阅读说明：本技术 一种新型医疗等离子体末端执行器机构 (A kind of Novel medical plasma end effector mechanism ) 是由 戴晓峰 欧思聪 宁萌 于 2019-07-23 设计创作，主要内容包括：本发明涉及医疗康复设备领域,尤其涉及一种新型医疗等离子体末端执行器机构,主要包括装载端、旋转电机、针管底座、针管装卸处、钻头底座、拧紧夹持机构、CAP(等离子体)针管、钻头。CAP是一种低温常压等离子体,是用来治疗某些癌症的新型治疗方法。CAP针管连接底座作为支撑结构,内部中空,包括用于注射与伸缩针管的零部件；针管装卸处与针管底座连接,主要用于实现CAP针管的的可靠夹持与装卸；钻头底座作为钻头部分的底座支撑,内部包括实现钻头传动零部件；拧紧夹持机构作为夹持钻头的机构,可通过旋转达到开合接口的效用,实现夹持和装卸钻头。整个末端执行器通过装载端实现与机械臂等设备连接。本发明利用CAP技术在癌症治疗方面的选择特异性优势,通过夹持CAP针管和钻头以实现对人体脑颅骨等硬组织部分的癌症治疗,结构合理,操作简单,安全有效。(The present invention relates to medical rehabilitation apparatus fields, more particularly to a kind of Novel medical plasma end effector mechanism, mainly include load terminal, rotating electric machine, needle tubing pedestal, at needle tubing handling, drill bit pedestal, tighten clamping device, CAP (plasma) needle tubing, drill bit.CAP is a kind of low temperature normal atmosphere plasma, is the novel method for the treatment of for treating certain cancers.CAP needle tubing connects pedestal as support construction, inner hollow, including for injecting the components with flexible needle tubing；It is connect at needle tubing handling with needle tubing pedestal, is mainly used for realizing reliable retention and the handling of CAP needle tubing；Drill bit pedestal is supported as the pedestal of bit part, and inside includes realizing that drill bit is driven components；Mechanism of the clamping device as clamping drill bit is tightened, the effectiveness of interface can be opened and closed by being rotated up to, realizes clamping and handling drill bit.Entire end effector is realized by load terminal to be connect with equipment such as mechanical arms.The present invention utilizes the special sexual clorminance of selection of the CAP technology in terms for the treatment of of cancer, structurally reasonable by clamping CAP needle tubing and drill bit to realize the treatment of cancer to human body brainpan Gu Deng sclerous tissues part, easy to operate, safely and effectively.)

1. a kind of Novel medical plasma end effector mechanism, it is characterised in that: including load terminal, rotating electric machine, needle tubing At pedestal, needle tubing handling, drill bit pedestal, tighten clamping device, CAP (plasma) needle tubing, drill bit.CAP is that a kind of low temperature is normal Plasma is pressed, is the novel method for the treatment of for treating certain cancers.CAP needle tubing connects pedestal as support construction, inside It is hollow, including for injecting the components with flexible needle tubing；It is connect at needle tubing handling with needle tubing pedestal, is mainly used for realizing CAP The reliable retention of needle tubing and handling；Drill bit pedestal is supported as the pedestal of bit part, and inside includes realizing drill bit transmission zero Component；Mechanism of the clamping device as clamping drill bit is tightened, the effectiveness of interface can be opened and closed by being rotated up to, realizes clamping and dress Unload drill bit.Entire end effector is realized by load terminal to be connect with equipment such as mechanical arms.

2. a kind of Novel medical plasma end effector mechanism described in accordance with the claim 1, it is characterised in that: electric rotating Machine transmits torque to the external connections of end effector mechanism by rotation, realizes that end executes by control motor rotation The rotation of device mechanism, and then the arbitrary switch for controlling drill bit and needle tubing uses, to realize that drilling is dual-purpose with function of injection.

3. a kind of Novel medical plasma end effector mechanism described in accordance with the claim 1, it is characterised in that: electronic Under the action of source, by the precision-fit of the components such as screw rod, gear, rack gear, pin key, CAP needle tubing and drill bit may be implemented Automatic telescopic, and guarantee entire transmission process smooth motion.

4. a kind of Novel medical plasma end effector mechanism described in accordance with the claim 1, it is characterised in that: needle tubing dress It unloads place to connect with needle tubing pedestal, is mainly used for realizing reliable retention and the handling of CAP needle tubing, tightens clamping device as clamping The mechanism of drill bit, can by be rotated up to folding interface effectiveness, realize clamping and handling drill bit, it is ensured that CAP needle tubing and The timely replacement of drill bit uses.

Technical field

The present invention relates to medical rehabilitation apparatus field more particularly to a kind of Novel medical plasma end effector machines Structure.

Background technique

Low temperature normal atmosphere plasma (CAP) is the 4th substance form after gas, liquid, solid.CAP can produce Mild and active material and electromagnetic radiation with effective dose, has multi-modal activity.It is passed different from small molecule or antibody etc. Unite targeted therapies, CAP due to it is multi-modal activity and independent of a certain access or some target spot, can be effective Act on the cell with a certain category feature.CAP include promote wound healing, in terms of medical function it is extensive It is proved repeatedly applied to clinic, such as treatment diabetes, safety and experienced the clinical examination of many decades. In addition, we have found that CAP can reduce tumour cell stemness in early-stage study, and lethal more to tumor stem cell selection By force.

The birth of operating robot is in conventional surgical minimally invasive surgery technology using upper involvement robot technology, by machine People come complete operation operation.Operating robot has huge technical advantage compared with artificial operation, the cutting wound in art Mouth is smaller, and the postoperative Wound healing time is greatly decreased, and operating time is short, accuracy is higher, avoids because doctor's fatigue hand tremor is made At surgical error, while be even more reduce every operation medical staff's quantity, cutting, suture etc. surgical procedures all by one Robot completes.Robot micro-wound operation has many data comparison advantages compared with traditional Minimally Invasive Surgery.End effector As the component part of operating robot, and very the key link.

End effector refers to the end for being assemblied in mechanical arm or automation equipment, directly acts on the dress of target It sets, has the function of clamping, transport, places workpiece to some position.Its improve robot ease for use, the degree of automation, Research crawl application etc. important role.By industrial class, cooperation class and the general trend of events for servicing the outburst of class robot, end End actuator has welcome optimal market incision opportunity.Currently, global more mature end effector production company is with Europe Based on company, America and Japan, the stronger company of strength have SCHUNK, FESTO, RIGHTHAND Labs, ROBOTIQ, SMC, SoftRobotics, Grabit, IAI etc., Chinese end effector market are almost monopolized by these external products.

These products are mainly used in scientific research field, are all made of high-end technology and high end materials, but its production is produced into This is higher；Lower, the not formed volume production in the upper compatible degree that produces with enterprise of application；It along with import and corners the market, leads to the country Electric hand pawl cost is more high, this is undoubtedly huge burden for enterprise, universities' research institutes.

For the above situation, the shortcomings that studying a kind of medical instrument of innovation, can overcome existing end effector, structure is closed It manages, is easy to operate, safe and effective, be able to achieve drilling and injecting dual-purpose Novel medical CAP end effector mechanism.

Summary of the invention

The purpose of the present invention is overcome existing end effector is expensive, precision is lower, have a single function the shortcomings that, have Advantage structurally reasonable, effect is obvious, operation is simple.

Technical solution: to achieve the above object, the technical solution adopted by the present invention are as follows:

A kind of Novel medical plasma end effector mechanism, it is characterised in that: including load terminal, rotating electric machine, needle At tube bottom seat, needle tubing handling, drill bit pedestal, tighten clamping device, CAP needle tubing, drill bit.CAP needle tubing connects pedestal as support Structure, inner hollow, including for injecting the components with flexible needle tubing；It is connect at needle tubing handling with needle tubing pedestal, it is main to use In the reliable retention and handling of realizing CAP needle tubing；Drill bit pedestal is supported as the pedestal of bit part, and inside includes realizing to bore Head transmission components；Mechanism of the clamping device as clamping drill bit is tightened, the effectiveness of interface can be opened and closed by being rotated up to, is realized Clamping and handling drill bit.Entire end effector is realized by load terminal to be connect with equipment such as mechanical arms.

Further, rotating electric machine transmits torque to the external connections of end effector mechanism by rotation, passes through control The rotation of end effector mechanism is realized in motor rotation processed, and then the arbitrary switch for controlling drill bit and needle tubing uses, to realize brill Hole is dual-purpose with function of injection.

Further, electronic source under the action of, by the precision-fit of the components such as screw rod, gear, rack gear, pin key, The automatic telescopic of CAP needle tubing and drill bit may be implemented, and guarantee entire transmission process smooth motion.

Further, it is connect at needle tubing handling with needle tubing pedestal, is mainly used for realizing the reliable retention and dress of CAP needle tubing It unloads, tightens mechanism of the clamping device as clamping drill bit, the effectiveness of interface can be opened and closed by being rotated up to, realizes clamping and handling Drill bit, it is ensured that the timely replacement of CAP needle tubing and drill bit uses.

Detailed description of the invention

With reference to the accompanying drawing and embodiment the present invention is described in further detail:

Fig. 1 is overall schematic of the invention

Fig. 2 is main component exterior contour schematic diagram of the invention

Fig. 3 is needle tubing partial interior schematic diagram of the invention

Fig. 4 is bit part interior view of the invention

[accompanying drawings symbol description] 1. rotating electric machine；2. load terminal；3. needle tubing connects pedestal；4. at needle tubing handling；5.CAP needle Pipe；6. drill bit；7. tightening clamping device；8. drill bit pedestal；9. outer end junction；10. transmission gear；11. fixing threaded hole；12. Driving rack；13. intake interface；14. high-voltage positive electrode；15. ground terminal；16.CAP syringe needle；17. attaching nut's interface；18. syringe needle Needle tubing connector；19. transmission gear；20. pin key；21. transmission gear；22. fixed compass；23. drive screw；24. clamping head.

Specific embodiment

The invention will be further described with reference to the accompanying drawings and embodiments:

This specification structure depicted in this specification institute accompanying drawings, ratio, size, quantity etc., only to cooperate specification to be taken off The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, therefore Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover In enclosing.Meanwhile cited such as "upper", "lower", "left", "right", " centre " term in this specification, it is merely convenient to describe Be illustrated, rather than to limit the scope of the invention, relativeness is altered or modified, and is changing technology without essence It inside holds, when being also considered as the enforceable scope of the present invention.