Multi-axis manipulator for positioning treatment and physiotherapy based on CCD (Charge Coupled Device)

Abstract

The utility model relates to the technical field of medical clinic, in particular to a multi-axis manipulator for positioning treatment and physiotherapy based on a CCD (Charge Coupled Device), which comprises a base plate, the top of the base plate is movably connected with a rotating chassis, the top of the rotating chassis is fixedly connected with a first universal joint, the top of the first universal joint is fixedly connected with a first mechanical arm, and the top of the first mechanical arm is fixedly connected with a second mechanical arm. The top of the first mechanical arm is fixedly connected with a second universal joint, the top of the second universal joint is fixedly connected with a second mechanical arm, and the top of the second mechanical arm is fixedly connected with a third universal joint. The treatment instrument and the camera body can continuously adjust the treatment instrument to be close to or close to the skin of the human body according to the set path point and the real-time distance and posture of the distance measuring sensor, so that manual handheld operation is not needed, the working intensity of personnel is reduced, the distance can be intelligently adjusted, and energy for contact treatment and physiotherapy is reduced; thus, the risk of ionizing radiation can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of medical clinical practice, in particular to a multi-axis manipulator for CCD-based positioning treatment and physical therapy. Background Art

[0002] The literal translation of the meaning of clinical is "direct contact with the bedside", that is, direct contact with the patient and actual observation of the patient is called clinical. Doctors diagnose and treat diseases for patients. Disciplines such as internal medicine, surgery, obstetrics and gynecology, and pediatrics belong to clinical medicine.

[0003] In current medical clinical practice, when treating superficial human skin, handheld or elastic or adjustable folding brackets are used to achieve fixed-point irradiation or close-fitting treatment and physical therapy of the lesion area. These methods have several disadvantages. On the one hand, the treatment area cannot be accurately positioned; on the other hand, the temperature of the treatment area cannot be accurately measured and the next step of moving the treatment area cannot be performed. Manual adjustment is required. Moreover, as the equipment is used for a long time, the corresponding adjustable folding bracket is prone to failure. In severe cases, it may hit the patient and cause injury. In order to solve the above technical problems, we have designed a multi-axis manipulator based on CCD positioning treatment and physical therapy. Utility Model Content

[0004] The purpose of the utility model is to provide a multi-axis manipulator for CCD-based positioning treatment and physical therapy, which has the advantages of reducing the workload of personnel, intelligently adjusting the distance, measuring the temperature in real time, automatically identifying the displacement, and having a long service life. It solves the problems of high manual labor intensity, low work efficiency, inability to intelligently adjust the distance, inability to measure the temperature in real time, inability to automatically identify the displacement according to the path, and easy damage after long-term use.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a multi-axis manipulator for CCD-based positioning treatment and physiotherapy, comprising a base plate, the top of the base plate is movably connected with a rotating chassis, the top of the rotating chassis is fixedly connected with a first universal joint, the top of the first universal joint is fixedly connected with a first mechanical arm, the top of the first mechanical arm is fixedly connected with a second universal joint, the top of the second universal joint is fixedly connected with a second mechanical arm, the top of the second mechanical arm is fixedly connected with a third universal joint, the top of the third universal joint is fixedly connected with a fixed mechanical arm, a treatment device is installed on the front side of the fixed mechanical arm, the rear side of the fixed mechanical arm is fixedly connected with a camera body, and the top of the camera body is fixedly connected with a ranging sensor.

[0006] Preferably, the four corners of the bottom of the base plate are fixedly connected with support blocks, and the camera body is an infrared CCD camera.

[0007] Preferably, a clamping groove is provided on the front side of the fixed mechanical arm, and the bottom of the ranging sensor is fixedly connected to the camera body by bolts.

[0008] Preferably, the rear side of the fixed mechanical arm is fixedly connected to the camera body by bolts, and the bottom of the rotating chassis is fixedly connected to the base plate by adhesive.

[0009] Preferably, the top of the rotating chassis is fixedly connected to a support rod, and the bottom of the first universal joint is fixedly connected to the support rod.

[0010] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0011] 1. The treatment device and the camera body will continuously adjust the treatment device to get closer to the human body or close to the human skin according to the set path points and the real-time distance and posture of the ranging sensor. This does not require hand-held operation, reduces the workload of personnel, and can intelligently adjust the distance, reduce contact treatment and physical therapy energy, thereby reducing the risk of ionizing radiation.

[0012] 2. The camera body continuously extracts the surface temperature of the human body and feeds the temperature information back to the main control system. The main control system adjusts the energy output so that real-time temperature measurement is possible to facilitate treatment. When the treatment at this point is completed, the next physical therapy or treatment point is selected according to the set path to perform repetitive work until the treatment is completed, realizing automatic path recognition and displacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is an axonometric drawing of the structure of the utility model;

[0014] Figure 2 It is a top axonometric view of the local structure of the utility model.

[0015] In the figure: 1. base plate; 2. rotating chassis; 3. first universal joint; 4. first robotic arm; 5. second universal joint; 6. second robotic arm; 7. third universal joint; 8. fixed robotic arm; 9. treatment instrument; 10. ranging sensor; 11. camera body. DETAILED DESCRIPTION

[0016] See also Figure 1-Figure 2A multi-axis manipulator for CCD-based positioning treatment and physiotherapy, comprising a base plate 1, a rotating chassis 2 is movably connected to the top of the base plate 1, a first universal joint 3 is fixedly connected to the top of the rotating chassis 2, a first mechanical arm 4 is fixedly connected to the top of the first universal joint 3, a second mechanical arm 4 is fixedly connected to the top of the second universal joint 5, a second mechanical arm 6 is fixedly connected to the top of the second universal joint 5, a third universal joint 7 is fixedly connected to the top of the second mechanical arm 6, a fixed mechanical arm 8 is fixedly connected to the top of the third universal joint 7, a treatment device 9 is installed on the front side of the fixed mechanical arm 8, a camera body 11 is fixedly connected to the rear side of the fixed mechanical arm 8, and a distance measuring sensor 10 is fixedly connected to the top of the camera body 11. By arranging the first universal joint 3, the first mechanical arm 4, the second universal joint 5, the second mechanical arm 6 and the third universal joint 7, the multi-directional adjustment function is provided, and multi-angle adjustment can be performed under mutual cooperation to achieve multi-directional displacement of the treatment device 9;

[0017] See also Figure 1 , the four corners of the bottom of the base plate 1 are fixedly connected with support blocks, and the camera body 11 is an infrared CCD camera;

[0018] See also Figure 1 , a clamping groove is provided on the front side of the fixed mechanical arm 8, and the bottom of the ranging sensor 10 is fixedly connected to the camera body 11 by bolts;

[0019] See also Figure 1 , the rear side of the fixed mechanical arm 8 is fixedly connected to the camera body 11 by bolts, and the bottom of the rotating chassis 2 is fixedly connected to the base plate 1 by adhesive;

[0020] See also Figure 1 The top of the rotating chassis 2 is fixedly connected to a support rod, and the bottom of the first universal joint 3 is fixedly connected to the support rod.

[0021] During use, an identifier is set on the body, and a path and identification points are configured in the control computer. When treatment is needed, the treatment device 9 and the camera body 11 carried on the frontmost fixed mechanical arm 8 will continuously adjust the treatment device 9 to approach or stick to the human body's skin according to the real-time distance and posture of the set path point and the ranging sensor 10, so as to input the treatment or physical therapy energy into the skin or body. In this way, there is no need for personnel to hold the operation, which reduces the workload of personnel and can intelligently adjust the distance, reduce contact treatment and physical therapy energy, so as to reduce the risk of ionizing radiation, and continuously extract the surface temperature of the human body through the camera body 11. When the temperature reaches or even exceeds the set safety temperature, the temperature information is fed back to the main control system, and the main control system adjusts the energy output size, so that real-time temperature measurement is possible to facilitate treatment. When the treatment of this point is over, the fixed mechanical arm 8 moves away from the human body and selects the next physical therapy or treatment point according to the set path to perform repetitive work until the treatment is over, so as to realize automatic path recognition and displacement. At the same time, the multi-axis degree of freedom mechanical cantilever is used to reduce the risk of damage and injury to patients caused by long-term use of the mainstream foldable cantilever in the current market.

[0022] To sum up: the multi-axis manipulator based on CCD positioning treatment and physical therapy, through the coordinated use of the base plate 1, the rotating chassis 2, the first universal joint 3, the first mechanical arm 4, the second universal joint 5, the second mechanical arm 6, the third universal joint 7, the fixed mechanical arm 8, the treatment device 9, the ranging sensor 10 and the camera body 11, solves the problems of high manual labor intensity, low work efficiency, inability to intelligently adjust the distance, inability to measure temperature in real time, inability to automatically identify displacement according to the path, and easy damage after long-term use.

Claims

1. A multi-axis manipulator for CCD-based positioning treatment and physiotherapy, comprising a base plate (1), characterized in that: The top of the base plate (1) is movably connected to a rotating chassis (2); the top of the rotating chassis (2) is fixedly connected to a first universal joint (3); the top of the first universal joint (3) is fixedly connected to a first mechanical arm (4); the top of the first mechanical arm (4) is fixedly connected to a second universal joint (5); the top of the second universal joint (5) is fixedly connected to a second mechanical arm (6); the top of the second mechanical arm (6) is fixedly connected to a third universal joint (7); the top of the third universal joint (7) is fixedly connected to a fixed mechanical arm (8); a treatment device (9) is mounted on the front side of the fixed mechanical arm (8); a camera body (11) is fixedly connected to the rear side of the fixed mechanical arm (8); and the top of the camera body (11) is fixedly connected to a distance measuring sensor (10).

2. According to claim 1, a multi-axis manipulator for CCD-based positioning treatment and physiotherapy, characterized in that: The four corners of the bottom of the base plate (1) are fixedly connected to support blocks, and the camera body (11) is an infrared CCD camera.

3. The multi-axis manipulator for CCD-based positioning treatment and physiotherapy according to claim 1, characterized in that: A clamping groove is provided on the front side of the fixed mechanical arm (8), and the bottom of the distance measuring sensor (10) is fixedly connected to the camera body (11) by means of bolts.

4. The multi-axis manipulator for CCD-based positioning treatment and physiotherapy according to claim 1, characterized in that: The rear side of the fixed mechanical arm (8) is fixedly connected to the camera body (11) by means of bolts, and the bottom of the rotating chassis (2) is fixedly connected to the base plate (1) by means of glue.

5. The multi-axis manipulator for CCD-based positioning treatment and physiotherapy according to claim 1, characterized in that: The top of the rotating chassis (2) is fixedly connected to a support rod, and the bottom of the first universal joint (3) is fixedly connected to the support rod.

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