CN108175507B - Automatic control of high-precision soft tissue cutting robot - Google Patents

Abstract

The invention discloses an automatic control high-precision soft tissue cutting robot system. The robot system includes a vertical guide rail holder 1, a vertical rail 2, a screw linkage nut 3, a horizontal rail stepper motor holder 4, a screw shaft bearing 5, a horizontal rail stepper motor 6, a horizontal rail 7, a slider 8, a vertical rail Orbital stepping motor 9, coupling 10, screw 11, scalpel clamp 12, screw bearing fixing seat 13, flange 14, flange and mechanical arm mounting holes 15, cutting device chassis 16, air extraction Catheter 17, vacuum suction cup 18, tissue to be cut 19, airway 20, vacuum air pump 21, computer 22, scalpel clamp and screw rod linkage nut mounting hole 23, scalpel fixing hole 24, scalpel handle 25, surgical blade 26; The robot fixing module of the invention can effectively solve the cutting problem caused by soft tissue deformation, and the horizontal and vertical control module can realize precise control of cutting length and depth. The robot of the invention has high precision, accurately regulates the shape of the incision, and is easy to control.

Description

Automatic control of high-precision soft tissue cutting robot

technical field

The invention relates to an automatic control high-precision soft tissue cutting robot, belonging to the technical field of robots, in particular to the design of a robot structure.

Background technique

At present, the research on automatic control of high-precision soft tissue cutting robot system is blank, mainly based on virtual cutting models. The soft tissue cutting models proposed in most literatures are generally improved on the basis of classical deformation models, and mesh-based models are often used. -based) method to build. The mesh-based cutting model generally divides the three-dimensional space occupied by soft tissue objects into a mesh formed by a set of finite elements (mostly tetrahedrons) before simulation, and models the cutting process as a surgical tool and a soft tissue geometric model Mesh cutting calculation between (ie, cutting calculation between the cutting surface of the scalpel and the mesh - tetrahedral division). Virtual modeling cannot solve the problem of tissue cutting in reality, and it is difficult to organically combine virtual models with real cutting.

SUMMARY OF THE INVENTION

The invention proposes an automatic control of a high-precision soft tissue cutting robot. The robot with this structural feature can automatically fix the cutting tissue object according to two rows of parallel vacuum suction cup modules, and accurately control the scalpel cutting through a stepping motor according to the mutually perpendicular screw modules. depth and length. Through the coordination between the fixed platform and the cutting module, the desired incision shape can be precisely cut.

An automatic control high-precision soft tissue cutting robot includes a vertical guide rail holder, a vertical rail, a screw linkage nut, a horizontal rail stepping motor holder, a screw bearing, a horizontal rail stepping motor, a horizontal rail, a slider, and a vertical rail Stepper motor, coupling, screw, scalpel clamp, screw bearing holder, flange, flange and robotic arm mounting holes, cutting device chassis, suction duct, vacuum suction cup, tissue to be cut, Airway, vacuum pump, computer, nut fixing hole for scalpel clamp and screw linkage, scalpel fixing hole, scalpel handle, scalpel blade;

An automatic control high-precision soft tissue cutting robot is composed of a soft tissue fixing support bracket that can be configured with a vacuum suction cup, and a tool handle fixture that can be installed with different types of blades controlled by horizontal and vertical guide rails. The number of suction cups can be varied according to the size of the tissue being cut.

The soft tissue is fixed by the vacuum suction cups on the device. The number of vacuum suction cups can be selected according to the size of the tissue to be cut. The vacuum suction cups are connected to the vacuum air pump through the suction pipe. According to the weight of different tissues and the roughness of the surface, the power supply can be controlled to output different voltage values. To control the air pressure in the vacuum suction cup, so as to fix the soft tissue and reduce the cutting difficulty caused by the deformation of the soft tissue;

The horizontal and vertical guide rails precisely control the horizontal and vertical movement distance of the scalpel, and then precisely control the length and depth of the soft tissue incision. The vertical track stepper motor is controlled by a program set in advance. The stepper motor and the vertical track coupling are connected with the vertical track screw rod through the vertical guide rail fixing seat, and the vertical track coupling is connected with the vertical track screw rod. through the screw bearing on the vertical rail mount. The vertical guide screw rotates synchronously with the vertical track stepper motor, so that the screw linkage nut passing through the vertical screw moves vertically on the vertical screw guide. The horizontal track stepper motor is controlled by the program set in advance. The stepper motor and the horizontal track coupling are connected with the horizontal track screw rod through the horizontal guide rail fixed motor base. The horizontal track coupling is connected with the horizontal track screw rod, and the screw rod is connected with the horizontal track screw rod. Pass through the lead screw bearing on the horizontal track lead screw bearing mount. The horizontal guide screw rotates synchronously with the horizontal track stepping motor, so that the screw linkage nut passing through the horizontal screw moves horizontally on the horizontal screw guide. The horizontal rail and the vertical rail are connected with the vertical rail fixing seat on the vertical rail through the screw linkage nut on the horizontal rail, forming precise movement at any point within the set range, and then controlling the depth and length of the cutting;

The power supply is connected with the vacuum air pump, the vacuum air pump is connected with the air pipe, and the air pipe is connected with the suction cup.

The advantages of the present invention are:

(1) The soft tissue fixation frame can effectively solve the cutting bottleneck of soft tissue deformation;

(2) The number of vacuum suction cups on the soft tissue fixation frame can be controlled according to the size of the soft tissue, with flexibility;

(3) The cutting fixture is controlled by the horizontal and vertical directions, within the lead range, it can reach any cutting point, and can cut the set depth and length of the incision;

(4) The cutting angle of the scalpel can be adjusted according to the clip hole of the scalpel, which is suitable for various cutting and more suitable for ordinary people's operation.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the soft tissue cutting robot of the present invention;

Fig. 2 is the overall structure mark of the present invention;

Figure 3 is the structural annotation of the scalpel clamp;

Among them: 1-vertical guide rail holder, 2-vertical rail, 3-screw linkage nut, 4-horizontal rail stepper motor holder, 5-screw bearing, 6-horizontal rail stepper motor, 7-horizontal rail, 8-Slider, 9-Vertical track stepper motor, 10-Coupling, 11-Screw, 12-Scalpel clamp, 13-Screw bearing holder, 14-Flange, 15-Flange and Robot arm mounting hole, 16-cutting device chassis, 17-suction tube, 18-vacuum suction cup, 19-tissue to be cut, 20-trachea, 21-vacuum pump, 22-computer, 23-scalpel clamp and wire Rod linkage nut mounting hole, 24-scalpel mounting hole, 25-scalpel handle, 26-scalpel blade.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

An automatic control high-precision soft tissue cutting robot, as shown in Figure 2 and Figure 3: vertical rail holder 1, vertical rail 2, screw linkage nut 3, horizontal rail stepping motor holder 4, screw bearing 5, horizontal Track stepping motor 6, horizontal track 7, slider 8, vertical track stepping motor 9, coupling 10, screw 11, scalpel clamp 12, screw bearing fixing seat 13, flange 14, flange Mounting hole 15 for robotic arm, chassis 16 for cutting device, suction conduit 17, vacuum suction cup 18, tissue to be cut 19, air conduit 20, vacuum air pump 21, computer 22, nut mounting hole 23 for linkage between scalpel clamp and screw rod, A scalpel mounting hole 24, a scalpel handle 25, a surgical blade 26;

The cutting device is composed of a soft tissue fixed support bracket that can be equipped with a vacuum suction cup, and a tool handle fixture that can be installed with different types of blades controlled by horizontal and vertical guide rails. The number of suction cups can be varied according to the size of the tissue being cut. There are vacuum suction cups installed on the soft tissue fixation bracket. The number of vacuum suction cups can be selected according to the size of the tissue to be cut. The vacuum suction cups are connected to the vacuum air pump through the suction pipe. According to the weight of different tissues and the roughness of the surface, the power supply can be controlled to output different voltage values. Control the air pressure in the vacuum suction cup to fix the soft tissue and reduce the cutting difficulty caused by the deformation of the soft tissue;

The horizontal and vertical guide rails precisely control the horizontal and vertical movement distance of the scalpel, and then precisely control the length and depth of the soft tissue incision. The vertical track stepper motor is controlled by a program set in advance. The stepper motor and the vertical track coupling are connected with the vertical track screw rod through the vertical guide rail fixing seat, and the vertical track coupling is connected with the vertical track screw rod. through the screw bearing on the vertical rail mount. The vertical guide screw rotates synchronously with the vertical track stepper motor, so that the screw linkage nut passing through the vertical screw moves vertically on the vertical screw guide. The horizontal track stepper motor is controlled by the program set in advance. The stepper motor and the horizontal track coupling are connected with the horizontal track screw rod through the horizontal guide rail fixed motor base. The horizontal track coupling is connected with the horizontal track screw rod, and the screw rod is connected with the horizontal track screw rod. Pass through the lead screw bearing on the horizontal track lead screw bearing mount. The horizontal guide screw rotates synchronously with the horizontal track stepping motor, so that the screw linkage nut passing through the horizontal screw moves horizontally on the horizontal screw guide. The horizontal rail and the vertical rail are connected with the vertical rail fixing seat on the vertical rail through the screw linkage nut on the horizontal rail, forming precise movement at any point within the set range, and then controlling the depth and length of the cutting;

The 6-horizontal stepper motor and the 9-vertical stepper motor can be replaced with stepper motors of different specifications according to the hardness of different soft tissues being cut.

The position of the 24-scalpel fixing hole can be changed to control the cutting angle of the scalpel.

The specifications of the 18-vacuum suction cups can be selected, and the specifications of the vacuum suction cups are determined according to the tissue being cut.

The 2-vertical rails and 7-horizontal rails can be replaced with guide rails of different lengths according to the requirements of the incision.

Work process: typical work process

The robot stepper motor controls the work, and precisely controls the position of the scalpel by controlling the rotation speed of the motor and the number of turns. Through the motion control algorithm designed in advance, the motor motion of the moving robot is reasonably coordinated, so that the robot moves in the expected way and cuts incisions of different depths and lengths.

Claims (7)

1. The automatic control high-precision soft tissue cutting robot is characterized by comprising a vertical guide rail fixing seat (1), a vertical rail (2), a screw rod linkage nut (3), a horizontal rail stepping motor fixing seat (4), a screw rod bearing (5), a horizontal rail stepping motor (6), a horizontal rail (7), a sliding block (8), a vertical rail stepping motor (9), a coupler (10), a screw rod (11), a scalpel clamp (12), a screw rod bearing fixing seat (13), a flange plate (14), a flange plate and mechanical arm mounting hole (15), a cutting device underframe (16), an air exhaust guide pipe (17), a vacuum suction disc (18), a tissue to be cut (19), an air guide pipe (20), a vacuum air pump (21), a computer (22) comprising a motion program, a scalpel clamp and screw rod linkage nut fixing hole (23), a scalpel fixing hole (24), The scalpel comprises a scalpel handle (25), a scalpel blade (26), a controller and a motor driver;

the cutting device consists of a soft tissue fixing and supporting bracket which can be provided with a vacuum chuck and a knife handle clamp which is controlled by a transverse guide rail and a longitudinal guide rail and can be used for installing different blades; the number of suction cups can vary according to the size of the tissue to be cut; the soft tissue fixing bracket is provided with vacuum chucks, the number of the vacuum chucks can be selected according to the size of the cut tissue, the vacuum chucks are connected with a vacuum air pump through an air exhaust guide pipe, and a power supply is controlled to output different voltage values to control the air pressure in the vacuum chucks according to different tissue weights and surface roughness, so that the soft tissue is fixed, and the cutting difficulty caused by soft tissue deformation is reduced;

the transverse and longitudinal guide rails accurately control the transverse and longitudinal movement distances of the scalpel, so that the length and depth of the soft tissue incision are accurately controlled; the vertical track stepping motor is controlled by a preset program, the stepping motor and the vertical track coupling are connected with a vertical guide rail lead screw through a vertical guide rail fixing seat, the vertical track coupling is connected with the vertical track lead screw, and the lead screw penetrates through a lead screw bearing on the vertical guide rail fixing seat; the vertical guide rail screw rod and the vertical track stepping motor synchronously rotate, so that a screw rod linkage nut penetrating through the vertical screw rod vertically moves on the vertical screw rod guide rail; the horizontal track stepping motor is controlled by a preset program, the stepping motor and the horizontal track coupler are connected with a horizontal guide rail screw rod through a horizontal guide rail fixing motor base, the horizontal track coupler is connected with the horizontal track screw rod, and the screw rod penetrates through a screw rod bearing on a horizontal track screw rod bearing fixing base; the horizontal guide rail screw rod and the horizontal track stepping motor synchronously rotate, so that a screw rod linkage nut passing through the horizontal screw rod horizontally moves on the horizontal screw rod guide rail; the horizontal track and the vertical track are connected with a vertical guide rail fixing seat on the vertical track through a screw rod linkage nut on the horizontal track, so that accurate movement of any point in a set range is formed, and then the cutting depth and length are controlled.

2. The automatic control high-precision soft tissue cutting robot according to claim 1, wherein the scalpel is driven by a horizontal track stepping motor (6) and a vertical track stepping motor (9) controlled by a computer (22) to accurately reach a designated position.

3. An automatically controlled high precision soft tissue cutting robot according to claim 1, characterized in that the vacuum cups (18) are exchangeable in number and size according to the size and surface roughness of the tissue to be cut.

4. The automatic control high-precision soft tissue cutting robot according to claim 1, wherein a plurality of scalpel fixing holes (24) are provided, so that the cutting at different angles can be realized, and the cutting method more suitable for people can be ensured.

5. The automatic control high precision soft tissue cutting robot according to claim 1, characterized in that the horizontal rail (7) and the vertical rail (2) can change the length of the horizontal rail (7) and the vertical rail (2) according to the requirements of the actual incision length and depth.

6. The automatically controlled high precision soft tissue cutting robot according to claim 1, characterized in that the flange (14) can be modified in the specific position of the flange (14) according to the fixing manner of the mechanical arm.

7. The automatically controlled high precision soft tissue cutting robot according to claim 1, characterized in that the horizontal track stepping motor (6) and the vertical track stepping motor (9) can be replaced by other power of the horizontal track stepping motor (6) and the vertical track stepping motor (9) according to the different properties of the cut tissue.

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