CN113069144A - Parallel type color ultrasonic operating robot end effector - Google Patents
Parallel type color ultrasonic operating robot end effector Download PDFInfo
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- CN113069144A CN113069144A CN202110309722.5A CN202110309722A CN113069144A CN 113069144 A CN113069144 A CN 113069144A CN 202110309722 A CN202110309722 A CN 202110309722A CN 113069144 A CN113069144 A CN 113069144A
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- 239000012636 effector Substances 0.000 title claims abstract description 20
- 239000000523 sample Substances 0.000 claims abstract description 37
- 239000011229 interlayer Substances 0.000 claims abstract description 6
- 238000002604 ultrasonography Methods 0.000 claims description 27
- 238000006073 displacement reaction Methods 0.000 claims description 20
- 230000007246 mechanism Effects 0.000 abstract description 8
- 238000012545 processing Methods 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000036544 posture Effects 0.000 description 5
- 230000003068 static effect Effects 0.000 description 4
- 229910000838 Al alloy Inorganic materials 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005483 Hooke's law Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
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- Molecular Biology (AREA)
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- Animal Behavior & Ethology (AREA)
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- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention relates to a parallel-connection type color ultrasonic operating robot end effector which comprises fixed platforms, movable platforms, steering engines, steering engine rotating arms, connecting columns, upper spherical hinges, lower spherical hinges and color ultrasonic probes, wherein the fixed platforms are divided into two blocks, an interlayer is reserved between the two fixed platforms, each fixed platform is in a regular triangle shape, waist-shaped through grooves are symmetrically formed in three sides of each fixed platform, a circular large through hole is formed in the middle of each fixed platform, cutting processing is carried out on the corner positions of the fixed platforms, and threaded holes are symmetrically formed in the fixed platforms close to the cutting positions; the movable platform is provided with small circular through holes symmetrically, and the middle part of the movable platform is obliquely provided with a rectangular through hole; a steering engine. The invention adopts the parallel mechanism, improves the space utilization rate compared with the serial mechanism, reduces the motion space of the mechanical arm and reduces the space requirement on hospital rooms.
Description
Technical Field
The invention relates to the field of medical treatment, in particular to a parallel-connection type color ultrasound operation robot end effector.
Background
The existing color ultrasound operation robot generally adopts a series-connection end effector, great flexibility is provided through large working space and higher operability, but various defects are brought to clinical integration by using a large-sized robot;
ultrasonic scanning is divided into different areas according to different parts of a human body, and a robot system only needs to cover one part of the human body, so that for a single procedure, a common robot manipulator is overlarge under the condition, and the safety of a patient is threatened. For the fine movement and fine position and posture adjustment of the color ultrasound probe when the color ultrasound probe is tightly attached to the surface of a human body, the adjustment is very inconvenient by controlling the large mechanical arm;
the existing teaching team researches a 3-degree-of-freedom end effector which is a soft robot end effector but does not have the function of actively adjusting the angle to fit the surface of a human body.
Disclosure of Invention
The invention aims to overcome the defects of lack of refinement and safety in the prior art and provides a parallel-type color ultrasonic operating robot end effector.
In order to solve the technical problems, the invention provides the following technical scheme: a parallel-connection type color ultrasonic operating robot end effector comprises a fixed platform, a movable platform, a steering engine rotating arm, a connecting column, an upper spherical hinge, a lower spherical hinge and a color ultrasonic probe,
the fixed platforms are two, an interlayer is reserved between the two fixed platforms, the fixed platforms are in a regular triangle shape, waist-shaped through grooves are symmetrically formed in three sides of the fixed platforms, a circular large through hole is formed in the middle of the fixed platforms, cutting processing is performed on the corner positions of the fixed platforms, and threaded holes are symmetrically formed in the positions, close to the cutting positions, of the fixed platforms;
the movable platform is provided with small circular through holes symmetrically, and the middle part of the movable platform is obliquely provided with a rectangular through hole;
the steering engines are symmetrically and fixedly installed on the edges of the interlayer of the fixed platform;
the steering engine is fixedly provided with a steering engine rotating arm through a steering engine fluted disc, the steering engine rotating arm is positioned on the outer side of the fixed platform, two ends of the steering engine rotating arm are arc-shaped, and the arc diameter of one end, connected with the steering engine fluted disc, of the steering engine rotating arm is longer than that of the other end of the steering engine rotating arm;
connecting columns are arranged between the fixed platform and the movable platform, and the number of the connecting columns is the same as that of the steering engines;
the outer side of the other end of the rotating arm of the steering engine is movably connected with an upper spherical hinge, and the upper spherical hinge is fixedly connected with the upper end of the connecting column;
the lower spherical hinge is movably arranged above the movable platform, corresponds to the upper spherical hinge in number and is crossed with the upper spherical hinge in position, and is fixedly connected with the lower end of the connecting column;
the color Doppler ultrasound probe is passed to the rectangle opening position of moving the platform, upper portion is the rectangle form in the body of color Doppler ultrasound probe, the lower extreme of color Doppler ultrasound probe is curve arc form.
Furthermore, an inclination angle sensor is fixedly installed above the movable platform and is installed by being attached to the color Doppler ultrasound probe.
Furthermore, the upper spherical hinge is a bent rod type ball head rod end joint hinge.
Furthermore, the lower spherical hinge is a straight rod type ball head rod end joint hinge.
Further, install in the upper portion of various super probe, the capping is the rectangle lid, and the lower extreme port of capping and the fixed intercommunication of the rectangle opening that moves the platform, the top installation displacement sensor of capping, set up the through-hole in the middle of the capping top, the perforation is seted up to the top side, the perpendicular fixed mounting montant in top of various super probe, the montant passes the through-hole of capping, the capping internally mounted spring, the both ends of spring respectively with the top of various super probe, the top fixed connection of capping, displacement sensor passes through connection piece and capping avris fixed connection, be equipped with the auxiliary on the displacement sensor, the auxiliary inserts the perforation of capping.
Furthermore, external threads are arranged at two ends of the connecting column.
Compared with the prior art, the invention has the beneficial effects that:
1. the parallel mechanism is adopted, so that the space utilization rate is improved compared with a serial mechanism, the movement space of the mechanical arm is reduced, and the space requirement on a hospital room is reduced;
2. the steering engine drive replaces the original mode that a servo motor distributes an electric push rod, so that the lightweight design is realized, the load on the mechanical arm is reduced, the mechanism is lighter, the cost is reduced, and the green design concept is met;
3. based on basic positioning of the mechanical arm, the 6-freedom-degree end effector only performs fine positioning and posture adjustment, the control requirement and the hardware requirement on the mechanical arm are reduced, and meanwhile, the 6-freedom-degree end effector can realize a more accurate posture than that of a color ultrasonic probe directly connected with the mechanical arm for positioning, so that a clearer and more accurate color ultrasonic image is presented;
4. the stress condition of the body part of the patient can be obtained in real time through the spring and the displacement sensor, and the safety is improved.
Drawings
FIG. 1 is a schematic view from a perspective of the present invention;
FIG. 2 is a schematic view of the present invention from a second perspective;
FIG. 3 is a side view of the robot arm installation of the present invention;
FIG. 4 is a schematic top view of the robot arm installation of the present invention;
FIG. 5 is a schematic front view of the robot arm installation of the present invention;
FIG. 6 is a schematic view of a fixed platform according to the present invention;
FIG. 7 is a schematic view of a movable platform according to the present invention;
FIG. 8 is a schematic view of a steering engine rotating arm of the present invention;
FIG. 9 is a schematic view of a connecting column of the present invention;
fig. 10 is a schematic view of the inside of the cap of the present invention.
The reference numbers in the figures are: 1-fixed platform 1; 2-moving the platform; 3-a steering engine rotating arm; 4-connecting a column; 5, spherical hinge mounting; 6-lower spherical hinge; 7-color ultrasound probe; 8-a tilt sensor; 9-covering the cover; 10-displacement sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
According to the diagrams 1-5, in an initial state, a fixed platform 1 is connected with the tail end of a mechanical arm, the fixed platform 1 is connected with a support plate of the mechanical arm through bolts, 6 steering gears (the steering gear used in the scheme is smaller in size, lower in cost and easier to control compared with common electric push rod driving, and according to calculation, the scheme is designed to select the steering gears of RC30P type, each steering gear weighs about 60g, the use of the steering gears reduces the size and the weight of the whole mechanism to a great extent, and the burden is reduced for hardware and control of a steering gear rotating arm 3) and is fixed between the interlayer edges of the fixed platform 1, the steering gears are driving inputs of a tail end actuator, electric signals sent by an upper computer drive the steering gears to output corresponding rotating angles, an output shaft of each steering gear is provided with a fluted disc, the output end of each steering gear is fixedly provided with the steering gear rotating arm 3 through the fluted, the rotatory angle of steering wheel is the rotatory angle of steering wheel rocking arm 3, the other end of steering wheel rocking arm 3, be connected with spliced pole 4 upper end through last ball pivot 5, lower ball pivot 6 on the lower extreme of spliced pole 4 is connected and is moved platform 2, in the time of steering wheel drive steering wheel rocking arm 3 work like this, receive spliced pole 4 and last ball pivot 5, the effect of ball pivot 6 down, it gets up to move platform 2, move the color ultrasonic probe 7 on platform 2 like this and just can move about on pregnant woman's belly and survey, the effect of moving platform 2 is to carry on color ultrasonic probe 7, and installation displacement sensor 10, inclination sensor 8 and spring, displacement sensor 10 and inclination sensor 8 provide end effector's gesture in real time, a position for confirming color ultrasonic probe 7 for human surface, it is detailed: when the steering engine receives an electric signal and rotates to provide input, the steering engine rotating arm 3 rotates by the same angle, the steering engine rotating arm 3 rotates to drive the connecting columns 4 to move through the upper and lower spherical hinges, 6 steering engines can rotate by different angles at the same time, so that 6 connecting columns 4 can also move to different positions, and the different positions and postures of 6 connecting columns 4 with different angles determine the position and posture of the movable platform 2 dragged by the connecting columns 4, so that the aim of adjusting the position of the color ultrasonic probe 7 is fulfilled, the color ultrasonic probe 7 is connected with the movable platform 2 through a spring, and is in flexible connection, the displacement sensor 10 is matched with the use, the pressure of a human body can be obtained in real time, and mechanical protection is applied while the body surface of a patient is flexibly attached;
example two
According to a diagram 6, a fixed platform 1 is a connecting piece for fixing the whole end effector at the tail end of a mechanical arm, the principle of lightweight design is considered integrally, and the application scene is light load, so that an aluminum alloy material is suggested to be adopted, threaded holes in the periphery of the fixed platform 1 are used for fixing a steering engine supporting plate, and a circular large through hole in the middle is used for connecting the connecting piece at the tail end of the mechanical arm;
EXAMPLE III
According to the diagram 7, the movable platform 2 is used for connecting a color ultrasound probe 7 and is connected with a lower spherical hinge 6 (a straight rod type ball head rod end joint spherical hinge) at the lower end of a connecting column 4 on the mechanism, for the movable platform 2, the static load is smaller than that of the fixed platform 1, but the movable platform can also be subjected to the action of the dynamic load from the color ultrasound probe 7 during the diagnosis, and according to calculation and analysis, the maximum dynamic load is 8.01N and the transverse force is 4.25N;
example four
According to the graph 8, the steering engine rotary arm 3 is made of an aluminum alloy material, the density is smaller, the appearance design of the steering engine rotary arm 3 is shown in the figure, and according to the clinical detection requirement: the color ultrasound probe 7 can extend for 5.22mm along the Z axis, transversely translate for 7.75mm, and rotate for 5.08 degrees around X and Y, so that the rotation height difference of the rotary arm 3 of the steering engine is 30 mm;
EXAMPLE five
An upper spherical hinge 5 is movably connected to the outer side of the other end of a steering engine rotating arm 3 in the design, the upper spherical hinge 5 is fixedly connected with the upper end of a connecting column 4, wherein the upper spherical hinge 5 connected with the steering engine rotating arm 3 is a bent rod type ball head rod end joint hinge, the maximum transverse contact force borne by an end effector along the Y direction is 4.43N, the maximum static load borne along the X direction is 40N, the average axial force is 8.01N, the average axial force is light load and is far smaller than the rated load of the bent rod type ball head rod end joint hinge, and under the condition that the rated static load is met, the spherical hinge is based on lightweight design criteria and obtains the maximum rotation angle alpha, so that the spherical hinge with the model number of SQG6 is optimally selected;
the device comprises a lower spherical hinge 6, a lower spherical hinge 6 is movably arranged above a movable platform 2, the lower spherical hinge 6 corresponds to an upper spherical hinge 5 in number and is crossed in position, the lower spherical hinge 6 is fixedly connected with the lower end of a connecting column 4, the lower spherical hinge 6 connected with the movable platform 2 is a straight rod type ball head rod end joint hinge, the lower spherical hinge 6 connected with the movable platform 2 mainly bears the static load of the movable platform 2 and the dynamic load of color ultrasonic equipment during diagnosis, and under the condition of light load, the principle of light weight design and larger rotation angle is considered, and the straight rod type ball head rod end joint hinge of the SQZ6 type is optimally selected;
EXAMPLE six
According to a diagram 9, a connecting column 4 is a connecting part between a movable platform 2 and a fixed platform 1, the connecting column is connected with two spherical hinges at the head position and is connected with the fixed platform 1 and the movable platform 2 through the spherical hinges, the connecting column is based on the criterion of lightweight design, the application scene is light load, the maximum transverse load is 4.25N, the maximum axial force is 8.01N, the movable platform is flat, the overall load of the connecting column 2 is planned to be positioned by 40N, finally, the connecting column 4 is optimally made of 1060C aluminum alloy, and the head part and the tail part of the connecting column 4 need to be processed with external threads, so that the connecting column is conveniently connected with an upper spherical hinge;
EXAMPLE seven
The inclination angle sensor 8 is selected, and a BWK226 type digital double-shaft inclination angle sensor is optimally selected, and the sensor is commonly used for the inclination angle monitoring of equipment in the field of medical instruments;
the displacement sensor 10 is selected, in order to ensure compact structure and accord with the characteristics of linear displacement measurement, a stay cord displacement sensor method is adopted, one end of the sensor is connected to the bottom of the color ultrasound probe 7, the displacement of the spring is measured, the contact pressure when the color ultrasound probe 7 contacts the surface of a human body is finally obtained after data is obtained and analyzed by an upper computer, and the safety of a patient is ensured, wherein the stay cord displacement sensor with a Milan MPSFS-S model and a 50mm measuring range is optimally selected;
according to the diagram 10, the color ultrasound probe 7 is pressed on the belly of a pregnant woman, when the color ultrasound probe is pressed down to move, the displacement is generated, the spring has certain flexibility, the color ultrasound probe 7 can stretch along with the movement of the color ultrasound probe, the data feedback is realized through the displacement sensor 10, the Hooke's law is converted into the pressure, the contact pressure of the color ultrasound probe 7 on the surface of the body of a patient is obtained in real time, the displacement sensor 10 and the inclination angle sensor 8 are used for feeding back position information, closed-loop control is realized, the spring is matched with the displacement sensor 10 to be used, mechanical protection and electrical protection are combined, and the safety of the mechanism is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. The utility model provides a various super operation robot end effector of parallel, includes fixed platform 1(1), moves platform (2), steering wheel rocking arm (3), spliced pole (4), goes up ball pivot (5), down ball pivot (6) and various super probe (7), its characterized in that:
the fixed platform 1(1), the fixed platform 1(1) is two, an interlayer is left between the fixed platform 1(1) and the fixed platform 1(1), the fixed platform 1(1) is in a regular triangle shape, waist-shaped through grooves are symmetrically formed in three sides of the fixed platform 1(1), a circular large through hole is formed in the middle of the fixed platform 1(1), the corner position of the fixed platform 1(1) is cut, and threaded holes are symmetrically formed in the fixed platform 1(1) close to the cutting position;
the movable platform (2), the fixed platform (1) (2) is arranged below the fixed platform (1) in parallel, the fixed platform (1) (2) is one, the movable platform (2) is circular, small circular through holes are symmetrically formed in the movable platform (2), and rectangular through holes are obliquely formed in the middle of the movable platform (2);
the steering engines are symmetrically and fixedly installed on the edges of the interlayer of the fixed platform 1 (1);
the steering engine is fixedly provided with a steering engine rotating arm (3) through a steering engine fluted disc, the steering engine rotating arm (3) is positioned on the outer side of the fixed platform 1(1), two ends of the steering engine rotating arm (3) are both arc-shaped, and the arc diameter of one end, connected with the steering engine fluted disc, of the steering engine rotating arm (3) is longer than that of the other end;
connecting columns (4) are arranged between the fixed platform (1) and the movable platform (2), and the number of the connecting columns (4) is the same as that of the steering engines;
the outer side of the other end of the steering engine rotating arm (3) is movably connected with an upper spherical hinge (5), and the upper spherical hinge (5) is fixedly connected with the upper end of the connecting column (4);
the lower spherical hinge (6) is movably arranged above the movable platform (2), the lower spherical hinge (6) corresponds to the upper spherical hinge (5) in number and is crossed in position, and the lower spherical hinge (6) is fixedly connected with the lower end of the connecting column (4);
the color Doppler ultrasound probe (7), the rectangle opening position of moving platform (2) passes color Doppler ultrasound probe (7), upper portion is the rectangle form in the body of color Doppler probe (7), the lower extreme of color Doppler probe (7) is curve arc form.
2. A parallel type color Doppler ultrasound operation robot end effector according to claim 1, wherein an inclination angle sensor (8) is fixedly installed above the movable platform (2), and the inclination angle sensor (8) is installed by being attached to a color Doppler ultrasound probe (7).
3. A parallel type color ultrasonography robot end effector according to claim 1, wherein the upper spherical hinge (5) is a knee-type ball-end-rod-end joint hinge.
4. A parallel type color Doppler ultrasound operation robot end effector according to claim 1, wherein the lower spherical hinge (6) is a straight rod type ball head rod end joint hinge.
5. A parallel type color Doppler ultrasound operation robot end effector according to claim 1, wherein the upper part of the color Doppler probe (7) is installed in a sleeve cover (9), the sleeve cover (9) is a rectangular cover, the lower end port of the sleeve cover (9) is fixedly communicated with the rectangular through opening of the movable platform (2), a displacement sensor (10) is installed at the top of the sleeve cover (9), a through hole is formed in the middle of the top of the sleeve cover (9), a through hole is formed in the side edge of the top of the sleeve cover (9), a vertical rod is vertically and fixedly installed at the top of the color Doppler probe (7), penetrates through holes of the sleeve cover (9), a spring is installed inside the sleeve cover (9), two ends of the spring are respectively fixedly connected with the top of the color Doppler probe (7) and the top of the sleeve cover (9), the displacement sensor (10) is fixedly connected with the side of the sleeve cover (9) through a connecting sheet, and an auxiliary element is arranged on the displacement sensor (10), the auxiliary is inserted into the perforation of the cap (10).
6. A parallel type color Doppler ultrasound operation robot end effector according to claim 1, wherein two ends of the connecting column (4) are provided with external threads.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110309722.5A CN113069144A (en) | 2021-03-23 | 2021-03-23 | Parallel type color ultrasonic operating robot end effector |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110309722.5A CN113069144A (en) | 2021-03-23 | 2021-03-23 | Parallel type color ultrasonic operating robot end effector |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113598815A (en) * | 2021-07-30 | 2021-11-05 | 武汉大学 | End device for remote ultrasonic diagnosis and master-slave control method |
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|---|---|---|---|---|
| US20080021317A1 (en) * | 2006-07-24 | 2008-01-24 | Siemens Medical Solutions Usa, Inc. | Ultrasound medical imaging with robotic assistance for volume imaging |
| CN107813290A (en) * | 2016-09-12 | 2018-03-20 | 马建群 | Serial-parallel mirror mechanical arm |
| CN111544039A (en) * | 2020-05-19 | 2020-08-18 | 南京信息职业技术学院 | Working method of color Doppler ultrasound examination cooperation device |
| CN214907222U (en) * | 2021-03-23 | 2021-11-30 | 安徽贝科邦生物科技有限公司 | Parallel type color ultrasonic operating robot end effector |
-
2021
- 2021-03-23 CN CN202110309722.5A patent/CN113069144A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080021317A1 (en) * | 2006-07-24 | 2008-01-24 | Siemens Medical Solutions Usa, Inc. | Ultrasound medical imaging with robotic assistance for volume imaging |
| CN107813290A (en) * | 2016-09-12 | 2018-03-20 | 马建群 | Serial-parallel mirror mechanical arm |
| CN111544039A (en) * | 2020-05-19 | 2020-08-18 | 南京信息职业技术学院 | Working method of color Doppler ultrasound examination cooperation device |
| CN214907222U (en) * | 2021-03-23 | 2021-11-30 | 安徽贝科邦生物科技有限公司 | Parallel type color ultrasonic operating robot end effector |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113598815A (en) * | 2021-07-30 | 2021-11-05 | 武汉大学 | End device for remote ultrasonic diagnosis and master-slave control method |
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