CN120436799A - Surgical assistance robot and control method based on continuum configuration - Google Patents
Surgical assistance robot and control method based on continuum configurationInfo
- Publication number
- CN120436799A CN120436799A CN202510504224.4A CN202510504224A CN120436799A CN 120436799 A CN120436799 A CN 120436799A CN 202510504224 A CN202510504224 A CN 202510504224A CN 120436799 A CN120436799 A CN 120436799A
- Authority
- CN
- China
- Prior art keywords
- rotating
- motor
- movable
- support plate
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Leader-follower robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
- Manipulator (AREA)
Abstract
本发明所述的基于连续体构型的手术辅助机器人及控制方法，属于手术辅助设备技术领域，包括支撑机构、运动定位机构、安装机构和机械执行机构；支撑机构由水平支撑架、垂直支撑架和倒T型架组成；运动定位机构包含云台和滑台机构；安装机构利用液压伸缩装置I和旋转电机I，灵活调节上固定台与下固定台的高度及旋转角度；机械执行机构通过旋转电机II、驱动电机I、驱动电机II、驱动电机III及调节电机，实现活动大臂、活动小臂的展开与末端姿态的精确调节；控制方法包括定位初始化、安装机构调节、机械执行机构展开、执行装置精调、手术操作执行及动态反馈与修正，实现操作的高精度与灵活性，有效克服主从手映射困难、手术灵活性受限的缺陷。
The surgical assistance robot and control method based on continuum configuration described in the present invention belong to the technical field of surgical assistance equipment, and include a support mechanism, a motion positioning mechanism, an installation mechanism and a mechanical actuator; the support mechanism is composed of a horizontal support frame, a vertical support frame and an inverted T-shaped frame; the motion positioning mechanism includes a pan-tilt platform and a slide mechanism; the installation mechanism uses a hydraulic telescopic device I and a rotating motor I to flexibly adjust the height and rotation angle of the upper fixed platform and the lower fixed platform; the mechanical actuator realizes the deployment of the movable upper arm and the movable lower arm and the precise adjustment of the end posture through the rotating motor II, the drive motor I, the drive motor II, the drive motor III and the adjustment motor; the control method includes positioning initialization, installation mechanism adjustment, mechanical actuator deployment, actuator fine-tuning, surgical operation execution and dynamic feedback and correction, so as to achieve high precision and flexibility of operation, and effectively overcome the defects of difficult master-slave hand mapping and limited surgical flexibility.
Description
Technical Field
The invention belongs to the technical field of surgical auxiliary equipment, and particularly relates to a surgical auxiliary robot based on a continuum configuration.
Background
With the rapid development of minimally invasive surgery technology, the operation auxiliary robot becomes an important tool for improving operation precision and reducing doctor fatigue, the existing minimally invasive surgery robot mostly adopts a master-slave structure, and a main operator is linked with a slave operating mechanism through force feedback, so that fine operation is realized. However, the current commercial main operators are mostly based on rigid rod structural design, and can provide force feedback with a certain degree of freedom, but the main operators have high motion coupling property and complex transmission structure, and are difficult to adapt to the flexible motion requirement of the continuum operation robot. In addition, the master-slave heterogeneous mapping of the existing master manipulator and the continuum slave manipulator has the problem of unmatched degrees of freedom, so that the operation flexibility is limited, the control precision is insufficient, and particularly, shaking or pose calibration deviation is easy to occur in a complex operation scene.
A main manipulator for a continuum surgical robot and a surgical robot disclosed by the prior art with the publication number CN111449758A comprise a base, a horizontal deflection mechanism, a vertical deflection mechanism, a feeding mechanism, a data acquisition mechanism and a handheld mechanism, wherein the mechanisms are driven by a motor and are provided with encoders and proximity switches to realize multi-degree-of-freedom motion and origin calibration, the data acquisition mechanism is used for acquiring position change information and feeding back to a controller so as to control slave operation, thereby meeting the control requirement of the continuum surgical robot and providing multi-degree-of-freedom force feedback, but the problems of difficult degree-of-freedom mapping and limited flexibility exist when the manipulator is cooperated with the slave manipulator, and the manipulator is driven by a multi-stage synchronous belt and a guide rod, so that the motion coupling is high and errors are easy to accumulate.
Disclosure of Invention
The invention solves the technical problem of overcoming the defects in the prior art and providing the surgical auxiliary robot based on the continuum configuration.
The technical scheme adopted by the invention is as follows:
the invention discloses a continuous body configuration-based operation auxiliary robot, which comprises a supporting mechanism, a motion positioning mechanism, a mounting mechanism and a mechanical actuating mechanism, wherein the motion positioning mechanism is arranged above the supporting mechanism and comprises a cradle head, the mounting mechanism is connected with the motion positioning mechanism through the cradle head, a rotary guide table is arranged at the bottom of the mounting mechanism, and the mechanical actuating mechanism is connected at the bottom of the rotary guide table.
The supporting mechanism comprises a plurality of horizontal supporting frames, a plurality of vertical supporting frames and a plurality of inverted T-shaped frames, wherein the vertical supporting frames are arranged below the horizontal supporting frames, the horizontal supporting frames comprise long supporting plates used in pairs and short supporting plates used in pairs, the inverted T-shaped frames are arranged between the two vertical supporting frames, the horizontal parts of the inverted T-shaped frames are parallel to the short supporting plates, the vertical parts of the inverted T-shaped frames are arranged between the short supporting plates and the horizontal parts of the inverted T-shaped frames, and the motion positioning mechanism is arranged above the horizontal supporting frames.
The motion positioning mechanism comprises a plurality of sliding table mechanisms, the sliding table mechanisms are arranged on a long supporting plate and a short supporting plate, each sliding table mechanism comprises a stepping motor, a coupler I, a bearing seat I, a threaded rod, a bearing seat II and a sliding table, the rotating end of each stepping motor is connected with the coupler I, the coupler I is connected with a bearing in the bearing seat I, the bearing in the bearing seat I is connected with one end of the threaded rod, the other end of the threaded rod is connected with the bearing in the bearing seat II, the sliding table is arranged between the bearing seat I and the bearing seat II and sleeved on the outer side of the threaded rod, the two sliding tables on the long supporting plate are connected through a displacement rod I, the two sliding tables on the short supporting plate are connected through a displacement rod II, the displacement rod I and the displacement rod II horizontally penetrate through the inside of the holder through holes, and the vertical height of the displacement rod II is higher than that of the displacement rod I.
The installation mechanism comprises an upper fixing table, a hydraulic telescoping device I, a plurality of fixing rods, a lower fixing table, a rotating motor I and a rotating guide table, wherein the top ends of the fixing rods are abutted to the bottom of the upper fixing table, the bottom ends of the fixing rods are abutted to the upper side of the lower fixing table, the fixing rods penetrate through the inside of the cloud table through penetrating holes, the hydraulic telescoping device I is arranged above the cloud table, the top ends of the hydraulic telescoping device I are abutted to the bottom center of the upper fixing table, the rotating guide table is connected to the lower side of the lower fixing table, the rotating motor I is arranged above the lower fixing table, and the rotating end of the rotating motor I is connected with the rotating guide table.
The mechanical actuating mechanism comprises a plurality of movable manipulators, each movable manipulator comprises a fixed column, a movable large arm, a movable small arm and an actuating device, a rotating motor II is arranged in each fixed column, a large arm installation frame is connected to the bottom of each fixed column, each large arm installation frame comprises arc installation plates with two symmetrical sides, a driving motor I is further arranged between the arc installation plates, each movable large arm comprises a large arm support plate with symmetrical use, one end of each large arm support plate is movably connected to the outer side of each arc installation plate and connected with the rotating end of each driving motor I, a driving motor II is arranged between the large arm support plates, and the large arm support plates are connected with the movable small arms through the driving motors II.
The movable forearm comprises a forearm support plate used symmetrically, one end of the forearm support plate is provided with a rotary connecting block, a fixed hole site is formed in the rotary connecting block and fixedly connected with the rotating end of a driving motor II, a forearm adjusting plate is arranged between the forearm support plates, a rotary hole is formed in the forearm adjusting plate, a rotary shaft is arranged in the rotary hole, one end of the rotary shaft is connected with a coupler II, the coupler II is connected with a driving motor III, a plurality of adjusting motors are arranged on the forearm support plate, the rotating ends of the adjusting motors are connected with adjusting gears, grooves are formed in two sides of the forearm adjusting plate, which are close to the forearm support plate, racks are arranged in the grooves and meshed with the adjusting gears, and a shell guard plate is sleeved on the outer side of the forearm support plate.
The actuating device comprises a front supporting plate, a rear supporting plate, a bottom plate and a protective cover, wherein a lower sliding rail is arranged on the bottom plate, a displacement block is arranged on the lower sliding rail, an upper sliding rail is arranged above the displacement block, a hydraulic telescopic device II is arranged on the rear supporting plate, the hydraulic telescopic device II is fixedly connected with one side of the displacement block, actuating equipment is fixedly connected with the other side of the displacement block, the bottom of the bottom plate is connected with a fixed block II, the fixed block II is connected with an electric drive rotary short shaft, a fixed block I is further arranged on the electric drive rotary short shaft, and the fixed block I is fixedly connected with the rotary shaft.
The execution device comprises a main manipulator, a secondary manipulator and an auxiliary manipulator, wherein the auxiliary manipulator is a clamping jaw.
The automatic rotary electric machine further comprises a controller, an encoder, a motion positioning switch, a rotary switch, a movable big arm adjusting switch, a movable small arm adjusting switch and an actuating device adjusting switch, wherein the controller is electrically connected with the encoder, the motion positioning switch, the rotary switch, the movable big arm adjusting switch, the movable small arm adjusting switch and the actuating device adjusting switch, the controller is electrically connected with a stepping motor, a rotary motor I, a hydraulic telescoping device I, a rotary motor II, a driving motor I, a driving motor II, a driving motor III, an adjusting motor, a hydraulic telescoping device II and an electric driving rotary short shaft, and the rotary motor I, the rotary motor II, the driving motor I, the driving motor II, the driving motor III, the adjusting motor and the electric driving rotary short shaft are electrically connected with the encoder.
The invention relates to a control method of a surgical auxiliary robot based on a continuum configuration, which comprises the following steps:
S1, positioning initialization, namely starting a motion positioning mechanism through a controller, controlling a stepping motor to drive a threaded rod to rotate, enabling a sliding table to move along sliding table mechanisms on a long supporting plate and a short supporting plate, and adjusting the position of a cradle head through a displacement rod I and a displacement rod II;
S2, adjusting the mounting mechanism, namely adjusting the heights of the upper fixed table and the lower fixed table through the hydraulic telescopic device I, and simultaneously starting the rotating motor I to drive the rotating guide table to rotate around the vertical axis so as to finish the pose calibration of the mounting mechanism;
S3, the mechanical executing mechanism is unfolded, the rotating motor II is controlled to drive the fixed column to rotate, and the unfolding angles of the movable large arm and the movable small arm are respectively adjusted through the driving motor I and the driving motor II, so that the executing device reaches a target operation area;
S4, finely adjusting the execution device, driving an adjusting gear to be meshed with a rack through an adjusting motor, adjusting the telescopic length of a small arm adjusting plate, and simultaneously controlling a driving motor III to drive a rotating shaft through a coupler II so as to realize the tail end posture adjustment of the execution device;
S5, performing operation, starting a hydraulic telescoping device II to drive a displacement block to move along a lower slide rail and an upper slide rail, controlling a master manipulator, a slave manipulator and clamping jaws to complete clamping, cutting or stitching actions, and adjusting the rotation angle of an executing device in real time through an electric driving rotation short shaft;
and S6, dynamic feedback and correction, namely collecting rotation data of the rotating motor I, the rotating motor II, the driving motor I, the driving motor II, the driving motor III, the adjusting motor and the electric driving rotating short shaft in real time through an encoder, feeding back the rotation data to a controller for closed-loop control, and correcting the position and action precision of the executing device.
The invention has the following beneficial effects:
1. The horizontal support frame and the inverted T-shaped frame are matched to effectively enhance the overall support degree, the vertical and horizontal cross supports of the inverted T-shaped frame are matched to form a rigid frame through the symmetrical arrangement of the long support plate and the short support plate, the overall stability is remarkably enhanced, the vibration interference is reduced, the vertical support frame and the inverted T-shaped frame are matched to optimize the load distribution, the local stress concentration is avoided, and the reliability of long-term operation is improved.
2. The sliding table mechanism directly drives the threaded rod to drive the sliding table to move through the stepping motor, so that accumulated errors of the traditional synchronous belt transmission are eliminated, positioning accuracy and response speed are improved, and meanwhile, the multi-degree-of-freedom pose adjustment of the cradle head is realized by utilizing the vertical height difference of the displacement rod II higher than the displacement rod I, and the operation space is expanded.
3. The hydraulic telescoping device I and the rotary guide table are cooperatively regulated, the heights of the upper fixed table and the lower fixed table are quickly regulated through hydraulic telescoping, the rotary guide table is driven to continuously rotate by 360 degrees by combining the rotary motor I, the quick pose calibration of the mechanical actuating mechanism is realized, and the calibration time is effectively shortened.
4. The movable small arm is meshed with the rack through the adjusting motor driving adjusting gear, the telescopic length of the small arm adjusting plate is accurately controlled, meanwhile, the driving motor III drives the rotating shaft through the coupler II, and multi-dimensional adjustment of the tail end gesture of the executing device is achieved.
5. The electric-driven rotary short shaft and the hydraulic telescopic device II move along the sliding rail through the hydraulic-driven displacement block, and the rotation angle of the executing device is adjusted in real time by combining the electric-driven rotary short shaft, so that finer motion control is realized, and the high-precision requirement is met.
6. The encoder full-link data acquisition and the controller closed-loop correction monitor the motor motion parameters in real time through the encoder, dynamically calculate the position errors by combining the controller, feed back the position errors to the motor and the hydraulic device for track smooth optimization, eliminate jitter and hysteresis, and ensure continuous and stable actions.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall structure of the present invention;
FIG. 3 is a schematic view of a support mechanism;
FIG. 4 is a schematic diagram of a kinematic positioning mechanism;
FIG. 5 is a schematic diagram of a slipway mechanism;
FIG. 6 is a front view of the slide mechanism;
FIG. 7 is a schematic view of a mounting mechanism;
FIG. 8 is a schematic diagram of a mechanical actuator;
FIG. 9 is a schematic diagram of a mobile manipulator structure;
FIG. 10 is a schematic view of an exploded view of a movable forearm;
fig. 11 is an exploded view of the actuator.
Wherein, 1, a supporting mechanism; 2, a motion positioning mechanism; 3, a mounting mechanism; 4, a mechanical actuating mechanism, 5, a cloud deck, 6, a rotary guide deck, 7, a horizontal support frame, 8, a vertical support frame, 9, an inverted T-shaped frame, 10, a long support deck, 11, a short support deck, 12, a sliding table mechanism, 13, a stepping motor, 14, a coupling I, 15, a bearing seat I, 16, a threaded rod, 17, a bearing seat II, 18, a sliding table, 19, a displacement rod I, 20, a displacement rod II, 21, an upper fixed deck, 22, a hydraulic telescoping device I, 23, a fixed rod, 24, a lower fixed deck, 25, a rotating motor I, 26, a fixed column, 27, a movable big arm, 28, a movable small arm, 29, an actuating device, 30, a rotating motor II, 31, an arc-shaped mounting plate, 32, a driving motor I, 33, a big arm support deck, 34, a driving motor II, 35, a small arm support deck, 36, a rotating connection block, 37, a fixed hole site, 38, a small arm adjusting deck, 39, a rotating hole, 40, a rotating shaft, 41, a coupling II, 42, a driving motor III, 43, an adjusting motor 44, an adjusting gear, 45, a regulating gear, a housing, a shell, 46, a movable arm, a movable small arm, 28, a movable small arm, 29, a sliding rail, a movable support deck, 50, a sliding rail, a fixed block, a movable block, a 50, a sliding block, a movable block, a 50, a movable block, a 50, a 33, a movable block, a 33, a large arm, a 33 arm, a 33 regulating arm, a 33 arm regulating arm a arm, a regulating,.
Detailed Description
Example 1:
As shown in fig. 1 to 11, the surgical auxiliary robot based on the continuum configuration of the invention comprises a supporting mechanism 1, a motion positioning mechanism 2, a mounting mechanism 3 and a mechanical actuating mechanism 4, wherein the motion positioning mechanism 2 is arranged above the supporting mechanism 1, the motion positioning mechanism 2 comprises a cradle head 5, the mounting mechanism 3 is connected with the motion positioning mechanism 2 through the cradle head 5, a rotary guide table 6 is arranged at the bottom of the mounting mechanism 3, and the mechanical actuating mechanism 4 is connected at the bottom of the rotary guide table 6.
The supporting mechanism 1 comprises a plurality of horizontal supporting frames 7, a plurality of vertical supporting frames 8 and a plurality of inverted T-shaped frames 9, wherein the vertical supporting frames 8 are arranged below the horizontal supporting frames 7, the horizontal supporting frames 7 comprise long supporting plates 10 used in pairs and short supporting plates 11 used in pairs, the inverted T-shaped frames 9 are arranged between the two vertical supporting frames 8, the horizontal parts of the inverted T-shaped frames 9 are parallel to the short supporting plates 11, the vertical parts of the inverted T-shaped frames 9 are arranged between the short supporting plates 11 and the horizontal parts of the inverted T-shaped frames 9, and the motion positioning mechanism 2 is arranged above the horizontal supporting frames 7.
The motion positioning mechanism 2 comprises a plurality of sliding table mechanisms 12, the sliding table mechanisms 12 are arranged on a long supporting plate 10 and a short supporting plate 11, each sliding table mechanism 12 comprises a stepping motor 13, a coupler I14, a bearing seat I15, a threaded rod 16, a bearing seat II 17 and a sliding table 18, the rotating end of each stepping motor 13 is connected with the corresponding coupler I14, the corresponding coupler I14 is connected with a bearing in the corresponding bearing seat I15, the bearing in the corresponding bearing seat I15 is connected with one end of the corresponding threaded rod 16, the other end of the corresponding threaded rod 16 is connected with a bearing in the corresponding bearing seat II 17, the sliding table 18 is arranged between the corresponding bearing seat I15 and the corresponding bearing seat II 17 and is sleeved on the outer side of the corresponding threaded rod 16, two sliding tables 18 on the long supporting plate 10 are connected through a displacement rod I19, two sliding tables 18 on the short supporting plate 11 are connected through a displacement rod II 20, the displacement rod I19 and the displacement rod II 20 horizontally penetrate through the inside a through hole, and the vertical height of the displacement rod II 20 is higher than the displacement rod I19.
The installation mechanism 3 comprises an upper fixing table 21, a hydraulic telescoping device I22, a plurality of fixing rods 23, a lower fixing table 24, a rotating motor I25 and a rotating guide table 6, wherein the top ends of the fixing rods 23 are abutted to the bottom of the upper fixing table 21, the bottom ends of the fixing rods 23 are abutted to the upper side of the lower fixing table 24, the fixing rods 23 penetrate through the inside of the cradle head 5 through penetrating holes, the hydraulic telescoping device I22 is arranged above the cradle head 5, the top ends of the hydraulic telescoping device I22 are abutted to the center of the bottom of the upper fixing table 21, the rotating guide table 6 is connected to the lower side of the lower fixing table 24, the rotating motor I25 is arranged above the lower fixing table 24, and the rotating end of the rotating motor I25 is connected with the rotating guide table 6.
The mechanical actuating mechanism 4 comprises a plurality of movable manipulators, each movable manipulator comprises a fixed column 26, movable large arms 27, movable small arms 28 and an actuating device 29, rotating motor II 30 is arranged in each fixed column 26, large arm installation frames are connected to the bottoms of the fixed columns 26 and comprise arc installation plates 31 which are symmetrical in two sides, driving motors I32 are further arranged between the arc installation plates 31, the movable large arms 27 comprise large arm support plates 33 which are symmetrical to use, one ends of the large arm support plates 33 are movably connected to the outer sides of the arc installation plates 31 and connected with rotating ends of the driving motors I32, driving motors II 34 are arranged between the large arm support plates 33, and the large arm support plates 33 are connected with the movable small arms 28 through the driving motors II 34.
The movable small arm 28 comprises small arm support plates 35 which are symmetrically used, one end of each small arm support plate 35 is provided with a rotary connecting block 36, fixed hole sites 37 are arranged on the rotary connecting blocks 36, the fixed hole sites 37 are fixedly connected with the rotating ends of driving motors II 34, small arm adjusting plates 38 are arranged between the small arm support plates 35, rotating holes 39 are formed in the small arm adjusting plates 38, rotating shafts 40 are arranged in the rotating holes 39, one ends of the rotating shafts 40 are connected with a coupler II 41, the coupler II 41 is connected with driving motors III 42, a plurality of adjusting motors 43 are arranged on the small arm support plates 35, the rotating ends of the adjusting motors 43 are connected with adjusting gears 44, grooves are formed in the small arm adjusting plates 38, racks 45 are arranged in the grooves and meshed with the adjusting gears 44, and shell guard plates 46 are sleeved on the outer sides of the small arm support plates 35.
The execution device 29 comprises a front supporting plate 47, a rear supporting plate 48, a bottom plate 49 and a protective cover 50, wherein a lower sliding rail 51 is arranged on the bottom plate 49, a displacement block 52 is arranged on the lower sliding rail 51, an upper sliding rail 53 is arranged above the displacement block 52, a hydraulic expansion device II 54 is arranged on the rear supporting plate 48, the hydraulic expansion device II 54 is fixedly connected with one side of the displacement block 52, execution equipment is fixedly connected with the other side of the displacement block 52, a fixed block II 55 is connected with the bottom of the bottom plate 49, the fixed block II 55 is connected with an electric driving rotary short shaft 56, and a fixed block I57 is further arranged on the electric driving rotary short shaft 56 and fixedly connected with the rotary shaft 40.
The execution device comprises a main manipulator, a secondary manipulator and an auxiliary manipulator, wherein the auxiliary manipulator is a clamping jaw.
The automatic rotary electric machine further comprises a controller, an encoder, a motion positioning switch, a rotary switch, a movable big arm adjusting switch, a movable small arm adjusting switch and an actuating device adjusting switch, wherein the controller is electrically connected with the encoder, the motion positioning switch, the rotary switch, the movable big arm adjusting switch, the movable small arm adjusting switch and the actuating device adjusting switch, the controller is electrically connected with the stepping motor 13, the rotary motor I25, the hydraulic telescoping device I22, the rotary motor II 30, the driving motor I32, the driving motor II 34, the driving motor III 42, the adjusting motor 43, the hydraulic telescoping device II 54 and the electric driving rotary short shaft 56, and the rotary motor I25, the rotary motor II 30, the driving motor I32, the driving motor II 34, the driving motor III 42, the adjusting motor 43 and the electric driving rotary short shaft 56 are electrically connected with the encoder.
Specifically, the supporting mechanism 1 is formed by fixing a pair of long supporting plates 10 and short supporting plates 11 through bolts to form a horizontal supporting frame 7, a vertical supporting frame 8 is welded below the horizontal supporting frame 7, and an inverted T-shaped frame 9 is arranged between the two vertical supporting frames 8. The horizontal part of the inverted T-shaped frame 9 is parallel to the short support plate 11, and the vertical part of the inverted T-shaped frame 9 is embedded between the short support plate 11 and the horizontal part of the inverted T-shaped frame 9 to form a stable three-dimensional rigid frame. The long support plate 10 and the short support plate 11 are made of aluminum alloy, the thickness is 15mm, and the integral bending strength is ensured to be not less than 500MPa.
Specifically, the slide table mechanism 12 is fixed to the long support plate 10 and the short support plate 11 by bolts. The stepping motor 13 adopts a motor with the model of 57HS22, the rated torque is 2.5 N.m, the stepping motor is connected with the threaded rod 16 through the coupler I14, the lead of the threaded rod is 5mm, the diameter is 12mm, and the two ends of the threaded rod 16 are respectively supported by the bearing seat I15 and the bearing seat II 17. The sliding table 18 is sleeved on the outer side of the threaded rod 16 by adopting a ball screw pair, and the displacement rod I19 and the displacement rod II 20 are respectively connected with the sliding table 18 on the long support plate 10 and the short support plate 11 and horizontally penetrate through the inside of the cradle head 5 through the through holes. The installation height of the displacement rod II 20 is 30mm higher than that of the displacement rod I19, so that independent movable adjustment of the cradle head 5 on X/Y axes is realized, and the positioning accuracy can reach +/-0.1 mm.
Specifically, the hydraulic telescoping device I22 is vertically installed at the top of the pan-tilt 5, the telescoping end of the hydraulic telescoping device I22 abuts against the center of the upper fixed table 21, the stroke of the hydraulic telescoping device I22 is 200mm, and the thrust is 500N. The fixed rod 23 penetrates through the interior of the cradle head 5, connects the upper fixed table 21 and the lower fixed table 24, and is made of carbon fiber, wherein the diameter of the fixed rod I is 20 mm. The rotating motor I25 adopts a motor with the model of 60BLD, the rated rotation speed is 100r/min, and the rotating motor I25 is arranged above the lower fixed table 24 to drive the rotary guide table 6 to rotate 360 degrees continuously. The controller is used for adjusting the telescoping amount (the stepping precision is 0.5 mm) of the hydraulic telescoping device I22 and the rotation angle (the resolution is 0.01 DEG) of the rotating motor I25, so that the pose calibration of the mounting mechanism 3 can be completed within 10 seconds.
Specifically, the fixed column 26 of the movable manipulator is driven by the rotary motor II 30 to realize + -180 DEG rotation, the rotary motor II 30 is 42BLD, and the torque is 1.2 N.m. The drive motor I32 and the drive motor II 34 control the deployment angles of the movable large arm 27 and the small arm 28, respectively, with the deployment angles ranging from 0 ° to 150 °. The regulating motor 43 adopts a micro-step driving motor, the step angle is 0.036 degrees, the regulating motor 43 drives the regulating gear 44, the regulating gear 44 is meshed with the rack 45 to drive the forearm regulating plate 38 to stretch out and draw back, the driving motor III 42 drives the rotating shaft 40 through the coupler II 41 to realize the pitching regulation of +/-90 degrees and the deflection regulation of +/-180 degrees of the tail end of the executing device 29.
Specifically, the hydraulic telescoping device II 54 drives the displacement block 52 to move along the lower slide rail 51 and the upper slide rail 53, and drives the clamping jaw, the master manipulator and the slave manipulator to perform fine motions. The electrically driven rotation stub 56 is linked with the rotation shaft 40 via a fixed block I57, and adjusts the rotation angle of the actuator 29 in real time.
Specifically, the controller adopts a microcontroller with the model of STM32H7, acquires motor rotation data in real time through the encoder, has the sampling frequency of 1kHz, calculates position errors, and has the error compensation quantity of less than or equal to 0.01mm. If the execution device 29 is detected to deviate from the preset track, the controller immediately adjusts parameters, so that smooth optimization of the track is realized, and the continuity and safety of operation are ensured.
Example 2:
The invention relates to a control method of a surgical auxiliary robot based on a continuum configuration, which comprises the following steps:
S1, positioning initialization, namely starting a motion positioning mechanism 2 through a controller, controlling a stepping motor 13 to drive a threaded rod 16 to rotate, enabling a sliding table 18 to move along a sliding table mechanism 12 on a long supporting plate 10 and a short supporting plate 11, and adjusting the position of a cradle head 5 through a displacement rod I19 and a displacement rod II 20;
S2, adjusting a mounting mechanism, namely adjusting the heights of the upper fixed table 21 and the lower fixed table 24 through a hydraulic telescopic device I22, and simultaneously starting a rotating motor I25 to drive the rotating guide table 6 to rotate around a vertical axis so as to finish the pose calibration of the mounting mechanism 3;
S3, the mechanical executing mechanism is unfolded, the rotating motor II 30 is controlled to drive the fixed column 26 to rotate, and the unfolding angles of the movable large arm 27 and the movable small arm 28 are respectively adjusted through the driving motor I32 and the driving motor II 34, so that the executing device 29 reaches a target operation area;
S4, fine adjustment is performed on the execution device, an adjusting gear 44 is driven by an adjusting motor 43 to be meshed with a rack 45, the telescopic length of the forearm adjusting plate 38 is adjusted, meanwhile, a driving motor III 42 is controlled to drive a rotating shaft 40 through a coupler II 41, and the tail end posture adjustment of the execution device 29 is realized;
s5, performing operation, starting a hydraulic telescoping device II 54 to drive a displacement block 52 to move along a lower sliding rail 51 and an upper sliding rail 53, controlling a master manipulator, a slave manipulator and clamping jaws to complete clamping, cutting or stitching actions, and adjusting the rotation angle of an executing device 29 in real time through an electric driving rotation short shaft 56;
And S6, dynamic feedback and correction, namely collecting rotation data of the rotating motor I25, the rotating motor II 30, the driving motor I32, the driving motor II 34, the driving motor III 42, the adjusting motor 43 and the electric driving rotating short shaft 56 in real time through an encoder, feeding back to a controller for closed-loop control, and correcting the position and action precision of the executing device 29.
Specifically, the positioning is initialized, namely the motion positioning mechanism 2 is started through the controller, the stepping motor 13 is controlled to drive the threaded rod 16 to rotate, and the sliding table 18 moves along the sliding table mechanisms 12 on the long supporting plate 10 and the short supporting plate 11. The position of the cradle head 5 is synchronously adjusted by the displacement rod I19 and the displacement rod II 20, so that the cradle head 5 is moved by 150mm in the X axis and 80mm in the Y axis, and finally the cradle head 5 is positioned right above a patient, and the positioning error is less than or equal to 0.1mm.
Specifically, the mounting mechanism is adjusted by adjusting the heights of the upper fixing table 21 and the lower fixing table 24 through the hydraulic telescopic device I22, and simultaneously starting the rotating motor I25 to drive the rotating guide table 6 to rotate 180 degrees around the vertical axis, so that the initial pose of the mechanical actuating mechanism 4 is aligned with the access direction of the surgical instrument.
Specifically, the mechanical actuating mechanism is unfolded, the rotating motor II 30 is controlled to drive the fixed column 26 to rotate to a target angle, the unfolding angle of the movable large arm 27 is adjusted to 90 degrees through the driving motor I32, and the unfolding angle of the movable small arm 28 is adjusted to 60 degrees through the driving motor II 34, so that the clamping jaw of the actuating device 29 accurately reaches an operation area.
Specifically, the actuating device is finely adjusted, an adjusting motor 43 drives an adjusting gear 44 to be meshed with a rack 45 to adjust the telescopic length of the forearm adjusting plate 38 to 25mm, and meanwhile, a driving motor III 42 drives a rotating shaft 40 through a coupler II 41 to enable the tail end of the actuating device 29 to present fine postures of pitch angle-30 degrees and deflection angle +60 degrees, so that the clamping requirements of surgical tools are met.
Specifically, the operation is performed by starting the hydraulic telescoping device II 54 to drive the displacement block 52 to move for 12mm along the lower slide rail 51 and the upper slide rail 53, controlling the main operator to complete clamping, and adjusting the rotation angle of the executing device 29 in real time through the electric driving rotation short shaft, so as to realize accurate alignment and stitching.
Specifically, the encoder acquires the rotation data of the motor in real time at the frequency of 1kHz and feeds the rotation data back to the controller. When the angular deviation of the actuator 29 is detected, the controller immediately adjusts and completes the trajectory correction, ensuring continuous and stable operation.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510504224.4A CN120436799A (en) | 2025-04-22 | 2025-04-22 | Surgical assistance robot and control method based on continuum configuration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510504224.4A CN120436799A (en) | 2025-04-22 | 2025-04-22 | Surgical assistance robot and control method based on continuum configuration |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN120436799A true CN120436799A (en) | 2025-08-08 |
Family
ID=96623049
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202510504224.4A Pending CN120436799A (en) | 2025-04-22 | 2025-04-22 | Surgical assistance robot and control method based on continuum configuration |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN120436799A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160166343A1 (en) * | 2014-10-30 | 2016-06-16 | The Chinese University Of Hong Kong | Robotic system |
| CN111449758A (en) * | 2020-04-09 | 2020-07-28 | 山东大学 | Main manipulator for continuum surgical robot and surgical robot |
| WO2021145792A1 (en) * | 2019-12-12 | 2021-07-22 | Общество С Ограниченной Ответственностью "Ассистирующие Хирургические Технологии" | Combined manipulator for robotic surgical system |
| CN117357261A (en) * | 2023-11-07 | 2024-01-09 | 天津理工大学 | Variable-rigidity single-hole flexible surgical robot |
| CN117942168A (en) * | 2024-03-07 | 2024-04-30 | 山东大学 | Surgical robot actuator and system for single-side double-channel spinal endoscope |
| US20240398424A1 (en) * | 2021-10-28 | 2024-12-05 | Jordan Amadio | Concentric tube drilling robot device, system and method |
| WO2025077073A1 (en) * | 2023-10-08 | 2025-04-17 | 天津大学 | Flexible continuum joint, flexible robotic arm, and minimally invasive surgical robot for tem |
-
2025
- 2025-04-22 CN CN202510504224.4A patent/CN120436799A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160166343A1 (en) * | 2014-10-30 | 2016-06-16 | The Chinese University Of Hong Kong | Robotic system |
| WO2021145792A1 (en) * | 2019-12-12 | 2021-07-22 | Общество С Ограниченной Ответственностью "Ассистирующие Хирургические Технологии" | Combined manipulator for robotic surgical system |
| CN111449758A (en) * | 2020-04-09 | 2020-07-28 | 山东大学 | Main manipulator for continuum surgical robot and surgical robot |
| US20240398424A1 (en) * | 2021-10-28 | 2024-12-05 | Jordan Amadio | Concentric tube drilling robot device, system and method |
| WO2025077073A1 (en) * | 2023-10-08 | 2025-04-17 | 天津大学 | Flexible continuum joint, flexible robotic arm, and minimally invasive surgical robot for tem |
| CN117357261A (en) * | 2023-11-07 | 2024-01-09 | 天津理工大学 | Variable-rigidity single-hole flexible surgical robot |
| CN117942168A (en) * | 2024-03-07 | 2024-04-30 | 山东大学 | Surgical robot actuator and system for single-side double-channel spinal endoscope |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20230070004A1 (en) | Catheter insertion system and method of fabrication | |
| CN111345894B (en) | Mechanical arm and surgical robot | |
| CN106344160B (en) | A surgical robot with arc-shaped moving joint | |
| US9027431B2 (en) | Remote centre of motion positioner | |
| US11058502B2 (en) | Support arm device | |
| CN111887994A (en) | Flexible endoscope operation robot system based on closed loop feedback and control method thereof | |
| CN2796972Y (en) | Structure of fire freedom space location robot | |
| JP2020078833A (en) | Image capturing apparatus and machine tool | |
| WO2020046214A1 (en) | Robotic arm, minimal invasive surgery robot, and respective manufacturing method thereof | |
| JP6546361B1 (en) | Surgery support device | |
| KR102284387B1 (en) | Surgical system | |
| CN114176902A (en) | Robot automatic compensation motion control method | |
| CN120436799A (en) | Surgical assistance robot and control method based on continuum configuration | |
| CN120244409A (en) | Auxiliary equipment for computer maintenance and control method thereof | |
| CN221369269U (en) | Quick multi-degree-of-freedom deviation correcting mechanism | |
| CN112894771A (en) | Frame-type multi-degree-of-freedom operating robot | |
| CN117381165A (en) | Laser locating welding device for tablet personal computer structural part | |
| CN114407073B (en) | Multi-degree-of-freedom robot | |
| CN117653290A (en) | Two-degree-of-freedom rotary puncture robot system and application method thereof | |
| CN115317089A (en) | Seven-degree-of-freedom puncture robot | |
| CN111015042B (en) | Welding moving device of welding system | |
| CN222805861U (en) | A high-precision electro-hydraulic servo plate rolling machine | |
| JP5074021B2 (en) | Work assistance device | |
| JP2017226030A (en) | Working device, working device system | |
| CN120036897B (en) | A five-degree-of-freedom puncture robot and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |