CN119970365B - Injection operation robot and use method thereof - Google Patents
Injection operation robot and use method thereofInfo
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- CN119970365B CN119970365B CN202510465437.0A CN202510465437A CN119970365B CN 119970365 B CN119970365 B CN 119970365B CN 202510465437 A CN202510465437 A CN 202510465437A CN 119970365 B CN119970365 B CN 119970365B
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Abstract
本发明涉及手术器械技术领域，尤其是一种注射手术机器人，包括防抖针头、药液自动推送装置、以及外壳，防抖针头由稳定器、药液输送腔和针头构成，药液自动推送装置由药液储存腔和丝杠传动推进器构成，稳定器安装在外壳与药液输送腔之间，针头与药液输送腔的一端连接，药液输送腔的另一端通过软管与药液储存腔连接，丝杠传动推进器的活动端与药液储存腔内的药液注射推进活塞连接，稳定器为SMA马达，SMA马达设置有多个，多个SMA马达在外壳与药液输送腔之间以拮抗的方式排列连接，本发明基于多个SMA马达的拮抗排列设计相互牵引，精密控制注射针头的稳定性，实现注射器的减震减颤和自动对位功能，从而提高手术精度和安全性。
The present invention relates to the field of surgical instrument technology, in particular to an injection surgical robot, comprising an anti-shake needle, an automatic liquid medicine pushing device, and a shell. The anti-shake needle is composed of a stabilizer, a liquid medicine delivery chamber, and a needle. The automatic liquid medicine pushing device is composed of a liquid medicine storage chamber and a screw drive propeller. The stabilizer is installed between the shell and the liquid medicine delivery chamber, the needle is connected to one end of the liquid medicine delivery chamber, and the other end of the liquid medicine delivery chamber is connected to the liquid medicine storage chamber through a hose. The movable end of the screw drive propeller is connected to the liquid medicine injection propulsion piston in the liquid medicine storage chamber. The stabilizer is an SMA motor, and a plurality of SMA motors are provided. The plurality of SMA motors are arranged and connected in an antagonistic manner between the shell and the liquid medicine delivery chamber. The present invention is based on the antagonistic arrangement design of the plurality of SMA motors, which pull each other, precisely control the stability of the injection needle, realize the shock absorption and tremor reduction and automatic alignment functions of the syringe, thereby improving the surgical accuracy and safety.
Description
Technical Field
The invention relates to the technical field of surgical instruments, in particular to an injection surgical robot and a use method thereof.
Background
At present, fundus injection surgery requires extremely high operation precision, especially subretinal injection and retinal vascular puncture drug injection. However, due to the complex and fragile structure of the eyeballs, the physiological tremors of the hands of the doctor can significantly affect the accuracy of the surgery and may even cause injury to the patient. In addition, the operation mode of the traditional syringe needs to manually push the liquid medicine, and once a doctor has tired feeling, the operation precision can be reduced and the operation risk is correspondingly increased.
In recent years, the robot assisted surgery technology is gradually applied to the field of ophthalmology, and the surgery effect is remarkably improved by filtering hand tremors, improving positioning accuracy and reducing surgery wounds. However, the existing robot system still has the problems of large volume, heavy weight, complex operation and the like, and limits the surgical application of the existing robot system in fundus injection and the like in a narrow space.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an injection operation robot, which is used for the operation of subretinal injection and retinal vascular puncture injection in ophthalmic operation, and aims to solve the problem of insufficient precision caused by physiological tremor of hands of doctors in the traditional operation and reduce the operation difficulty and risk of the operation.
The injection surgery robot comprises an anti-shake needle head, a liquid medicine automatic pushing device and a shell for mounting the anti-shake needle head and the liquid medicine automatic pushing device, wherein the anti-shake needle head consists of a stabilizer, a liquid medicine conveying cavity and a needle head, the liquid medicine automatic pushing device consists of a liquid medicine storage cavity and a screw drive propeller, the stabilizer is mounted between the shell and the liquid medicine conveying cavity, the needle head is connected with one end of the liquid medicine conveying cavity, the other end of the liquid medicine conveying cavity is connected with the liquid medicine storage cavity through a hose, the movable end of the screw drive propeller is connected with a liquid medicine injection pushing piston in the liquid medicine storage cavity, the stabilizer is an SMA motor, and a plurality of SMA motors are arranged and connected between the shell and the liquid medicine conveying cavity in an antagonistic mode.
In some embodiments, the SMA motors are provided with 8, 8 SMA motors combined to form an SMA eight-wire motor, and the 8 SMA wires of the SMA eight-wire motor are connected in an antagonistic manner between the housing and the drug solution delivery cavity.
In some embodiments, the stabilizer is disposed in plurality within the housing, and the plurality of stabilizers are disposed in a lengthwise arrangement within the housing.
In some embodiments, the inner wall of the shell and the liquid medicine conveying cavity are both provided with locking wire mechanisms, and two ends of an SMA wire of the SMA motor are respectively clamped and fixed through corresponding locking wire mechanisms.
In some embodiments, the thread locking mechanism comprises a first thread locking mechanism arranged on the shell and a second thread locking mechanism arranged on the liquid medicine conveying cavity, and the first thread locking mechanism and the second thread locking mechanism are distributed in a cross shape in the end face direction.
In some embodiments, the number of the first locking mechanisms is 4, each 2 first locking mechanisms are a group of first locking mechanisms arranged on the same side of the shell in the front-back direction, and the two groups of first locking mechanisms are symmetrically arranged on the shell;
The number of the second thread locking mechanisms is 2, and the 2 second thread locking mechanisms are symmetrically arranged on the liquid medicine conveying cavity;
The first locking wire mechanism positioned at the front end of the shell is connected with the rear end of the second locking wire mechanism through an SMA wire of the SMA motor;
the first locking wire mechanism positioned at the rear end of the shell is connected with the front end of the second locking wire mechanism through an SMA wire of the SMA motor.
In some embodiments, the automatic liquid medicine pushing device comprises a piston push rod, a transmission screw rod, a screw rod fixing structure, a screw rod driver and a stepping motor, wherein the screw rod fixing structure is arranged in the shell, the transmission screw rod is rotatably arranged on the screw rod fixing structure, the screw rod driver is matched with the transmission screw rod, the piston push rod is connected with the screw rod driver, one end of the piston push rod, which is close to the needle head, is connected with a liquid medicine injection pushing piston in the liquid medicine storage cavity, the stepping motor is arranged in the shell, and a rotating shaft of the stepping motor is connected with one end of the transmission screw rod.
In some embodiments, a viewing window is provided on the housing corresponding to the medical fluid storage chamber.
In some embodiments, the outer wall of the liquid medicine storage cavity is provided with liquid medicine graduations.
In order to achieve the purpose, the invention also provides a using method of the injection operation robot, which comprises the following steps:
(1) The initial state is that the eight SMA wires are in a stretched state, and the liquid medicine conveying cavity is suspended relative to the shell under the common traction of the eight SMA wires;
(2) When the injection operation robot is used, different on-off conditions are applied to the eight SMA wires through the controller, so that the motion control of the liquid medicine conveying cavity is realized;
(3) If four SMA wires positioned at the left side of the liquid medicine conveying cavity shrink simultaneously, the liquid medicine conveying cavity moves horizontally to the left;
if four SMA wires positioned on the right side of the liquid medicine conveying cavity shrink simultaneously, the liquid medicine conveying cavity moves horizontally to the right;
if four SMA wires positioned on the upper side of the liquid medicine conveying cavity shrink at the same time, the liquid medicine conveying cavity moves horizontally upwards;
If four SMA wires positioned at the lower side of the liquid medicine conveying cavity shrink at the same time, the liquid medicine conveying cavity moves horizontally downwards;
if four SMA wires connected with the rear end of the liquid medicine conveying cavity shrink simultaneously, the liquid medicine conveying cavity moves forward in a translational mode;
If four SMA wires connected with the front end of the liquid medicine conveying cavity shrink at the same time, the liquid medicine conveying cavity moves in a translational mode to the rear;
If six SMA wires positioned on the upper side and the left side of the liquid medicine conveying cavity shrink simultaneously, the liquid medicine conveying cavity moves horizontally upwards and leftwards;
if six SMA wires positioned on the upper side and the right side of the liquid medicine conveying cavity shrink simultaneously, the liquid medicine conveying cavity moves horizontally and upwards to the right;
if six SMA wires positioned at the lower side and the left side of the liquid medicine conveying cavity shrink simultaneously, the liquid medicine conveying cavity moves horizontally leftwards and downwards;
if six SMA wires positioned at the lower side and the right side of the liquid medicine conveying cavity shrink simultaneously, the liquid medicine conveying cavity moves horizontally to the right and downwards;
(4) When the SMA wire is electrified, the original stretched state generates a shrinkage trend until the SMA wire moves to a state of stress balance, so that the stable operation control of the liquid medicine conveying cavity is realized;
(5) Driving the needle to move within a preset range through the liquid medicine conveying cavity according to the control mode of the SMA wire in the step (3);
(6) During the operation, the vibration signals are detected by a sensor in the injection operation robot and fed back to the controller, and the controller controls the SMA eight-wire motor to run in the vibrating reverse shrinkage mode, so that the vibration reduction and the shake prevention of the needle head are realized;
(7) Meanwhile, the operation button controls the stepping motor to operate, and the transmission screw rod rotates along with the stepping motor, so that the screw rod driver is driven to move on the transmission screw rod, and finally, the piston push rod is driven to push in the liquid medicine storage cavity;
(8) The liquid medicine in the liquid medicine storage cavity sequentially passes through the liquid medicine storage cavity, the hose and the liquid medicine conveying cavity and is injected to the operation part from the needle head.
Compared with the prior art, the intelligent robot has the beneficial effects that the intelligent robot can automatically identify the shake of the robot by utilizing the SMA eight-wire motor and make anti-shake movement, realize the functions of anti-shake and automatic alignment, and can automatically push the liquid medicine into eyeballs through the buttons on the shell. The needle head position fault tolerance and precision are improved, the operation of manually pushing the liquid medicine by the traditional injector is omitted, the operation difficulty and risk of fundus injection operation are greatly reduced, and an efficient and safe auxiliary tool is provided for ophthalmic operation.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the other features, objects, and advantages of the application, and to provide a thorough description and understanding of the application in terms of the embodiments of the application.
Drawings
FIG. 1 is a schematic view of the operation of the surgical robot of the present invention;
FIG. 2 is a schematic view of a stabilizer layout inside a surgical robot according to the present invention;
FIG. 3 is a schematic view of a stabilizer layout inside the surgical robot of the present invention;
FIG. 4 is an overall view showing a surgical robot according to the present invention;
FIG. 5 is a schematic view of the internal structure of the surgical robot according to the present invention;
FIG. 6 is an elevation view of an SMA eight wire motor and drug solution delivery chamber of the present invention;
FIG. 7 is a schematic illustration of the arrangement and relationship of SMA wires of the present invention;
FIG. 8 is a side end view of the SMA eight wire motor and drug solution delivery chamber of the present invention;
FIG. 9 is a connection of an SMA eight-wire motor and its drive control circuit according to the present invention;
FIG. 10 is a schematic view of a medical fluid storage chamber and a screw drive pusher of the present invention;
fig. 11 is a detailed view showing the screw drive propeller of the present invention.
The device comprises a needle head 1, a medicine liquid automatic pushing device 2, a shell 3, a motor 4, a medicine liquid conveying cavity 5, a needle head 7, a medicine liquid line 8, a thread locking mechanism 9, a hose 10, a medicine liquid storage cavity 11, a screw drive propeller 12, a piston push rod 13, a drive screw 14, a screw fixing structure 15, a screw drive 16, a stepping motor 17, a button 18, an external power supply line 19, a shell windowing 20 and a circuit arrangement area.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1-3, the invention provides a technical scheme that an injection operation robot comprises an anti-shake needle head 1, a liquid medicine automatic pushing device 2 and a shell 3 for installing the anti-shake needle head 1 and the liquid medicine automatic pushing device 2, wherein the anti-shake needle head 1 is composed of a stabilizer, a liquid medicine conveying cavity 5 and a needle head 6, the liquid medicine automatic pushing device 2 is composed of a liquid medicine storage cavity 10 and a screw drive propeller 11, the stabilizer is installed between the shell 3 and the liquid medicine conveying cavity 5, the needle head 6 is connected with one end of the liquid medicine conveying cavity 5, the other end of the liquid medicine conveying cavity 5 is connected with the liquid medicine storage cavity 10 through a hose 9, the movable end of the screw drive propeller 11 is connected with a liquid medicine injection pushing piston in the liquid medicine storage cavity 10, and the built-in stabilizer is a structure connected between the handheld shell 3 and the automatic injector and is used for stabilizing the injector and reducing the influence of hand shake on injection accuracy. The stabilizer can automatically recognize shake through the drive control circuit to guide the injector to move towards the direction opposite to shake, and the automatic liquid medicine pushing device 2 can automatically push liquid medicine to get rid of the traditional hand pushing injection mode.
Meanwhile, in order to improve the control precision, a plurality of stabilizers can be arranged in the shell 3 in a length direction arrangement mode, the effect of redundant driving is achieved, the stability and fault tolerance of the robot are further improved, and therefore the operation precision and safety are improved.
Example 2
On the basis of embodiment 1, as shown in fig. 4-5, the stabilizer is an SMA motor and a driving control circuit thereof, the stabilizer weakens and compensates the shake possibly occurring in the needle 6 during operation, the medicine liquid conveying cavity 5 and the needle 6 are mutually pulled by the SMA wire 7 of the SMA motor, multiple degrees of freedom can be provided in a certain space, automatic adjustment of the position of the injection needle 6 is realized under the control and feedback of the signal of the driving control circuit, a doctor controls the operation of the screw driving propeller 11 through the operation button 17 during fundus injection operation to realize automatic pushing of medicine liquid, and the control circuit of the screw driving propeller 11 precisely controls the screw driving propeller 11 to slowly push the medicine liquid into the medicine liquid conveying cavity 5 under the condition of power supply of an external power supply. Through the design of the anti-shake needle head 1 with the functions of shock absorption and vibration reduction and automatic alignment and the one-key type automatic liquid medicine pushing device 2, the precision and the fault tolerance of fundus injection surgery can be greatly improved, and meanwhile, the operation difficulty and the risk of the surgery are reduced.
Example 3
On the basis of example 2, as shown in fig. 6 to 9, the following will be explained by means of a single stabilizer, i.e., a group of SMA eight-wire motors 4:
The inner wall of the shell 3 and the liquid medicine conveying cavity 5 are respectively provided with a locking wire mechanism 8, two ends of an SMA wire 7 of the SMA motor are respectively clamped and fixed through the corresponding locking wire mechanisms 8, 8 SMA motors are arranged, 8 SMA motors are combined to form an SMA eight-wire motor 4, and the SMA eight-wire motor 4 is actually that eight SMA wires 7 mutually cooperate to draw an object to move freely under the control of an electric signal of a drive control circuit. The SMA wires 7 act as drive wires for an eight wire motor, with the eight SMA wires 7 being arranged in an antagonistic manner. For example, one set of SMA wires 7 relaxes when energized and contracts, thereby achieving precise control of the multi-directional degrees of freedom. Each SMA wire 7 can be controlled independently, achieving different degrees of contraction by accurate current control, thereby achieving accurate positional adjustment. The eight-wire configuration allows for motion control in multiple directions, such as X, Y, Z directions and rotational directions, and this multi-directional control capability allows the physician to more precisely control the position of the needle 6.
The SMA wire 7 is commonly referred to as a shape memory alloy wire, the primary material of which is nitinol. The SMA wire 7 can shrink or deform after being electrified and heated so as to drive an object connected with the SMA wire 7 to move, the SMA wire 7 has super elasticity, and can recover to an original shape within a larger deformation range after being electrified and heated, so that the SMA eight-wire motor 4 can keep stable performance in a complex mechanical environment, and the SMA wire 7 has high strength and high fatigue life, so that the eight-wire motor can bear repeated stress and cannot be easily broken;
Further, as shown in fig. 9, an SMA eight-wire motor 4 drive control circuit is connected to each SMA wire 7. One end of the SMA wire 7 is connected with a current input end, the other end of the SMA wire 7 is connected with GND, and the driving control circuit of the SMA eight-wire motor 4 comprises a power management unit, a current source, an automatic control unit for electrifying the SMA wire 7, an amplifier, an acceleration sensor feedback control loop, a filter circuit, a temperature sensor and a protection circuit.
The power management unit comprises a voltage stabilizer, a power converter and the like, and is required to convert external power supply and provide stable voltage and current for a drive control circuit of the whole SMA eight-wire motor 4;
the current source provides the SMA wire 7 with the required current to generate the heat required for deformation, the magnitude and duration of the current being required to be able to be controlled accurately;
the automatic control unit powered on by the SMA wire 7 is used for processing data from the temperature sensor and the acceleration sensor and controlling a current source according to a preset algorithm;
The amplifier amplifies the signal of the control unit to drive the SMA wire 7;
The acceleration sensor feedback control loop outputs an adjustment control signal according to the actual motion of the operation robot operated by a doctor, so that closed-loop control is realized;
The filter circuit is used for reducing electromagnetic interference in an operating room and improving the stability and reliability of the circuit;
the temperature sensor and the protection circuit are used for monitoring the temperature of the SMA wire 7, ensuring that the heating process is within a safe and effective range, and can be a thermocouple, a thermistor or other types of temperature sensors.
The automatic control unit powered on by the SMA wire 7 processes data fed back by the temperature sensor and the acceleration sensor, amplifies signals of the control unit through the amplifier, and controls the magnitude and duration of current output to each SMA current according to a preset algorithm. The filter circuit can reduce electromagnetic interference in an operating room and improve the stability and reliability of the circuit. The temperature sensor and the protection circuit are used for monitoring the temperature of the SMA wire 7 and ensuring that the heating process is in a safe and effective range. The up-down, left-right, front-back and combined translation of the drug solution delivery cavity 5 is determined by the current supplied by the current source for each SMA wire 7 individually.
Example 4
On the basis of embodiment 3, as shown in fig. 6-9, the thread locking mechanism 8 comprises a first thread locking mechanism arranged on the housing 3 and a second thread locking mechanism arranged on the liquid medicine conveying cavity 5, and the first thread locking mechanism and the second thread locking mechanism are distributed in a cross shape in the end face direction.
The two groups of first locking wire mechanisms are symmetrically arranged on the shell 3, the 2 second locking wire mechanisms are symmetrically arranged on the liquid medicine conveying cavity 5, the first locking wire mechanisms positioned at the front end of the shell 3 are connected with the rear end of the second locking wire mechanisms through SMA wires 7 of an SMA motor, and the first locking wire mechanisms positioned at the rear end of the shell 3 are connected with the front end of the second locking wire mechanisms through SMA wires 7 of the SMA motor.
On the space structure, eight wire locking mechanisms 8 connected with the SMA wire 7 are arranged at eight vertexes of the cube, wherein the four wire locking mechanisms 8 are fixedly connected with the liquid medicine conveying cavity 5, and the other four wire locking mechanisms 8 are fixedly connected with the inside of the shell 3. One end of each SMA wire 7 is fixed to the drug solution delivery chamber 5 and the other end is fixed to the housing 3, so that the drug solution delivery chamber 5 may have multiple degrees of freedom with respect to the surgical robot housing 3.
Two ends of the eight SMA wires 7 are fixed through eight wire locking mechanisms 8, wherein the four wire locking mechanisms 8-1, 8-2, 8-3 and 8-4 are fixedly connected to an accessory structure of the liquid medicine conveying cavity 5, and the other four wire locking mechanisms 8-5, 8-6, 8-7 and 8-8 are fixedly connected to the inside of the shell 3, so that the liquid medicine conveying cavity 5 is suspended relative to the shell 3 under the common traction of the eight SMA wires 7.
As shown in fig. 6-8, the eight SMA wires are arranged in an antagonistic manner, and at an initial time the eight SMA wires are in a stretched state. Since the locking wire mechanisms 8-5, 8-6, 8-7, 8-8 are fixed with the housing, the intermediate liquid medicine delivery cavity 5 has the following different motion states when different conditions are given to the SMA wire:
If the SMA wires 7-1, 7-2, 7-7, 7-8 shrink simultaneously, the liquid medicine conveying cavity can move horizontally to the right; if the SMA wires 7-3, 7-4, 7-5, 7-6 shrink simultaneously, the liquid medicine conveying cavity can move horizontally leftwards; if the SMA wires 7-1, 7-2, 7-3, 7-4 shrink simultaneously, the liquid medicine conveying cavity moves horizontally upwards; if the SMA wires 7-5, 7-6, 7-7, 7-8 shrink simultaneously, the liquid medicine conveying cavity can move horizontally downwards; if the SMA wires 7-2, 7-4, 7-5, 7-7 shrink simultaneously, the liquid medicine conveying cavity can move forward in a translational way; if the SMA wires 7-1, 7-3, 7-6, 7-8 shrink simultaneously, the liquid medicine conveying cavity can move horizontally backward; if the SMA wires 7-1, 7-2, 7-3, 7-4, 7-7, 7-8 shrink simultaneously, the liquid medicine conveying cavity can move horizontally upwards and rightwards; if the SMA wires 7-1, 7-2, 7-3, 7-4, 7-5, 7-6 shrink simultaneously, the liquid medicine conveying cavity can horizontally move leftwards and upwards; if the SMA wires 7-1, 7-2, 7-5, 7-6, 7-7, 7-8 shrink simultaneously, the liquid medicine conveying cavity can move horizontally and downwards to the right; if the SMA wires 7-3, 7-4, 7-5, 7-6, 7-7, 7-8 are contracted simultaneously, the liquid medicine delivery chamber will move horizontally to the left and down.
The SMA "shrinkage" is a tendency of the SMA wire to shrink from an originally stretched state when energized, due to the characteristics of the SMA wire shape memory alloy wire, until it moves to a state of force balance.
Example 5
On the basis of any one of the embodiments 1-4, as shown in fig. 10-11, the automatic liquid medicine pushing device 2 comprises a piston push rod 12, a transmission screw rod 13, a screw rod fixing structure 14, a screw rod driver 15 and a stepping motor 16, wherein the screw rod fixing structure 14 is arranged in the shell 3, the transmission screw rod 13 is rotatably arranged on the screw rod fixing structure 14, the screw rod driver 15 is matched with the transmission screw rod 13, the piston push rod 12 is connected with the screw rod driver 15, one end of the piston push rod 12 close to the needle 6 is connected with a liquid medicine injection pushing piston in the liquid medicine storage cavity 10, the stepping motor 16 is arranged in the shell 3, and a rotating shaft of the stepping motor 16 is connected with one end of the transmission screw rod 13.
The piston push rod 12 can also be combined with the liquid medicine injection pushing piston in the liquid medicine storage cavity 10 and is formed by combining a rubber piston and push rods, and as shown in fig. 10-11, the piston push rod 12 consists of a rubber piston and four push rods, and the four push rods penetrate through round holes in the screw rod fixing structure 14 and can slide back and forth in the round holes. At the same time, the four push rods also pass through the round holes on the screw driver 15 and are tightly matched and can not slide. In this way, the piston ram 12 is limited to only one degree of freedom in the axial direction. When the stepping motor 16 obtains a driving signal to start rotating, the transmission screw rod 13 rotates along with the driving signal, so that the screw rod driver 15 is driven to move on the transmission screw rod 13, and finally the piston push rod 12 is pushed in the liquid medicine storage cavity 10.
The liquid medicine storage cavity 10 is in a cylinder shape and is used for storing liquid medicine to be injected and is further communicated with the liquid medicine conveying cavity 5 through the hose 9, the stepping motor 16 drives the transmission screw rod 13 to rotate, so that the screw rod driver 15 moves back and forth along the screw rod to further push the piston push rod 12 to move;
the driving control circuit of the movable screw driving propeller 11 comprises a power management unit, a button input circuit, a control unit and a stepping motor 16 driver.
The power management unit provides stable voltage and current for a drive control circuit of the screw drive propeller 11;
the button input circuit is used for a doctor to operate the automatic pushing of the liquid medicine through the button 17;
the control unit is used for processing the input signal of the button 17 and generating a pulse signal for controlling the stepping motor 16;
the stepper motor 16 driver is configured to receive the pulse signal from the control unit and control the rotating plug of the stepper motor 16 to push the drug solution.
Example 6
As shown in fig. 1 and 4, an observation window is provided on the housing 3 corresponding to the liquid medicine storage cavity 10, and liquid medicine scales are provided on the outer wall of the liquid medicine storage cavity 10.
The shell 3 is in line with the hand holding design, when the device is used, the index finger is placed at the position of the button 17, and the rest fingers naturally pinch the shell 3. The operation robot is operated to enable the injection needle 6 to reach the focus, the push of the liquid medicine is controlled through the button 17, and meanwhile, the push condition of the liquid medicine can be observed at the observation window. The external power supply line 18 is connected to an external power source to stably supply power to the entire surgical robot. A certain movable range is reserved for the injection needle 6 at the tip of the shell 3, so that the anti-shake function of the needle 6 is not limited by the shell 3.
According to the technical scheme of the invention, the eight SMA wires 7 are arranged in an antagonistic mode to form the SMA eight-wire motor 4, and the contraction and relaxation of the eight SMA wires 7 can be accurately controlled by controlling the accessed electric signals. The drive control circuit of the SMA eight-wire motor 4 can control the power-on size and power-on time of each SMA wire 7. The acceleration sensor in the robot can output actual motion as an adjustment control signal to the drive control circuit, so that the self-control and self-adjustment of the eight-wire motor are realized.
The doctor operates the operation robot through the button 17 on the housing 3, and can push out the medicine liquid along with the injection needle 6 by using the automatic medicine liquid pushing device 2 inside. The automatic medicine liquid pushing device 2 is designed based on a screw rod transmission propeller 11, a driving control circuit of the screw rod transmission propeller 11 drives a stepping motor 16 to rotate, a transmission screw rod 13 rotates along with the driving motor, and further drives a screw rod driver 15 to move on the transmission screw rod 13, and finally, the automatic medicine liquid pushing device is embodied in that a piston push rod 12 is pushed in a medicine liquid storage cavity 10.
Through the embodiment, the automatic vibration-proof device not only can utilize the vibration of the SMA eight-wire motor 4 to automatically identify the vibration of the robot and make the vibration-proof movement, realize the vibration-proof and automatic alignment functions, but also can realize the automatic pushing of the liquid medicine into eyeballs through the button 17 on the shell 3. The fault tolerance and the precision of the position of the needle head 6 are improved, the operation of manually pushing the liquid medicine by the traditional injector is avoided, the operation difficulty and the risk of fundus injection operation are greatly reduced, and an efficient and safe auxiliary tool is provided for ophthalmic operation.
The invention has the advantages and positive effects that:
1. The eight-wire motor has compact structure, and the whole robot has light weight, thereby being convenient for doctors to flexibly operate.
2. Damping and vibration reduction, namely automatically and effectively filtering hand tremors through the damping function of the eight-wire motor, and improving the stability of operation.
3. The repeated positioning accuracy of the robot is high by virtue of the characteristics of the SMA wire, and the repeated positioning accuracy is obviously superior to that of the traditional fundus injector.
4. The operation is simple, the robot assisted surgery reduces the operation burden of doctors and the surgery risk.
The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The injection surgery robot is characterized by comprising an anti-shake needle head (1), a liquid medicine automatic pushing device (2) and a shell (3) for mounting the anti-shake needle head (1) and the liquid medicine automatic pushing device (2), wherein the anti-shake needle head (1) is composed of a stabilizer, a liquid medicine conveying cavity (5) and a needle head (6), the liquid medicine automatic pushing device (2) is composed of a liquid medicine storage cavity (10) and a screw drive propeller (11), the stabilizer is mounted between the shell (3) and the liquid medicine conveying cavity (5), the needle head (6) is connected with one end of the liquid medicine conveying cavity (5), the other end of the liquid medicine conveying cavity (5) is connected with the liquid medicine storage cavity (10) through a hose (9), the movable end of the screw drive propeller (11) is connected with a liquid medicine injection propelling piston in the liquid medicine storage cavity (10), the stabilizer is an SMA motor,
The SMA motor is provided with 8 SMA motors, the 8 SMA motors are combined to form an SMA eight-wire motor, the 8 SMA wires of the SMA eight-wire motor are connected between the shell (3) and the liquid medicine conveying cavity (5) in an antagonistic mode, the inner wall of the shell (3) and the liquid medicine conveying cavity (5) are both provided with locking wire mechanisms (8), two ends of an SMA wire (7) of the SMA motor are respectively clamped and fixed through the corresponding locking wire mechanisms (8),
The thread locking mechanism (8) comprises a first thread locking mechanism arranged on the shell (3) and a second thread locking mechanism arranged on the liquid medicine conveying cavity (5), the first thread locking mechanism and the second thread locking mechanism are distributed in a cross shape in the end face direction,
The number of the first locking mechanisms is 4, each 2 first locking mechanisms are arranged in a group in the front-back direction of the same side of the shell (3), and the two groups of first locking mechanisms are symmetrically arranged on the shell (3);
The number of the second thread locking mechanisms is 2, and the 2 second thread locking mechanisms are symmetrically arranged on the liquid medicine conveying cavity (5);
The first locking wire mechanism positioned at the front end of the shell (3) is connected with the rear end of the second locking wire mechanism through an SMA wire (7) of the SMA motor;
The first locking wire mechanism positioned at the rear end of the shell (3) is connected with the front end of the second locking wire mechanism through an SMA wire (7) of an SMA motor,
The automatic liquid medicine pushing device (2) comprises a piston push rod (12), a transmission screw rod (13), a screw rod fixing structure (14), a screw rod driver (15) and a stepping motor (16), wherein the screw rod fixing structure (14) is arranged in a shell (3), the transmission screw rod (13) is rotatably arranged on the screw rod fixing structure (14), the screw rod driver (15) is matched with the transmission screw rod (13), the piston push rod (12) is connected with the screw rod driver (15), one end of the piston push rod (12) close to a needle head (6) is connected with a liquid medicine injection pushing piston in a liquid medicine storage cavity (10), the stepping motor (16) is arranged in the shell (3), and a rotating shaft of the stepping motor (16) is connected with one end of the transmission screw rod (13).
2. An injection surgery robot according to claim 1, wherein a plurality of stabilizers are provided in the housing (3), and the plurality of stabilizers are arranged in a longitudinal direction in the housing (3).
3. An injection surgery robot according to claim 1, characterized in that the housing (3) is provided with an observation window corresponding to the medical fluid storage chamber (10).
4. An injection surgery robot according to claim 3, wherein the outer wall of the medical fluid storage chamber (10) is provided with medical fluid graduations.
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| CN202510465437.0A CN119970365B (en) | 2025-04-15 | 2025-04-15 | Injection operation robot and use method thereof |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112043920A (en) * | 2020-10-01 | 2020-12-08 | 姜开洋 | Automatic injector |
| CN112887520A (en) * | 2019-11-30 | 2021-06-01 | 华为技术有限公司 | Camera module and electronic equipment |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI314464B (en) * | 2002-06-24 | 2009-09-11 | Alza Corp | Reusable, spring driven autoinjector |
| KR102319924B1 (en) * | 2020-09-24 | 2021-11-03 | 아리더마코슈메디컬(주) | Auto injector |
| US20230047034A1 (en) * | 2021-08-12 | 2023-02-16 | Tandem Diabetes Care, Inc. | Infusion pumps and methods with shape memory wire driven syringe mechanism |
| CN115005940A (en) * | 2022-05-20 | 2022-09-06 | 上海微创医疗机器人（集团）股份有限公司 | Puncture injection device, surgical robot and surgical robot system |
| CN219001467U (en) * | 2022-07-14 | 2023-05-12 | 湖南千山医疗器械有限公司 | Drive reset type liquid medicine infusion device |
| CN219000851U (en) * | 2022-12-30 | 2023-05-12 | 成都爱尔眼科医院有限公司 | A syringe for eye surgery |
| CN119280017A (en) * | 2024-12-12 | 2025-01-10 | 浙江理工大学 | Meibomian gland massage device based on SMA linear motor |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112887520A (en) * | 2019-11-30 | 2021-06-01 | 华为技术有限公司 | Camera module and electronic equipment |
| CN112043920A (en) * | 2020-10-01 | 2020-12-08 | 姜开洋 | Automatic injector |
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