CN101411630B - Terminal operating system of robot and minimally invasive surgery robot with vision navigation - Google Patents
Terminal operating system of robot and minimally invasive surgery robot with vision navigation Download PDFInfo
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- CN101411630B CN101411630B CN2007101761404A CN200710176140A CN101411630B CN 101411630 B CN101411630 B CN 101411630B CN 2007101761404 A CN2007101761404 A CN 2007101761404A CN 200710176140 A CN200710176140 A CN 200710176140A CN 101411630 B CN101411630 B CN 101411630B
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- robot
- operating system
- substrate
- terminal operating
- calibrating template
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Abstract
The invention discloses a terminal operating system for a robot and a vision navigation minimally invasive surgical robot. The terminal operating system for the robot comprises a substrate, wherein a locking device is arranged on the substrate and comprises a main locking frame and a side locking frame; and surgical puncture needles are arranged on the main locking frame and the side locking frame. The terminal operating system for the robot also comprises a calibration template, wherein black-and-white square texture is arranged on the calibration template and can be identified by a visual system of the robot; the calibration template is parallel to the upper surface of the substrate; and the calibration template and the substrate can be relatively rotated. The visual system of the vision navigation minimally invasive surgical robot identifies the position information of the calibration template, and the robot judges the position information of the surgical puncture needles according to the information. The terminal operating system for the robot has a simple structure, low cost and strong adaptability and universality, can be used for controlling and guiding scalpels of neurosurgery, osteological surgery, orthopedics and abdomen and chest surgery, and not only can be used for calibration of space positions but also can be used for position trailing of a terminal manipulator of the robot.
Description
Technical field
The present invention relates to a kind of medical apparatus and instruments, relate in particular to a kind of terminal operating system and minimally invasive surgery robot with vision navigation of robot.
Background technology
In recent years, the research and development dynamics of domestic medical robot is increasing, can be more and more in the robot of clinical practice.In the clinical practice, to the demarcation of the position of the terminal operating system of robot and attitude with follow the tracks of particularly important.
In the prior art, generally set up a cover camera space endways outside the operating system, be used for the position and the attitude of the terminal operating system of robot are demarcated and followed the tracks of to the spatial mapping device of robot.
There is following shortcoming at least in above-mentioned prior art: system complex, cost height.
Summary of the invention
The terminal operating system and the minimally invasive surgery robot with vision navigation that the purpose of this invention is to provide a kind of simple in structure, robot that cost is low.
The objective of the invention is to be achieved through the following technical solutions:
The terminal operating system of robot of the present invention comprises substrate, and described substrate is provided with locking device, and described locking device is provided with operating theater instruments, also comprises calibrating template, and described calibrating template can be by the robotic vision system identification.
Minimally invasive surgery robot with vision navigation of the present invention, comprise visual system, the terminal operating system that also comprises above-mentioned robot, described visual system is discerned the positional information of described calibrating template, and the positional information of described operating theater instruments is judged by robot according to this information.
As seen from the above technical solution provided by the invention, the terminal operating system of robot of the present invention and minimally invasive surgery robot with vision navigation.Because the terminal operating system of robot comprises calibrating template, described calibrating template can be by the robotic vision system identification, and visual system is discerned the positional information of described calibrating template, and the positional information of operating theater instruments is judged by robot according to this information.System structure is simple, cost is low.
Description of drawings
Fig. 1 is the facade structures sketch map of the terminal operating system of robot of the present invention;
Fig. 2 is the side structure sketch map of the terminal operating system of robot of the present invention;
Fig. 3 is the planar structure sketch map of the terminal operating system of robot of the present invention;
Fig. 4 is the facade structures sketch map of substrate among the present invention;
Fig. 5 is the planar structure sketch map of substrate among the present invention;
Fig. 6 is the facade structures sketch map of the tight frame of side chain among the present invention;
Fig. 7 is the side structure sketch map of the tight frame of side chain among the present invention;
Fig. 8 is the planar structure sketch map of the tight frame of side chain among the present invention;
Fig. 9 is the facade structures sketch map of main locking frame among the present invention;
Figure 10 is the side structure sketch map of main locking frame among the present invention;
Figure 11 is the planar structure sketch map of main locking frame among the present invention.
The specific embodiment
The terminal operating system of robot of the present invention, the specific embodiment that it is preferable such as Fig. 1, Fig. 2, shown in Figure 3 comprise substrate 1, and substrate 1 is provided with locking device, and locking device is provided with operating theater instruments.Also comprise calibrating template 4, described calibrating template 4 can be by the robotic vision system identification.Can be provided with chequered with black and white square texture or other pattern on the calibrating template 4, be convenient to the robotic vision system identification.
Calibrating template 4 can be parallel to the upper surface setting of substrate 1, can rotate relatively between calibrating template 4 and the substrate 1.Can be connected by support bar 23 between concrete calibrating template 4 and the substrate 1, the lower end of support bar 23 is fixed on the substrate 1; The upper end is hinged with calibrating template 4.Can be provided with positioner between calibrating template 4 and the described support bar 23, positioner can be arranged on second lock-screw 10 at pin joint place, be used for the position of calibrating template 4 is fixed, also can be arranged on other position, realize the position of calibrating template 4 is fixed.
Above-mentioned locking device can comprise main locking frame 3, the tight frame 2 of side chain, and described operating theater instruments is fixed on the described main locking frame 3.Operating theater instruments can be operation puncturing pin 5, and operation puncturing pin 5 is arranged on main locking frame 3 and the tight frame 2 of side chain.Needle guard 19 and back needle guard 15 before specifically can being respectively equipped with on main locking frame 3 and the tight frame 2 of side chain, operation puncturing pin 5 penetrates in preceding needle guard 19 and the back needle guard 15.
Can cooperate by guide rail, guide groove between main locking frame 3 and the tight frame 2 of side chain and the substrate 1 to be slidingly connected,, can slide relatively as dovetail groove, forked tail platform cooperation etc.Can be respectively equipped with positioner between main locking frame 3 and tight frame 2 of side chain and the substrate 1, be used for the position of main locking frame 3 and the tight frame 2 of side chain is fixed.
Specific embodiment:
As Fig. 4, shown in Figure 5, at the upper surface of substrate 1, dovetail groove 7 and forked tail platform 6 lay respectively at the middle part and a side of substrate 1, and dovetail groove 7 is used for the main locking of constraint and location frame 3, and forked tail platform 6 is used for constraint and oriented side locking frame 2.The slideway direction of dovetail groove 7 and forked tail platform 6 is parallel to each other.The opposite side of substrate 1 is and the bolt 8 of substrate 1 one that this bolt 8 is used for terminal operating system of the present invention and robot end are coupled together.
As Fig. 6, Fig. 7, shown in Figure 8, the bottom of the tight frame 2 of side chain is provided with the dovetail groove that matches with forked tail platform 6, and the tight frame 2 of side chain can be along forked tail platform 6 freely-movables, and positions by the position of the first manual screw 11 offsides locking frame 2 on the tight frame 2 of side chain.
The tight frame 2 of side chain comprises tight fixed ring 14, following tight fixed ring 12.The second manual screw 13 will be gone up tight fixed ring 14 and the following tight fixed ring 12 half-cylindrical hole of formation that is connected, and be used to install the back needle guard 15 of guide pin 5.Dovetail groove on the tight frame 2 of side chain is an integral body with following tight fixed ring 12.
As Fig. 9, Figure 10, shown in Figure 11, the bottom of main locking frame 3 is provided with the forked tail platform that matches with dovetail groove 7, and main locking frame 3 can move freely in dovetail groove 7, and positions by the position of 9 pairs of main locking framves 3 of first lock screw on the substrate 1.
Main locking frame 3 is made up of last centring ring 16, following centring ring 17 and dovetail groove depending post 18.Last centring ring 16 and following centring ring 17 open semicircle shape holes are fixed and are formed a cylindrical hole by the 3rd manual screw 20, and the 3rd manual screw 20 is unclamped, and needle guard 15 afterwards can be installed.Holding screw 21 can be connected in aggregates and fixing with following centring ring 17 dovetail groove depending post 18.Cylindrical hole is used to install the preceding needle guard 19 of guide pin 5.
Puncture needle 5 is guided by back needle guard 15 on main locking frame 3 and the tight frame 2 of side chain and preceding needle guard 19 and is supported by back needle guard 15 and preceding needle guard 19.
Among the present invention, post chequered with black and white square texture on the calibrating template 4, be used for the position that robotic vision system real-time tracking is caught calibrating template 4, and the position of definite puncture needle 5.Include the support bar 23, template rotating shaft 22, template 4 and second lock screw 10 that are installed on the substrate 1.It is interior also fixing that rotating shaft 22 embeds the groove of support bar 23, and template 4 is parallel with the upper surface of substrate 1.After the robotic vision system finished to the location position of calibrating template 4, calibrating template 4 can rotate to 180 degree directions and locking, can reserve the enough working places that make things convenient for operation technique to the doctor like this.Puncture needle 5 is supported by back needle guard 15 and needle guard 19, and wherein back needle guard 15 and needle guard 19 are formed by two semicolumn bodies, can split, to make things convenient for the replacing of operating theater instruments.Back needle guard 15 and preceding needle guard 19 are coaxial simultaneously, and biopsy needle guide 5 is by the endoporus of two needle guards, and the rotation of puncture needle in endoporus simultaneously is unrestricted, and its advance of freedom degree is a passive freedom degree, is provided by the doctor.
Minimally invasive surgery robot with vision navigation of the present invention comprises visual system, also comprises the terminal operating system of above-mentioned robot, and described visual system is discerned the positional information of described calibrating template 4, and the positional information of operating theater instruments is judged by robot according to this information.
When carrying out micro-wound surgical operation, elder generation is with 0 scale of a side in alignment forked tail platform of the tight frame of side chain, and fixation side locking frame, then puncture needle is inserted in the endoporus of two needle guards, adjusts main position and locking of locking frame at dovetail groove.Calibrating template and substrate are connected and fixed, and adjust the position relation of it and robot, make it within the visual range of the binocular vision system of robot.The position of manual adjustments punch block, if the software displaing coordinate changes, then the position is caught normal; Software and then detection coordinates catch precision, if meet the demands, explanation can undergo surgery.In addition, by changing two needle guards (its internal diameter has different grades) on the locking frame, can be used for the operation of different size puncture needle.And when demarcation finishes, calibrating template is with the locking of Rotate 180 degree, and calibrating template becomes the trace template of punch block alliance like this, and it can reserve enough working places to the doctor, makes things convenient for operation technique.Simultaneously, the installation and removal of all parts of puncture needle are without any need for aid, and the fixing and locking between all parts is equally without any need for aid.Above-mentioned installation, locking and dismantlement work are only finished by all manual locking screws of punch block system, therefore, have improved the efficient that operation is prepared.
The terminal operating system of robot of the present invention, simple in structure, cost is low, volume is little, compact conformation; Operation and maintenance is convenient; Improve by structure and material, its weight can be less than 350 grams, and robot end's bearing capacity is little, is particularly useful for small scale robot; In addition, this operating system can be used for the guiding of controlling of scalpels such as neurosurgery, Orthopeadic Surgery, plastic surgery and abdomen thoracic surgery, and adaptability and versatility are stronger.Both can be used as the locus and demarcated usefulness, usefulness is followed the tracks of in the position that also can be used as robot end's manipulator.
The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.
Claims (6)
1. the terminal operating system of a robot comprises substrate, it is characterized in that, described substrate is provided with locking device, and described locking device is provided with operating theater instruments, also comprises calibrating template, and described calibrating template can be by the robotic vision system identification;
Described calibrating template is parallel to the upper surface of described substrate, and can rotate relatively between described calibrating template and the described substrate;
Described calibrating template is connected by support bar with described substrate, and the lower end of described support bar is fixed on the described substrate; The upper end is hinged with described calibrating template;
Be provided with positioner between described calibrating template and the described support bar;
Described calibrating template is provided with chequered with black and white square texture.
2. the terminal operating system of robot according to claim 1 is characterized in that, described locking device comprises main locking frame, the tight frame of side chain, and described operating theater instruments is fixed on described main locking frame and the tight frame of side chain.
3. the terminal operating system of robot according to claim 2 is characterized in that, the bottom of described main locking frame and the tight frame of side chain is respectively equipped with dovetail groove or forked tail platform; Accordingly, the position corresponding to described main locking frame and the tight frame of side chain on the described substrate is respectively equipped with forked tail platform or dovetail groove, and described forked tail platform inserts in the corresponding dovetail groove, and can slide relatively.
4. the terminal operating system of robot according to claim 3 is characterized in that, described operating theater instruments is the operation puncturing pin, and described operation puncturing pin is arranged on described main locking frame and the tight frame of side chain.
5. the terminal operating system of robot according to claim 4 is characterized in that, needle guard and back needle guard before being respectively equipped with on described master's locking frame and the tight frame of side chain, and described operation puncturing pin penetrates in described preceding needle guard and the back needle guard.
6. minimally invasive surgery robot with vision navigation, comprise visual system, it is characterized in that, the terminal operating system that also comprises each described robot of claim 1 to 5, described visual system is discerned the positional information of described calibrating template, and the positional information of described operating theater instruments is judged by robot according to this information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101761404A CN101411630B (en) | 2007-10-19 | 2007-10-19 | Terminal operating system of robot and minimally invasive surgery robot with vision navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101761404A CN101411630B (en) | 2007-10-19 | 2007-10-19 | Terminal operating system of robot and minimally invasive surgery robot with vision navigation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101411630A CN101411630A (en) | 2009-04-22 |
| CN101411630B true CN101411630B (en) | 2011-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2007101761404A Expired - Fee Related CN101411630B (en) | 2007-10-19 | 2007-10-19 | Terminal operating system of robot and minimally invasive surgery robot with vision navigation |
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| CN (1) | CN101411630B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103142313B (en) * | 2013-03-19 | 2015-05-13 | 张巍 | Surgical operation tool position-pose real-time detection system based on monocular vision |
| CN105997254B (en) * | 2016-07-08 | 2018-08-17 | 天津大学 | A kind of Minimally Invasive Surgery instrument fast replacing device |
| CN112336433B (en) * | 2020-11-10 | 2022-04-08 | 亿盛欣科技(北京)有限公司 | Device for indicating action position of surgical instrument, use method and calibration method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5078140A (en) * | 1986-05-08 | 1992-01-07 | Kwoh Yik S | Imaging device - aided robotic stereotaxis system |
| CN1561926A (en) * | 2004-03-17 | 2005-01-12 | 哈尔滨工业大学 | Robot assisted locking system with lock marrow internal nail based on image navigation |
| CN2712301Y (en) * | 2004-06-17 | 2005-07-27 | 冯威健 | Guiding device for puncturation, biopsy and injection under CT |
| CN1806771A (en) * | 2006-01-26 | 2006-07-26 | 清华大学深圳研究生院 | Puncture guiding system and method in computer aided percutaneous nephrostolithotomy |
-
2007
- 2007-10-19 CN CN2007101761404A patent/CN101411630B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5078140A (en) * | 1986-05-08 | 1992-01-07 | Kwoh Yik S | Imaging device - aided robotic stereotaxis system |
| CN1561926A (en) * | 2004-03-17 | 2005-01-12 | 哈尔滨工业大学 | Robot assisted locking system with lock marrow internal nail based on image navigation |
| CN2712301Y (en) * | 2004-06-17 | 2005-07-27 | 冯威健 | Guiding device for puncturation, biopsy and injection under CT |
| CN1806771A (en) * | 2006-01-26 | 2006-07-26 | 清华大学深圳研究生院 | Puncture guiding system and method in computer aided percutaneous nephrostolithotomy |
Non-Patent Citations (2)
| Title |
|---|
| 黄荣瑛，邓智鹏，刘达，王田苗.基于视觉导航的机器人辅助神经外科手术系统的设计与精度分析.机器人技术与应用 1.2007,(1),32-37. |
| 黄荣瑛,邓智鹏,刘达,王田苗.基于视觉导航的机器人辅助神经外科手术系统的设计与精度分析.机器人技术与应用 1.2007,(1),32-37. * |
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| CN101411630A (en) | 2009-04-22 |
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Granted publication date: 20110302 Termination date: 20111019 |