CN207901145U - Medical mechanical arm - Google Patents

Medical mechanical arm Download PDF

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Publication number
CN207901145U
CN207901145U CN201820060346.4U CN201820060346U CN207901145U CN 207901145 U CN207901145 U CN 207901145U CN 201820060346 U CN201820060346 U CN 201820060346U CN 207901145 U CN207901145 U CN 207901145U
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China
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mechanical arm
medical
parallel
extensible member
series connection
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CN201820060346.4U
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Chinese (zh)
Inventor
刘剑
朱良凡
方啸
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Wuhan United Imaging Zhirong Medical Technology Co Ltd
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Shanghai United Imaging Healthcare Co Ltd
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Priority to CN201820060346.4U priority Critical patent/CN207901145U/en
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Abstract

The utility model provides a kind of medical mechanical arm, including series connection mechanical arm, parallel mechanical arm and medical components;The executable one or more degree of freedom movements of the series connection mechanical arm, the parallel mechanical arm can perform multiple degree of freedom movements, and the parallel mechanical arm is connect with the series connection mechanical arm, and the parallel mechanical arm is connect with the medical components;For the series connection mechanical arm for driving the parallel mechanical arm and the medical components to move to the location of instruction, the parallel mechanical arm is used to adjust position and/or the angle of the medical components.The working space of series connection mechanical arm is big, and parallel mechanical arm is without cumulative errors and precision height;So that the working space of medical mechanical arm is big, flexibility is high, additionally it is possible to which angle and the position for adjusting medical components ensure accuracy, the safety of operation.

Description

Medical mechanical arm
Technical field
The utility model is related to technical field of medical equipment, more particularly to a kind of medical mechanical arm.
Background technology
Aspiration biopsy, radioactive prospecting instrument and RF ablation etc. are the important means of clinical diagnosis and treatment, work as lesion Region existence position is relatively deep, surgical exposure narrow space, when including the problem of important features such as nerve, the success rate that manually punctures Low and complication is high, even if being punctured under CT guiding or Use of Neuronavigation auxiliary, the case of neural blood vessel accidental injury is quite a few to see. With the application of image and airmanship, minimally invasive surgery robot is mainly used for navigator fix during surgery and auxiliary is inserted into operation Tool.
Currently, carrying out intervention operation, still, serial mechanism usually using serial mechanism mechanical arm or parallel institution mechanical arm Mechanical arm is easy there are cumulative errors, and causing puncture needle to enter pin position and predeterminated position, there are deviations, and there are security risks;It is in parallel Mechanism mechanical arm has that working space is small, this can cause puncture needle that can not reach puncture position, and then influence operation Subsequent processes.
Utility model content
Based on this, it is necessary to which for current serial mechanism mechanical arm, there are cumulative errors and parallel institution mechanical arm to exist The small problem of working space, cumulative errors can be eliminated to ensure that operation is accurate while ensureing that working space is big by providing one kind The medical mechanical arm of property.
Above-mentioned purpose is achieved through the following technical solutions:
A kind of medical mechanical arm, including series connection mechanical arm, parallel mechanical arm and medical components;The series connection mechanical arm can be held Row one or more degree of freedom movement, the parallel mechanical arm can perform multiple degree of freedom movements, the parallel mechanical arm and institute Series connection mechanical arm connection is stated, the parallel mechanical arm is connect with the medical components;
The series connection mechanical arm is described for driving the parallel mechanical arm and the medical components to move to the location of instruction Parallel mechanical arm is used to adjust position and/or the angle of the medical components.
The parallel mechanical arm includes mounting portion, multiple first extensible members and multiple in one of the embodiments, One actuator, the medical components are installed on the mounting portion, and multiple first actuators respectively drive multiple described One extensible member does stretching motion and/rotary motion.
The medical mechanical arm further includes multiple second extensible members disposed in parallel and more in one of the embodiments, A second actuator, the other end of multiple second extensible members respectively with multiple first extensible members rotatably connect It connects, first extensible member is connect by second extensible member with the series connection mechanical arm;
Multiple second actuators respectively drive multiple second extensible members and do stretching motion and/or rotation fortune It is dynamic.
It is respectively provided in each first extensible member and/or second extensible member in one of the embodiments, Pose detection piece, the pose detection piece are used to detect displacement and/or the angle information of first extensible member.
In one of the embodiments, the medical mechanical arm further include control chip, the control chip respectively with institute Rheme appearance detection piece, first actuator and second actuator electrical connection.
The parallel mechanical arm further includes rotatable part in one of the embodiments, each first pars contractilis It can be revolved by described between part and second extensible member and/or each between first extensible member and the mounting portion Rotation member connects.
The medical components include needle or ultrasonic probe in one of the embodiments,;
The pose detection piece includes encoder or acceleration transducer.
There are multiple installation positions in one of the embodiments, the installation position is for detachably pacifying on the mounting portion The medical components are filled, alternatively, the installation position is for detachably installing the medical components and ancillary equipment.
The parallel mechanical arm further includes shell in one of the embodiments, the shell package multiple described second Extensible member, alternatively, the shell wraps up multiple first extensible members and multiple second extensible members.
Connecting flange, the parallel manipulator are set on the output shaft of the series connection mechanical arm in one of the embodiments, Excessive flange is arranged in the end of arm, and the excessive flange is connected with the connecting flange.
After adopting the above technical scheme, the beneficial effects of the utility model are:
The medical mechanical arm of the utility model drives medical treatment in such a way that parallel mechanical arm is connected with series connection mechanical arm Component moves, parallel mechanical arm connection series connection mechanical arm and medical components, and mechanical armband of connecting moves parallel mechanical arm and medical treatment portion After part moves to predetermined operation position, parallel mechanical arm drives medical components movement so that medical components are directed at the lesion of patient Position;The working space of series connection mechanical arm is big, and parallel mechanical arm is without cumulative errors and precision height;The current cascade machine of effective solution There is cumulative errors and parallel institution mechanical arm there are working spaces in structure mechanical arm small;So that the work of medical mechanical arm Make that space is big, flexibility is high.The medical mechanical arm of the utility model utilizes series connection mechanical arm and parallel mechanical arm before the procedure The degree of freedom of redundancy carries out avoidance to patient, and the error of series connection mechanical arm accumulation is eliminated by parallel mechanical arm, while in parallel Mechanical arm can adjust angle and the position of medical components, ensure accuracy, the safety of operation.
Description of the drawings
Fig. 1 is that the mechanical arm for medical use of one embodiment of the utility model to the head of patient puncture the signal of intervention operation Figure;
Fig. 2 is the schematic diagram for installing medical components in medical mechanical arm shown in FIG. 1 on parallel mechanical arm;
Wherein:
100- medical mechanical arms;
110- series connection mechanical arms;
120- parallel mechanical arms;
The first extensible members of 121-;
The second extensible members of 122-;
123- mounting portions;
124- rotatable parts;
125- shells;
130- medical components;
The head of 200- patient.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, by the following examples, it and ties Attached drawing is closed, the utility model is further elaborated.It should be appreciated that specific embodiment described herein only to It explains the utility model, is not used to limit the utility model.
It is herein component institute serialization number itself, such as " first ", " second " etc., is only used for distinguishing described object, Without any sequence or art-recognized meanings.And " connection ", " connection " described in the application, unless otherwise instructed, include directly and It is indirectly connected with (connection).In the description of the present invention, it should be understood that term "upper", "lower", "front", "rear", The orientation or position of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " clockwise ", " counterclockwise " It is to be based on the orientation or positional relationship shown in the drawings to set relationship, is merely for convenience of describing the present invention and simplifying the description, and It is not that the device of instruction or hint meaning or element must have a particular orientation, with specific azimuth configuration and operation, therefore It should not be understood as limiting the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature is "above" or "below" second feature Can be that the first and second features are in direct contact or the first and second features pass through intermediary mediate contact.Moreover, first is special Sign second feature " on ", " top " and " above " can be fisrt feature and be directly above or diagonally above the second feature, or only Indicate that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be with It is that fisrt feature is directly under or diagonally below the second feature, or is merely representative of fisrt feature level height and is less than second feature.
Referring to Fig. 1 and Fig. 2, the utility model provides a kind of medical mechanical arm 100, which is used for suffering from The lesions position of person carries out puncturing the operations such as intervention operation or scanning.When the lesions position of patient is relatively deep such as in brain or chest When the regions such as abdomen, using the utility model medical mechanical arm 100 carry out puncture intervention operation can realize closely enter needle positioning and Angle controls, and ensures the precision of operation, avoids the problem that success rate is low caused by medical staff's hand operation and complication is high, into And ensure the accuracy of operation.
In the present invention, medical mechanical arm 100 includes series connection mechanical arm 110, parallel mechanical arm 120 and medical components 130.The executable one or more degree of freedom of mechanical arm 110 of connecting, parallel mechanical arm 120 can perform multiple degree of freedom, parallel machine Tool arm 120 is connect with series connection mechanical arm 110, and parallel mechanical arm 120 is connect with medical components 130.In the present embodiment, series connection machinery Arm 110 can perform multiple degree of freedom.The series connection mechanical arm 110 that can perform multiple degree of freedom has working space big, motion analysis Easier feature is suitable for the positioning campaign of big stroke.Parallel mechanical arm 120 is high, compact-sized with no cumulative errors, precision And the higher feature of rigidity, it is suitble to small stroke precision operation.Since the working space of series connection mechanical arm 110 is big, mechanical arm of connecting 110 can drive parallel mechanical arm 120 and medical components 130 thereon move to it is any needed for position;Due to parallel mechanical arm 120 precision is high, without cumulative errors, then again by parallel mechanical arm 120 to the carry out fine adjustments of medical components 130, has That there are working spaces is small there are cumulative errors and parallel institution mechanical arm for the current serial mechanism mechanical arm that solves the problems, such as of effect, It realizes that the precision of medical components 130 enters needle positioning and angular adjustment, ensures the accuracy of operation.
It is understood that since the movement travel of parallel mechanical arm 120 is small, by connecting, mechanical arm 110 drives parallel connection Mechanical arm 120 moves to any required position, to meet movement travel requirement;Moreover, series connection mechanical arm 110 can also utilize redundancy Degree of freedom realize to the avoidance of patient, avoid hitting patient and interfere, ensure that medical mechanical arm 100 operates steadily, in turn Ensure the safety of operation.Since series connection mechanical arm 110 can have cumulative errors at runtime, connected by parallel mechanical arm 120 Series connection mechanical arm 110 and medical components 130 are connect, the accumulated error that series connection mechanical arm 110 generates is can compensate for, ensures the peace of operation Quan Xing.
The medical mechanical arm 100 of the utility model uses the hybrid connected structure of series connection mechanical arm 110 and parallel mechanical arm 120, The advantages of comprehensive series connection mechanical arm 110 is with parallel mechanical arm 120, realize the working condition requirement that working space is big, flexibility is high, with full The operation demand of foot difference lesions position.Moreover, connecting series connection mechanical arm 110 and medical components using parallel mechanical arm 120 130, i.e., using parallel mechanical arm 120 as the wrist of medical mechanical arm 100, assign the wrist multiple degrees of freedom of medical mechanical arm 100 Function, improve the flexibility of medical components 130, convenient for medical components 130 set and the control of angle.
Series connection mechanical arm 110 is for driving parallel mechanical arm 120 and medical components 130 to move to the location of instruction, parallel machine Tool arm 120 is used to adjust position and/or the angle of medical components 130, and medical components 130 is driven to execute surgical procedure.Control The work station that medical mechanical arm 100 moves can be pre-positioned the lesions position of patient and patient, and generate the location of instruction and rule Draw entering pin position and entering needle angle for medical components 130.Work stand control cascade machine tool arm 110 is stretched and is moved so that string The output end of connection mechanical arm 110 drives parallel mechanical arm 120 to move to the location of instruction, 110 stop motion of mechanical arm of connecting;So Afterwards, it drives medical components 130 to move by parallel mechanical arm 120, is correcting the position error of series connection 110 output end of mechanical arm Meanwhile medical components 130 are adjusted using high-accuracy increment type control method, realize 130 position of medical components and/or angle Adjustment so that the positions of medical components 130 and/or angle enter pin position and angle phase with the medical components 130 planned in advance Matching realizes that precision enters needle positioning and angle control, ensures the accuracy of operation;The position of medical components 130 and/or angle tune It after whole, drives medical components 130 to move by parallel mechanical arm 120, executes intervention surgical procedure.Certainly, in the utility model Other embodiment in, medical staff can also plan entering pin position and entering needle angle for medical components 130 manually.
Exemplary, the output end of series connection mechanical arm 110 is connect with the end of parallel mechanical arm 120, parallel mechanical arm 120 Head end is connect with medical components 130.It is understood that the output end of series connection mechanical arm 110 refers to mechanical arm of connecting in Fig. 1 110 parts being connect with parallel mechanical arm 120, the movement for exporting series connection mechanical arm 110.The end of parallel mechanical arm 120 It refer to the end that parallel mechanical arm 120 is connect with the output end of series connection mechanical arm 110 in Fig. 1.The location of instruction refers to series connection machinery After arm 110 moves to the position, after parallel mechanical arm 120 adjusts position and/or the angle of medical components 130, and it can drive Medical components 130 move to the lesions position of patient, to ensure the accuracy into needle, avoid 130 movement travel of medical components not The operation of enough or overtravel.
Exemplary, medical components 130 include but not limited to contact therapy component, contactless therapy component or detection Component etc..Contact therapy component includes but not limited to the medical instruments such as needle, ultrasonic probe or scalpel.It needs Bright, scalpel here refers to the scalpel of shallow-layer operation.Contactless therapy component includes but not limited to be used for radiotherapy Radiographic source etc..Detection part includes but not limited to ultrasonic probe etc., passes through the tune of position and/or angle to ultrasonic probe It is whole, the working sections of ultrasonic imaging can be obtained, and then realize the fusion of image, meet the use demand of different lesion situations. In the present embodiment, only illustrates so that medical components 130 are the needle of contact therapy component as an example, carried out by needle Puncture intervention operation.Needle includes but not limited to biopsy needle, puncture needle, ablation needle etc..
Exemplary, series connection mechanical arm 110 includes rotary shaft that is multiple rotatable and being connected in series with, that is, mechanical arm 110 of connecting With multiple degree of freedom, the working space for the multiple rotary shafts being connected in series in addition is big, enables to series connection mechanical arm 110 in this way Output end move to any position, and then parallel mechanical arm 120 is driven to move to the location of instruction.It is understood that series connection Four rotary shafts, five rotary shafts, six even more rotary shafts of rotary shaft may be used in mechanical arm 110, to meet difference The motion requirement of lesions position.After the output end for mechanical arm 110 of connecting moves to the location of instruction, work station can control cascade machine The position of tool arm 110 locks, and then avoiding series connection mechanical arm 110 from continuing movement causes the position of parallel mechanical arm 120 to become Change and influence the control into pin position, ensures the accuracy of operation.Exemplary, in the present embodiment, series connection mechanical arm 110 further includes Motor is controlled, the driving of the series connection movement of mechanical arm 110 is realized by controlling motor, when series connection mechanical arm 110 moves to command bits It postpones, locking control motor so that control motor stop motion, and then realize the locking of series connection mechanical arm 110.In addition, medical Mechanical arm 100 may also include the pedestal or AGV trolleies (Automated Guided for installing series connection mechanical arm 110 Vehicle, automated guided vehicle).
It carries out puncturing intervention operation using above-mentioned medical mechanical arm 100, series connection mechanical arm can be utilized before inserting needle 110 carry out avoidance with the degree of freedom of 120 redundancy of parallel mechanical arm to patient, and pass through parallel mechanical arm 120 and eliminate series connection machinery The error that arm 110 is accumulated, while parallel mechanical arm 120 can adjust angle and the position of medical components 130, ensure the standard of operation True property, safety, and drive medical components 130 to execute by parallel mechanical arm 120 and puncture intervention operation.It is understood that When lesions position existence position is relatively deep, surgical exposure narrow space, includes the problem of important features such as nerve, the utility model Medical mechanical arm 100 drives such as needle of medical components 130 that can avoid by series connection mechanical arm 110 and parallel mechanical arm 120 Above-mentioned position ensures accuracy, the safety of conveying.
Optionally, connecting flange (not shown), the end of parallel mechanical arm 120 are set on the output shaft of series connection mechanical arm 110 Excessive flange (not shown) is arranged in end, and excessive flange is connected with connecting flange.Connecting flange plays connection with excessive flange and makees With to establish the mechanical connection between series connection mechanical arm 110 and parallel mechanical arm 120, realization series connection mechanical arm 110 drives parallel connection Mechanical arm 120 moves.
As a kind of embodiment, parallel mechanical arm 120 include mounting portion 123, multiple first extensible members 121 and One end of multiple first actuator (not shown), multiple first extensible members 121 is rotatably installed on mounting portion 123 respectively On, the other end of multiple first extensible members 121 is connect with series connection mechanical arm 110, and multiple first actuators respectively drive multiple First extensible member 121 does stretching motion and/or rotary motion.Medical components 130 are installed on mounting portion 123, and first is flexible The stretching motion of component 121 and/or rotary motion can drive mounting portion 123 and medical components 130 to move, to adjust medical portion The position of part 130 and/or angle.Mounting portion 123 plays bearer connection, for carrying medical components 130 i.e. needle.It can be with Understand, medical components 130 are relatively-stationary to be set on mounting portion 123, in this way can be by adjusting the position of mounting portion 123 It sets and/or the angle i.e. angle of adjustable medical components 130.Exemplary, mounting portion 123 can be mounting platform, certainly, in this reality With in novel other embodiment, mounting portion 123 can also be installation buckle, installs fixture or other can realize medical portion Part 130 installs fixed structure.
First actuator drives corresponding first extensible member 121 to do stretching motion and/or rotary motion, can drive peace Dress portion 123 moves, and is rotatably connected between the first extensible member 121 and mounting portion 123 in addition, additionally it is possible to realize mounting portion 123 Angle adjusting, and then the position of adjust installation portion 123 and/or angle.It is understood that work station plans medical treatment in advance Component 130 enter pin position and angle after, work stand control cascade machine tool arm 110 is moved to after the location of instruction and is locked, and is worked Multiple first actuators can be controlled respectively by, which standing, drives corresponding first extensible member 121 to move, to adjust the position of mounting portion 123 Set and/or angle so that the position of the medical components 130 on mounting portion 123 and/or angle and plan in advance enter pin position and Angle matches, to realize that precision enters needle positioning and angle controls so that medical components 130 are carried out according to the path planned in advance Intervention operation is punctured, ensures accuracy, the safety of operation.
Further, medical mechanical arm 100 further includes that multiple second extensible members 122 disposed in parallel and multiple second drive Moving part (not shown), the other end of multiple second extensible members 122 respectively with multiple first extensible members 121 are rotatably connected, First extensible member 121 is connect by the second extensible member 122 with series connection mechanical arm 110.Multiple second actuators respectively drive Multiple second extensible members 122 do stretching motion and/or rotary motion.The stretching motion of second extensible member 122 and/or rotation Movement can drive the first extensible member 121 to move, to adjust position and/or the angle of the first extensible member 121.
Since the movement travel of the first extensible member 121 is shorter, in order to ensure that such as needle of medical components 130 can be accurate It punctures to the lesions position of patient, increases by the second extensible member 122 between the first extensible member 121 and mechanical arm 110 of connecting, Increase the movement travel of the first extensible member 121 by the stretching motion of the second extensible member 122, and then increases mounting portion 123 And the movement travel of medical components 130.Moreover, between multiple first extensible members 121 and multiple second extensible members 122 respectively It is rotatably connected, in this way, the second extensible member 122 drives the corresponding movement of first extensible member 121 that can be stretched increasing by first While the movement travel of contracting component 121, moreover it is possible to adjust the angle of the first extensible member 121, and then realize mounting portion 123 Angle, and can realize the wide-angle adjustment of mounting portion 123, to meet the operation demand of different lesions positions.Also, multiple Two extensible members 122 are arranged in parallel, and can avoid interfering between multiple first extensible members 121 in this way, facilitate first to stretch The position of contracting component 121 and angle control, and then facilitate the position and/or angle of mounting portion 123 and medical components 130 thereon Degree is adjusted.
It should be noted that in the present embodiment, parallel mechanical arm 120 passes through multiple first extensible members 121 and multiple the Two extensible members 122 realize the position of mounting portion 123 and medical components 130 thereon and/or the adjusting of angle jointly, and protect Demonstrate,prove the movement travel of medical components 130;At this point, the first extensible member 121 is connected to series connection machinery by the second extensible member 122 On the output end of arm 110.It is understood that the second extensible member 122 passes through above-mentioned connecting flange and excessive flange and string Join the output end connection of mechanical arm 110.Certainly, in the other embodiment of the utility model, parallel mechanical arm 120 also can be wrapped only Include the first extensible member 121, i.e., only by the stretching motion of the first extensible member 121 realize medical components 130 position and/or The adjusting of angle and the movement travel for ensureing medical components 130, at this point, the first extensible member 121 is connected to series connection mechanical arm On 110 output end.It is understood that the first extensible member 121 by above-mentioned connecting flange and excessive flange with connect The output end of mechanical arm 110 connects.
Exemplary, the first actuator includes but not limited to motor, electromagnet, cylinder etc., as long as power drive can be generated Dynamic first extensible member 121 is flexible.Correspondingly, the second actuator also includes but not limited to motor, electromagnet, cylinder etc. Deng, also, the first actuator can be same driving part, can also use different driving parts.First extensible member 121 include but not limited to telescopic rod, push rod, ball screw etc., as long as can realize that stretching motion drives mounting portion 123 to move .Correspondingly, the second extensible member 122 also includes but not limited to telescopic rod, push rod, ball screw etc..Optionally, first Actuator also can be integrally disposed with the first extensible member 121, such as is electric cylinder.It is understood that parallel mechanical arm 120 Multiple degree of freedom embodied by multiple first extensible members 121, the quantity of the first extensible member 121 is unrestricted in principle, The quantity of the first extensible member 121 can be determined according to the kinematic accuracy of medical components 130.In the present embodiment, parallel mechanical arm 120 degree of freedom is six, correspondingly, the quantity of the first extensible member 121 is six, the quantity of the second extensible member 122 It is six.
In addition, the first actuator can be set to the outside of the first extensible member 121, the first pars contractilis can also be integrated into In part 121, correspondingly, the second actuator may also set up in the outside of the second extensible member 122, it can also be integrated into the second pars contractilis In part 122.In the present embodiment, the first actuator and the second actuator are motor, and the first extensible member 121 and second is flexible Component 122 is push rod, and the first actuator is integrated into the first extensible member 121, and the second actuator is integrated into the second pars contractilis In part 122.
When the medical mechanical arm 100 of the utility model is run, series connection mechanical arm 110 is first according to the motion path planned in advance Movement after the output end for mechanical arm 110 of connecting moves to the location of instruction and locks series connection mechanical arm 110;Parallel manipulator portion is dynamic To make, the second actuator drives the movement of the second extensible member 122, to adjust position and the angle of the first extensible member 121, then, First actuator drives the movement of the first extensible member 121, with adjust mounting portion 123 and medical components 130 thereon position and/ Or angle;When the position of medical components 130 and/or angle with plan in advance enter pin position and after angle matches, Duo Ge Two actuators drive multiple second extensible member, 122 mass motions, with push the first extensible member 121 drive mounting portion 123 and Medical components 130 thereon are translatable so that medical components 130 are punctured to lesions position when puncturing intervention operation.
Optionally, stretch out length after stroke is retracted for the second extensible member 122 0.3 of each second extensible member 122 Times~2 times.It can ensure that the second extensible member 122 has longer movement travel in this way, and then increase the movement of mounting portion 123 Stroke, to meet the operation demand of different lesions positions.
Again optionally, parallel mechanical arm 120 further includes rotatable part 124, each first extensible member 121 and second It is connected by rotatable part 124 between extensible member 122 and/or between each first extensible member 121 and mounting portion 123. Rotatable part 124 can realize that the first extensible member 121 rotates at any angle relative to the second extensible member 122, and Realize that mounting portion 123 rotates at any angle relative to the first extensible member 121, to realize the tune of the angle of medical components 130 Section.Exemplary, rotatable part 124 includes but not limited to flexural pivot, universal joint, swivel bearing etc..
Optionally, there are multiple installation position (not shown), installation position is for detachably installing medical components on mounting portion 123 130, alternatively, installation position is for detachably installing medical components 130 and ancillary equipment (not shown).It is understood that medical The installation site of component 130 is unrestricted in principle, can be any position on mounting portion 123, in use, medical staff Position of the medical components 130 on mounting portion 123 can be selected according to the lesions position of patient, to ensure the accuracy of operation. Moreover, medical components 130 are mounted on installation position, in this way, when medical components 130 are needle etc. disposably or need When the surgical instrument to be sterilized, the medical components 130 that can be replaced after intervention is performed the operation on mounting portion 123 are punctured, facilitate wear next time Thorn intervention operation uses, and to improve the utilization rate of mounting portion 123, saves cost.
In addition, in the other embodiment of the utility model, ancillary equipment can be also installed on mounting portion 123, that is, installed In portion 123 in addition to medical components 130 are installed, ancillary equipment can be also installed, to facilitate the progress for puncturing intervention operation.Here auxiliary It includes but not limited to laser lamp, rangefinder, 3D imaging devices etc. to help equipment.Exemplary, installation position can be mounting hole or peace Boss etc. is filled, as long as the installation of medical components 130 can be realized;Medical components 130 can be set by axle sleeve, card, be pressed from both sides The modes such as tight are installed on installation position so that medical components 130 are reliably fixed on installation position, and medical components 130 is avoided to alter Accuracy that is dynamic and influencing operation.In the present embodiment, medical components 130 are installed on the marginal position of mounting portion 123, in order to The adjusting of angle.
As a kind of embodiment, set is all provided in 121 and/or second extensible member 122 of each first extensible member Appearance detection piece (not shown), pose detection piece are used to detect displacement and/or the angle information of the first extensible member 121.Each position Appearance detection piece can detect displacement and/or the angle of corresponding first extensible member 121, and multiple pose detection pieces are detected The displacement of multiple first extensible members 121 and/or angle information are integrated, to obtain mounting portion 123 and medical components 130 thereon Position and/or angle information.When pose detection piece being arranged in each second extensible member 122, pose detection piece can detect The position of corresponding second extensible member 122 and/or angle, so by the current position of the second extensible member 122 and/or Goniometer calculates position and/or the angle of corresponding first extensible member 121, to obtain mounting portion 123 and medical portion thereon The position of part 130 and/or angle information.
It is understood that pose detection piece can be communicated to connect with work station, pose detection piece is stretched detect first The displacement of contracting component 121 and/or angle information feed back to work station, to obtain mounting portion 123 and medical components 130 thereon Position and/or angle information, and by its with the medical components 130 planned in advance enter pin position and angle is compared, to sentence Whether disconnected medical components 130 move in place.In place such as the movement of medical components 130, then puncture intervention operation can be executed;Such as doctor It treats component 130 and moves not in place, also need to coordinate the second extensible member 122 and the first actuator cooperation the by the second actuator One extensible member 121 realize mounting portion 123 and thereon the position of medical components 130 and/or adjusting.
In the present embodiment, medical mechanical arm 100 further includes control chip (not shown), and control chip is examined with pose respectively Survey part, the first actuator and the electrical connection of the second actuator.Pose detection piece is by the displacement of the first extensible member 121 and/or angle Information is transferred to control chip, and control chip is according to the first driving of the displacement of the first extensible member 121 and/or angle information control Part and/or the movement of the second actuator, to adjust position and the angle of medical components 130.Control chip and work station communication link Connect, work station can by the medical components 130 planned in advance enter pin position and angle is transferred in control chip.Control chip The position of the first extensible member 121 of acquisition and/or angle in real time, and position and/or the angle of medical components 130 are generated, by it With control chip in store the medical components 130 planned in advance enter pin position and angle is compared, and according to compare tie Fruit controls the first actuator and the movement of the second actuator, to realize that precision enters needle positioning and angle controls, ensures the accurate of operation Property.It is understood that control chip can be arranged on parallel mechanical arm 120, may also be arranged on series connection mechanical arm 110, It can also be provided on other structures such as external equipment.
Exemplary, pose detection piece includes encoder.Encoder can be by the angular displacement of the first extensible member 121 or straight line Displacement is converted to electric signal, to form the location information and angle information of medical components 130, and above- mentioned information is fed back to control Chip or work station, to determine whether medical components 130 enter pin position and angle in what is planned in advance.Certainly, in this practicality In novel other embodiment, pose detection piece can also use gyroscope, acceleration transducer etc. to detect medical components 130 Position and angle information.
It should be noted that the quantity of control chip can be one, acquiring multiple poses by a control chip examines The detection information of part is surveyed, and controls multiple first actuators and the movement of the second actuator;Certainly, it is more in the quantity of control chip It is a, integrate a control chip in each first extensible member 121, each chip and corresponding first actuator and corresponding of controlling The electrical connection of the second actuator, control chip detects position and/or the angle of corresponding first extensible member 121, and controls pair The first actuator answered and/or the second actuator movement, with adjust mounting portion 123 and the thereon position of medical components 130 and/or Angle.
As a kind of embodiment, parallel mechanical arm 120 further includes shell 125, and it is flexible that shell 125 wraps up multiple second Component 122, alternatively, shell 125 wraps up multiple first extensible members 121 and multiple second extensible members 122.It is appreciated that It is that shell 125 can only wrap up the second extensible member 122, can be coated with the first extensible member 121 and the second extensible member 122.Shell 125 can play protective action, avoid the second extensible member 122 inside other parts and shell 125 or First extensible member 121 is interfered with the second extensible member 122, while can also meet the environmental requirement of operation.
Further, shell 125 is soft shell, i.e. shell 125 is fabricated from a flexible material, and can avoid shell in this way 125 with inside shell 125 the second extensible member 122 or the generation of the first extensible member 121 and the second extensible member 122 do It relates to, ensures that the adjusting of 130 position of medical components and/or angle is accurate.
In addition, the medical mechanical arm 100 of the utility model can coordinate medical imaging devices to use.It is set by medical imaging It is standby that the lesions position of patient is imaged, enter pin position and angle with plan medical components 130 in advance, then work station control Series connection mechanical arm 110, parallel mechanical arm 120 and the medical components 130 of medical mechanical arm 100 processed move so that medical components 130 Position and/or angle with plan in advance enter pin position and angle matches, ensure operation accuracy.In the present embodiment, Medical imaging devices refer to computer tomography (Computed Tomography, abbreviation:CT) equipment.In other embodiments, The medical imaging devices of the utility model can be MR imaging apparatus, positron emission tomography equipment, radiotherapy It is one or more in equipment, X-ray imaging devices, single photon emission computerized tomography equipment, supersonic imaging apparatus etc. Combination.It can be understood that when using supersonic imaging apparatus, supersonic imaging apparatus can monitor medical components 130 in real time and exist The movement locus of patient's body so that medical components 130 can accurately move to the lesions position of patient, ensure the peace of operation Quan Xing.
Referring to Fig. 1, the present embodiment is illustrated for carrying out puncturing operation to the head 200 of patient.Work as medical staff After determining operation plan, series connection mechanical arm 110 is moved to the top or side of patient's interventional procedure site to be punctured, cascade machine The output end of tool arm 110 is required to reach after the location of instruction and is locked according to operation, and then 120 microcosmic adjustment of parallel mechanical arm is medical Component 130 is position and/or the angle of needle, on the one hand can correct the position error of the output end of series connection mechanical arm 110, On the other hand high-accuracy increment type control method is provided, to realize that precision enters needle positioning and angle control, ensures the standard of operation True property.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, it is all considered to be the record scope of this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed, But it should not be understood as limiting the scope of the patent of the utility model.It should be pointed out that for the common of this field For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to In the scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.

Claims (10)

1. a kind of medical mechanical arm, which is characterized in that including series connection mechanical arm, parallel mechanical arm and medical components;The series connection The executable one or more degree of freedom movements of mechanical arm, the parallel mechanical arm can perform multiple degree of freedom movements, the parallel connection Mechanical arm is connect with the series connection mechanical arm, and the parallel mechanical arm is connect with the medical components;
The series connection mechanical arm is for driving the parallel mechanical arm and the medical components to move to the location of instruction, the parallel connection Mechanical arm is used to adjust position and/or the angle of the medical components.
2. medical mechanical arm according to claim 1, which is characterized in that the parallel mechanical arm includes mounting portion, multiple First extensible member and multiple first actuators, the medical components are installed on the mounting portion, multiple first drivings Part respectively drives multiple first extensible members and does stretching motion and/rotary motion.
3. medical mechanical arm according to claim 2, which is characterized in that the medical mechanical arm further includes multiple parallel sets The second extensible member and multiple second actuators set, multiple second extensible members respectively with multiple first pars contractilis The other end of part is rotatably connected, and first extensible member is connected by second extensible member with the mechanical arm of connecting It connects;
Multiple second actuators respectively drive multiple second extensible members and do stretching motion and/or rotary motion.
4. medical mechanical arm according to claim 3, which is characterized in that each first extensible member and/or described Pose detection piece is respectively provided in second extensible member, the pose detection piece is used to detect the displacement of first extensible member And/or angle information.
5. medical mechanical arm according to claim 4, which is characterized in that the medical mechanical arm further includes control chip, The control chip is electrically connected with the pose detection piece, first actuator and second actuator respectively.
6. according to claim 3 to 5 any one of them medical mechanical arm, which is characterized in that the parallel mechanical arm further includes Rotatable part, each between first extensible member and second extensible member and/or each first pars contractilis It is connected by the rotatable part between part and the mounting portion.
7. medical mechanical arm according to claim 4 or 5, which is characterized in that the medical components include therapy component or Detection part;
The pose detection piece includes encoder or acceleration transducer.
8. according to claim 2 to 5 any one of them medical mechanical arm, which is characterized in that have on the mounting portion multiple Installation position, the installation position is for detachably installing the medical components, alternatively, the installation position is for described in detachably installation Medical components and ancillary equipment.
9. according to claim 3 to 5 any one of them medical mechanical arm, which is characterized in that the parallel mechanical arm further includes Shell, the shell wrap up multiple second extensible members, alternatively, the shell wrap up multiple first extensible members with Multiple second extensible members.
10. medical mechanical arm according to claim 1, which is characterized in that be arranged on the output shaft of the series connection mechanical arm Excessive flange is arranged in the end of connecting flange, the parallel mechanical arm, and the excessive flange is connected with the connecting flange.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108015750A (en) * 2018-01-15 2018-05-11 上海联影医疗科技有限公司 Medical mechanical arm

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108015750A (en) * 2018-01-15 2018-05-11 上海联影医疗科技有限公司 Medical mechanical arm

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Effective date of registration: 20191230

Address after: No. 549-1, building B1, Optical Valley Biological City, No. 666, Gaoxin Avenue, Donghu New Technology Development Zone, Wuhan City, Hubei Province 430000

Patentee after: Wuhan Lianying Zhirong Medical Technology Co., Ltd.

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Patentee before: Shanghai United Imaging Healthcare Co., Ltd.

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