Medical procedure robotic arm

Abstract

The application discloses a kind of mechanical arms for medical operation, including mechanical arm body, mobile type setting in operating table side by a movable trolley, mechanical arm body lower end is fixed on movable trolley, and mechanical arm body terminal end is equipped with searchlight;Light tracking device can automatically track the position of surgeon scalpel in real time, provide light for surgeon operation, and light tracking device is set on mechanical arm body;Activation device can activate light tracking device when scalpel is above operating table, and activation device is set on operating table;Compared with prior art: 1, linear positioning assembly is used, in the operation process, the searchlight of mechanical arm terminal end moves in real time according to the moving position of scalpel, without manual adjustment;2, when light is blocked, mechanical arm moving assembly can move searchlight search path to the gap between doctors, then find point position and irradiate, and search point position is accurate and convenient.

Description

Technical Field

[0001] This invention relates to the field of medical robotic arms, and in particular to a robotic arm for medical surgery. Background Technology

[0002] During surgery, doctors are generally in a highly focused state, and the surgical site usually needs to be illuminated by a searchlight at all times to ensure that the doctor has the best line of sight to facilitate the operation. Therefore, during surgery, the assistant will help adjust the position of the searchlight according to the position of the doctor's scalpel. The adjustment process is slow, and the position is easy to be misaligned. Moreover, there are also situations where the doctor blocks the searchlight, which reduces the light and is not conducive to the operation. Summary of the Invention

[0003] In view of the above, the present invention provides a robotic arm for medical surgery to solve the problems existing in the prior art.

[0004] The technical solution provided by this invention is as follows:

[0005] A robotic arm for medical surgery, including

[0006] The robotic arm body is moved and set next to the operating table via a movable cart. The lower end of the robotic arm body is fixed on the movable cart, and a searchlight is provided at the end of the robotic arm body.

[0007] The light tracking device can automatically track the position of the surgeon's scalpel in real time and provide light for the surgeon's operation. The light tracking device is installed on the robotic arm body.

[0008] An activation device is installed on the operating table to activate the light tracking device when the scalpel is above the operating table.

[0009] The light tracking device includes a linear positioning component that can locate and track the position of the scalpel in real time, a robotic arm moving component that can find an unobstructed position after the linear positioning component is blocked and move the robotic arm body to the unobstructed position, a compensation positioning component that can roughly locate the position of the scalpel and move the linear positioning component closer to it to assist in precise positioning, and a microcontroller. The linear positioning component and the compensation positioning component are located at the end of the robotic arm body, and the robotic arm moving component and the microcontroller are both located on the robotic arm body. The linear positioning component, the robotic arm moving component, and the compensation positioning component are all electrically connected to the microcontroller.

[0010] The activation device includes a magnetic chip and a magnetic core reader. The magnetic chip is detachably installed inside the handle of the scalpel, and the magnetic core reader is built into the operating table.

[0011] After the scalpel is sterilized at high temperature, a magnetic chip is installed. When the scalpel enters the reading range, the light tracking device is activated. The compensation positioning component assists the linear positioning component in completing the initial positioning of the light point. Then, the linear positioning component positions the light point in real time according to the movement of the scalpel, so that the light point always falls on the surgical point. When the linear positioning component is blocked, the robotic arm moving component moves to the gap between the doctors, so that the light path is unobstructed. Then, the compensation positioning component assists the linear positioning component in completing the positioning of the surgical point.

[0012] Preferably, the linear positioning component includes an infrared positioning sensor and an infrared receiver. The infrared positioning sensor is disposed at the end of the robotic arm body, and the infrared receiver is disposed on the handle of the scalpel. The infrared sensor is connected to the input end of the microcontroller.

[0013] Preferably, the robotic arm moving component includes an image sensor capable of capturing the gap between surgeons. The image sensor is located at the upper end of the robotic arm body, and the acquisition end corresponds to the position of the operating table.

[0014] Preferably, the image sensor is connected to the input end of the microcontroller, and the robotic arm body is connected to the output end of the microcontroller.

[0015] Preferably, the compensation positioning component includes a wireless positioning transmitter capable of emitting a scalpel position signal and a wireless positioning receiver capable of receiving the scalpel position signal. The wireless positioning transmitter is detachably installed inside the scalpel handle, and the wireless positioning receiver is located on the robotic arm.

[0016] The method of using a robotic arm for precise positioning and tracking of surgical illumination includes the following steps:

[0017] (1) The scalpel is placed on the operating table. The magnetic chip is read and the wireless positioning transmitter is activated. The wireless positioning transmitter transmits the position signal of the scalpel to the wireless positioning receiver. According to the positioning information, the spotlight at the end of the robotic arm moves the spotlight position to within 0.8-1cm of the scalpel diameter. At this time, the positioning and spotlight position error is in the centimeter range.

[0018] (2) After the above steps are completed, the infrared positioning sensor causes the robotic arm to move to find the position of the infrared receiver and perform positioning. After positioning is completed, the spotlight at the end of the robotic arm is accurately positioned to the position of the scalpel. At this time, the positioning error between the spotlight and the position of the spotlight is at the millimeter level. The spotlight at the end of the robotic arm tracks the position of the scalpel according to the position signal received by the infrared positioning sensor.

[0019] (3) When the infrared positioning sensor is blocked by the doctor, the image sensor collects image information, finds the gap position in the middle of the doctor, and moves the robotic arm body to that position.

[0020] (4) The compensation positioning component repeats the above step (1);

[0021] (5) Repeat step (2) above for the linear positioning component.

[0022] The beneficial effects of this invention are as follows:

[0023] 1. Using a linear positioning component, the spotlight at the end of the robotic arm moves in real time according to the movement of the scalpel during the operation, without the need for manual adjustment.

[0024] 2. When the light is blocked, the robotic arm's moving component can move the searchlight's path to the gap between doctors, and then accurately locate the spot for illumination, making the spotting point precise and convenient. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0026] In the diagram: 1. Robotic arm body; 2. Operating table; 3. Microcontroller; 4. Wireless positioning transmitter; 5. Magnetic core reader; 6. Searchlight; 7. Infrared positioning sensor; 8. Infrared receiver; 9. Wireless positioning receiver; 10. Image sensor; 11. Mobile cart; 12. Magnetic chip; 13. Scalpel. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and some embodiments.

[0028] Figure 1 In the middle, a kind of robotic arm for medical surgery includes

[0029] The robotic arm body 1 is movable and set next to the operating table 2 via a movable trolley 11. The lower end of the robotic arm body 1 is fixed on the movable trolley 11, and the end of the robotic arm body 1 is equipped with a searchlight 6. By using the movable trolley 11, the robotic arm body 1 can be placed in a suitable position next to the operating table 2 according to the surgical site. The robotic arm body 1 can be a universal arm, a six-axis robotic arm, or other commonly used technologies in the prior art.

[0030] The light tracking device can automatically track the position of the surgeon's scalpel 13 in real time and provide light for the surgeon's operation. The light tracking device is installed on the robotic arm body 1.

[0031] An activation device is provided that can activate the light tracking device when the scalpel 13 is above the operating table 2. The activation device is located on the operating table 2.

[0032] The light tracking device includes a linear positioning component that can locate and track the position of the scalpel 13 in real time, a robotic arm moving component that can find an unobstructed position after the linear positioning component is blocked and move the robotic arm body 1 to the unobstructed position, a compensation positioning component that can roughly locate the position of the scalpel and move the linear positioning component closer to it to assist in precise positioning, and a microcontroller 3. The linear positioning component and the compensation positioning component are located at the end of the robotic arm body 1, and the robotic arm moving component and the microcontroller 3 are both located on the robotic arm body 1. The linear positioning component, the robotic arm moving component, and the compensation positioning component are all electrically connected to the microcontroller 3.

[0033] The activation device includes a magnetic chip 12 and a magnetic core reader 5. The magnetic chip 12 is detachably installed inside the handle of the scalpel 13. The magnetic core reader 5 is built into the operating table 2. When the magnetic core reader 5 enters the reading range on the operating table 2, the magnetic chip 12 reads and cuts the magnetic field lines, which powers on the wireless positioning transmitter 4 and transmits the positioning signal of the scalpel. The magnetic chip 12 is installed inside the handle of the scalpel 13 after the scalpel 13 has been sterilized at high temperature. The surgical area is the same as the reading area of ​​the magnetic core reader 5. The reading area can cover the surface of the operating table, and the surgical site is located within the reading area.

[0034] After the scalpel 13 is sterilized at high temperature, the magnetic chip 12 is installed. When the scalpel 13 enters the reading range, the light tracking device is activated. The compensation positioning component assists the linear positioning component in completing the initial positioning of the light point. Then, the linear positioning component positions the light point in real time according to the movement of the scalpel 13, so that the light point always falls on the surgical point. When the linear positioning component is blocked, the robotic arm moving component moves to the gap between the doctors. After the light path is unobstructed, the compensation positioning component assists the linear positioning component in completing the positioning of the surgical point.

[0035] In this embodiment, the linear positioning component includes an infrared positioning sensor 7 and an infrared receiver 8. The infrared positioning sensor 7 is located at the end of the robotic arm body 1, and the infrared receiver 8 is located on the handle of the scalpel 13. The infrared sensor is connected to the input terminal of the microcontroller 3. The infrared sensor is installed on the handle of the scalpel 13 after the scalpel 13 has been sterilized at high temperature. The infrared positioning sensor 7 emits infrared sensing signals to the infrared receiver 8 in real time. During the movement of the scalpel 13, the infrared sensor tracks the infrared receiver 8 in real time, thereby transmitting signals to move the robotic arm body 1, so that the distance between the illumination point of the searchlight 6 and the surgical point is always accurate at the millimeter level.

[0036] In this embodiment, the robotic arm moving component includes an image sensor 10 capable of capturing the gap between surgeons. The image sensor 10 is located at the upper end of the robotic arm body 1, and its acquisition end corresponds to the position of the operating table 2. The image sensor 10 is connected to the input end of the microcontroller 3, and the robotic arm body 1 is connected to the output end of the microcontroller 3. The image sensor 10 will collect image information in real time to ensure that the light path of the searchlight 6 is within the gap between the surgeons. When the infrared signal of the infrared sensor is blocked by the surgeon, the microcontroller 3 transmits a signal to the robotic arm body 1, causing the end of the robotic arm body 1 to move, thereby ensuring that the light path of the searchlight 6 can pass through the gap between the surgeons.

[0037] In this embodiment, the compensation positioning component includes a wireless positioning transmitter 4 that can emit a position signal of the scalpel 13 and a wireless positioning receiver 9 that receives the position signal of the scalpel 13. The wireless positioning transmitter 4 is detachably installed inside the handle of the scalpel 13, and the wireless positioning receiver 9 is located on the robotic arm. The wireless positioning transmitter 4 will transmit wireless positioning information in real time, so as to accurately measure the distance between the illumination point of the searchlight 6 at the end of the robotic arm body 1 and the surgical point within a diameter range of 0.8-1cm when positioning is initially performed or when repositioning after being blocked.

[0038] The method of using a robotic arm for precise positioning and tracking of surgical illumination includes the following steps:

[0039] (1) The scalpel 13 is located on the operating table 2. The magnetic chip 12 is read and the wireless positioning transmitter 4 is activated. The wireless positioning transmitter 4 transmits the position signal of the scalpel 13 to the wireless positioning receiver 9. According to the positioning information, the spotlight 6 at the end of the robotic arm body 1 is moved to the range of 0.8-1cm diameter of the scalpel 13. At this time, the positioning and illumination point error is at the centimeter level.

[0040] (2) After the above steps are completed, the infrared positioning sensor causes the robotic arm body 1 to move to find the position of the infrared receiver and perform positioning. After positioning is completed, the spotlight 6 at the end of the robotic arm body 1 is accurately positioned to the position of the scalpel 13. At this time, the positioning error between the spotlight and the spotlight position is at the millimeter level. The spotlight 6 at the end of the robotic arm body 1 tracks the position of the scalpel 13 according to the position signal received by the infrared positioning sensor.

[0041] (3) When the infrared positioning sensor is blocked by the doctor, the image sensor 10 collects image information, finds the gap position in the middle of the doctor and moves the robotic arm body 1 to that position.

[0042] (4) The compensation positioning component repeats the above step (1);

[0043] (5) Repeat step (2) above for the linear positioning component.

[0044] It is worth noting that in the description of this utility model, "multiple" means two or more, unless otherwise explicitly specified. In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can also refer to a mechanical connection. The circuits described in this utility model are all commonly used circuits in the art, and other related components are all commonly used existing components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0045] It will be apparent to those skilled in the art that this utility model patent is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this utility model patent. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this utility model patent is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be encompassed within this utility model patent. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A medical-surgical robot arm characterized by comprising: The utility model relates to a kind of surgical light tracking device and activation device, including Mechanical arm body, movablely arranged beside operating table by a movable trolley, the lower end of mechanical arm body is fixed on movable trolley, and the end of mechanical arm body is equipped with search light; Light tracking device can automatically track the position of surgeon's scalpel in real time, and provide light for surgery, and light tracking device is arranged on mechanical arm body; Activation device can activate light tracking device when scalpel is above operating table, and activation device is arranged on operating table; The light tracking device includes a linear positioning assembly that can locate and track the position of the scalpel in real time, a mechanical arm moving assembly that can find an unobstructed position when the linear positioning assembly is obstructed and move the mechanical arm body to the unobstructed position, a compensation positioning assembly that can roughly locate the position of the scalpel to assist accurate positioning of the linear positioning assembly, and a microcontroller, wherein the linear positioning assembly and the compensation positioning assembly are arranged at the end of the mechanical arm body, the mechanical arm moving assembly and the microcontroller are arranged on the mechanical arm body, and the linear positioning assembly, the mechanical arm moving assembly, the compensation positioning assembly and the microcontroller are electrically connected. The activation device includes a magnetic chip and a magnetic core reader, the magnetic chip is detachably arranged in the handle of the scalpel, and the magnetic core reader is built-in on the operating table. After high-temperature disinfection of the scalpel, the magnetic chip is installed, the scalpel enters the reading range, the light tracking device is activated, the compensation positioning assembly assists the linear positioning assembly to complete the initial positioning of the light point, and then the linear positioning assembly positions the light point in real time according to the movement of the scalpel, so that the light point always falls on the surgical point, when the linear positioning assembly is obstructed, the mechanical arm moving assembly moves to the gap position between doctors, so that the light path is unobstructed, and the compensation positioning assembly assists the linear positioning assembly to complete the positioning of the surgical point after the light path is unobstructed.

2. The medical-surgical manipulator according to claim 1, characterized in that: The linear positioning assembly includes an infrared positioning sensor and an infrared receiver, the infrared positioning sensor is arranged at the end of the mechanical arm body, and the infrared receiver is arranged on the handle of the scalpel, and the infrared sensor is connected to the input end of the microcontroller.

3. The medical-surgical manipulator according to claim 1, characterized in that: The mechanical arm moving assembly includes an image sensor that can collect the gap between surgeons, the image sensor is arranged at the upper end of the mechanical arm body, and the collection end corresponds to the position of the operating table.

4. The medical-surgical manipulator according to claim 3, characterized in that: The image sensor is connected to the input end of the microcontroller, and the mechanical arm body is connected to the output end of the microcontroller.

5. The medical-surgical manipulator according to claim 1, characterized in that: The compensation positioning assembly includes a wireless positioning transmitter that can emit a signal of the position of the scalpel and a wireless positioning receiver that receives the signal of the position of the scalpel, the wireless positioning transmitter is detachably arranged in the handle of the scalpel, and the wireless positioning receiver is arranged on the mechanical arm.

6. The method for precise positioning and tracking the light position in surgery using a mechanical arm for medical surgery according to any one of claims 1-5, characterized in that: The utility model includes the following steps: (1) The scalpel is located on the operating table, the magnetic chip is read, the wireless positioning transmitter is activated, the wireless positioning transmitter emits a signal of the position of the scalpel to the wireless positioning receiver, the end of the mechanical arm body is moved to the range of 0.8-1 cm diameter of the scalpel according to the positioning information, and the positioning error and the light point is in centimeter level at this time. (2) After the above positioning is completed, the infrared positioning sensor moves the mechanical arm body to find the position of the infrared receiver, performs positioning, and after the positioning is completed, the search point of the search light at the end of the mechanical arm body is accurately positioned to the position of the scalpel. At this time, the error of the positioning and the search point is in millimeter level. The search point of the search light at the end of the mechanical arm body tracks the position of the scalpel according to the position signal received by the infrared positioning sensor; (3) When the infrared positioning sensor is blocked by the doctor, the image sensor collects image information, finds the gap position in the middle of the doctor, and moves the mechanical arm body to the position; (4) The compensation positioning assembly repeats the above step (1); (5) The linear positioning assembly repeats the above step (2).

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