Automatic puncture robot pressure sensor and system thereof

Abstract

The application relates to an automatic puncture robot pressure sensor and a system thereof, and belongs to the technical field of sensors. The installation protection mechanism is provided. The connecting part and the protection installation part in the installation protection mechanism are matched to protect the pressure sensor body and the boss, so that the boss is prevented from being bumped and abraded during transportation and carrying, the influence of abrasion on measurement accuracy is reduced, the measurement accuracy is improved, and the installation protection mechanism is convenient to use. The installation protection mechanism is provided. The connecting part and the protection installation part in the installation protection mechanism are matched to protect the pressure sensor body, that is, the installation protection mechanism can protect the pressure sensor body and the boss before the pressure sensor body is installed. When the pressure sensor body needs to be installed and used, the installation protection mechanism can also play a role in installing the pressure sensor body. Moreover, the installation protection mechanism can protect the pressure sensor body when the pressure sensor body is installed and used.

Description

Technical Field

[0001] This invention relates to a pressure sensor and system for an automated puncture robot, belonging to the field of sensor technology. Background Technology

[0002] Automated puncture robots are a branch of medical surgical robots, specifically designed for minimally invasive surgical procedures. They generally consist of four parts: a robotic arm, imaging equipment, a spatial positioning system, and a workstation, along with corresponding software. The operation of a puncture robot generally follows the three principles of "perception / reasoning / operation," namely, the three stages of modeling, planning, and execution.

[0003] The modeling stage mainly involves acquiring medical images of the lesion site using imaging equipment, such as CT and MRI, and then using software to perform three-dimensional reconstruction processing to present the images to the physician in a stereoscopic manner, thereby enabling the physician to more accurately identify the lesion target. The planning stage involves the spatial positioning system connecting the robot, images, and patient, and determining the corresponding surgical implementation strategy. The execution stage involves implementing the established surgical strategy by utilizing the spatial transformation of the surgical system and the monitoring of surgical instruments.

[0004] The pressure sensor is an important component in automated puncture robots for sensing puncture force. The pressure sensor mainly consists of a main body and protrusions on the main body. The protrusions are exposed and are easily worn during transportation and carrying, which in turn affects the accuracy of the measurement.

[0005] For example, Chinese utility model patent CN202020894105.7 discloses "an improved pressure sensor". Its specification states that the boss of the existing pressure sensor is exposed without any protective measures. When not in use, it is easily worn or bumped, affecting the measurement accuracy.... The above patent can corroborate the defects of the existing technology.

[0006] Therefore, we have made improvements to this and proposed an automatic puncture robot pressure sensor and its system. Summary of the Invention

[0007] (a) The technical problem to be solved by the present invention is that the boss of the pressure sensor is exposed, and the boss is easily worn during transportation and carrying, which affects the measurement accuracy.

[0008] (II) Technical Solution

[0009] To achieve the above-mentioned objectives, the present invention provides an automatic puncture robot pressure sensor, including a pressure sensor body. A boss is provided at the center of the top of the pressure sensor body. Several screw holes are provided at the top and bottom of the pressure sensor body. An installation protection mechanism is provided on the pressure sensor body. The installation protection mechanism includes a connecting part provided at the bottom of the pressure sensor body, and a protective mounting part is provided on the side of the connecting part.

[0010] In a preferred embodiment of the automatic puncture robot pressure sensor provided by the invention, the connecting part includes a support plate installed at the bottom of the pressure sensor body, and connectors are provided on all four sides of the support plate.

[0011] In a preferred embodiment of the automatic puncture robot pressure sensor provided by the invention, the connector includes a support base fixedly installed on the side of the support plate, a connecting shaft fixedly inserted into the middle of the support base, and threads provided on the outer surfaces of both ends of the connecting shaft.

[0012] In a preferred embodiment of the automatic puncture robot pressure sensor provided by the invention, the protective mounting part consists of four rotatable mounting protective components, which are respectively connected to four connecting components.

[0013] As a preferred embodiment of the pressure sensor for the automatic puncture robot provided by the invention, the mounting protective component includes a protective plate located on the side of the support plate, a second sliding groove is provided in the middle of the protective plate, the second sliding groove is slidably connected to the outer surface of the support base, a first sliding groove is provided inside the protective plate, and the connecting shaft is slidably connected to the inner wall of the first sliding groove.

[0014] In a preferred embodiment of the automatic puncture robot pressure sensor provided by the invention, the protective plate has receiving grooves on both sides, and the positions of the receiving grooves correspond to the positions of the sliding grooves. Nuts are threaded to both ends of the connecting shaft, and the nuts are located in the receiving grooves.

[0015] In a preferred embodiment of the automatic puncture robot pressure sensor provided by the invention, a protective mounting plate is fixedly installed on the side of the protective plate near the pressure sensor body, a protective pad is embedded at the end of the protective mounting plate away from the protective plate, and mounting holes are provided on the protective mounting plate.

[0016] An automatic puncture robot pressure sensor system includes an automatic puncture robot pressure sensor. A connection mechanism is provided between the support plate and the pressure sensor body. The connection mechanism includes a rotating part located in the middle of the support plate. Several limiting members are provided on the rotating part. The several limiting members are connected to the pressure sensor body through screw holes at the bottom of the pressure sensor body.

[0017] As a preferred embodiment of the automatic puncture robot pressure sensor system provided by the invention, the rotating part includes a groove formed at the bottom of the support plate and a cavity formed in the support plate. A rotating shaft is rotatably connected between the groove and the cavity through a bearing. A handwheel located in the groove is fixedly connected to one end of the rotating shaft. A bevel gear located in the cavity is fixedly sleeved on the outer surface of the rotating shaft.

[0018] As a preferred embodiment of the automatic puncture robot pressure sensor system provided by the invention, the limiting member includes an insertion hole through the support plate, a connecting rod inserted into the insertion hole, the connecting rod being threadedly connected to a screw hole at the bottom of the pressure sensor body, and a slot being provided on the connecting rod;

[0019] The support plate has a rectangular groove located between the chamber and the insertion hole. A threaded rod is connected to the rectangular groove through a bearing. A rectangular insertion rod is threaded to the outer surface of the threaded rod. One end of the rectangular insertion rod passes through the rectangular groove and is inserted into the slot. The end of the threaded rod away from the threaded rod extends into the chamber and is fixedly connected to a second bevel gear. The second bevel gear meshes with the first bevel gear.

[0020] (III) Beneficial Effects

[0021] The automatic puncture robot pressure sensor and system provided by this invention have the following advantages:

[0022] 1. Through the installation protection mechanism, the connecting part in the installation protection mechanism and the protective installation part cooperate with each other to protect the pressure sensor body and the boss, thereby reducing the impact and wear on the boss during transportation and carrying, thus reducing the impact of wear on measurement accuracy, improving measurement accuracy, and facilitating use;

[0023] 2. Through the installation protection mechanism, the connecting part and the protective installation part in the installation protection mechanism cooperate with each other to install the pressure sensor body. That is, the installation protection mechanism can protect the pressure sensor body and the boss before the pressure sensor body is installed. When the pressure sensor body needs to be installed and used, it can also play the role of installing the pressure sensor body. Moreover, the installation protection mechanism can also protect the pressure sensor body during the installation and use of the pressure sensor body, thus improving the functionality of the installation protection mechanism. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A schematic diagram of the structure of the pressure sensor for the automated puncture robot provided in this application;

[0026] Figure 2 A schematic diagram of the structure of the pressure sensor body provided in this application;

[0027] Figure 3 A partial cross-sectional structural diagram of the protective plate provided in this application;

[0028] Figure 4 Provided for this application Figure 3 Enlarged structural diagram at point A in the middle;

[0029] Figure 5 This is a schematic diagram of the structure of the protective pad provided in this application;

[0030] Figure 6 A schematic diagram of the structure of the pressure sensor for the automated puncture robot provided in this application during installation;

[0031] Figure 7 A bottom view of the support plate provided in this application;

[0032] Figure 8 A top-view sectional view of the support plate provided in this application;

[0033] Figure 9 A schematic diagram of the slot provided in this application.

[0034] 1. Pressure sensor body;

[0035] 2. Boss;

[0036] 3. Install protective mechanism; 301. Support plate; 302. Support base; 303. Connecting shaft; 304. Slide groove one; 305. Slide groove two; 306. Guard plate; 307. Receiving groove; 308. Nut; 309. Protective mounting plate; 310. Protective pad; 311. Mounting hole;

[0037] 4. Connecting mechanism; 401. Groove; 402. Insertion hole; 403. Chamber; 404. Connecting rod; 405. Slot; 406. Rotating shaft; 407. Bevel gear one; 408. Handwheel; 409. Rectangular groove; 410. Threaded rod; 411. Rectangular insertion rod; 412. Bevel gear two. Detailed Implementation

[0038] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0039] As described in the background section, the boss of the pressure sensor is exposed, and it is easy for the boss to wear during transportation and carrying, which in turn affects the measurement accuracy.

[0040] To address this technical problem, the invention provides an automatic puncture robot pressure sensor and system thereof, which is used to reduce the wear of the pressure sensor boss during transportation and carrying, thereby improving measurement accuracy.

[0041] For details, please refer to Figure 1-6 The automatic puncture robot pressure sensor specifically includes: a pressure sensor body 1, a boss 2 at the center of the top of the pressure sensor body 1, several screw holes at the top and bottom of the pressure sensor body 1, and a mounting protection mechanism 3 on the pressure sensor body 1. The mounting protection mechanism 3 includes a connecting part at the bottom of the pressure sensor body 1, and a protective mounting part on the side of the connecting part.

[0042] For details, please refer to Figure 1-9 The automatic puncture robot pressure sensor system specifically includes: an automatic puncture robot pressure sensor, a connection mechanism 4 between the support plate 301 and the pressure sensor body 1, the connection mechanism 4 including a rotating part in the middle of the support plate 301, a number of limiting members on the rotating part, and the number of limiting members connected to the pressure sensor body 1 through the screw holes at the bottom of the pressure sensor body 1.

[0043] The automatic puncture robot pressure sensor and its system provided by the invention, through the installation protection mechanism 3, the connecting part in the installation protection mechanism 3 and the protective installation part cooperate with each other to protect the pressure sensor body 1 and the boss 2, thereby reducing the impact and wear of the boss 2 during transportation and carrying, thus reducing the impact of wear on the measurement accuracy, improving the measurement accuracy, and facilitating use;

[0044] The installation protection mechanism 3, with its connecting part and protective installation part working together, can install the pressure sensor body 1. That is, the installation protection mechanism 3 can protect the pressure sensor body 1 and the boss 2 before the pressure sensor body 1 is installed, and can also play the role of installing the pressure sensor body 1 when it needs to be installed and used. Furthermore, the installation protection mechanism 3 can also protect the pressure sensor body 1 during installation and use, thus improving the functionality of the installation protection mechanism 3.

[0045] To enable those skilled in the art to better understand the invention, the technical solutions in the embodiments of the invention will be clearly and completely described below with reference to the accompanying drawings.

[0046] It should be noted that, without conflict, the embodiments and features and technical solutions in the invention can be combined with each other.

[0047] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0048] Example 1:

[0049] Please refer to Figure 1-6 This embodiment proposes an automatic puncture robot pressure sensor, including a pressure sensor body 1. A boss 2 is provided in the middle of the top of the pressure sensor body 1. Several screw holes are provided at the top and bottom of the pressure sensor body 1. A mounting and protective mechanism 3 is provided on the pressure sensor body 1. The mounting and protective mechanism 3 includes a connecting part provided at the bottom of the pressure sensor body 1. A protective mounting part is provided on the side of the connecting part.

[0050] The pressure sensor body 1 adopts a sensor with a high dynamic response frequency, which has static and dynamic pressure sensing capabilities, making the needle insertion torque control of the puncture robot more precise.

[0051] The automatic puncture robot pressure sensor provided in this application has a connecting part and a protective mounting part that cooperate to protect the pressure sensor body 1 and the boss 2, thereby reducing the impact and wear on the boss 2 during transportation and carrying, thus reducing the impact of wear on measurement accuracy, improving measurement accuracy, and facilitating use. The connecting part and the protective mounting part cooperate to install the pressure sensor body 1. That is, the installation and protection mechanism 3 can protect the pressure sensor body 1 and the boss 2 before the pressure sensor body 1 is installed, and can also play the role of installing the pressure sensor body 1 when it needs to be installed and used. Moreover, the installation and protection mechanism 3 can also protect the pressure sensor body 1 during installation and use, thus improving the functionality of the installation and protection mechanism 3.

[0052] Example 2

[0053] The pressure sensor for the automated puncture robot provided in Example 1 has been further optimized, specifically, as follows: Figure 1-6 As shown, the connecting part includes a support plate 301 installed at the bottom of the pressure sensor body 1. Connectors are provided on all four sides of the support plate 301. The connectors are used to connect and install protective components.

[0054] The connector includes a support base 302 fixedly installed on the side of the support plate 301. A connecting shaft 303 is fixedly inserted into the middle of the support base 302. Threads are provided on the outer surfaces of both ends of the connecting shaft 303. The support base 302 can support the connecting shaft 303.

[0055] The protective mounting section consists of four rotatable mounting protective components, which are connected to four connecting components respectively. The mounting protective components can be connected to the support plate 301 under the action of the connecting components.

[0056] The protective components include a guard plate 306 located on the side of the support plate 301. A second sliding groove 305 is provided in the middle of the guard plate 306. The second sliding groove 305 is slidably connected to the outer surface of the support base 302. The second sliding groove 305 is provided to allow the guard plate 306 to avoid the support base 302. A first sliding groove 304 is provided inside the guard plate 306. The connecting shaft 303 is slidably connected to the inner wall of the first sliding groove 304. Through the cooperation of the first sliding groove 304 and the connecting shaft 303, the connection between the support base 302 and the second sliding groove 305 can be limited to prevent the support base 302 from disengaging from the second sliding groove 305. It can also connect the support plate 301 and the guard plate 306 together.

[0057] Both sides of the guard plate 306 are provided with receiving grooves 307, and the position of the receiving grooves 307 corresponds to the position of the sliding groove 304. Nuts 308 are threaded to both ends of the connecting shaft 303. The nuts 308 are located in the receiving grooves 307. The cooperation between the nuts 308 and the connecting shaft 303 can fix the position between the guard plate 306 and the support plate 301.

[0058] A protective mounting plate 309 is fixedly installed on the side of the protective plate 306 near the pressure sensor body 1. A protective pad 310 is embedded at the end of the protective mounting plate 309 away from the protective plate 306. The protective mounting plate 309 has a mounting hole 311. The protective pad 310 can be set to... Figure 1 The mounting hole 311 is designed to protect the boss 2 in a certain state, reducing the possibility of damage to the boss 2. Figure 6 The pressure sensor body 1 is installed and fixed in this state.

[0059] Example 3:

[0060] Please refer to Figure 1-9The automatic puncture robot pressure sensor system includes an automatic puncture robot pressure sensor. A connection mechanism 4 is provided between the support plate 301 and the pressure sensor body 1. The connection mechanism 4 includes a rotating part located in the middle of the support plate 301. Several limiting members are provided on the rotating part. The several limiting members are connected to the pressure sensor body 1 through screw holes at the bottom of the pressure sensor body 1. The cooperation between the rotating part and the limiting members can connect and fix the pressure sensor body 1 and the support plate 301 together. The rotating part can drive the several limiting members to run synchronously, which facilitates disassembly and assembly and is convenient for use.

[0061] The rotating part includes a groove 401 formed at the bottom of the support plate 301 and a cavity 403 formed in the support plate 301. A rotating shaft 406 is rotatably connected between the groove 401 and the cavity 403 via a bearing. A handwheel 408 located in the groove 401 is fixedly connected to one end of the rotating shaft 406. A bevel gear 407 located in the cavity 403 is fixedly sleeved on the outer surface of the rotating shaft 406. The bevel gear 407 facilitates the rotation of the rotating shaft 406.

[0062] The limiting component includes an insertion hole 402 that passes through the support plate 301. A connecting rod 404 is inserted into the insertion hole 402. The connecting rod 404 is threadedly connected to a screw hole at the bottom of the pressure sensor body 1. A slot 405 is provided on the connecting rod 404. By inserting the connecting rod 404 into the insertion hole 402, the connection between the support plate 301 and the pressure sensor body 1 can be realized.

[0063] A rectangular groove 409 is provided in the support plate 301 between the chamber 403 and the insertion hole 402. A threaded rod 410 is connected to the rectangular groove 409 through a bearing. A rectangular insert rod 411 is threaded to the outer surface of the threaded rod 410. One end of the rectangular insert rod 411 passes through the rectangular groove 409 and is inserted into the slot 405. The end of the threaded rod 410 away from the threaded rod 410 extends into the chamber 403 and is fixedly connected to a second bevel gear 412. The second bevel gear 412 meshes with the first bevel gear 407. By inserting the rectangular insert rod 411 into the slot 405, the connecting rod 404 can be fixed, thus preventing the connecting rod 404 from dislodging from the insertion hole 402.

[0064] Specifically, the pressure sensor and its system of this automated puncture robot during operation / use: refer to... Figure 1 First, loosen nut 308, then rotate guard plate 306 downwards by 180 degrees around connecting shaft 303, then push boss 2 downwards to lower support plate 301 until it is level with protective mounting plate 309, and tighten nut 308. At this point, the overall shape can be adjusted from... Figure 1 Switch to Figure 6 This application can be fixed to the automatic puncture robot by passing bolts through the mounting holes 311;

[0065] During transportation and carrying, the overall shape will be changed from... Figure 6 Switch to Figure 1 Loosen the nut 308, pull the guard plate 306 down, and then rotate the guard plate 306 180 degrees upward around the connecting shaft 303 so that the four protective mounting plates 309 come together to protect the boss 2.

[0066] Rotating the handwheel 408 causes the first bevel gear 407 to rotate via the shaft 406. The first bevel gear 407 then drives the second bevel gear 412 and the threaded rod 410 to rotate, causing the rectangular insert 411 to move toward the shaft 406. The rectangular insert 411 separates from the slot 405, pulling the pressure sensor body 1 separates the connecting rod 404 from the insertion hole 402, thus separating the pressure sensor body 1 from the installation and protection mechanism 3.

[0067] The above embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Although the invention has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications, or equivalent substitutions of the technical solutions of the invention do not depart from the spirit and scope of the invention and should be covered within the scope of the claims of the invention.

Claims

1. An automatic puncture robot pressure sensor, comprising a pressure sensor body (1), wherein a boss (2) is provided at the center of the top of the pressure sensor body (1), and a plurality of screw holes are provided at both the top and bottom of the pressure sensor body (1), characterized in that, The pressure sensor body (1) is provided with a protective mounting mechanism (3), which includes a connecting part provided at the bottom of the pressure sensor body (1) and a protective mounting part provided on the side of the connecting part; The connecting part includes a support plate (301) installed at the bottom of the pressure sensor body (1), and the four sides of the support plate (301) are provided with connectors; The connector includes a support base (302) fixedly installed on the side of the support plate (301), a connecting shaft (303) is fixedly inserted into the middle of the support base (302), and threads are provided on the outer surfaces of both ends of the connecting shaft (303); The protective mounting part consists of four rotatable protective mounting components, and the four protective mounting components are respectively connected to four connecting components; The installation protective component includes a protective plate (306) located on the side of the support plate (301), a second sliding groove (305) is provided in the middle of the protective plate (306), the second sliding groove (305) is slidably connected to the outer surface of the support base (302), a first sliding groove (304) is provided in the inner part of the protective plate (306), and the connecting shaft (303) is slidably connected to the inner wall of the first sliding groove (304); The guard plate (306) has a receiving groove (307) on both sides, and the position of the receiving groove (307) corresponds to the position of the sliding groove (304). Nuts (308) are threaded to both ends of the connecting shaft (303), and the nuts (308) are located in the receiving groove (307). A protective mounting plate (309) is fixedly installed on the side of the protective plate (306) close to the pressure sensor body (1). A protective pad (310) is embedded at the end of the protective mounting plate (309) away from the protective plate (306). A mounting hole (311) is opened on the protective mounting plate (309).

2. An automated puncture robot pressure sensor system, comprising the automated puncture robot pressure sensor as described in claim 1, characterized in that, A connecting mechanism (4) is provided between the support plate (301) and the pressure sensor body (1). The connecting mechanism (4) includes a rotating part located in the middle of the support plate (301). Several limiting members are provided on the rotating part. The several limiting members are connected to the pressure sensor body (1) through the screw holes at the bottom of the pressure sensor body (1).

3. The automatic puncture robot pressure sensor system according to claim 2, characterized in that, The rotating part includes a groove (401) opened at the bottom of the support plate (301) and a cavity (403) opened in the support plate (301). A rotating shaft (406) is rotatably connected between the groove (401) and the cavity (403) through a bearing. A handwheel (408) located in the groove (401) is fixedly connected to one end of the rotating shaft (406). A bevel gear (407) located in the cavity (403) is fixedly sleeved on the outer surface of the rotating shaft (406).

4. The automatic puncture robot pressure sensor system according to claim 3, characterized in that, The limiting component includes a through hole (402) opened on the support plate (301), a connecting rod (404) is inserted into the through hole (402), the connecting rod (404) is threadedly connected to the screw hole at the bottom of the pressure sensor body (1), and a slot (405) is opened on the connecting rod (404). The support plate (301) has a rectangular groove (409) located between the chamber (403) and the insertion hole (402). A threaded rod (410) is connected to the rectangular groove (409) through a bearing. A rectangular insertion rod (411) is threaded to the outer surface of the threaded rod (410). One end of the rectangular insertion rod (411) passes through the rectangular groove (409) and is inserted into the slot (405). The end of the threaded rod (410) away from the threaded rod (410) extends into the chamber (403) and is fixedly connected to a second bevel gear (412). The second bevel gear (412) meshes with the first bevel gear (407).

Images