Electro-optical distance measurement system of non-contact measurement
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A photoelectric ranging and light technology, applied in the field of measurement, can solve problems such as measurement method measurement, and achieve the effects of accurate ranging, good application prospects, and high level of productization
Inactive Publication Date: 2009-05-13
NANKAI UNIV +1
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[0006] The purpose of the present invention is to solve the problem that the minimally invasive surgical robot cannot use conventional measurement methods to measure the distance of the surgical tool entering the human body during the operation, and to provide a non-contact measurement photoelectric ranging system
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Embodiment 1
[0036] The photoelectric ranging system for non-contact measurement of the present invention is mainly composed of two parts:
[0037] The first part: photoelectric ranging circuit module, such as figure 2 As shown,
[0038] The photoelectric ranging circuit module uses the principle of photoelectric technology to realize non-contact precise ranging. It is mainly composed of the following four core parts (see figure 2 ): Luminous source, optical path conversion module, image acquisition and processing module, data communication interface.
[0039] Light-emitting source: It is composed of LED light-emitting diodes and a driving circuit. The driving circuit drives the LED light-emitting diode to emit visible light with a single red light source to provide a light source for the subsequent modules.
[0040] Optical path conversion module: completed by a lens component group (see Figure 4 ), including: light source converging lens 10: used to converge the light emitted by the light...
Embodiment 2
[0053] Embodiment 2. Ranging process:
[0054] In the following, the present invention will be explained through a complete ranging example.
[0055] Such as figure 1 As shown, the surgical tool is put into the moving groove on the circuit board base 1, the sliding piece 2 is pushed, the spring in the ball compression spring positioning mechanism 3 pushes the ball into it, and the surgical tool is inserted into the positioning pit on the sliding piece. Fixed, so that the surgical tool can move up and down freely in the groove. After the CPU gives an order, it slowly enters the human body, and it can be used at this time Figure 4 The principle shown completes the ranging work.
[0056] Figure 4 It is the schematic diagram of the distance measurement method of the circuit distance measurement module, such as Figure 4 As shown, there are several core components: 1 circuit board base, 5 base, 6 surgical tools, 7 PCB board, 8 image acquisition and processing module, 9 light source...
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Abstract
The invention relates to a photoelectric distance measurement system adopting non-contact measurement, which comprises a luminous source, a light path transition module, a measured object that is an operation tool, an image acquisition and processing module as well as a data communication interface. Luminous rays emitted from the luminous source irradiate on the operation tool through a plurality of refractions and reflections by the light path transition module, and reflected back to enter a CMOS picture sensor of the image acquisition and processing module. When the operation tool moves, the CMOS picture sensor records continuous images, and then a digital signal processor carries out contrastive analysis to continuous two images to judge the movement direction and the displacement of the operation tool. The photoelectric distance measurement system is suitable for the accurate distance measurement environment needing to adopt a non-contact measurement manner, and can be surely applied to the measurement of a robotic operation tool in a vertebral minimal invasion. The photoelectric distance measurement system has the main advantages as follows: the non-contact measurement of the operation tool is realized; the bacteria-free environment is ensured in operation; the characteristics of speediness and accurate distance measurement can be achieved; and the structure is simple and reliable, and the product forming level is high.
Description
【Technical Field】: [0001] The invention belongs to the technical field of measurement, and particularly relates to a photoelectric distance measuring system for non-contact measurement. 【Background technique】: [0002] At present, the research of medical robotics technology has become one of the frontier research hotspots in the field of international robotics, among which the research of medical surgical robotics is the most prominent. In recent years, medical staff have worked closely with scientific engineering and technical personnel to research and develop many types of medical surgical robot systems, some of which have been applied in clinical practice. Such as the DaVinci surgical robot system developed by Intuitive Surgical of the United States and the "spine assistant" robot for spinal surgery launched by Mazor of Israel. [0003] Minimally invasive surgery refers to a minimally invasive technique and method for diagnosing and treating diseases through non-traditional su...
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