:
and calculating to obtain the tracking position as the position relative to the measuring mechanical arm according to the movement amount measured by the position tracking mechanism and the rotation angle measured by the attitude tracking mechanism.
Preferably, the method of resolving comprises: and establishing a kinematic equation of the mechanical arm by using a D-H method, and calculating to obtain a corresponding relation between the position of a point in the three-dimensional space and the rotation angle and the movement amount.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can be used for real-time tracking of sickbeds and has the characteristics of compact and reliable structure, low cost and the like.
2. The calculating method for tracking the sickbed has certain redundancy, can still carry out calculation and tracking under the condition of reducing not more than two corner configurations, and the redundancy configuration is necessary to increase the safety and reliability.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram provided by the present invention.
Fig. 2 is a schematic view of a clamping structure of a hospital bed provided by the present invention.
Fig. 3 is a space joint diagram of each motion axis provided by the invention.
The figures show that:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a tracking and measuring mechanical arm device of a surgical sickbed, which is characterized by comprising the following components:
the sickbed clamping device, the position tracking mechanism and the posture tracking mechanism;
the posture tracking mechanism, the position tracking mechanism and the sickbed holder are sequentially connected, the sickbed holder is fixed at the tail of the sickbed, and when the sickbed is adjusted in a three-dimensional straight line, the three-dimensional track of the sickbed is measured in real time and is calculated into a self coordinate system.
Specifically, the sickbed clamp holder consists of a rotating handle 1, a guide rod 2, a clamp holder 3 and a spherical hinge 4;
the position tracking mechanism consists of a first telescopic rod 5, a second telescopic rod 7, a third telescopic rod 8, a stay wire steel wire 6 and a stay wire sensor 10;
the posture tracking mechanism is composed of a first supporting frame 9, a first joint angle encoder 11, a second joint angle encoder 12, a first supporting rod 13, a third joint angle encoder 14, a second supporting frame 15, a second supporting rod 16, a fourth joint angle encoder 17, a third supporting frame 18 and a base 19.
Specifically, the rotating handle 1 is connected with the clamping seat 3 through threads, threads are arranged on the rotating handle 1, and the rotating handle 1 is screwed into the threads of the clamping seat 3;
the guide rod 2 comprises a left guide rod 2-1 and a right guide rod 2-2, and the left guide rod 2-1 and the right guide rod 2-2 are inserted into the guide holes of the clamping seat 3;
the magnet 2-3 is adhered to the tail ends of the left guide rod 2-1 and the right guide rod 2-2, and the tail end of the rotary handle 1 adsorbs the magnet 2-3 by means of magnetic force;
when the rotating handle 1 rotates, the magnet 2-3 is pushed to press the clamping surface 3-1 of the clamping seat 3, and the left guide rod 2-1 and the right guide rod 2-2 play a role in guiding and keeping;
the spherical hinge 4 is composed of a ball head rod 4-1 and a spherical cavity rod 4-2, is a spherical connecting pair, can realize three-axis rotation around the spherical center, and the spherical cavity rod 4-2 is connected to the end part of the subsequent first telescopic rod 5.
Specifically, the first telescopic rod 5 of the position tracking mechanism is sleeved in the second telescopic rod 7 and can freely slide;
the second telescopic rod 7 is sleeved in the third telescopic rod 8 and can freely slide;
the stay wire sensor 10 is fixed at the end part of the third telescopic rod 8, and the end part of the stay wire steel wire 6 is fixed at the tail end of the first telescopic rod 5;
when the first telescopic link 5 stretches out, the stay wire steel wire 6 is pulled out from the stay wire sensor 10, when the first telescopic link 5 retracts, the stay wire steel wire 6 retracts into the stay wire sensor 10 by means of the reset force in the stay wire sensor 10, and the stay wire sensor 10 outputs the movement amount.
Specifically, the stay wire steel wire 6 is fixed at the end part of the first telescopic rod;
the movement amount output by the stay wire sensor 10 is the movement amount of the stay wire steel wire 6, and the movement amount of the stay wire steel wire 6 is the movement amount of the first telescopic rod 5.
Specifically, a third telescopic rod 8 of the posture tracking mechanism position tracking mechanism is mounted on a first support frame 9, rotates around a support shaft axis B of the first support frame 9, and a first joint angle encoder 11 measures a rotation angle;
the first support frame 9 is arranged in the first support rod 13 and rotates around the axis A of the first support rod 13, and the second joint angle encoder 12 measures the rotation angle;
the first supporting rod 13 is arranged on the second supporting frame 15 and rotates around the axis C of the second supporting frame 15, and the third joint angle encoder 14 measures a rotating angle;
the second support frame 15 is installed on the second support rod 16, the second support rod 16 is installed on the third support frame 18 and rotates around the axis D of the third support frame 18, and the fourth joint angle encoder 17 measures the rotation angle.
Specifically, the real-time measurement of the three-dimensional trajectory of the patient bed refers to:
and calculating to obtain the tracking position as the position relative to the measuring mechanical arm according to the movement amount measured by the position tracking mechanism and the rotation angle measured by the attitude tracking mechanism.
Specifically, the method of resolving comprises: and establishing a kinematic equation of the mechanical arm by using a D-H method, and calculating to obtain a corresponding relation between the position of a point in the three-dimensional space and the rotation angle and the movement amount.
The present invention will be described more specifically below with reference to preferred examples.
Preferred example 1:
as shown in figure 1, the passive tracking and measuring mechanical arm system of the operation sickbed provided by the invention comprises a sickbed holder consisting of a rotating handle 1, a guide rod 2, a holder 3 and a spherical hinge 4, a position tracking mechanism consisting of a first telescopic rod 5, a second telescopic rod 7, a third telescopic rod 8, a stay wire steel wire 6 and a stay wire sensor 10, a posture tracking mechanism consisting of a first support frame 9, a first joint corner encoder 11, a second joint corner encoder 12, a first support rod 13, a third joint corner encoder 14, a second support frame 15, a second support rod 16, a fourth joint corner encoder 17, a third support frame 18 and a base 19, wherein the sickbed holder is fixed at the tail of the sickbed, the rear side of the sickbed is sequentially connected with the posture tracking mechanism and the position tracking mechanism, and when the sickbed is adjusted in a three-dimensional straight line, the system can measure the three-dimensional track of the sickbed in real time, and resolving into the own coordinate system.
According to the passive tracking and measuring mechanical arm system of the operation sickbed, a sickbed holder is shown in figure 2, a rotating handle 1 is provided with threads, and the threads are arranged in threaded holes of a holder 3. The guide rod 2 is formed by inserting a left guide rod 2-1 and a right guide rod 2-2 into a guide hole of the clamping seat 3, the magnet 2-3 is bonded with the tail ends of the left guide rod 2-1 and the right guide rod 2-2, the tail end of the rotating handle 1 adsorbs the magnet 2-3 by magnetic force, when the rotating handle 1 rotates, the magnet 2-3 is pushed to press the clamping surface 3-1 of the clamping seat 3, the left guide rod 2-1 and the right guide rod 2-2 play a role in guiding and keeping, the spherical hinge 4 is composed of a spherical head rod 4-1 and a spherical cavity rod 4-2, is a spherical connection pair, can realize three-axis rotation around the spherical center, and the spherical cavity rod 4-2 is connected to the end part of a subsequent first telescopic rod 5.
According to the passive tracking and measuring mechanical arm system of the operation sickbed, the joint configuration of the posture tracking mechanism is shown in fig. 3. The tail end of a third telescopic rod 8 of the position tracking mechanism of the attitude tracking mechanism is arranged on a first support frame 9 and rotates around a support shaft axis B of the first support frame 9, a rotation angle is measured by a first joint corner encoder 11, a support shaft of the first support frame 9 is arranged in a first support rod 13 and can rotate around an axis A of the first support rod 13, a corner is measured by a second joint corner encoder 12, the first support rod 13 is arranged on a support shaft of a second support frame 15 and can rotate around an axis C of the second support frame 15, a corner is measured by a third joint corner encoder 14, the second support frame 15 is fixedly arranged on a second support rod 16, the second support rod 16 is arranged on a support shaft of the third support frame 18 and can rotate around an axis D of the third support frame 18, and a corner is measured by a fourth joint corner encoder 17.
Preferred example 2:
aiming at the defects in the prior art, the invention aims to provide a device for tracking and measuring an operating bed in a vascular intervention operation, which can realize reliable and real-time position tracking in an operating room.
According to the invention, the passive tracking and measuring mechanical arm device of the operating table comprises: a sickbed holder consisting of a rotary handle (1), a guide rod (2), a holder seat (3) and a spherical hinge (4), a position tracking mechanism consisting of a first telescopic rod (5), a second telescopic rod (7), a third telescopic rod (8), a stay wire steel wire (6) and a stay wire sensor (10), and an attitude tracking mechanism consisting of a first support frame (9), a first joint corner encoder (11), a second joint corner encoder (12), a first support rod (13), a third joint corner encoder (14), a second support frame (15), a second support rod (16), a fourth joint corner encoder (17), a third support frame (18) and a base (19), wherein the base (19) of the attitude tracking mechanism is fixed on the ground of an operating room, the first support frame (9) at the tail end of the attitude tracking mechanism is connected with the stay wire sensor (10) of the fixed position tracking mechanism, and the tail end of the first telescopic rod (5) of the position tracking mechanism is connected with the spherical hinge (4) in the sickbed holder, the clamping seat (3) of the sickbed clamping device clamps the edge of the operating bed by using the rotating handle (1) under the guiding action of the guide rod (2).
When the sickbed is adjusted in a three-dimensional straight line mode, the sickbed clamping device can drive the position tracking mechanism and the posture tracking mechanism to move, and after position information and corner information on the position tracking mechanism stay wire sensor (10), the first joint corner encoder (11), the second joint corner encoder (12), the third joint corner encoder (14) and the fourth joint corner encoder (17) are collected, the system can calculate the three-dimensional movement track of the sickbed in a coordinate system.
The corners in the calculation method for tracking the hospital bed have certain redundancy (the redundancy means that when one corner joint fails, the joint can be locked when in use, the corresponding corner amount in the algorithm becomes a constant value, and in this case, the calculation can still be performed through the calculation method), the calculation and the tracking can still be performed under the condition that no more than two corner configurations are reduced, and the redundancy configuration is necessary to increase the safety and reliability and reduce the occupied space of the tracking and measuring mechanical arm device. The resolving method is a general resolving method for robot kinematics, and does not belong to the main invention point, for example, a kinematic equation of a mechanical arm is established by using a D-H method, and the corresponding relation between the position, the rotation angle and the movement amount of a point in a three-dimensional space can be obtained by calculation.
The rotary handle (1) of the sickbed clamp holder is provided with threads and is screwed in the threaded hole of the clamp holder (3). The guide rod (2) is inserted into a guide hole of the clamping seat (3) through the left guide rod (2-1) and the right guide rod (2-2), the magnet (2-3) is bonded with the tail ends of the left guide rod (2-1) and the right guide rod (2-2), the tail end of the rotating handle (1) adsorbs the magnet (2-3) through magnetic force, when the rotating handle (1) rotates, the magnet (2-3) is pushed to press the clamping surface (3-1) of the clamping seat (3), the left guide rod (2-1) and the right guide rod (2-2) play a role in guiding and keeping, the spherical hinge (4) is composed of a ball head rod (4-1) and a ball cavity rod (4-2) and is a ball connecting pair, three-axis rotation can be achieved around the center of a ball, and the ball cavity rod (4-2) is connected to the end of a subsequent first telescopic rod (5).
The first telescopic link (5) of the position tracking mechanism is inserted into the second telescopic link (7) and can freely slide, the second telescopic link (7) is inserted into the third telescopic link (8) and can freely slide, the stay wire sensor (10) is fixed at the end part of the third telescopic link (8), the end part of the stay wire steel wire (6) is fixed at the tail end of the first telescopic link (5), when the first telescopic link (5) extends out, the stay wire steel wire (6) is pulled out from the stay wire sensor (10), when the first telescopic link (5) retracts, the stay wire steel wire (6) retracts into the stay wire sensor (10) by means of the resetting force in the stay wire sensor (10), and the stay wire sensor (10) outputs the movement amount.
The tail end of a third telescopic rod (8) of the position tracking mechanism of the attitude tracking mechanism is arranged on a first support frame (9) and rotates around the axis B of a support shaft of the first support frame (9), a rotation angle is measured by a first joint corner encoder (11), the support shaft of the first support frame (9) is arranged in a first support rod (13) and can rotate around the axis A of the first support rod (13), a corner is measured by a second joint corner encoder (12), the first support rod (13) is arranged on the support shaft of a second support frame (15) and can rotate around the axis C of the second support frame (15), a corner is measured by a third joint corner encoder (14), the second support frame (15) is fixedly arranged on a second support rod (16), the second support rod (16) is arranged on the support shaft of the third support frame (18) and can rotate around the axis D of the third support frame (18), a fourth joint angle encoder (17) measures the angle of rotation.
Preferably, the attitude tracking uses four corner measurements, and the measurement of a plurality of corner quantities has the advantages of using the folding effect of the mechanical arm, reducing the occupied space of the passive measurement mechanical arm and avoiding invading the compact and narrow indoor area of the operating room.
Preferably, the tracking of the sickbed is obtained by calculating the movement amount and the four-corner measurement through the position tracking mechanism, a plurality of variables are used, certain redundancy is achieved, the calculation and tracking can be still carried out under the condition that no more than two corner configurations are reduced, and the redundancy configuration is necessary to increase the safety and reliability.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (7)
1. A tracking and measuring mechanical arm device of a surgical sickbed is characterized by comprising:
the sickbed clamping device, the position tracking mechanism and the posture tracking mechanism;
the posture tracking mechanism, the position tracking mechanism and the sickbed holder are sequentially connected, the sickbed holder is fixed at the tail of the sickbed, and when the sickbed is adjusted in a three-dimensional straight line, the three-dimensional track of the sickbed is measured in real time and is resolved into a coordinate system of the sickbed;
the sickbed holder consists of a rotating handle (1), a guide rod (2), a holder (3) and a spherical hinge (4);
the position tracking mechanism consists of a first telescopic rod (5), a second telescopic rod (7), a third telescopic rod (8), a stay wire steel wire (6) and a stay wire sensor (10);
the posture tracking mechanism is composed of a first supporting frame (9), a first joint angle encoder (11), a second joint angle encoder (12), a first supporting rod (13), a third joint angle encoder (14), a second supporting frame (15), a second supporting rod (16), a fourth joint angle encoder (17), a third supporting frame (18) and a base (19).
2. The mechanical arm device for tracking and measuring of the surgical sickbed according to claim 1, characterized in that the rotating handle (1) is connected with the clamping seat (3) through a thread, the rotating handle (1) is provided with a thread, and the rotating handle (1) is screwed into the thread of the clamping seat (3);
the guide rod (2) comprises a left guide rod (2-1) and a right guide rod (2-2), and the left guide rod (2-1) and the right guide rod (2-2) are inserted into the guide hole of the clamping seat (3);
the magnet (2-3) is bonded with the tail ends of the left guide rod (2-1) and the right guide rod (2-2), and the tail end of the rotary handle (1) adsorbs the magnet (2-3) by means of magnetic force;
when the rotating handle (1) rotates, the magnet (2-3) is pushed to press the clamping surface (3-1) of the clamping seat (3), and the left guide rod (2-1) and the right guide rod (2-2) play a role in guiding and keeping;
the spherical hinge (4) consists of a ball head rod (4-1) and a ball cavity rod (4-2) and is a ball connecting pair, three-axis rotation can be realized around the center of a sphere, and the ball cavity rod (4-2) is connected to the end part of the subsequent first telescopic rod (5).
3. The mechanical arm device for tracking and measuring of surgical sickbed according to claim 1, characterized in that the first telescopic rod (5) of the position tracking mechanism is sleeved in the second telescopic rod (7) and can slide freely;
the second telescopic rod (7) is sleeved in the third telescopic rod (8) and can freely slide;
the stay wire sensor (10) is fixed at the end part of the third telescopic rod (8), and the end part of the stay wire steel wire (6) is fixed at the tail end of the first telescopic rod (5);
when the first telescopic rod (5) extends out, the stay wire steel wire (6) is pulled out from the stay wire sensor (10), when the first telescopic rod (5) retracts, the stay wire steel wire (6) retracts into the stay wire sensor (10) by means of resetting force in the stay wire sensor (10), and the stay wire sensor (10) outputs movement amount.
4. The mechanical arm device for tracking and measuring of surgical sickbed according to claim 3, characterized in that the pull wire steel wire (6) is fixed at the end of the first telescopic rod;
the movement amount output by the stay wire sensor (10) is the movement amount of the stay wire steel wire (6), and the movement amount of the stay wire steel wire (6) is the movement amount of the first telescopic rod (5).
5. The mechanical arm device for tracking and measuring of the operation sickbed according to claim 1, characterized in that the third telescopic rod (8) of the position tracking mechanism is mounted on the first support frame (9) of the attitude tracking mechanism and rotates around the supporting shaft axis B of the first support frame (9), and the rotating angle is measured by the first joint angle encoder (11);
the first support frame (9) is arranged in the first support rod (13) and rotates around the axis A of the first support rod (13), and the second joint angle encoder (12) measures the rotation angle;
the first supporting rod (13) is arranged on the second supporting frame (15) and rotates around the axis C of the second supporting frame (15), and the third joint corner encoder (14) measures the rotation angle;
the second support frame (15) is arranged on the second support rod (16), the second support rod (16) is arranged on the third support frame (18) and rotates around the axis D of the third support frame (18), and the fourth joint angle encoder (17) measures the rotation angle.
6. The mechanical arm device for tracking and measuring of surgical bed according to claim 1, wherein the three-dimensional trajectory of the real-time measuring bed is:
and calculating to obtain the tracking position as the position relative to the measuring mechanical arm according to the movement amount measured by the position tracking mechanism and the rotation angle measured by the attitude tracking mechanism.
7. The surgical bed tracking and measuring robotic arm assembly of claim 1, wherein said solved method comprises: and establishing a kinematic equation of the mechanical arm by using a D-H method, and calculating to obtain a corresponding relation between the position of a point in the three-dimensional space and the rotation angle and the movement amount.
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| CN111759634A (en) * | 2020-07-13 | 2020-10-13 | 上海卓昕医疗科技有限公司 | Mechanical arm and bed matching system and method and clinical application method thereof |
| CN112828934B (en) * | 2021-01-04 | 2022-05-20 | 中联重科股份有限公司 | Method and device for determining posture of arm support, monitoring method and device and engineering machinery |
| CN113071250A (en) * | 2021-05-06 | 2021-07-06 | 郑州航空工业管理学院 | Special multi-functional plotter of mathematics such as university height |
| CN113876431B (en) * | 2021-10-29 | 2022-09-09 | 中国人民解放军总医院第五医学中心 | Tracking and measuring mechanical arm device of operation sickbed |
| CN116421322B (en) * | 2023-03-06 | 2023-12-05 | 极限人工智能有限公司 | Surgical robot platform and surgical robot |
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