Three-axis motion platform for medical treatment

Abstract

The invention provides a three-axis motion platform for medical treatment, which comprises an X axis, a Y axis and a Z axis which are perpendicular to one another, and also comprises the following components: a motion control card which is used for sending a pulse to a driver to control a motor to operate so as to drive the X axis, the Y axis and the Z axis to move, and outputting the pulse to control the operation speed and distance of the motor so as to drive the X axis, the Y axis and the Z axis to move; outputting high and low levels to control the running direction of the motor; the executing mechanism is installed at the tail end of the Z axis, comprises a steering engine, a stepping motor, an electric claw, an air cylinder and the like and is used for executing medical operation. According to the invention, high-precision positioning and execution in the medical operation can be realized, and the safety and efficiency of the medical operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and more specifically, to a three-axis motion platform for medical treatment. Background Art

[0002] In the medical field, precise operation is crucial to treatment effectiveness and patient safety. Traditional medical equipment often relies on manual operation, which is not only inefficient but also difficult to ensure the accuracy of operation. With the development of technology, some automated equipment has begun to be introduced into medical operations, but these devices are usually complex in structure, expensive, and have limitations in precise control and adaptability. For example, some equipment may not be flexibly adjusted to adapt to different medical procedures or patient needs, or lack sufficient accuracy and stability when performing delicate operations. In addition, existing equipment may not be intuitive enough in human-computer interaction and operation interface design, resulting in a long learning curve for operators, affecting the efficiency of medical operations.

[0003] In the process of implementing the embodiments of the present invention, the inventors found that there are at least the following problems or defects in the prior art: the existing medical equipment has deficiencies in precise control, adaptability and operation interface design, and cannot meet the requirements of high precision, flexibility and ease of use in medical operations. Summary of the invention

[0004] The present invention provides a three-axis motion platform for medical treatment, comprising:

[0005] The motion control card is used to send pulses to the driver to control the motor operation, thereby driving the X-axis, Y-axis and Z-axis movement. The motion control card outputs pulses to control the motor running speed and distance, and outputs high and low levels to control the motor running direction;

[0006] The actuator, installed at the end of the Z-axis, includes a servo, a stepper motor, an electric gripper, a cylinder, etc., and is used to perform medical operations.

[0007] Furthermore, the motion control card controls the distance of the motor movement by adjusting the number of pulses output to the driver, controls the speed of the motor movement by adjusting the duty cycle of the output pulses, and additionally outputs a level signal to control the direction of the motor movement.

[0008] Furthermore, it also includes a parameter setting unit, which sets the motor operation related parameters in the motion control card according to the mechanical parameters of the X-axis, Y-axis and Z-axis, the motor parameters and the sensor configuration. The parameters include the number of pulses, the measurement unit, the running distance per unit circle, the running speed, the start and stop speed, the acceleration and deceleration, and the recoil compensation. After the setting is completed, the motion control card automatically generates the corresponding program block for calling when writing the program.

[0009] Furthermore, the motion control card sends pulse signals to the three-axis motor driver to control the motor running speed and direction, and receives limit signals, sets the movement of the axis through the program, and sends motion data through the host computer interface to control the movement of the axis.

[0010] Furthermore, it also includes a frame building unit, which builds an XYZ axis frame through three-axis profiles and uses a closed-loop motor to drive the movement of each axis.

[0011] Further:

[0012] The X-axis motor drives the corresponding motion block, fixes the Y-axis on the motion block, and the movement of the X-axis motor drives the Y-axis to move in the X-axis direction;

[0013] The Y-axis motor drives the corresponding motion block, fixes the Z-axis on the motion block, and the movement of the Y-axis motor drives the Z-axis to move in the Y-axis direction;

[0014] The Z-axis motor drives the motion block, and the actuator is fixed on the motion block. The movement of the Z-axis motor drives the actuator to move up and down on the Z axis. After the actuator is in place, the position is adjusted in conjunction with the three-axis movement, which is controlled by the output signal of the motion control card.

[0015] Furthermore, the stepper motor drives the three-axis module to perform the setting operation, the XY-axis motor drives the Z-axis module to the specified position, and then the Z-axis descends, driving the actuator to the operation area to perform the setting operation. After the operation is completed, the actuator rises and moves the Z-axis to the waiting area to wait for the next operation.

[0016] Furthermore, the execution mechanism includes the following technical steps:

[0017] The servo rotates according to the instructions of the motion control card to adjust the actuator to a predetermined angle;

[0018] The stepper motor moves to the predetermined position according to the pulse signal of the motion control card to achieve precise positioning of the actuator;

[0019] The electric gripper opens and closes according to the level signal of the motion control card to clamp or release the target object;

[0020] The cylinder retracts and contracts according to the level signal of the motion control card to push or lift the target object.

[0021] Furthermore, the technical steps of the platform include:

[0022] The motion control card receives the instructions from the control system and sends pulse signals to the driver according to the instructions;

[0023] The driver controls the operation of the motor according to the received pulse signal, including speed, direction and distance;

[0024] The X-axis, Y-axis, and Z-axis move in coordination with the operation of the motor to achieve precise position control;

[0025] The actuator performs a specific action after reaching the specified position according to the preset program.

[0026] Furthermore, the operation of the actuator end includes:

[0027] Syringes are used to prepare, process and transfer radiopharmaceuticals;

[0028] Electric claws are used to grab cotton swabs and operating rods to handle dangerous specimens;

[0029] Cylinders for the transfer of hazardous materials.

[0030] According to the above-mentioned embodiments of the present invention, at least the following beneficial effects are achieved: the three-axis motion platform of the present invention can achieve high-precision positioning and execution in medical operations by precisely controlling the motion of the three axes of X, Y, and Z, combined with the diversified operation of the actuator. This precise control can not only improve the accuracy of the operation and reduce human errors, but also reduce the potential risks to operators when performing high-risk operations such as radioactive drug configuration, processing, and transfer. In addition, the parameter setting unit of the platform can flexibly set the relevant parameters of the motor operation according to different medical procedures and equipment requirements, thereby improving the adaptability and flexibility of the platform.

[0031] The platform's frame building unit and actuator design make medical operations more efficient and automated. Through the use of stepper motors and closed-loop motors, precise control of the actuators can be achieved to ensure stability when performing delicate operations such as clamping cotton swabs and operating rods to handle dangerous specimens. At the same time, the use of cylinders provides a safe and reliable solution for the transfer of dangerous goods. This highly automated and precisely controlled medical equipment can not only improve the efficiency of medical operations, but also reduce possible errors in the medical process, thereby improving treatment effectiveness and patient safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, in which:

[0033] Figure 1 A schematic structural diagram of a three-axis motion platform for medical treatment provided by an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of motor parameter configuration of a three-axis motion platform for medical use provided by an embodiment of the present invention;

[0035] Figure 3 The schematic diagram schematically shows the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The principles and spirit of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are provided only to enable those skilled in the art to better understand and implement the present invention, and are not intended to limit the scope of the present invention in any way. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0037] Those skilled in the art know that the embodiments of the present invention can be implemented as a system, device, apparatus, method or computer program product. Therefore, the present invention can be specifically implemented in the following forms, namely: complete hardware, complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0038] It should be noted that any number of elements in the drawings is for illustration rather than limitation, and any naming is only for distinction and does not have any limiting meaning.

[0039] Reference below Figure 1 , Figure 1 The schematic diagram of the structure of a three-axis motion platform for medical treatment provided by an embodiment of the present invention. Figure 1 As shown, a three-axis motion platform 100 for medical use comprises:

[0040] The X-axis, Y-axis, and Z-axis are arranged perpendicular to each other, and the following components:

[0041] The motion control card is used to send pulses to the driver to control the motor operation, thereby driving the X-axis, Y-axis and Z-axis movement. The motion control card outputs pulses to control the motor running speed and distance, and outputs high and low levels to control the motor running direction;

[0042] The actuator, installed at the end of the Z-axis, includes a servo, a stepper motor, an electric gripper, a cylinder, etc., and is used to perform medical operations.

[0043] It should be noted that the three-axis motion platform of the present invention is a precision device specially designed for the medical field. The core of the three-axis motion platform is to realize precise motion control in three dimensions in space by setting the X-axis, Y-axis and Z-axis perpendicular to each other. The X-axis, Y-axis and Z-axis here are the basis for forming the motion framework of the platform, corresponding to three mutually perpendicular directions in three-dimensional space respectively. The motion control card is a key component of this platform, which is responsible for sending pulse signals to the driver, and then controlling the operation of the motor to realize the precise movement of the axis. The motor is the executive component for realizing the motion, and drives the movement of the axis by receiving signals from the motion control card.

[0044] Specifically, the settings of the X-axis, Y-axis, and Z-axis allow the platform to be precisely positioned and operated in three-dimensional space. The motion control card controls the running speed and distance of the motor by outputting pulse signals, where the frequency of the pulse determines the running speed of the motor, and the number of pulses determines the running distance of the motor. For example, in order to achieve precise positioning, a higher pulse frequency can be set to obtain more refined control. At the same time, the motion control card can also control the running direction of the motor by outputting high and low level signals, thereby achieving forward or reverse movement of the axis. In actual applications, these parameters can be adjusted according to the specific medical operation requirements to achieve the best control effect.

[0045] Preferably, the design of the motion control card may include a parameter setting unit, which can set the motor operation related parameters in the motion control card according to the mechanical parameters of the X-axis, Y-axis and Z-axis, the motor parameters and the sensor configuration. These parameters include the number of pulses, the measurement unit, the running distance per unit revolution, the running speed, the start and stop speed, the acceleration and deceleration, the backlash compensation, etc. Through the precise setting of these parameters, the motion control card can automatically generate the corresponding program blocks for calling when writing the program, thereby realizing the precise control of the motor operation.

[0046] Furthermore, the motion data can be sent down through the host computer interface to control the movement of the axis, which makes the operation more intuitive and convenient. In actual operation, these parameters can be flexibly set according to different medical procedures and equipment requirements to meet different medical operation needs.

[0047] The above-mentioned embodiments of the present invention have the following beneficial effects: the three-axis motion platform of the present invention can realize multi-dimensional precise control in medical operations. The platform can control the running speed and distance of the motor through the mutually perpendicular X-axis, Y-axis and Z-axis, and the precise pulse output of the motion control card, thereby realizing the precise positioning of the medical device in space. This precise control can not only improve the accuracy and reliability of medical operations, but also reduce human errors and improve the treatment effect when performing complex or delicate medical operations.

[0048] In addition, the platform's motion control card controls the direction of the motor by outputting high and low levels, making medical operations more flexible and efficient. This design can adapt to different medical operation requirements and provide flexible operation solutions to meet diverse medical application scenarios. For example, when performing high-risk operations such as the configuration, processing and transfer of radioactive drugs, the platform can ensure the accuracy and safety of the operation, thereby reducing potential risks to operators. At the same time, this precise control mechanism can also improve the efficiency of medical equipment use, reduce operation time, and provide patients with faster medical services.

[0049] like Figure 2 As shown, in some embodiments, a three-axis motion platform 200 for medical treatment includes:

[0050] The motion control card controls the distance of the motor movement by adjusting the number of pulses output to the driver, controls the speed of the motor movement by adjusting the duty cycle of the output pulses, and additionally outputs a level signal to control the direction of the motor movement.

[0051] It should be noted that the three-axis motion platform of the present invention realizes the adjustment of the movement distance and speed of the X-axis, Y-axis and Z-axis through the precise control of the motor by the motion control card. The motion control card is the core component of this platform, which controls the operation of the motor by sending a pulse signal to the driver. The number of pulse signals determines the movement distance of the motor, that is, the more pulses, the longer the distance the motor moves; the duty cycle of the pulse signal determines the movement speed of the motor, and the higher the duty cycle, the faster the motor runs. In addition, the motion control card can also output a level signal to control the movement direction of the motor to achieve forward or reverse movement.

[0052] Specifically, the pulse signal control mechanism of the motion control card can achieve fine control of the motor movement by adjusting the pulse frequency and duty cycle. For example, in order to achieve fast positioning, the pulse frequency can be increased to increase the running speed of the motor; and in order to achieve precise positioning, the pulse frequency can be reduced to reduce the running distance of the motor. The adjustment of the duty cycle involves the ratio of the high level and low level time of the pulse signal. The longer the high level time, the higher the duty cycle, and the faster the motor runs.

[0053] More specifically, in practical applications, these parameters can be adjusted according to the specific needs of medical operations to achieve the best control effect. For example, when performing delicate surgical operations, a lower pulse frequency and a higher duty cycle may be required to achieve precise and fast positioning.

[0054] Preferably, the motion control card can also realize intelligent adjustment of the pulse signal through software programming. For example, an automatic adjustment algorithm can be set to dynamically adjust the pulse frequency and duty cycle according to the real-time feedback of the motor position and speed information to achieve more precise control.

[0055] Furthermore, multiple preset control modes can be set to adapt to different medical operation scenarios. For example, a fast positioning mode can be set to quickly move the platform to a specified position; a fine operation mode can be set to make fine adjustments after reaching the specified position.

[0056] In some embodiments, a parameter setting unit is also included to set motor operation related parameters in the motion control card according to the mechanical parameters of the X-axis, Y-axis and Z-axis, motor parameters and sensor configuration. The parameters include the number of pulses, measurement units, running distance per unit revolution, running speed, start and stop speed, acceleration and deceleration, and recoil compensation. After the setting is completed, the motion control card automatically generates a corresponding program block for calling when writing a program.

[0057] It should be noted that the three-axis motion platform of the present invention includes a parameter setting unit, the function of which is to set the motor operation related parameters in the motion control card according to the mechanical parameters, motor parameters and sensor configuration of the X-axis, Y-axis and Z-axis. The mechanical parameters here may include the length of the axis, load capacity, etc., the motor parameters may involve the model, rated power, speed, etc. of the motor, and the sensor configuration may include a position sensor, a speed sensor, etc., for monitoring and feedback of the motion state of the axis. The parameter setting unit allows the operator to personalize the motion control card according to the specific medical operation requirements to achieve the best motion control effect.

[0058] Specifically, the parameter settings involved in the parameter setting unit include the number of pulses, measurement units, running distance per unit revolution, running speed, start-stop speed, acceleration and deceleration, recoil compensation, etc. For example, the number of pulses refers to the number of pulses that the motor needs to receive for each revolution, which directly affects the positioning accuracy of the platform; the measurement unit is used to define the conversion relationship between the number of pulses and the actual moving distance; the running distance per unit revolution refers to the distance moved per revolution of the motor, which is usually related to the motor's reduction ratio; the running speed and start-stop speed determine how fast the platform moves, while the acceleration and deceleration parameters are used to control the acceleration when the motor starts and stops to reduce shock and vibration; recoil compensation is used to correct the recoil phenomenon that may occur when the motor is running at high speed to improve the accuracy of positioning. The setting of these parameters needs to be carried out according to the specific medical operation requirements and the physical characteristics of the platform to ensure the best performance.

[0059] Preferably, the parameter setting unit can provide a user-friendly interface, so that the user can set and adjust the parameters in a graphical manner. In addition, the parameter setting unit can also be combined with the automatic generation of program blocks of the motion control card, and the parameters set by the user can be directly used to generate the control program, thereby simplifying the programming process and reducing the possibility of errors.

[0060] Furthermore, in actual applications, the parameter setting unit can also dynamically adjust parameters according to changes in the operating environment, such as automatically optimizing parameter settings under different operating temperatures or load conditions to maintain the stability and accuracy of the platform. In addition, preset parameter profiles can also be provided to quickly adapt to different medical operation scenarios, thereby improving the convenience and efficiency of operations.

[0061] In some embodiments, the motion control card sends pulse signals to the three-axis motor driver to control the motor speed and direction, and receives limit signals, sets the axis movement through the program, and sends motion data through the host computer interface to control the axis movement.

[0062] It should be noted that in the three-axis motion platform of the present invention, the motion control card is not only responsible for sending pulse signals to the driver to control the operation of the motor, but also includes the function of receiving limit signals and programming the motion of the axis. The pulse signal here is the basic instruction for controlling the motion of the motor, and the limit signal is used to ensure that the axis does not exceed its predetermined range of motion to prevent mechanical damage or operational errors. Through the motion data sent from the upper computer interface, the motion control card can accurately control the motion of the axis and achieve complex motion trajectories and precise position control.

[0063] Specifically, during the implementation process, the motion control card will generate corresponding pulse signals according to the preset program or real-time input instructions. The frequency and number of these pulse signals directly affect the speed and moving distance of the motor. For example, a high-frequency pulse signal can make the motor rotate quickly to achieve fast positioning; while a low-frequency pulse signal can make the motor rotate slowly to achieve precise positioning. The limit signal is usually issued by the limit switch installed at the end of the shaft. When the shaft moves to the preset limit position, the limit switch will cut off the pulse signal to prevent the shaft from continuing to move. The upper computer interface provides a user interaction platform. The operator can input the required motion data, such as target position, speed, etc. through the interface. The motion control card generates corresponding pulse signals based on these data to control the operation of the motor.

[0064] Preferably, in order to improve the stability and reliability of the system, the motion control card can be designed to have self-diagnosis and self-adjustment functions. For example, the motion control card can monitor the running status of the motor in real time, such as current, voltage and other parameters, and automatically adjust the frequency and number of pulse signals according to the monitoring results to adapt to different load conditions.

[0065] Furthermore, the motion control card can also learn and predict the movement trend of the axis based on the historical movement data of the axis, so as to make adjustments in advance and reduce errors. In practical applications, remote control can also be achieved through network connection, so that operators can operate away from the platform, improving the safety and convenience of operation. In addition, emergency stop and fault diagnosis functions can be designed to ensure rapid response and measures in the event of abnormal situations.

[0066] In some embodiments, a frame building unit is also included, which builds an XYZ axis frame using three-axis profiles and uses closed-loop motors to drive the movement of each axis.

[0067] It should be noted that the frame building unit in the three-axis motion platform of the present invention is a structure that constructs the XYZ axis frame through three-axis profiles. The three-axis profiles here generally refer to standardized metal materials used to build mechanical frames. They can be aluminum profiles, steel profiles or other materials suitable for mechanical processing, with high rigidity and stability. The function of the frame building unit is to provide a solid foundation for the X-axis, Y-axis and Z-axis to ensure the stability and accuracy of the entire platform during movement. The closed-loop motor is a type of motor used to drive the movement of each axis. It can provide precise speed and position control and is generally used in applications that require high-precision positioning.

[0068] Specifically, the selection and construction of three-axis profiles need to consider the load capacity, range of motion and precision requirements of the platform. For example, if the platform needs to carry heavier loads or perform high-speed movements, it may be necessary to select profiles with higher strength and better rigidity. At the same time, the size and cross-sectional shape of the profile also need to be determined according to the length and load of the axis to ensure the stability and rigidity of the entire frame. The parameter settings of the closed-loop motor, such as rated power, speed, torque, etc., also need to be selected according to the movement requirements of the axis to ensure that the motor can provide sufficient power and precise control. In addition, closed-loop motors are usually equipped with encoders for real-time monitoring of the speed and position of the motor, thereby achieving precise closed-loop control.

[0069] Preferably, the frame building unit can be designed in a modular manner so that it can be quickly adjusted and expanded according to different application requirements. For example, it can be designed as a detachable module so that it can be easily operated when the shaft needs to be replaced or upgraded. In addition, in order to improve the stability and shock absorption effect of the platform, a shock-absorbing pad or a flexible connector can be added between the frame and the motor.

[0070] Furthermore, in practical applications, additional sensors or actuators can be installed on the frame as needed to achieve more complex control functions. For example, a force sensor can be installed at the end of the Z-axis to monitor the force applied by the actuator, thereby achieving more precise force control. In addition, a visual system can be installed on the frame to monitor and adjust the position and posture of the platform in real time to improve the accuracy of the operation.

[0071] In some embodiments:

[0072] The X-axis motor drives the corresponding motion block, fixes the Y-axis on the motion block, and the movement of the X-axis motor drives the Y-axis to move in the X-axis direction;

[0073] The Y-axis motor drives the corresponding motion block, fixes the Z-axis on the motion block, and the movement of the Y-axis motor drives the Z-axis to move in the Y-axis direction;

[0074] The Z-axis motor drives the motion block, and the actuator is fixed on the motion block. The movement of the Z-axis motor drives the actuator to move up and down on the Z axis. After the actuator is in place, the position is adjusted in conjunction with the three-axis movement, which is controlled by the output signal of the motion control card.

[0075] It should be noted that the framework building unit in the three-axis motion platform of the present invention further describes in detail how the X-axis, Y-axis and Z-axis motors drive the motion blocks and how to achieve coordinated motion of each axis. The motion block here refers to a component installed on the axis, which is used to fix and drive the motion of other axes. The X-axis motor can achieve the movement of the Y-axis as a whole in the X-axis direction by driving the motion block on it; similarly, the Y-axis motor can achieve the movement of the Z-axis as a whole in the Y-axis direction by driving the motion block on it. This design allows interaction and coordination between the axes, thereby achieving complex three-dimensional motion.

[0076] Specifically, the design of the motion blocks of the X-axis motor and the Y-axis motor needs to take into account the load balance and motion stability. The material and structural design of the motion blocks need to be able to withstand the force and torque generated by the motor drive, while also ensuring sufficient rigidity to reduce deformation during movement. For example, the motion blocks can be made of high-strength aluminum alloy or steel, and their precise size and shape can be ensured through precision machining.

[0077] More specifically, the motor selection also needs to be determined based on the load and motion requirements of the shaft, including the motor's rated power, torque, speed, etc. The setting of these parameters needs to ensure that the motor can provide stable power output under different operating conditions and can match the control signal of the motion control card.

[0078] Preferably, in order to improve the accuracy and stability of the movement, a precision bearing or slide rail system can be added between the moving block and the shaft. For example, linear guides and ball bearings can be used to reduce friction and vibration during the movement, thereby improving the smoothness and accuracy of the movement. In addition, a position sensor, such as a grating ruler or encoder, can be installed on the moving block to monitor the position of the moving block in real time to ensure accurate control of the movement.

[0079] Furthermore, in practical applications, the motion path and speed can be optimized through software control algorithms to achieve more efficient motion control. For example, a combination of feedforward control and feedback control can be used to dynamically adjust the output of the motor according to real-time motion data to adapt to different operating conditions and load changes. In addition, a variety of motion modes can be designed, such as fast positioning, fine adjustment, etc., to meet different medical operation needs.

[0080] In some embodiments, a stepper motor drives a three-axis module to perform a setting operation, the XY-axis motor drives the Z-axis module to a specified position, and then the Z-axis descends, driving the actuator to the operation area to perform the setting operation. After the operation is completed, the actuator rises and moves the Z-axis to a waiting area to wait for the next operation.

[0081] It should be noted that the frame building unit in the three-axis motion platform of the present invention drives the three-axis module to perform the setting operation through a stepper motor. A stepper motor is a motor that converts an electrical pulse signal into an angular displacement or a linear displacement. It can achieve precise positioning and control and is often used in situations that require high-precision positioning. In the present invention, a stepper motor is used to drive the XY axis module so that the Z axis module can accurately reach the specified position. The descending and ascending actions of the Z axis motor and the operation of the actuator are all achieved through the precise control of the motion control card to ensure the accuracy and reliability of the entire operation process.

[0082] Specifically, the control of the stepper motor involves the sending of pulse signals, which determine the rotation angle and number of steps of the motor. In the present invention, the parameter setting of the stepper motor needs to be carried out according to the specific requirements of the medical operation, including the step angle, pulse frequency, drive voltage, etc. For example, the step angle determines the angle at which the motor rotates each time it receives a pulse signal. Generally, the smaller the step angle, the higher the positioning accuracy. The pulse frequency determines the rotation speed of the motor. The higher the frequency, the faster the motor rotates. The drive voltage affects the torque and response speed of the motor. In addition, the driver of the stepper motor also needs to match the motion control card to ensure accurate transmission and execution of the signal.

[0083] More specifically, in practical applications, the control strategy of the stepper motor can also be optimized through software programming, such as using subdivision technology to improve positioning accuracy, or using dynamic braking to reduce the vibration and noise of the motor.

[0084] Preferably, in order to improve the flexibility and adaptability of operation, a flexible connector, such as a coupling or a flexible shaft, can be added between the stepper motor and the Z-axis motor to reduce vibration and shock caused by mechanical errors or load changes. In addition, a position sensor, such as an incremental encoder or an absolute encoder, can be installed on the Z-axis module to monitor the position of the Z-axis in real time to ensure precise positioning control.

[0085] Furthermore, in actual operation, multiple operation modes can be designed, such as automatic mode, manual mode, etc., to meet different medical operation requirements. For example, in automatic mode, the entire operation process can be automatically completed through a preset program; in manual mode, the operator can manually control the movement of each axis through the control panel to perform fine adjustments or special operations. In addition, remote control can be achieved through network connection, allowing the operator to operate away from the platform, improving the safety and convenience of operation.

[0086] In some embodiments, the actuator includes the following technical steps:

[0087] The servo rotates according to the instructions of the motion control card to adjust the actuator to a predetermined angle;

[0088] The stepper motor moves to the predetermined position according to the pulse signal of the motion control card to achieve precise positioning of the actuator;

[0089] The electric gripper opens and closes according to the level signal of the motion control card to clamp or release the target object;

[0090] The cylinder retracts and contracts according to the level signal of the motion control card to push or lift the target object.

[0091] It should be noted that the actuator in the three-axis motion platform of the present invention includes a series of technical steps, which describe in detail how to adjust the position and movement of the actuator according to the instructions of the motion control card. The actuator is a component directly related to medical operations, including servos, stepper motors, electric grippers and cylinders, etc., which perform precise actions according to the signals of the motion control card. The servos are mainly used for rotational movements, the stepper motors are used for precise positioning, the electric grippers are used to clamp and release objects, and the cylinders are used to push or lift objects. The collaborative work of these components enables the platform to perform complex medical tasks.

[0092] Specifically, the action parameter settings of the actuator need to be precisely controlled. For example, the rotation angle of the servo can be set by the number of pulse signals, and each pulse signal corresponds to a specific rotation angle. The positioning accuracy of the stepper motor depends on its step angle and the number of pulse signals received. The opening and closing action of the electric claw can be controlled by the level signal, while the extension and retraction action of the cylinder can be achieved by the level signal. The precise control of these actions requires the motion control card to provide a stable signal, and the mechanical design of the actuator needs to be able to accurately respond to these signals. In addition, the material selection of the actuator is also crucial, and corrosion-resistant, non-toxic, and easy-to-sterilize materials are usually required to meet the special requirements of the medical environment.

[0093] Preferably, the actuator can be designed to be modular so that it can be quickly replaced and upgraded according to different medical operation requirements. For example, different types of electric claws or cylinders can be replaced as needed to adapt to different operation tasks. In addition, the actuator can also be integrated with sensors, such as force sensors or position sensors, to monitor its action status in real time and feed the data back to the motion control card to achieve closed-loop control.

[0094] Furthermore, in practical applications, the action sequence of the actuator can be optimized through software programming. For example, complex path planning and action coordination can be implemented through programming to improve the efficiency and accuracy of the operation. In addition, emergency stop and fault diagnosis functions can be designed to ensure rapid response and measures when abnormal situations occur.

[0095] In some embodiments, the technical steps of the platform include:

[0096] The motion control card receives the instructions from the control system and sends pulse signals to the driver according to the instructions;

[0097] The driver controls the operation of the motor according to the received pulse signal, including speed, direction and distance;

[0098] The X-axis, Y-axis, and Z-axis move in coordination with the operation of the motor to achieve precise position control;

[0099] The actuator performs a specific action after reaching the specified position according to the preset program.

[0100] It should be noted that the technical steps of the three-axis motion platform of the present invention cover the entire process from receiving control system instructions to the actuator completing a specific action. This process includes the motion control card receiving instructions, the driver controlling the motor operation, the three-axis coordinated motion, and the actuator performing actions according to a preset program. The motion control card is the brain of the entire system, responsible for parsing instructions from the control system and converting these instructions into pulse signals to send to the driver. The driver is the controller of the motor, which controls the speed, direction and distance of the motor according to the received pulse signal. The coordinated motion of the three axes ensures the precise positioning of the platform in space, and the actuator performs specific actions such as clamping, transfer, etc. after reaching the specified position according to the preset program.

[0101] Specifically, the instructions received by the motion control card may be control software from the host computer, which include parameters such as target position, speed, acceleration, etc. The driver controls the operation of the motor according to these parameters to ensure that the platform can move according to the predetermined trajectory and speed. The coordinated movement of the three axes involves complex control algorithms to ensure that the axes can maintain synchronization and coordination when multiple axes move simultaneously. The action of the actuator needs to be precisely synchronized with the movement of the three axes, which usually involves precise time control and signal synchronization. For example, the opening and closing action of the electric claw needs to be precisely coordinated with the lifting action of the Z axis to ensure that the object is clamped or released at the correct position and time.

[0102] Preferably, in order to improve the reliability of the system and the flexibility of operation, multiple control modes can be designed, such as automatic mode, manual mode and emergency stop mode. In automatic mode, the system can automatically complete the entire operation process according to the preset program; in manual mode, the operator can manually control the movement of each axis through the control panel to perform fine adjustment or special operations; the emergency stop mode is used to quickly stop all movements in the event of an abnormal situation to protect the safety of the operator and the equipment.

[0103] Furthermore, remote control can be achieved through network connection, so that operators can operate away from the platform, improving the safety and convenience of operation. In practical applications, control strategies can also be optimized through software programming, such as using advanced control algorithms to improve the response speed and accuracy of the system, or integrating machine vision systems to achieve more complex operation tasks.

[0104] In some embodiments, the operation of the actuator end includes:

[0105] Syringes are used to prepare, process and transfer radiopharmaceuticals;

[0106] Electric claws are used to grab cotton swabs and operating rods to handle dangerous specimens;

[0107] Cylinders for the transfer of hazardous materials.

[0108] It should be noted that the operations of the three-axis motion platform of the present invention at the end of the actuator include a variety of medical applications, such as syringes for the configuration, processing and transfer of radioactive drugs, electric claws for clamping cotton swabs, operating rods for the processing of dangerous specimens, and cylinders for the transfer of dangerous goods. The end effectors involved in these operations, such as syringes, electric claws and cylinders, are components that directly contact the medical operation objects, and their precise control is crucial to the safety and effectiveness of medical operations. The configuration and transfer of radioactive drugs require special attention to safety protection to avoid radiation hazards to operators and the environment; while the handling of dangerous specimens and items requires ensuring the stability and accuracy of the operation to prevent cross-contamination or accidents.

[0109] Specifically, the operations of the end-of-actuator require precise control and coordination. For example, the configuration and transfer operations of syringes may require precise speed control and position control to ensure accurate transfer of the medicine while avoiding spillage or splashing. When gripping cotton swabs or operating rods, electric grippers need to have sufficient gripping force and fine control capabilities to adapt to objects of different sizes and shapes. When transferring dangerous goods, pneumatic cylinders need to be able to provide stable thrust and precise control to ensure safe transfer of objects.

[0110] More specifically, the parameter settings of these operations, such as speed, force, position, etc., need to be adjusted according to the specific medical operation requirements to ensure the accuracy and safety of the operation. In addition, the design of the actuator also needs to take into account the special requirements of the medical environment, such as easy disinfection, corrosion resistance, and non-toxicity.

[0111] Preferably, in order to improve the safety and flexibility of operation, a variety of end effectors can be designed to meet different medical operation requirements. For example, electric claws with different gripping forces and shapes can be designed to adapt to objects of different sizes and shapes; syringes with different injection needles can be designed to adapt to different injection depths and angles. In addition, sensors such as force sensors or position sensors can be integrated to monitor the action status of the actuator in real time and feed the data back to the motion control card to achieve closed-loop control.

[0112] Furthermore, in actual applications, the operation process can be optimized through software programming, such as using preset programs to automatically complete the entire operation process, or remote control through network connection, so that operators can operate away from the platform, improving the safety and convenience of operation. In addition, emergency stop and fault diagnosis functions can also be designed to ensure that quick response and measures can be taken when abnormal situations occur.

[0113] Reference below Figure 3, which shows a schematic diagram of a structure 300 of an electronic device suitable for implementing some embodiments of the present invention. The electronic devices in some embodiments of the present invention may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 3 The terminal device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0114] like Figure 3 As shown, the electronic device 300 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 301, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 302 or a program loaded from a storage device 308 into a random access memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the electronic device 300 are also stored. The processing device 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0115] Typically, the following devices may be connected to the I / O interface 305: input devices 306 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 307 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 308 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 309. The communication devices 309 may allow the electronic device 300 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 3 The electronic device 300 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead. Figure 3 Each block shown in the figure may represent one device, or may represent multiple devices as required.

[0116] Furthermore, the storage medium of the embodiment of the present application stores program instructions that can implement all the above methods, wherein the program instructions can be stored in the above storage medium in the form of a software product, including several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or terminal devices such as a computer, a server, a mobile phone, and a tablet.

[0117] The above descriptions are only some preferred embodiments of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present invention is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the embodiments of the present invention to form a technical solution.

Claims

1. A three-axis motion platform for medical use, characterized in that: The platform includes an X-axis, a Y-axis and a Z-axis which are arranged perpendicular to each other, and the following components: The motion control card is used to send pulses to the driver to control the motor operation, thereby driving the X-axis, Y-axis and Z-axis movement. The motion control card outputs pulses to control the motor running speed and distance, and outputs high and low levels to control the motor running direction; The actuator, installed at the end of the Z-axis, includes a servo, a stepper motor, an electric gripper, a cylinder, etc., and is used to perform medical operations.

2. The three-axis motion platform according to claim 1, characterized in that: The motion control card controls the distance of the motor movement by adjusting the number of pulses output to the driver, controls the speed of the motor movement by adjusting the duty cycle of the output pulses, and additionally outputs a level signal to control the direction of the motor movement.

3. The three-axis motion platform according to claim 1, characterized in that: It also includes a parameter setting unit, which sets the motor operation related parameters according to the mechanical parameters of the X-axis, Y-axis and Z-axis, the stepper motor parameters and the sensor configuration. The motor operation related parameters include the number of pulses, measurement units, running distance per unit revolution, running speed, start and stop speed, acceleration and deceleration, and recoil compensation. After the setting is completed, the motion control card automatically generates the corresponding program block for calling when writing the program.

4. The three-axis motion platform according to claim 1, characterized in that: The motion control card sends pulse signals to the three-axis motor driver to control the motor speed and direction, and receives limit signals. It sets the axis movement through the program and sends motion data through the host computer interface to control the axis movement.

5. The three-axis motion platform according to claim 1, characterized in that: The three-axis motion platform also includes a frame building unit, which builds the X, Y, and Z axis frames through three-axis profiles and uses closed-loop motors to drive the movement of each axis.

6. The three-axis motion platform according to claim 5, characterized in that: The X-axis motor drives the corresponding motion block, fixes the Y-axis on the motion block, and the movement of the X-axis motor drives the Y-axis to move in the X-axis direction; The Y-axis motor drives the corresponding motion block, fixes the Z-axis on the motion block, and the movement of the Y-axis motor drives the Z-axis to move in the Y-axis direction; The Z-axis motor drives the motion block, and the actuator is fixed on the motion block. The movement of the Z-axis motor drives the actuator to move up and down on the Z axis. After the actuator is in place, the position is adjusted in conjunction with the three-axis movement, which is controlled by the output signal of the motion control card.

7. The frame building unit according to claim 5, characterized in that: The three-axis module is driven by a stepper motor to perform the set operation. The X- and Y-axis motors drive the Z-axis module to the specified position, and then the Z-axis descends, driving the actuator to the operation area to perform the set operation. After the operation is completed, the actuator rises and moves the Z-axis to the waiting area to wait for the next operation.

8. The three-axis motion platform according to claim 1, characterized in that: The execution mechanism comprises the following steps: The servo rotates according to the instructions of the motion control card to adjust the actuator to a predetermined angle; The stepper motor moves to the predetermined position according to the pulse signal of the motion control card to achieve precise positioning of the actuator; The electric gripper opens and closes according to the level signal of the motion control card to clamp or release the target object; The cylinder retracts and contracts according to the level signal of the motion control card to push or lift the target object.

9. The three-axis motion platform according to claim 1, characterized in that: The motion control card receives the instructions from the control system and sends pulse signals to the driver according to the instructions; The driver controls the operation of the motor according to the received pulse signal, including speed, direction and distance; The X-axis, Y-axis, and Z-axis move in coordination with the operation of the motor to achieve precise position control; The actuator performs a specific action after reaching the specified position according to the preset program.

10. The three-axis motion platform according to claim 1, characterized in that: The operations at the end of the actuator include: Syringes are used to prepare, process and transfer radiopharmaceuticals; Electric claws are used to grab cotton swabs and operating rods to handle dangerous specimens; Cylinders for the transfer of hazardous materials.

Images