阅读说明：本技术 一种穿刺手术医疗机器人 (Medical robot for puncture operation ) 是由 李石磊 蒋凯 姚进 于 2021-08-04 设计创作，主要内容包括：本申请提供了一种穿刺手术医疗机器人,实施例包括机器人主体、3-PRR串并联混合机械臂和末端执行器。机器人主体,用于为提供支撑刚度和穿刺点定位的控制驱动。3-PRR串并联混合机械臂与机器人主体驱动连接,用于穿刺点空间内的空间定位；末端执行器,与3-PRR串并联混合机械臂驱动连接,用于进针点在空间中的角度调整。应用本发明的技术方案,可以改善串联机器人和关节式机器人刚度不足的问题,实现穿刺点定位和调姿的解耦,降低控制难度。同时新型的穿刺手术机器人的末端执行器工作平台在运动过程中为平动,降低了手术过程中防碰撞路径规划的设计难度。(The application provides a medical robot for puncture surgery, and the embodiment comprises a robot main body, a 3-PRR serial-parallel hybrid mechanical arm and an end effector. And the robot main body is used for providing support rigidity and control drive for positioning the puncture point. The 3-PRR serial-parallel hybrid mechanical arm is in driving connection with the robot main body and is used for space positioning in a puncture point space; and the end effector is in driving connection with the 3-PRR serial-parallel hybrid mechanical arm and is used for adjusting the angle of the needle feeding point in space. By applying the technical scheme of the invention, the problem of insufficient rigidity of the serial robot and the articulated robot can be solved, the decoupling of puncture point positioning and posture adjustment is realized, and the control difficulty is reduced. Meanwhile, the end effector working platform of the novel puncture surgical robot is in translation in the motion process, and the design difficulty of anti-collision path planning in the surgical process is reduced.)

1. A surgical penetration medical robot, comprising:

the robot comprises a robot main body (110) and a control system, wherein the robot main body consists of a rack (111), three groups of mutually vertical linear guide rails (112) and a driving motor (113);

the 3-PRR serial-parallel hybrid mechanical arm (120) is in driving connection with the robot main body (110) and consists of a linear slider (121) and an RR mechanism (122), and the RR mechanism (122) is formed by connecting two rotating pairs in series;

the end effector (130) is in driving connection with the 3-PRR serial-parallel hybrid mechanical arm (120) and consists of an end effector working platform (131), a plane R joint motor (132), an R1 arc-shaped connecting rod (133), an R2 arc-shaped connecting rod (134), a space R joint motor (135), a needle inserting guide frame (136) and a puncture surgical needle (137);

an operating table (200) for supporting a patient and positioning in a horizontal direction.

2. The surgical penetration medical robot according to claim 1, wherein the robot main body (110) includes:

the rack (111) is fixedly installed, and the basic structural form of the rack is two groups of rectangular frames which are perpendicular to each other;

the linear guide rails (112) are arranged on the rack (111) and are arranged in a mode that two groups of linear guide rails are perpendicularly intersected in the same plane and are mutually perpendicular in a third group;

and the driving motor (113) is in driving connection with the linear guide rail (112).

3. The stab surgical medical robot of claim 1, wherein the 3-PRR series-parallel hybrid robotic arm (120) comprises:

the linear sliding block (121) is in driving connection with the linear guide rail (112), and is provided with three groups of rotary hinge pairs which are perpendicular to each other;

and the RR mechanism (122) is in driving connection with the linear sliding block (121) and the end effector (130) through a rotary hinge pair.

4. The surgical penetration medical robot of claim 1, wherein the end effector (130) comprises:

the end effector working platform (131) is provided with three groups of rotary hinge pairs with mutually vertical axes, is in driving connection with the 3-PRR serial-parallel hybrid mechanical arm (120), and is provided with a rotary hinge pair in driving connection with the R1 arc-shaped connecting rod (133) on the end effector working platform (131);

the plane R joint motor (132) is in driving connection with the end effector working platform (131) and is used for driving the R1 arc-shaped connecting rod (133) to rotate;

the R1 arc-shaped connecting rod (133) is in driving connection with the end effector working platform (131) and the plane R joint motor (132) through a rotary hinge pair;

the R2 arc-shaped connecting rod (134) is in driving connection with the R1 arc-shaped connecting rod (133) and the space R joint motor (135) through a rotary hinge pair;

the space R joint motor (135) is in driving connection with the R2 arc-shaped connecting rod (134) and is used for driving the R2 arc-shaped connecting rod (134) to rotate;

the needle inserting guide frame (136) is arranged on the R2 arc-shaped connecting rod (134) and is used for guiding the puncture surgical needle (137);

a puncture surgical needle (137).

5. The R1 arc link (133) and the R2 arc link (134) as claimed in claim 4, wherein the center of rotation of the R2 arc link 134 coincides with the center of rotation of the R1 interlink 133.

6. The medical robot for puncture surgery according to claim 1, wherein the medical robot for puncture surgery is moved to a predetermined position by a 3-RR series-parallel hybrid robot arm (120) under the control of a computer controller by a driving motor (113) according to a needle feeding point set for surgery.

7. The puncture surgical medical robot according to claim 1, wherein the R1 arc link (133) of the puncture surgical medical robot is moved to a predetermined posture by the driving of the plane R joint motor (132) through the control of the computer controller according to the needle insertion angle set by the surgery.

8. The puncture-surgery medical robot according to claim 1, wherein the R2 arc link (134) of the puncture-surgery medical robot is moved to a predetermined posture by the driving of the plane R joint motor (133) through the control of the computer controller according to the needle insertion angle set by the surgery.

9. The 3-PRR series-parallel hybrid mechanical arm (120) according to claim 3, wherein the combination of a plurality of the RR mechanisms (122) and linear slides (121) further comprises:

n groups of RR mechanisms (122) and N linear sliding blocks (121) are arranged in a staggered mode in space to form an N-PRR series-parallel hybrid mechanical arm, wherein N is larger than or equal to 3.

Technical Field

The invention relates to the technical field of medical instruments, in particular to a puncture surgery robot.

Background

The puncture operation robot is used as a medical operation robot and has wide application prospect in the fields of minimally invasive surgery, radioactive particle implantation surgery, puncture biopsy, blood vessel intervention, pain department minimally invasive intervention surgery and the like.

The existing puncture surgical robot usually adopts simple serial or articulated mechanical arms, so that some problems which cannot be avoided are caused, and in the process of adjusting the position of a working point, if a tail end executing mechanism is required to realize translation, the rigidity of a common general serial manipulator is often insufficient or the required degree of freedom is increased.

However, the tandem or articulated surgical robot has some problems, and the single-arm tandem mechanical arm is installed at one side of the operating table in the puncture operation of the pleuroperitoneal cavity, so that the overlap ratio of the working space and the required working space is low, that is, a larger size is required to be designed for realizing a larger effective working space. The gantry type or rotary type serial robot has a larger size than the single-arm type puncture surgical robot although the coincidence degree of the working space and the required working space is higher, and the operation range of a doctor who performs the operation is greatly limited to a certain extent. The requirements for operating room conditions are also more stringent. And the working space is still wasted. Meanwhile, the stability and the overall rigidity of the tandem robot are poor.

Disclosure of Invention

The embodiment of the invention provides a medical robot for a puncture surgery, and aims to solve the technical problems of the robot for the puncture surgery, such as large size, low utilization rate of a working space, poor specificity, insufficient rigidity, complex positioning process and control and the like.

In an embodiment of the present application, a robot main body includes: the frame is fixedly installed, and the basic structural form of the frame is two groups of rectangular frames which are vertical to each other; the linear guide rails are arranged on the rack and are arranged in a mode that two groups of linear guide rails are vertically intersected in the same plane and are mutually vertical to a third group; and the driving motor is in driving connection with the linear guide rail.

In an embodiment of the present application, a 3-PRR series-parallel hybrid robot includes: the linear sliding block is in driving connection with the linear guide rail, and a rotary hinge pair is arranged on the linear sliding block; and the RR mechanism is formed by combining two rotating pairs and is in driving connection with the linear sliding block and the end effector through a rotating hinge pair.

In an embodiment of the present application, an end effector includes: the end effector working platform is provided with three groups of rotary hinge pairs with mutually vertical axes and is in driving connection with the 3-PRR serial-parallel hybrid mechanical arm, and meanwhile, the end effector working platform is provided with the rotary hinge pairs in driving connection with the R1 arc-shaped connecting rod; the plane R joint motor is in driving connection with the end effector working platform and is used for driving the R1 arc-shaped connecting rod to rotate; the R1 arc-shaped connecting rod is in driving connection with the end effector working platform and the plane R joint motor through a rotary hinge pair; the R2 arc-shaped connecting rod is in driving connection with the R1 arc-shaped connecting rod and the space R joint motor through a rotating hinge pair; the space R joint motor is in driving connection with the R2 arc-shaped connecting rod and is used for driving the R2 arc-shaped connecting rod to rotate; the needle inserting guide frame is arranged on the R2 arc-shaped connecting rod and is used for guiding the puncture surgical needle; puncture surgical needles.

In the embodiment of the application, according to the needle inserting angle set by the operation, the R1 arc-shaped connecting rod of the medical robot for puncture operation moves to the preset posture under the drive of the plane R joint motor through the control of the computer controller.

In the embodiment of the application, according to the needle inserting angle set by the operation, the R2 arc-shaped connecting rod of the medical robot for puncture operation moves to the preset posture under the drive of the plane R joint motor through the control of the computer controller.

In one embodiment, the parallel form of the RR mechanism may also be: n sets of RR mechanisms are arranged in a staggered mode in space, and N is larger than or equal to 3.

The invention provides a novel puncture surgical robot, which realizes the positioning of a puncture point in a space through a 3-PRR serial-parallel hybrid mechanical arm consisting of three groups of PRR serial mechanisms, realizes the posture adjustment of the puncture point through a telecentric positioning end effector, and finally realizes the pose determination of the puncture point. The decoupling of puncture point positioning and posture adjusting movement is realized, and the control difficulty is reduced. Meanwhile, the end effector working platform of the novel puncture surgical robot is in translation in the motion process, and the design difficulty of anti-collision path planning in the surgical process is reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural diagram of a medical robot for puncture surgery according to the present invention;

FIG. 2 is a schematic structural diagram of a robot main body of the medical robot for puncture surgery according to the present invention;

fig. 3 is a structural side view of the medical robot for puncture surgery according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

As shown in fig. 1, the embodiment of the medical robot for puncture surgery of the present invention includes a robot body 110, a 3-PRR series-parallel hybrid robot arm 120, an end effector 130, an operating table 200; a robot main body 110, which is composed of a frame 111, three groups of mutually perpendicular linear guide rails 112 and a driving motor 113; the 3-PRR serial-parallel hybrid mechanical arm 120 is in driving connection with the robot main body 110 and consists of a linear slider 121 and an RR mechanism 122; the end effector 130 is in driving connection with the 3-PRR serial-parallel hybrid mechanical arm 120 and consists of an end effector working platform 131, a plane R joint motor 132, an R1 arc-shaped connecting rod 133, an R2 arc-shaped connecting rod 134, a space R joint motor 135, a needle inserting guide frame 136 and a puncture surgical needle 137; an operating table 200 for supporting a patient and positioning in a horizontal direction.

As shown in fig. 2, the embodiment of the robot main body 110 includes a frame 111, which is fixedly installed and has a basic structure form of two sets of rectangular frames perpendicular to each other; linear guide rails 112, which are disposed on the frame 111 and are arranged in a manner that two groups are perpendicularly intersected in the same plane and are mutually perpendicular in a third group; and a driving motor 113 drivingly connected to the linear guide 112.

As shown in fig. 2, an embodiment of the 3-PRR serial-parallel hybrid robot arm 120 includes a linear slider 121, which is drivingly connected to the linear guide rail 112 and on which a rotary hinge pair is disposed; and the RR mechanism 122 is in driving connection with the linear slider 121 and the end effector 130 through a rotary hinge pair.

As shown in fig. 3, the embodiment of the end effector 130 includes an end effector platform 131, on which three sets of rotation hinge pairs with mutually perpendicular axes are disposed, and which is drivingly connected to the 3-PRR serial-parallel hybrid robot arm 120, and the end effector platform 131 is disposed with a rotation hinge pair which is drivingly connected to the R1 arc-shaped link 133; the plane R joint motor 132 is in driving connection with the end effector working platform 131 and is used for driving the R1 arc-shaped connecting rod 133 to rotate; the R1 arc-shaped connecting rod 133 is in driving connection with the end effector working platform 131 and the plane R joint motor 132 through a rotary hinge pair; the R2 arc-shaped connecting rod 134 is in driving connection with the R1 arc-shaped connecting rod 133 and the space R joint motor 135 through a rotary hinge pair; the space R joint motor 135 is in driving connection with the R2 arc-shaped connecting rod 134 and is used for driving the R2 arc-shaped connecting rod 134 to rotate; the needle inserting guide frame 136 is arranged on the R2 arc-shaped connecting rod 134 and is used for guiding the puncture surgical needle 137; the surgical needle 137 is punctured.

In performing the puncture surgery, the patient is positioned on the operating table 200, and the position of the patient in the direction along the operating table is preliminarily adjusted such that the lesion position is included in the working space range of the robot main body 110; then, the position of the focus is detected by utilizing CT or nuclear magnetic resonance, the needle inserting point is generally the intersection point of the focus on the skin of the patient in the straight line direction of the puncture operation needle, and a doctor adjusts the needle inserting point and the needle inserting direction on a computer; after the relevant detection information is obtained, the robot main body 110 drives the linear guide rail 112 to rotate by the driving motor 113 according to the calibrated position information, and the three groups of linear sliders 121 translate to respective preset positions along the linear guide rail 112 to drive the 3-PRR serial-parallel hybrid mechanical arm 120 to move to the preset positions, so that the end effector working platform 131 is adjusted to the preset positions.

After the end effector working platform 131 is adjusted to a preset position, the plane R joint motor 132 drives the R1 arc-shaped connecting rod 133 to rotate to the preset position, the space R joint motor 135 drives the R2 arc-shaped connecting rod 134 to rotate to the preset position, and the needle insertion guide frame 136 points to a preset angle.

When the position and posture of the needle insertion point are adjusted to the correct posture, the puncture surgical needle 137 is positioned on the extension line of the needle insertion point along the needle insertion angle.