CN211067010U - Puncture robot and needle inserting system for mechanical arm thereof - Google Patents
Puncture robot and needle inserting system for mechanical arm thereof Download PDFInfo
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- CN211067010U CN211067010U CN201921135977.9U CN201921135977U CN211067010U CN 211067010 U CN211067010 U CN 211067010U CN 201921135977 U CN201921135977 U CN 201921135977U CN 211067010 U CN211067010 U CN 211067010U
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Abstract
The utility model discloses a puncture robot and a needle inserting system for a mechanical arm thereof, which comprises a needle body arranged on the mechanical arm; the mechanical arm comprises a clamping seat and a middle-section clamping part, and a first pressure detection device is arranged on the clamping seat; the control device controls the mechanical arm to drive the needle body to perform corresponding actions according to the pressure signal of the first pressure detection device. The middle section suit middle section clamping part at the needle body carries out the centre gripping to the needle body, prevent that the needle body from receiving the resistance of human muscle and tissue and taking place bending deformation, increase the rigidity of needle body, reduce the error in puncture route of needle point to needle body middle section, make the puncture more accurate, and detect the pressure of marcing of needle body through setting up first pressure measurement device on the grip slipper, when the needle body meets internal organs or organs at the needle inlet in-process, drive the needle body through controlling means control arm and carry out corresponding action, in time adjust the needle inlet route of needle body, in order to effectively avoid internal organs or organs.
Description
Technical Field
The utility model relates to the technical field of medical equipment, more specifically say, relate to a needle inserting system for arm, still relate to a puncture robot including needle inserting system for above-mentioned arm.
Background
The mechanical arm of the puncture robot mostly adopts a 5 or 6-freedom-degree high-precision mechanical arm as a needle holding mechanism. The needle holding mechanism can fix a common puncture needle shell or a flexible needle shell, and can ensure that the common puncture needle shell or the flexible needle shell is inserted into a target point along a planning path by adjusting the degrees of freedom such as the needle insertion tendency degree of freedom, the needle insertion angle degree of freedom, the needle insertion movement degree of freedom and the like. The mechanical arm has various styles, and comprises a flexible mechanical arm, a multi-degree-of-freedom mechanical arm supported by a circular arc-shaped fixed seat and the like. The puncture needle can be fixed to advance along a planned path, a target point is achieved with high precision, the deviation of the needle insertion is reduced as much as possible, and important blood vessels or visceral organs are avoided in the needle insertion process.
Due to the characteristics of tissue deformation, non-uniform tissue distribution and the like, the needle point of the puncture needle is stressed unevenly, the needle body is bent and deformed, the puncture track is not a complete straight line, and the deviation is generated between the needle point and a target point position. In addition, the design of the needle holding mechanism of the existing multi-degree-of-freedom mechanical arm mostly tightly holds the needle tail, only has one needle holding point, and causes the problems that the puncture speed is slow, the maximum power of the mechanical arm cannot be reached and the like due to insufficient rigidity of a puncture needle.
SUMMERY OF THE UTILITY MODEL
In view of this, a first object of the present invention is to provide a needle inserting system for a manipulator, so as to solve the problems of the prior needle inserting system that the rigidity of the puncture needle is insufficient during the needle inserting process, the self generates flexible deformation, and the needle inserting offset is large. The second objective of the present invention is to provide a puncture robot including the needle inserting system for the mechanical arm.
In order to achieve the first object, the present invention provides the following technical solutions:
an insertion needle system for a robot arm, comprising:
a needle body arranged on the mechanical arm;
the mechanical arm comprises a clamping seat for fixing the tail end of the needle body and a middle section clamping part for sleeving and clamping the middle section of the needle body, and a first pressure detection device for measuring the advancing pressure of the needle body is arranged on the clamping seat;
and the control device is connected with the first pressure detection device and controls the mechanical arm to drive the needle body to perform corresponding actions according to a pressure signal of the first pressure detection device.
Optionally, the control device comprises:
the first pressure judgment unit is used for receiving a first pressure signal sent by the first pressure detection device, and sending a starting signal to an alarm device for alarming and/or sending a stopping signal to the mechanical arm motion control unit when a first pressure value of the first pressure signal is greater than a first preset pressure value;
and the mechanical arm motion control unit is used for controlling the mechanical arm to stop according to the stop signal of the first pressure judgment unit.
Optionally, the control device further comprises:
the image information judging unit is used for receiving image information of the needle body scanned by the image scanning device between the body to be operated and an operation point, judging according to the image information sent by the image scanning device, and sending a control signal to the path processing unit when an error value between an estimated path between the needle body and the operation point and a preset planned path of the needle body in the image information is less than or equal to a preset error value;
and the path processing unit is used for calculating an actual path from the needle body to an operation point in the body to be operated according to the control signal sent by the image information judging unit and the image information to obtain actual path information and controlling the mechanical arm movement control unit to drive the needle body to insert the needle according to the actual path information.
Optionally, the image information determining unit is further configured to:
when the error value between the estimated path between the needle body and the operation point and the preset planned path of the needle body in the image information is larger than the preset error value, sending a control signal to the mechanical arm motion control unit;
the mechanical arm motion control unit is used for controlling the needle body to rotate by a preset angle by taking the current position of the needle point as a rotation point according to the control signal sent by the image information judging unit, and controlling the first pressure detection device to detect a second pressure value received by the needle body in the rotation process;
when the second pressure value of the first pressure detection device is not larger than the first preset pressure value, the mechanical arm motion control unit drives the needle body to insert the needle along the preset angle.
Optionally, the control device further comprises:
the pressure signal receiving unit is used for receiving the second pressure value received by the first pressure detection device during the rotation of the needle body;
the pressure signal judging unit is connected with the pressure signal receiving unit and used for judging whether the second pressure value is not greater than the first preset pressure value or not, and if so, sending a control signal to the pressure signal sending unit;
and the pressure signal sending unit is connected with the pressure signal judging unit and used for receiving the control signal sent by the pressure signal sending unit and sending a starting signal to the mechanical arm motion control unit so that the mechanical arm motion control unit drives the needle body to insert the needle along the preset angle.
Optionally, the middle section clamping part is provided with a second pressure detection device for measuring circumferential pressure applied to the side wall of the middle section of the needle body during needle insertion, and the second pressure detection device is connected with the control device;
the first pressure judging unit is further used for receiving a second pressure signal sent by the second pressure detecting device, and when a third pressure value of the second pressure signal is larger than a second preset pressure value, a starting signal is sent to an alarming device to alarm and/or a stopping signal is sent to the mechanical arm motion control unit.
Optionally, the mechanical motion control unit is further configured to control the second pressure detection device to detect a fourth pressure value received by the needle body during the rotation process;
when the fourth pressure value of the second pressure detection device is not more than the second preset pressure value and the second pressure value of the first pressure detection device is not more than the first preset pressure value, the mechanical arm motion control unit drives the needle body to insert the needle along the preset angle.
Optionally, be equipped with the slide rail rather than perpendicular setting on the grip slipper, be equipped with on the slide rail the middle section clamping part, the middle section clamping part with the one end that the slide rail contacted is equipped with the slider the middle section clamping part can be in along being close to or keeping away from on the grip slipper move in the direction of grip slipper, in order to follow the length direction of needle body carries out the centre gripping.
Optionally, the first pressure detection device set up in on the grip slipper the afterbody of needle body, the second pressure detection device set up in the middle section clamping part with in the through-hole of needle body suit or the second pressure detection device set up in the middle section clamping part with between the slider, first pressure detection device with the second pressure detection device is equallyd divide and is do not the multidimension force transducer.
The utility model provides a needle inserting system for a mechanical arm, which comprises a needle body arranged on the mechanical arm; the mechanical arm comprises a clamping seat for fixing the tail end of the needle body and a middle section clamping part for sleeving and clamping the middle section of the needle body, and a first pressure detection device for measuring the advancing pressure of the needle body is arranged on the clamping seat; and the control device is connected with the first pressure detection device and controls the mechanical arm to drive the needle body to perform corresponding actions according to a pressure signal of the first pressure detection device.
Use the utility model provides an arm is with needle entering system, middle section suit middle section clamping part at the needle body carries out the centre gripping to the needle body, prevent that the needle body from receiving the resistance of human muscle and tissue and taking place bending deformation, increase the rigidity of needle body, reduce the error in needle point to the puncture route in needle body middle section, make the puncture more accurate, and detect the pressure of marcing of needle body through setting up first pressure measurement device on the grip slipper, when the needle body meets internal organs or organ at the needle entering in-process, in time judge through first pressure measurement device, and drive the needle body according to first pressure measurement device's pressure signal control arm through controlling means and carry out corresponding action, in time adjust the needle entering route of needle body, in order to effectively avoid internal organs or organ.
In order to achieve the second object, the present invention further provides a puncture robot, which includes any one of the above needle inserting systems for mechanical arms, wherein the above needle inserting system for mechanical arm has the above technical effects, and the puncture robot having the needle inserting system for mechanical arm also has the corresponding technical effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a needle insertion system for a robot provided in an embodiment of the present invention.
The drawings are numbered as follows:
Detailed Description
The embodiment of the utility model discloses needle inserting system for mechanical arm to solve present needle inserting system and take place flexible deformation at needle inserting in-process pjncture needle rigidity not enough, self and lead to the great scheduling problem of needle inserting offset.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a needle inserting system for a mechanical arm according to an embodiment of the present invention.
In a specific embodiment, the present invention provides a needle inserting system for a robot arm 1, comprising:
a needle body 5 arranged on the mechanical arm 1;
the mechanical arm 1 comprises a clamping seat 3 for fixing the tail end of the needle body 5 and a middle-section clamping part 6 for sleeving and clamping the middle section of the needle body 5, and a first pressure detection device for measuring the advancing pressure of the needle body 5 is arranged on the clamping seat 3;
and the control device is connected with the first pressure detection device and controls the mechanical arm 1 to drive the needle body 5 to perform corresponding actions according to a pressure signal of the first pressure detection device.
When needle body 5 marchs along predetermineeing the route in the soft tissue, through first pressure measurement device control puncture dynamics at the acceptable within range of patient, and when needle body 5 met internal organs or organ at the in-process of marcing, first pressure measurement's pressure value is great, compare through its pressure value with predetermineeing, in order to judge, controlling means accessible first pressure measurement device's pressure signal control arm 1 drives needle body 5 and carries out corresponding action, if when touchhing internal organs or organ, steerable arm 1 stops the action of needle body 5, wait for instruction on next step. The control device may be a PC, a display or a computer, and may be configured according to the state of the art.
Use the utility model provides a 1 needle system of inserting for arm, 6 centre gripping is carried out needle body 5 in the middle section suit middle section clamping part of needle body 5, prevent that needle body 5 from receiving the resistance of human muscle and tissue and taking place bending deformation, increase the rigidity of needle body 5, reduce the error in the puncture route in needle point to the 5 middle sections of needle body, make the puncture more accurate, and detect the pressure of marcing of needle body 5 through setting up first pressure measurement device on grip slipper 3, when needle body 5 meets internal organs or organs at the needle-inserting in-process, in time judge through first pressure measurement device, and drive arm 1 according to first pressure measurement device's pressure signal control arm through controlling means and carry out corresponding action, in time adjust the needle body 5 advance the needle route, in order to effectively evade internal organs or organs.
Specifically, the control device includes:
the first pressure judging unit is used for receiving a first pressure signal sent by the first pressure detecting device, and sending a starting signal to the alarm device for alarming and/or sending a stopping signal to the motion control unit of the mechanical arm 1 when a first pressure value of the first pressure signal is greater than a first preset pressure value;
and a robot arm 1 motion control unit for controlling the robot arm 1 to stop according to the stop signal of the first pressure judgment unit.
When the first pressure value is larger than the first preset pressure value, the needle body 5 is obstructed in the advancing process, the first pressure judgment unit sends a starting signal to the alarm device for alarming, the alarm device preferably pops up an early warning message on a display of the control device and/or sends a stopping signal to the mechanical arm 1 movement control unit, so that the mechanical arm 1 is controlled to drive the needle body 5 to stop, and the current advancing condition of the needle body 5 can be judged by intervention of a doctor. From this setting to monitor the marching pressure of needle body 5 in real time, in time move when running into the hindrance when needle body 5, in order to avoid in time the internal organs or organ.
In one embodiment, the control device further comprises:
the image information judging unit is used for receiving the image information of the needle body 5 scanned by the image scanning device between the body to be operated and an operation point, judging according to the image information sent by the image scanning device, and sending a control signal to the path processing unit when the error value between the estimated path between the needle body 5 and the operation point and the preset planned path of the needle body 5 in the image information is less than or equal to the preset error value;
and the path processing unit is used for calculating the actual path from the needle body 5 to the operation point in the body to be operated according to the control signal sent by the image information judging unit and the image information to obtain actual path information and controlling the mechanical arm 1 to move the control unit to drive the needle body 5 to perform needle insertion according to the actual path information.
The image scanning device is embodied as a CT scanner. The control device controls the image scanning device to scan at regular time or in real time, and the focus of the patient is scanned by the CT instrument so as to observe the current needle inserting condition of the needle body 5. Certainly, when the preset path is planned, the focus of a patient needs to be scanned by the image scanning unit to obtain a CT scanning image, a puncture path is planned on the CT image, after a body surface puncture point is determined, the control device controls the mechanical arm 1 to move, the clamping seat 3 holds the tail end of the needle body 5, the middle section clamping part 6 holds the middle section of the needle body 5, and the installation of the needle body 5 on the mechanical arm 1 can be completed by assistance of a doctor; the mechanical arm 1 drives the needle tail and the needle middle section to hold the needle end and hold the needle, the puncture needle is adjusted to a proper angle according to a planned path, and the needle tip is close to a body surface puncture point to realize puncture.
After puncture, the image scanning device continues to acquire the image information of the needle body 5 in the body to be operated, the image information judgment unit calculates the error between the estimated path between the needle body 5 and the operation point in the image information and the preset planned path of the needle body 5, when the error is smaller than or equal to the preset error value, a control signal is sent to the path processing unit, the path processing unit calculates the actual path between the needle body 5 in the body to be operated and the operation point according to the image information, and the mechanical arm 1 is controlled to move the control unit to drive the needle body 5 on the mechanical arm 1 to enter the needle along the actual path information.
The coincidence degree between the estimated path between the needle body 5 and the operation point and the preset planned path can be judged, when the coincidence degree is less than or equal to a preset error value, the needle body 5 can be enabled to advance along the preset planned path, or in another embodiment, the actual path between the needle body 5 and the operation point in the body to be operated is calculated according to a control signal sent by an image information judging unit to obtain actual path information, and the needle body 5 is controlled to enter according to the actual path information by a path processing unit, namely, tissue can obviously shrink after puncture of the puncture needle due to body surface fat delivery, so that the path between the needle body 5 and the operation point is more accurate, after image scanning, when the error value between the estimated path between the needle body 5 and the operation point and the needle body 5 is less than or equal to the preset error value, the actual path between the body to be operated and the operation point is further corrected by image information, and controls the needle body 5 to perform needle insertion along the actual path. Wherein, the image scanning unit can treat the operation body according to preset time interval and scan, and specific time interval sets up according to the difference of treating the operation body, all is the utility model discloses a within range is protected.
Further, the image information determination unit is further configured to:
when the error value between the estimated path between the needle body 5 and the operation point and the preset planned path of the needle body 5 in the image information is larger than the preset error value, sending a control signal to a motion control unit of the mechanical arm 1;
the mechanical arm 1 motion control unit is used for controlling the needle body 5 to rotate by a preset angle by taking the current position of the needle point as a rotation point according to a control signal sent by the image information judgment unit and controlling the first pressure detection device to detect a second pressure value received by the needle body 5 in the rotation process;
when the second pressure value of the first pressure detection device is not greater than the first preset pressure value, the mechanical arm 1 motion control unit drives the needle body 5 to insert the needle along the preset angle.
Wherein, be equipped with on the grip slipper 3 and be used for driving needle body 5 and carry out the power piece that rotates along self axis, power piece specifically is motor and belt gear mechanism 4, and belt gear mechanism 4 drives needle body 5 and rotates along self axis, and the mode of inserting the needle through rotatory limit makes needle body 5 can follow linear direction and gos forward. When the mechanical arm 1 motion control unit controls the needle body 5 to rotate by a preset angle by taking the current position of the needle point as a rotation point, the needle body 5 can be driven to rotate along the axis of the needle body 5 by the motor. Since the needle body 5 is made of a flexible carbon fiber material, the needle tip rotates at a predetermined angle during the rotation process, thereby avoiding obstacles.
When the estimated path of the needle body 5 deviates from the preset planning path, the needle body 5 can not reach the operation point along the original path, the path needs to be planned again, in the process that the mechanical arm 1 drives the needle body 5 to move, the body surface needle feeding point needs to be considered to be kept unchanged, the needle point part which is penetrated into the tissue does not deform greatly, the needle point of the needle body 5 takes the current point as a fixed point, the length of the needle body 5 is a radius arc to form a conical path, the fixed point is the vertex of a cone, the angle of the needle body 5 is adjusted according to the preset angle and the preset direction, the preset angle is between 0 and 10 degrees, and the driving of the motor is realized through the motion control unit of the mechanical arm 1. Meanwhile, when the second pressure value of the first pressure detection device is not greater than the first preset pressure value, the current position is free from obstruction, and needle operation can be continued; otherwise, the needle body 5 can not continue at present, and the prompt message can be sent to the control device to carry out corresponding operation, such as pausing the needle insertion and entering the re-planning path by the doctor.
In an embodiment, the power part of the mechanical arm 1 can also be directly controlled by the motion control unit of the mechanical arm 1, so that the needle body 5 rotates by a preset angle with the current position of the needle point as a rotation point, a second pressure value received by the needle body 5 in the rotation process is detected by the first pressure detection device, and when the second pressure value of the first pressure detection device is not greater than the first preset pressure value, the motion control unit of the mechanical arm 1 drives the needle body 5 to insert the needle along the preset angle. This indicates that the current position is clear and needle insertion is possible.
Wherein, controlling means still includes:
a pressure signal receiving unit for receiving a second pressure value received by the first pressure detection device during the rotation of the needle body 5;
the pressure signal judging unit is connected with the pressure signal receiving unit and used for judging whether the second pressure value is not greater than the first preset pressure value or not, and if so, sending a control signal to the pressure signal sending unit;
and the pressure signal sending unit is connected with the pressure signal judging unit and used for receiving the control signal sent by the pressure signal sending unit and sending a starting signal to the mechanical arm 1 motion control unit so that the mechanical arm 1 motion control unit drives the needle body 5 to insert the needle along a preset angle.
Furthermore, the middle section clamping part 6 is provided with a second pressure detection device for measuring the circumferential pressure applied to the side wall of the middle section of the needle body 5 during needle insertion, and the second pressure detection device is connected with the control device;
the first pressure judging unit is also used for receiving a second pressure signal sent by the second pressure detection device, and when a third pressure value of the second pressure signal is greater than a second preset pressure value, a starting signal is sent to the alarm device to alarm and/or a stopping signal is sent to the motion control unit of the mechanical arm 1.
When the needle body 5 is interfered by an obstacle and generates flexible deformation, the pressure in the middle section of the needle body 5 is detected through the second pressure detection device, so that the circumferential pressure in the middle section of the needle body 5 is better detected, the pressure perpendicular to the needle body 5 is detected through the first pressure detection device, and when the third pressure value is larger than the second preset pressure value, a starting signal is sent to the alarm device to alarm and/or a stop signal is sent to the motion control unit of the mechanical arm 1.
Wherein, because the vertical pressure and the circumference pressure value of needle body 5 have predetermined pressure value interval respectively, set up second predetermined pressure value and first predetermined pressure value respectively to carry out the accurate measurement to the pressure of needle body 5.
Alternatively, in one embodiment, the first predetermined pressure value and the second predetermined pressure value may be set equal.
Further, the mechanical motion control unit is also used for controlling the second pressure detection device to detect a fourth pressure value received by the needle body 5 in the rotation process;
when the fourth pressure value of the second pressure detection device is not greater than the second preset pressure value and the second pressure value of the first pressure detection device is not greater than the first preset pressure value, the motion control unit of the mechanical arm 1 drives the needle body 5 to insert the needle along the preset angle.
When the needle body 5 rotates by a preset angle, the second pressure value in the rotating process is detected by the first pressure detection device, the fourth pressure value is detected by the second pressure detection device, and when the second pressure value is not larger than the first preset value and the fourth pressure value is not larger than the second preset pressure value, the needle body 5 is controlled to be inserted.
In other embodiments, a pressure detection device may be disposed at other positions to detect the pressure of the needle body 5, and the control device may control the needle body 5 to insert the needle when the pressure value is within a preset pressure value range by comparing the pressure value with a preset pressure value. The first pressure detection device and the second pressure detection device are respectively a multi-dimensional force sensor, such as a three-dimensional force sensor or a six-dimensional force sensor, and the specific structure and connection relation of the multi-dimensional force sensor can refer to the prior art.
In one embodiment, the grip slipper 3 is provided with a slide rail 2 perpendicular to the grip slipper 3, the slide rail 2 is provided with a middle section grip part 6, one end of the middle section grip part 6 contacting with the slide rail 2 is provided with a slide block 7, and the middle section grip part 6 can move on the grip slipper 3 along a direction close to or far away from the grip slipper 3 so as to grip along the length direction of the needle body 5. From this setting for middle section clamping part 6 can press the length direction removal of needle body 5 and carry out the centre gripping to it, guarantees puncture in-process needle body 5's rigidity, wherein, sets up slide rail 2 on the grip slipper 3, and middle section clamping part 6 cooperates with slide rail 2 through slider 7, and middle section clamping part 6 and grip slipper 3 parallel arrangement to along being close to or keeping away from the direction removal of grip slipper 3. The clamping seat 3 and the middle-section clamping part 6 can be connected through power devices such as an air cylinder or an oil cylinder to realize sliding, so that the positions of holding points of the needle body 5 can be adjusted according to different lengths of the needle body 5, and the fixing requirements of different needle bodies 5 are met.
Preferably, the first pressure detection device is arranged at the tail part of the needle body 5 on the clamping seat 3, the second pressure detection device is arranged in a through hole formed by sleeving the middle clamping part 6 with the needle body 5, and the first pressure detection device and the second pressure detection device are equally divided into a multi-dimensional force sensor. Therefore, the pressure applied to the needle body 5 in the advancing process can be detected in real time, corresponding operation can be carried out, and possible operation accidents can be stopped in time. Further, the second pressure detection device can also be arranged between the middle section clamping part 6 and the sliding block 7, the stress of the needle body 5 is detected by detecting the stress of the middle section clamping part 6, meanwhile, the installation space is large, the installation of the second pressure detection device is convenient, and the installation position of the second pressure detection device can be selected according to actual conditions during actual application.
In a specific embodiment, taking the working body as an example of a human body, the puncture is performed:
scanning the focus of a patient through CT to obtain a CT scanning image;
planning a puncture path on a CT image, calculating the shortest straight-line distance from the body surface to a focus point through the CT image to be used as an optimal path for puncture, selecting another straight-line puncture path according to experience when ribs, blood vessels, tracheas and other tissues needing to be avoided exist on the optimal path, and using a point on the path, which is in contact with the body surface, as a body surface puncture point;
after a body surface puncture point is determined, a mechanical arm 1 which has the same coordinate system as the CT bed and moves synchronously holds the needle tail of the puncture needle, wherein the mechanical arm 1 can be arranged on a slide rail 2 which moves synchronously with the CT bed, and the mechanical arm 1 and a CT image share one coordinate system through a high-sensitivity distance sensor to keep moving synchronously with the CT bed. The middle section clamping part 6 supports the middle section of the puncture needle;
the mechanical arm 1 drives the needle body 5 to adjust the puncture needle to a proper angle according to the planned path, and the needle point is close to the body surface puncture point;
in the first puncture stage, the needle tail applies force to be matched with the middle needle section, the mechanical arm 1 inserts the needle at a certain inclination angle according to a planned path, the first pressure detection device controls the pressure vertical to the needle tail, namely the puncture force, within the acceptable range of a patient, and the second pressure detection device is used as an intermediate process for prejudgment and protection; when the pressure value of the first pressure detection device is larger than a first preset pressure value and/or the pressure value of the second pressure detection device is larger than a second preset pressure value, the puncture path is subjected to resistance and needs to be subjected to intervention judgment by a doctor;
when the needle is inserted to half of the planned path, stopping inserting the needle, scanning a focus image through a CT (computed tomography) instrument, observing the CT image to see whether the puncture needle is inserted along the direction of the target focus on the planned path, planning an actual path through graphic information when the error value is within the error value, starting the mechanical arm 1 when the needle inserting direction is correct, installing and planning the needle insertion of the actual path, and inserting the needle in place at one time.
When the error value is not within the preset range any more, the needle inserting direction deviates, the needle body 5 is rotated by a preset angle, meanwhile, the actual path is obtained and judged by combining the pressure values of the first pressure detection device and the second pressure detection device, the angle of the needle body 5 is adjusted, and the mechanical arm 1 drives the needle tail holding point and the middle section holding point to insert the puncture needle in place at one time according to the planned actual path.
Wherein, can set up two pressure sensor at the needle tail with accurate pressure value, the needle body 5 is preferably carbon fiber needle body 5 to reduce the artifact that the scanning flowed down in the puncture process.
The system increases the accuracy of the puncture operation by increasing the needle-breaking needle-holding points. Specifically, the increased number of the middle-stage holding portions 6 increases the rigidity of the puncture needle, so that the puncture path having a large deviation originally advances in a direction closer to a straight line. Meanwhile, the first pressure detection device and the second pressure detection device enable the mechanical arm 1 to control the puncture needle to control the inclination angle very accurately, so that the accuracy of the puncture operation can be greatly improved.
Based on the needle inserting system for the mechanical arm 1 that provides in the embodiment, the utility model also provides a puncture robot, this puncture robot includes that any one kind of mechanical arm 1 in the above-mentioned embodiment uses the needle inserting system, because this puncture robot has adopted the needle inserting system for the mechanical arm 1 in the above-mentioned embodiment, so this puncture robot's beneficial effect please refer to above-mentioned embodiment.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A needle insertion system for a manipulator, comprising:
a needle body arranged on the mechanical arm;
the mechanical arm comprises a clamping seat for fixing the tail end of the needle body and a middle section clamping part for sleeving and clamping the middle section of the needle body, and a first pressure detection device for measuring the advancing pressure of the needle body is arranged on the clamping seat;
and the control device is connected with the first pressure detection device and controls the mechanical arm to drive the needle body to perform corresponding actions according to a pressure signal of the first pressure detection device.
2. The needle inserting system for a robot arm as claimed in claim 1, wherein said control means comprises:
the first pressure judgment unit is used for receiving a first pressure signal sent by the first pressure detection device, and sending a starting signal to the alarm device for alarming and/or sending a stopping signal to the mechanical arm motion control unit when a first pressure value of the first pressure signal is greater than a first preset pressure value;
and the mechanical arm motion control unit is used for controlling the mechanical arm to stop according to the stop signal of the first pressure judgment unit.
3. The needle inserting system for a robot arm as claimed in claim 2, wherein said control means further comprises:
the image information judging unit is used for receiving image information of the needle body scanned by the image scanning device between the body to be operated and an operation point, judging according to the image information sent by the image scanning device, and sending a control signal to the path processing unit when an error value between an estimated path between the needle body and the operation point and a preset planned path of the needle body in the image information is less than or equal to a preset error value;
and the path processing unit is used for calculating an actual path from the needle body to an operation point in the body to be operated according to the control signal sent by the image information judging unit and the image information to obtain actual path information and controlling the mechanical arm movement control unit to drive the needle body to insert the needle according to the actual path information.
4. The needle inserting system for a robot arm according to claim 3, wherein the image information determining unit is further configured to:
when the error value between the estimated path between the needle body and the operation point and the preset planned path of the needle body in the image information is larger than the preset error value, sending a control signal to the mechanical arm motion control unit;
the mechanical arm motion control unit is used for controlling the needle body to rotate by a preset angle by taking the current position of the needle point as a rotation point according to the control signal sent by the image information judging unit, and controlling the first pressure detection device to detect a second pressure value received by the needle body in the rotation process;
when the second pressure value of the first pressure detection device is not larger than the first preset pressure value, the mechanical arm motion control unit drives the needle body to insert the needle along the preset angle.
5. The needle inserting system for a robot arm as claimed in claim 4, wherein said control means further comprises:
the pressure signal receiving unit is used for receiving the second pressure value received by the first pressure detection device during the rotation of the needle body;
the pressure signal judging unit is connected with the pressure signal receiving unit and used for judging whether the second pressure value is not greater than the first preset pressure value or not, and if so, sending a control signal to the pressure signal sending unit;
and the pressure signal sending unit is connected with the pressure signal judging unit and used for receiving the control signal sent by the pressure signal sending unit and sending a starting signal to the mechanical arm motion control unit so that the mechanical arm motion control unit drives the needle body to insert the needle along the preset angle.
6. The needle inserting system for the mechanical arm according to claim 4, wherein the middle section clamping portion is provided with a second pressure detecting device for measuring circumferential pressure applied to a side wall of the middle section of the needle body during needle inserting, and the second pressure detecting device is connected with the control device;
the first pressure judging unit is further used for receiving a second pressure signal sent by the second pressure detecting device, and when a third pressure value of the second pressure signal is larger than a second preset pressure value, a starting signal is sent to an alarming device to alarm and/or a stopping signal is sent to the mechanical arm motion control unit.
7. The needle inserting system for the mechanical arm as claimed in claim 6, wherein the mechanical arm motion control unit is further configured to control the second pressure detecting device to detect a fourth pressure value applied to the needle body during the rotation;
when the fourth pressure value of the second pressure detection device is not more than the second preset pressure value and the second pressure value of the first pressure detection device is not more than the first preset pressure value, the mechanical arm motion control unit drives the needle body to insert the needle along the preset angle.
8. The needle inserting system for the mechanical arm as claimed in claim 6, wherein a slide rail is provided on the holder and is perpendicular to the holder, the slide rail is provided with the middle section holding portion, a slide block is provided at one end of the middle section holding portion contacting with the slide rail, and the middle section holding portion can move on the holder in a direction close to or away from the holder so as to hold the needle body along a length direction of the needle body.
9. The needle inserting system for the mechanical arm as claimed in claim 8, wherein the first pressure detecting device is disposed at the tail of the needle body on the clamping seat, the second pressure detecting device is disposed in the through hole formed by the middle clamping portion and the needle body or the second pressure detecting device is disposed between the middle clamping portion and the slider, and the first pressure detecting device and the second pressure detecting device are respectively a multi-dimensional force sensor.
10. A puncture robot comprising the needle insertion system for a robot arm according to any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921135977.9U CN211067010U (en) | 2019-07-18 | 2019-07-18 | Puncture robot and needle inserting system for mechanical arm thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921135977.9U CN211067010U (en) | 2019-07-18 | 2019-07-18 | Puncture robot and needle inserting system for mechanical arm thereof |
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| CN211067010U true CN211067010U (en) | 2020-07-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236681A (en) * | 2019-07-18 | 2019-09-17 | 上海钛米机器人科技有限公司 | A kind of Needle-driven Robot and its mechanical arm inserting needle system |
-
2019
- 2019-07-18 CN CN201921135977.9U patent/CN211067010U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236681A (en) * | 2019-07-18 | 2019-09-17 | 上海钛米机器人科技有限公司 | A kind of Needle-driven Robot and its mechanical arm inserting needle system |
| CN110236681B (en) * | 2019-07-18 | 2024-05-31 | 上海钛米机器人科技有限公司 | Puncture robot and needle insertion system for mechanical arm of puncture robot |
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Address after: Room 513-517, No. 351 Guoshoujing Road, Shanghai Pudong New Area Free Trade Pilot Area, 201210 Patentee after: Shanghai TIMI robot Co.,Ltd. Address before: Room 513-517, No. 351 Guoshoujing Road, Shanghai Pudong New Area Free Trade Pilot Area, 201210 Patentee before: SHANGHAI TMI ROBOT TECHNOLOGY Co.,Ltd. |