Bracket joint axis, robotic arm bracket and automatic repetitive positioning system

Abstract

The present invention discloses a bracket joint shaft, comprising: a motor, a worm, a worm gear, a horizontal shaft, a vertical shaft, and a turntable. The power shaft of the motor is connected to the worm, the turntable is connected to the vertical shaft, the worm gear is provided on the horizontal shaft, a horizontal bevel gear is provided at one end of the horizontal shaft, and a vertical bevel gear meshing with the horizontal bevel gear is provided on the vertical shaft. Through the setting of the worm and worm gear, a large reduction ratio can be achieved, and joint self-locking at any position can also be realized, so that when the robotic arm applying the bracket joint shaft moves to any preset position, it can stop at any time and maintain self-locking, avoiding danger in the event of sudden power failure or the like, and improving safety and working stability. The present invention also discloses a robotic arm bracket comprising the above bracket joint shaft, and the present invention also discloses an automatic repeated positioning system comprising the above robotic arm bracket.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a stent joint axis, a robotic arm stent including the above stent joint axis, and an automatic repetitive positioning system including the above robotic arm stent. Background Art

[0002] For medical devices that use a robotic arm stent to adjust the position, the movement accuracy and working stability and safety of the robotic arm stent are crucial, and the joint axis of the robotic arm stent plays a key role in its movement state.

[0003] Traditional stent joint axes can achieve relative rotation functions, but after rotation, other locking components are required to lock the joint, or there is no locking component and it directly stops rotating to achieve the purpose of stopping the movement. However, the above structures all use electric energy to achieve self-locking, and there may be a problem of self-locking failure after power-off, thereby reducing the safety of the robotic arm stent. Summary of the Invention

[0004] The first object of the present invention is to provide a stent joint axis that can effectively improve its safety and working stability; the second object is to provide a robotic arm stent including the above stent joint axis; the third object is to provide an automatic repetitive positioning system including the above robotic arm stent.

[0005] To solve the above technical problems, the present invention provides the following technical solutions:

[0006] A stent joint axis includes: a motor, a worm, a worm gear, a horizontal shaft, a vertical shaft, and a turntable. The worm gear is provided on the horizontal shaft, a horizontal bevel gear is provided at one end of the horizontal shaft, and a vertical bevel gear meshing with the horizontal bevel gear is provided on the vertical shaft. The motor is used to drive the worm to rotate, and then drive the turntable to rotate through the worm gear, the horizontal bevel gear, and the vertical bevel gear in sequence to adjust the rotation angle of the rotatable end relative to the vertical commutation end.

[0007] Preferably, it further includes a first spur gear set, and the power shaft of the motor is connected to the worm through the first spur gear set.

[0008] Preferably, the first spur gear set includes a first spur gear, a second spur gear, and a third spur gear. The first spur gear is installed on the power shaft of the motor, the third spur gear is installed on the worm, and the second spur gear meshes with the first spur gear and the third spur gear respectively.

[0009] Preferably, it further includes a second spur gear set, and the vertical shaft is connected to the turntable through the second spur gear set.

[0010] Preferably, the second spur gear set includes a fourth spur gear and a fifth spur gear. The fourth spur gear is mounted on the vertical shaft, the fifth spur gear and the turntable are mounted on the output shaft, and the fifth spur gear meshes with the fourth spur gear.

[0011] A robotic arm bracket includes the bracket joint shaft as described in any one of the above, and further includes a plurality of connecting rods, and each of the connecting rods is connected by the bracket joint shaft.

[0012] Preferably, it further includes a base. The number of the connecting rods is two, which are respectively denoted as a first connecting rod and a second connecting rod. The base is connected to one end of the first connecting rod through a plurality of serially connected bracket joint shafts. The other end of the first connecting rod is connected to one end of the second connecting rod through a plurality of serially connected bracket joint shafts. The other end of the second connecting rod is connected to the bracket joint shaft for installing a functional module.

[0013] Each of the bracket joint shafts includes a vertical reversing end and a rotatable end. The number of the bracket joint shafts is five, which are respectively denoted as a first joint shaft, a second joint shaft, a third joint shaft, a fourth joint shaft, and a fifth joint shaft. The first joint shaft is fixedly connected to the base. The first rotatable end of the first joint shaft is fixedly connected to the first vertical reversing end of the second joint shaft. The second rotatable end of the second joint shaft is fixedly connected to its second vertical reversing end. The second vertical reversing end is fixedly connected to one end of the first connecting rod. The other end of the first connecting rod is fixedly connected to the third vertical reversing end of the third joint shaft. The third rotatable end of the third joint shaft is fixedly connected to its fourth vertical reversing end. The fourth vertical reversing end is fixedly connected to one end of the second connecting rod. The other end of the second connecting rod is fixedly connected to the fifth vertical reversing end of the fourth joint shaft. The fourth rotatable end of the fourth joint shaft is fixedly connected to the sixth vertical reversing end of the fifth joint shaft. The fifth rotatable end of the fifth joint shaft is used for installing a functional module.

[0014] An automatic repeat positioning system includes the robotic arm bracket described in any one of the above, and further includes a detection and positioning device, a functional module, a 3D positioning cap, a memory component, and a processor component. The functional module is fixed at the movable end of the robotic arm bracket. The detection and positioning device is used to select three of the positioning points on the 3D positioning cap as the center of the reference plane to establish a spatial reference coordinate system, store the initial coordinate position of the movable end in the spatial reference coordinate system in the memory component, and obtain the current coordinate position of the movable end in the spatial reference coordinate system in real time. The processor component is used to control the robotic arm bracket to drive the functional module when the linear distance between the current coordinate position and the initial coordinate position exceeds a preset spacing threshold, so that the linear distance between the current coordinate position and the initial coordinate position meets the preset spacing threshold.

[0015] Preferably, the positioning points are photosensitive positioning points, and photosensitive positioning latitude and longitude lines are provided on the 3D positioning cap. The photosensitive positioning latitude and longitude lines and the photosensitive positioning points are used for the detection and positioning device to detect and capture to identify distance position information.

[0016] Preferably, a photosensitive treatment target is detachably pasted on the preset treatment area of the 3D positioning cap.

[0017] Compared with the prior art, the above technical solution has the following advantages:

[0018] For the bracket joint axis and the robotic arm bracket provided by the present invention, when the rotation angle of the turntable needs to be adjusted, the motor can drive the worm to rotate, and then drive the worm wheel to rotate. Thus, the horizontal bevel gear on the horizontal shaft is driven by the worm wheel, and the power direction is changed through the vertical bevel gear. Finally, the turntable is driven to rotate by the vertical shaft. Through the setting of the worm and worm wheel, a large reduction ratio can be achieved, and joint self-locking at any position can also be realized. When the robotic arm applying the bracket joint axis moves to any preset position, it can stop at any time and maintain self-locking, avoiding danger in the event of sudden power failure and the like, and improving safety and working stability.

[0019] An automatic repeat positioning system provided by the present invention, when in use, a doctor first moves a functional module to a treatment target point on a 3D positioning cap through a robotic arm bracket. At this time, a detection and positioning device can select three positioning points on the 3D positioning cap as the center of a reference plane to establish a spatial reference coordinate system, and store the initial coordinate position of the moving end in the spatial reference coordinate system in a memory component; during the treatment process, the detection and positioning device can obtain the current coordinate position of the moving end in the spatial reference coordinate system in real time. When the position of the patient's head moves, that is, when the position of the 3D positioning cap moves, the current coordinate position is different from the initial coordinate position; when the straight-line distance between the current coordinate position and the initial coordinate position exceeds a preset spacing threshold, the processor component can control the robotic arm bracket to drive the functional module so that the straight-line distance between the current coordinate position and the initial coordinate position meets the preset spacing threshold, enabling automatic repeat positioning without the need for manual adjustment of the position of the functional module. Therefore, it has high adjustment accuracy, treatment effect, and treatment efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 is a schematic internal structure diagram of a bracket joint axis;

[0022] Figure 2 is a schematic structure diagram of a robotic arm bracket;

[0023] Figure 3 is a schematic structure diagram of an automatic repeat positioning system;

[0024] Figure 4 is a schematic structure diagram of an adjustable coil clamp;

[0025] Figure 5 is an exploded view of a detection and positioning device;

[0026] Figure 6 is a schematic structure diagram of a 3D positioning cap;

[0027] Figure 7 is a schematic structure diagram of a moving end and a 3D positioning cap;

[0028] Figure 8 is a flowchart of a TMS coil automatic repeat positioning method.

[0029] The reference numerals are as follows:

[0030] 1 - Base, 2 - First joint axis, 3 - Second joint axis, 4 - Third joint axis, 5 - Fourth joint axis, 6 - Fifth joint axis, 7 - Adjustable coil clamp, 8 - Detection and positioning device, 9 - TMS coil, 10 - 3D positioning cap, 11 - Memory component, 12 - Processor component;

[0031] 201 - Fourth spur gear, 202 - Vertical bevel gear, 203 - Vertical shaft, 204 - Horizontal bevel gear, 205 - Worm gear, 206 - First spur gear, 207 - Second spur gear, 208 - First rotatable end, 209 - Output shaft, 210 - Fifth spur gear, 211 - Horizontal shaft, 212 - Worm, 213 - Third spur gear, 214 - Motor;

[0032] 301 - First vertical commutation end, 302 - Second rotatable end, 303 - Second vertical commutation end, 304 - First connecting rod;

[0033] 401 - Third vertical commutation end, 402 - Third rotatable end, 403 - Fourth vertical commutation end, 404 - Second connecting rod;

[0034] 501 - Fifth vertical commutation end, 502 - Fourth rotatable end;

[0035] 601 - Sixth vertical commutation end, 602 - Fifth rotatable end;

[0036] 801 - IR camera, 802 - Proximity sensor, 803 - RGB camera, 804 - Transparent lens cover, 805 - Carrier rod, 806 - Lens mounting body;

[0037] 901 - Adjusting knob, 902 - Adjustable clamping device, 903 - Mounting fixing plate;

[0038] 10.1 - Photosensitive treatment target point, 10.2 - Photosensitive positioning longitude and latitude lines, 10.3 - Positioning point. Detailed implementation manners

[0039] In order to make the above - mentioned objects, features, and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manners of the present invention in conjunction with the accompanying drawings.

[0040] In the following description, specific details are set forth to facilitate a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar generalizations without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific implementation manners disclosed below.

[0041] A specific embodiment of the present invention provides a bracket joint axis, comprising: a motor 214, a worm 212, a worm wheel 205, a horizontal axis 211, a vertical axis 203, and a turntable. The power axis of the motor 214 is connected to the worm 212, the turntable is connected to the vertical axis 203, the worm wheel 205 is provided on the horizontal axis 211, a horizontal bevel gear 204 is provided at one end of the horizontal axis 211, and a vertical bevel gear 202 meshing with the horizontal bevel gear 204 is provided on the vertical axis 203. The worm 212, the vertical axis 203, and the horizontal axis 211 each have corresponding support portions to enable them to rotate around their respective axes. For example, an upper support disk and a lower support disk can be provided. The two ends of the vertical axis 203 and the worm 212 are respectively rotatably connected to the upper support disk and the lower support disk. The worm wheel 205, the worm 212, the horizontal bevel gear 204, and the vertical bevel gear 202 are located between the upper support disk and the lower support disk. One end of the horizontal axis 211 is rotatably connected to the housing, and the housing is used to cover the outside of the upper support disk and the lower support disk. Among them, the lower support disk can be connected to the fixed end of the motor 214. In addition, other structures can also be used to support the worm 212, the vertical axis 203, and the horizontal axis 211. When it is necessary to adjust the rotation angle of the turntable, the motor 214 can drive the worm 212 to rotate, thereby driving the worm wheel 205 to rotate, so as to drive the horizontal bevel gear 204 on the horizontal axis 211 to rotate through the worm wheel 205, change the power direction through the vertical bevel gear 202, and finally drive the turntable to rotate through the vertical axis 203. Through the setting of the worm wheel 205 and the worm 212, a large reduction ratio can be achieved, and joint self-locking at any position can also be realized, so that when the robotic arm applying this bracket joint axis moves to any preset position, it can stop at any time to maintain self-locking, avoiding danger in the event of sudden power failure and other situations, and improving safety and working stability.

[0042] In order to further improve the rotation accuracy of the bracket joint axis, it further includes a first set of spur gears 206. The power shaft of the motor 214 is connected to the worm 212 through the first set of spur gears 206. The number of gears included in the first set of spur gears 206 can be selected according to needs. For example, taking three spur gears as an example, it includes a first spur gear 206, a second spur gear 207, and a third spur gear 213. The first spur gear 206 is installed on the power shaft of the motor 214, the third spur gear 213 is installed on the worm 212, and the second spur gear 207 meshes with the first spur gear 206 and the third spur gear 213 respectively. In addition, it further includes a second set of spur gears 207. The vertical shaft 203 is connected to the turntable through the second set of spur gears 207. The number of the second set of spur gears 207 can also be selected according to needs. For example, taking two spur gears as an example, it includes a fourth spur gear 201 and a fifth spur gear 210. The fourth spur gear 201 is installed on the vertical shaft 203, the fifth spur gear 210 and the turntable are installed on the output shaft 209, and the fifth spur gear 210 meshes with the fourth spur gear 201. The first set of spur gears 206 and the second set of spur gears 207 are mainly for speed reduction to ensure that the turntable has higher rotation accuracy.

[0043] The embodiment of the present invention also provides a robotic arm bracket, which includes the bracket joint axis provided in the above embodiment. In addition, it further includes several connecting rods, and each connecting rod is connected through the bracket joint axis. The number and mutual connection relationship of the connecting rods and the bracket joint axis can be matched according to actual needs.

[0044] For example, it includes two connecting rods and multiple bracket joint axes. For the convenience of distinction, the two connecting rods are respectively denoted as a first connecting rod 304 and a second connecting rod 404. One end of the first connecting rod 304 is connected to the base 1 through several series-connected bracket joint axes, and the other end of the first connecting rod 304 is connected to one end of the second connecting rod 404 through several series-connected bracket joint axes. The other end of the second connecting rod 404 is connected with a bracket joint axis for installing a functional module. The several series-connected bracket joint axes can be one or more. When multiple are connected in series, it should be ensured that there is a certain included angle between the axes of two adjacent bracket joint axes to achieve the purpose of commutation.

[0045] The following takes two connecting rods and five bracket joint axes as an example for illustration:

[0046] Each support joint axis includes a vertical commutation end and a rotatable end; for the convenience of distinction, the five support joint axes are respectively denoted as the first joint axis 2, the second joint axis 3, the third joint axis 4, the fourth joint axis 5, and the fifth joint axis 6; the first joint axis 2 is fixedly connected to the base 1, and the base 1 is mainly used to support the robotic arm support. The first rotatable end 208 of the first joint axis 2 is fixedly connected to the first vertical commutation end 301 of the second joint axis 3. The second rotatable end 302 of the second joint axis 3 is fixedly connected to its second vertical commutation end 303. The second vertical commutation end 303 is fixedly connected to one end of the first connecting rod 304. The other end of the first connecting rod 304 is fixedly connected to the third vertical commutation end 401 of the third joint axis 4. The third rotatable end 402 of the third joint axis 4 is fixedly connected to its fourth vertical commutation end 403. The fourth vertical commutation end 403 is fixedly connected to one end of the second connecting rod 404. The other end of the second connecting rod 404 is fixedly connected to the fifth vertical commutation end 501 of the fourth joint axis 5. The fourth rotatable end 502 of the fourth joint axis 5 is fixedly connected to the sixth vertical commutation end 601 of the fifth joint axis 6. The fifth rotatable end 602 of the fifth joint axis 6 is used to install the functional module; the rotation axis of the first joint axis 2 and the rotation axis of the second joint axis 3 are perpendicular to each other. The rotation axis of the second joint axis 3 and the axis of the first connecting rod 304 are perpendicular to each other. The rotation axis of the third joint axis 4 and the axis of the second connecting rod 404 are perpendicular to each other. The rotation axes of the second joint axis 3, the third joint axis 4, and the fourth joint axis 5 are parallel to each other. The rotation axis of the fourth joint axis 5 and the rotation axis of the fifth joint axis 6 are perpendicular to each other. The position adjustment of the functional module in the three-dimensional space can be realized through each joint axis. The movement range of the functional module can be expanded through the two connecting rods. For the purpose of achieving light weight, the connecting rods are preferably hollow rods.

[0047] A specific embodiment of the present invention provides an automatic repeated positioning system, including the robotic arm support provided in any one of the above embodiments. This robotic arm support can be used for the multiple repeated positioning of the coil during transcranial magnetic stimulation treatment, or the coil can be replaced with other functional modules for use in other scenarios. The embodiments of the present invention do not limit the specific use scenarios. In the specific implementation process, this robotic arm support can be installed on the transcranial magnetic main machine for use as a supporting device, or can be used alone as an independent device.

[0048] The following takes the application of an automatic repeat positioning system to a TMS coil as an example for illustration. In addition to including a robotic arm bracket, it also includes a TMS coil 9, a detection and positioning device 8, a 3D positioning cap 10, a memory component 11, and a processor component 12. The TMS coil 9 is fixed to the movable end of the robotic arm bracket, and the base 1 of the robotic arm bracket is fixed to the TMS host. The position of the movable end in the robotic arm coordinate system is denoted as Q, where the robotic arm coordinate system is preferably established with the center of the base 1 as the zero point; the 3D positioning cap 10 is worn on the patient's head, and at least three positioning points 10.3 are provided on the 3D positioning cap 10. The positioning points 10.3 are preferably photosensitive positioning points 10.3, that is, the positioning points 10.3 are made of photosensitive material, such as Figure 1 the four photosensitive positioning points 10.3, namely A, B, C, and D as shown. In specific use, the doctor first moves the TMS coil 9 to the treatment target point 10.1 on the 3D positioning cap 10 through the robotic arm bracket. At this time, the detection and positioning device 8 can select three of the positioning points 10.3 on the 3D positioning cap 10 as the center of the reference plane to establish a spatial reference coordinate system, denoted as X1Y1Z1, and store the initial coordinate position of the movable end, that is, the position Q in the spatial reference coordinate system X1Y1Z1, in the memory component 11. The initial coordinate position is denoted as M1, which is the correct treatment position; during the treatment process, the detection and positioning device 8 can obtain the current coordinate position of the movable end, that is, the position Q, in the spatial reference coordinate system in real time. When the position of the patient's head moves, that is, the position of the 3D positioning cap 10 changes, the current coordinate position is different from the initial coordinate position. At this time, the current coordinate position is denoted as M2; when the straight-line distance between the current coordinate position and the initial coordinate position exceeds the preset distance threshold, for example, when the straight-line distance exceeds 2 mm, the processor component can control the robotic arm bracket to drive the TMS coil 9 so that the straight-line distance between the current coordinate position and the initial coordinate position meets the preset distance threshold. If the position of the movable end changes again, the above working process can be cyclically executed to achieve the purpose of automatic repeat positioning of the TMS coil, without the need for manual adjustment of the position of the TMS coil 9. Therefore, it has high adjustment accuracy, treatment effect, and treatment efficiency.

[0049] Among them, the detection and positioning device 8 includes a carrier rod 805, a lens mounting body 806, an IR camera 801, a proximity sensor 802, and an RGB camera 803, such as Figure 5As shown, the middle part of the bearing rod 805 is fixed to the movable end. A lens mounting body 806 is provided at each end of the bearing rod 805. The lens mounting body 806 is preferably a cube structure. Two IR cameras 801, a proximity sensor 802, and an RGB camera 803 are provided on each lens mounting body 806. A transparent lens cover 804 for protection is also provided on the front side of the lens mounting body 806. Among them, the positioning detection function can be realized through the configuration of one lens mounting body 806. By setting two groups, when the TMS coil 9 blocks the detection and positioning device 8 during the positioning process, the situation of occlusion and inability to position can be avoided. For example, if one side of the camera is blocked, the camera on the other side will not be affected, effectively ensuring the reliability of the positioning movement of the TMS coil 9 in extreme situations.

[0050] For the 3D positioning cap 10, as Figure 6 shown, photosensitive positioning latitude and longitude lines 10.2 for dividing different regions of the brain are provided on the 3D positioning cap 10. 3D modeling of the 3D positioning cap 10 can be performed through the photosensitive positioning latitude and longitude lines 10.2 and the photosensitive positioning points 10.3, and the photosensitive positioning latitude and longitude lines 10.2 and the photosensitive positioning points 10.3 can be detected and captured by the detection and positioning device 8 to identify distance position information.

[0051] To improve the flexibility of use of the 3D positioning cap 10, the photosensitive treatment target 10.1 is detachably pasted on the preset treatment area of the 3D positioning cap 10. For example, the exposed surface of the 3D positioning cap 10 is set to be a rough surface, and the reverse side of the photosensitive treatment target 10.1 is a hook surface that adheres to the rough surface. During use, after the patient wears the 3D positioning cap 10, the doctor can select the treatment area to paste the photosensitive treatment target 10.1. Therefore, the setting of multiple lesion area targets can be realized on one 3D positioning cap 10, thus avoiding the situation of making one 3D positioning cap 10 for each treatment point, reducing the number of 3D positioning caps 10, reducing the use cost, and improving the treatment efficiency.

[0052] To facilitate the installation of the TMS coil, an adjustable coil clamp 7 is further included. An installation fixing plate 902 is provided at the bottom of the adjustable coil clamp 7 and is installed and fixed on the fifth rotatable end 602. An adjustable clamping device 902 for adjusting the size of the clamping opening is provided in the middle of the adjustable coil clamp 7, as Figure 4As shown, the adjustable clamping device 902 includes a fixed tile and a movable tile. The convex surface of the movable tile is connected to the adjusting knob 901. The adjusting knob 901 is screwed onto the adjustable coil clamp 7. By rotating the adjusting knob 901, the movable tile can be moved towards the fixed tile, thereby clamping the TMS coil 9. By rotating the adjusting knob 901 in the reverse direction, the TMS coil 9 can be loosened. The adjustable clamping device 902 is preferably made of soft rubber material to avoid embossing the surface of the TMS coil 9 in contact with it. The sequential connection of the five joint axes ensures multiple degrees of freedom, and the two connecting rods can ensure the movement space range of the robotic arm bracket, ensuring sufficient positioning distance and improving the flexibility of the position adjustment of the TMS coil 9.

[0053] Preferably, the motors inside each bracket joint axis are servo motors with angle measurement functions, and the servo motors can also calculate the current torque value according to the output voltage and current. By performing modeling calculations based on the angle information of the servo motors in the five joint axes, the spatial form and coordinate position information of the robotic arm can be obtained. By measuring the torque value, it can be known whether the robotic arm is operating normally. In case of abnormal situations such as collisions and blockages, the robotic arm can stop immediately to avoid situations such as injuring people or damaging the robotic arm or other things.

[0054] To facilitate the understanding of the working principle of the above automatic repeat positioning system, its working principle is described below, including the following steps:

[0055] S100: Taking the center of the base 1 of the robotic arm bracket as the zero point, a robotic arm coordinate system is established. The robotic arm coordinate system can be preset in the processor component 12. The processor component 12 can establish a robotic arm kinematic model relying on the angle measurement devices and relevant arm data in each joint axis of the multi-axis robotic arm, and obtain the relative coordinate point of the movable end of the robotic arm bracket. This point is denoted as Q.

[0056] S200: Before treatment, the 3D positioning cap 10 needs to be worn on the patient's head first. Then the doctor pastes the treatment target 10.1 on the treatment area of the 3D positioning cap 10. Subsequently, the TMS coil 9 fixed on the movable end is moved to the position of the treatment target 10.1. A spatial reference coordinate system is established according to three of the positioning points 10.3 on the 3D positioning cap 10, and the initial coordinate position of the relative coordinate point Q of the movable end in the spatial reference coordinate system is obtained, denoted as M1, and the initial coordinate position M1 is saved in the memory component 11.

[0057] S300: During treatment, since the position of the patient's head, i.e., the 3D positioning cap 10, may move, it is necessary to obtain the current coordinate position of the relative coordinate point of the movable end in the spatial reference coordinate system in real time. The current coordinate position is denoted as M2;

[0058] S400: Determine whether the linear distance between the current coordinate position and the initial coordinate position exceeds a preset spacing threshold. For example, the preset spacing threshold can be set to 2 mm. If the linear distance between M2 and M1 exceeds the preset spacing threshold, proceed to the next step:

[0059] S500: Adjust the position of the movable end through a multi-axis robotic arm so that the linear distance between M2 and M1 meets the preset spacing threshold. Among them, the processor component 12 can calculate and plan the movement path for M2 to return to the position of M1. During movement, the processor component 12 will send drive instructions to the servo motors within the joint axes to make the movable end of the robotic arm return to the position of M1, that is, the TMS coil 9 returns to the preset treatment target point 10.1 position. During the movement process, the processor component 12 will continuously optimize the movement path to ensure the accuracy of the point return.

[0060] If the linear distance between M2 and M1 does not exceed the preset spacing threshold, the positioning of the TMS coil 9 ends. During treatment, if the 3D positioning cap 10 shifts again, continue to control the multi-axis robotic arm to move, thereby achieving the purpose of automatic repeated positioning of the TMS coil, and thus improving the positioning accuracy, treatment effect, and treatment efficiency of the TMS coil 9.

[0061] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0062] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic repetitive positioning system, characterized in that, It includes a robotic arm bracket, and also includes a detection and positioning device, a functional module, a 3D positioning cap, a memory component, and a processor component. The functional module is fixed at the movable end of the robotic arm bracket. The detection and positioning device is used to select three of the positioning points on the 3D positioning cap as the center of the reference plane to establish a spatial reference coordinate system, store the initial coordinate position of the movable end in the spatial reference coordinate system in the memory component, and obtain the current coordinate position of the movable end in the spatial reference coordinate system in real time. The processor component is used to control the robotic arm bracket to drive the functional module when the linear distance between the current coordinate position and the initial coordinate position exceeds a preset spacing threshold, so that the linear distance between the current coordinate position and the initial coordinate position meets the preset spacing threshold; The detection and positioning device includes a carrier rod, a lens mounting body, an IR camera, a proximity sensor, and an RGB camera. The middle of the carrier rod is fixed at the movable end. One lens mounting body is provided at each end of the carrier rod, and each lens mounting body is provided with two IR cameras, one proximity sensor, and one RGB camera; The positioning points are photosensitive positioning points. The 3D positioning cap is provided with photosensitive positioning longitude and latitude lines. The photosensitive positioning longitude and latitude lines and the photosensitive positioning points are used for the detection and positioning device to detect and capture to identify distance position information; A photosensitive treatment target point is detachably pasted on the preset treatment area of the 3D positioning cap; It also includes an adjustable coil clamp. The bottom of the adjustable coil clamp is provided with a mounting fixing plate, which is mounted and fixed on the movable end. An adjustable clamping device for adjusting the size of the clamping opening is arranged in the middle of the adjustable coil clamp. The adjustable clamping device includes a fixed tile and a movable tile. The convex surface of the movable tile is connected to an adjusting knob. The adjusting knob is screwed on the adjustable coil clamp. By rotating the adjusting knob, the movable tile moves towards the fixed tile to clamp the TMS coil. Rotating the adjusting knob in the reverse direction releases the TMS coil.

2. The automatic repeat positioning system according to claim 1, characterized in that, The robotic arm bracket includes a bracket joint axis and also includes a plurality of connecting rods. Each of the connecting rods is connected by the bracket joint axis.

3. The automatic repeat positioning system according to claim 2, wherein It also includes a base. The number of the connecting rods is two, which are respectively denoted as the first connecting rod and the second connecting rod. The base is connected to one end of the first connecting rod through a plurality of serially connected bracket joint axes. The other end of the first connecting rod is connected to one end of the second connecting rod through a plurality of serially connected bracket joint axes. The other end of the second connecting rod is connected to the bracket joint axis for mounting the functional module.

4. The automatic repeat positioning system according to claim 3, wherein Each of the support joint shafts includes a vertical commutation end and a rotatable end. The number of the support joint shafts is five, which are respectively denoted as the first joint shaft, the second joint shaft, the third joint shaft, the fourth joint shaft, and the fifth joint shaft. The first joint shaft is fixedly connected to the base. The first rotatable end of the first joint shaft is fixedly connected to the first vertical commutation end of the second joint shaft. The second rotatable end of the second joint shaft is fixedly connected to its second vertical commutation end. The second vertical commutation end is fixedly connected to one end of the first connecting rod. The other end of the first connecting rod is fixedly connected to the third vertical commutation end of the third joint shaft. The third rotatable end of the third joint shaft is fixedly connected to its fourth vertical commutation end. The fourth vertical commutation end is fixedly connected to one end of the second connecting rod. The other end of the second connecting rod is fixedly connected to the fifth vertical commutation end of the fourth joint shaft. The fourth rotatable end of the fourth joint shaft is fixedly connected to the sixth vertical commutation end of the fifth joint shaft. The fifth rotatable end of the fifth joint shaft is used for installing the functional module.

5. The automatic repetitive positioning system according to claim 2, wherein Each of the support joint shafts includes: a motor, a worm, a worm gear, a horizontal shaft, a vertical shaft, and a turntable. The worm gear is provided on the horizontal shaft. A horizontal bevel gear is provided at one end of the horizontal shaft. A vertical bevel gear meshing with the horizontal bevel gear is provided on the vertical shaft. The motor is used to drive the worm to rotate, and then drive the turntable to rotate through the worm gear, the horizontal bevel gear, and the vertical bevel gear in sequence. Both ends of the vertical shaft and the worm are rotatably connected to the upper support plate and the lower support plate respectively. The worm gear, the worm, the horizontal bevel gear, and the vertical bevel gear are located between the upper support plate and the lower support plate. One end of the horizontal shaft is rotatably connected to the housing. The housing is used to cover the outside of the upper support plate and the lower support plate. Wherein the lower support plate is connected to the fixed end of the motor. It further includes a first spur gear set. The power shaft of the motor is connected to the worm through the first spur gear set. The first spur gear set includes a first spur gear, a second spur gear, and a third spur gear. The first spur gear is installed on the power shaft of the motor. The third spur gear is installed on the worm. The second spur gear meshes with the first spur gear and the third spur gear respectively. It further includes a second spur gear set. The vertical shaft is connected to the turntable through the second spur gear set. The second spur gear set includes a fourth spur gear and a fifth spur gear. The fourth spur gear is installed on the vertical shaft. The fifth spur gear and the turntable are installed on the output shaft. The fifth spur gear meshes with the fourth spur gear.

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