Summary of the invention
(1) technical problems to be solved
The object of the present invention is to provide a kind of liposuction robot system and methods, solve traditional liposuction for solution or partThe operation of effect heavy dependence operator and the larger problem of liposuction procedures labor intensity.
(2) technical solution
In order to solve the above-mentioned technical problem, according to the first aspect of the invention, a kind of liposuction robot system is provided, is wrappedIt includes: first mechanical arm, liposuction tool and monitoring unit；One end of the first mechanical arm is connected with the liposuction tool, describedMonitoring unit includes photoelectric positioning system and force snesor, the positioning bead and the force snesor point of the photoelectric positioning systemIt is not connected with the liposuction tool, position of the photoelectric positioning system for liposuction tool described in real-time monitoring, the power passesContact resistance of the sensor for liposuction tool described in real-time monitoring.
On the basis of above scheme, a kind of liposuction robot system further include: second mechanical arm and traction fixing device；One end of the second mechanical arm is connected with the traction fixing device, and the traction fixing device is for right in liposuction proceduresLiposuction position carries out traction fixation.
On the basis of above scheme, the traction fixing device includes negative pressure sucker or magnechuck.
On the basis of above scheme, the negative pressure sucker includes negative pressure cavity and multiple suckers, and multiple suckers pass through respectivelyVacuum logical valve is connected with the negative pressure cavity and is uniformly distributed on the negative pressure cavity.
On the basis of above scheme, a kind of liposuction robot system further include: be mixed with the non-woven fabrics of ferromagnetic component, instituteIt states non-woven fabrics to match with the magnechuck, the non-woven fabrics is pasted onto the skin surface at liposuction position.
On the basis of above scheme, the first mechanical arm and the second mechanical arm respectively include more piece linking arm,More piece linking arm is successively rotatablely connected, the other end of the other end of the first mechanical arm and the second mechanical arm respectively with platformVehicle rotation connection.
On the basis of above scheme, a kind of liposuction robot system further include: control unit；Described control unit differenceIt is connected with the first mechanical arm, second mechanical arm, photoelectric positioning system, force snesor and traction fixing device.
According to the second aspect of the invention, a kind of liposuction using the liposuction robot system in any of the above-described scheme is providedMethod, comprising: control first mechanical arm drives liposuction tool to carry out liposuction operation according to desired guiding trajectory；In liposuction procedures, lead toThe position for crossing photoelectric positioning system real-time monitoring liposuction tool, controls first mechanical arm according to the physical location of liposuction toolSystem adjustment, so that the physical location of liposuction tool is consistent with predeterminated position；In liposuction procedures, by force snesor to liposuction workThe contact resistance of tool is monitored, and judges position of the liposuction tool in liposuction position according to the size of contact resistance.
On the basis of above scheme, before carrying out liposuction operation further include: by traction fixing device in skin tableTraction fixation is carried out in face of liposuction position.
On the basis of above scheme, a kind of liposuction method further include: liposuction position is determined before carrying out liposuction operationFatty depth information, and the position of liposuction tool is registrated in real time with the relationship of fatty depth in liposuction procedures.
(3) beneficial effect
First mechanical arm is arranged to control operation liposuction work in a kind of liposuction robot system and method provided by the inventionTool, the liposuction operation of alternative artificial progress high intensity, can greatly reduce the labor intensity of operator；Power-bit synchronization peace is setFull monitoring unit not only can prevent liposuction tool location from shifting, but also can prevent liposuction tool from causing to damage in other positions to patientEvil ensures the safe and effective of liposuction operation in such a way that dual safety monitors；Robot may be implemented certainly in the robot systemMain completion liposuction operation, while robot manipulation is accurate, safety, avoids liposuction operating effect by operator's subjectivity qualificationInfluence, reduce the threshold of liposuction, some insufficient liposuction doctors of qualification by the system may be implemented with it is ripePractice the liposuction postoperative effect that doctor is no different, mitigates the pressure of doctors and patients significantly.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Following instanceFor illustrating the present invention, but it is not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phaseEven ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It canTo be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediaryConnection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete conditionConcrete meaning in invention.
A kind of liposuction robot system is provided according to embodiments of the present invention, and with reference to Fig. 1, which includes: firstMechanical arm 1, liposuction tool 2 and monitoring unit；One end of first mechanical arm 1 is connected with liposuction tool 2, and monitoring unit includes photoelectricityPositioning system and force snesor 7, the positioning bead 6 and force snesor 7 of photoelectric positioning system are connected with liposuction tool 2 respectively, lightElectric positioning system is used for the position of real-time monitoring liposuction tool 2, and contact of the force snesor 7 for real-time monitoring liposuction tool 2 hindersPower.
A kind of liposuction robot system provided in this embodiment, setting mechanical arm is connected with liposuction tool 2, by controlling machineThe movement of tool arm can drive liposuction tool 2 to carry out liposuction operation.The mobile accurate control of liposuction tool 2 can be realized using mechanical armSystem can replace hand-held progress liposuction.
In liposuction procedures, in order to guarantee that liposuction tool 2 is mobile according to default route, to guarantee liposuction effect and avoidPatient is damaged, setting photoelectric positioning system carries out real-time monitoring to the spatial position of liposuction tool 2.With reference to Fig. 3, photoelectricityPositioning system includes binocular camera 8 and positioning bead 6.Binocular camera 8 can monitor to position in certain monitoring range 9The position of bead 6.
Can be suitably local in surroundings thereof by the setting of binocular camera 8, the position where making patient is in binocular camera shootingIn first 8 monitoring range 9.With reference to Fig. 2, positioning bead 6 is fixedly connected with liposuction tool 2.Pass through the position of monitoring positioning bead 6It sets, and real-time monitoring is carried out according to position of the positional relationship of positioning bead 6 and liposuction tool 2 to liposuction tool 2.Real-time monitoringThe physical location of liposuction tool 2 judges between physical location and predeterminated position with the presence or absence of deviation.
Deviation if it exists can adjust position by control first mechanical arm 1 in time, so that liposuction tool 2 is according to defaultRoute carries out liposuction operation.To can guarantee liposuction effect, and the safety of liposuction procedures is improved, patient is avoided to be damagedWound.
In addition, setting force snesor 7 be connected with liposuction tool 2, can real-time monitoring liposuction tool 2 contact resistance.ContactResistance, that is, liposuction tool 2 is inserted into the contact force information of liposuction position one end.Force snesor 7 can be one-dimensional, three-dimensional or sextuple sensingDevice etc..The handle of the mountable liposuction pipe or liposuction needle and liposuction tool 2 that liposuction position is inserted into liposuction tool 2 of force snesor 7Connecting place, the power that liposuction pipe or liposuction needle receive can pass to force snesor 7.
Because needing to guarantee that liposuction tube end or liposuction needle needle point do stretching motion back and forth in fat deposit in liposuction procedures,Epidermis can neither be punctured, fascia tissue destruction internal organs can not be goed deep into, to guarantee the safety of liposuction procedures.On the one hand, can lead toPhotoelectric positioning system monitoring 2 position of liposuction tool is crossed, prevents liposuction tool 2 from deviateing default route, causes to damage to avoid to patientEvil.
On the other hand, suffered contact resistance when can be according to liposuction tube end or liposuction needle needle point contact different tissuesDifference, by force snesor 7 to the feedback of contact resistance, to judge whether needle point touches epidermis or fascia.It can first pass through in advanceContact resistance of the measuring in fat deposit and the contact resistance when touching epidermis or fascia；It is set according to experimental resultSet the threshold range of the contact resistance in fat deposit.
When the contact resistance that force snesor 7 is fed back is more than above-mentioned threshold range, i.e., liposuction tool 2 will touch epidermisOr fascia, at this point, settable alarm mode prompting liposuction doctor perhaps suspends liposuction operation or can be according to photoelectric positioning systemThe physical location of the liposuction tool 2 monitored is adjusted 2 position of liposuction tool, and the safety of liposuction procedures can be improved.
A kind of liposuction robot system provided in this embodiment is arranged first mechanical arm 1 to control and operates liposuction tool 2,The liposuction of alternative artificial progress high intensity operates, and can greatly reduce the labor intensity of operator；Power-bit synchronization is arranged to supervise safelyUnit is surveyed, can not only prevent 2 position of liposuction tool from shifting, but also can prevent liposuction tool 2 from damaging at other positions to patient,Ensure the safe and effective of liposuction operation in such a way that dual safety monitors；The robot system may be implemented robot autonomous completeIt is operated at liposuction, while robot manipulation is accurate, safety, avoids liposuction operating effect by the shadow of operator's subjectivity qualificationIt rings, reduces the threshold of liposuction, some insufficient liposuction doctors of qualification may be implemented by the system and skillfully cureThe raw liposuction postoperative effect being no different, mitigates the pressure of doctors and patients significantly.
On the basis of the above embodiments, further, with reference to Fig. 1, a kind of liposuction robot system further include: the second machineTool arm 3 and traction fixing device 4；One end of second mechanical arm 3 is connected with traction fixing device 4, and traction fixing device 4 is used forTraction fixation is carried out to liposuction position in liposuction procedures.
On the basis of the above embodiments, further, traction fixing device 4 includes negative pressure sucker or magnechuck.
On the basis of the above embodiments, further, negative pressure sucker includes negative pressure cavity and multiple suckers, multiple suckers pointNot Tong Guo vacuum logical valve be connected with negative pressure cavity and be uniformly distributed on negative pressure cavity.
On the basis of the above embodiments, further, a kind of liposuction robot system further include: be mixed with ferromagnetic componentNon-woven fabrics, non-woven fabrics matches with magnechuck, and non-woven fabrics is pasted onto the skin surface at liposuction position.
In traditional artificial liposuction procedures, generally require liposuction nondominant hand (usually doctor's left hand) by press, press, squeezing,It the gimmicks such as pushes away to draw fixed fat, while perceiving the position of liposuction needle.A kind of liposuction robot system provided in this embodimentBy epidermis traction fixing device 4, fixed subcutaneus adipose tissue controls liposuction tool 2 convenient for first mechanical arm 1 and carries out liposuction behaviourMake.Settable second mechanical arm 3 is connected with traction fixing device 4, and the traction of different location fat is fixed in realization.
Traction fixing device 4 is there are two types of thinking, one is by negative pressure sucker progress epidermis traction, by big sucker orThe sucker of other structures applies suitable negative pressure, draws fixed epidermis, guarantees effectively to draw fixed epidermis, while inhaling for a long timeIt is attached not damage epidermis.
Another kind is to carry out epidermis traction by magnechuck.It can be ventilative mixed at one layer of liposuction area skin surface mountThere are ferromagnetic component, such as the medical non-woven fabrics of the small magnetic sheet array of rubidium iron boron magnetic.Magnechuck is installed additional in second mechanical arm 3, is led toIt crosses and leads to attraction and repulsion of the positive counter current realization to small magnetic sheet on epidermis non-woven fabrics to magnechuck, to realize traction epidermis.
When traction fixing device 4 is negative pressure sucker, it may be configured as multi-sucker structure, that is, multiple small suckers be set, can avoidStress is concentrated.Each sucker is connected with negative pressure cavity respectively, to realize the effect of vacuum suction.Each sucker can be patrolled by vacuumIt collects valve to be connected with negative pressure cavity, to inhibit vacuum degree to reduce, so that if one of sucker gas leakage, does not influence other suckersIt works normally.
When traction fixing device 4 is magnechuck, magnechuck and the ventilative medical non-woven fabrics for being mixed with ferromagnetic componentIt matches.It can be realized by changing ferromagnetic component reticular density and component type in non-woven fabrics to magnechuck varying strengthAttraction.
Further, setting gripper is connected with traction fixing device 4.Gripper is a kind of controllable mechanical for simulating manpowerDevice.Be arranged gripper can imitate manpower control traction fixing device 4 realize to liposuction position by, the operation such as press, squeeze, push away.
On the basis of the above embodiments, further, first mechanical arm 1 and second mechanical arm 3 respectively include more piece companyConnect arm, more piece linking arm is successively rotatablely connected, the other end of the other end of first mechanical arm 1 and second mechanical arm 3 respectively with platformVehicle 5 is rotatablely connected.
For driving liposuction tool 2 to carry out liposuction operation, liposuction tool 2 is needed according to preset route first mechanical arm 1It is moved or is rotated.Second mechanical arm 3 is used to that traction fixing device 4 to be driven to carry out traction fixation to the epidermis at liposuction position,The needs of traction fixing device 4 are moved according to liposuction position.Therefore, settable first mechanical arm 1 and second mechanical arm 3 are distinguishedIncluding more piece linking arm, to improve flexibility ratio.
More piece linking arm is successively rotatablely connected.First mechanical arm 1 and second mechanical arm 3 can be fixedly connected with trolley 5, and canIt is rotated respectively relative to trolley 5.The first mechanical arm 1 and second mechanical arm 3 of this kind of structure have multiple freedom degrees, can flexibly adjustSection, can meet the liposuction machine human needs.
Trolley 5 can be used for being supported whole system, which may be provided on trolley 5, easy to remove.
Further, more piece linking arm connecting place and motor can be respectively set with the junction of trolley 5, each motor canThe rotation of each linking arm is controlled, first mechanical arm 1 and the whole of second mechanical arm 3 are controlled to realize.
Further, the quantity of the specific linking arm of first mechanical arm 1 and second mechanical arm 3 can specifically be set as neededIt sets.
Further, also it can realize that liposuction tool 2 is past in liposuction procedures by control 1 reciprocating rotation of first mechanical armFlexible liposuction again.
On the basis of the above embodiments, further, a kind of liposuction robot system further include: control unit；ControlUnit is connected with first mechanical arm 1, second mechanical arm 3, photoelectric positioning system, force snesor 7 and traction fixing device 4 respectively.
Control unit is set, comprehensive intelligent control is carried out to the liposuction operation of entire robot system.Control unit can be setIt sets on trolley 5.
On the basis of the above embodiments, further, a kind of to utilize liposuction robot provided by the various embodiments described aboveThe liposuction method of system, comprising: control first mechanical arm 1 drives liposuction tool 2 to carry out liposuction operation according to desired guiding trajectory；It is taking outDuring rouge, by the position of photoelectric positioning system real-time monitoring liposuction tool 2, according to the physical location of liposuction tool 2 toOne mechanical arm 1 carries out control adjustment, so that the physical location of liposuction tool 2 is consistent with predeterminated position；In liposuction procedures, pass throughForce snesor 7 is monitored the contact resistance of liposuction tool 2, judges liposuction tool 2 in liposuction according to the size of contact resistancePosition in position.
On the basis of the above embodiments, further, before carrying out liposuction operation further include: pass through the fixed dress of tractionIt sets 4 and traction fixation is carried out to liposuction position in skin surface.
On the basis of the above embodiments, further, a kind of liposuction method further include: before carrying out liposuction operation reallyDetermine liposuction position fat depth information, and the relationship of the position of liposuction tool 2 and fatty depth is carried out in fact in liposuction proceduresWhen be registrated.
Before carrying out liposuction operation, the depth profile of liposuction position fat can be determined by Preoperative ultrasound, it can be according to lightThe position for the liposuction tool 2 that electric positioning system is fed back determines the relationship between the position of liposuction tool 2 and fatty depth.FromAnd according to the position of liposuction tool 2, it can reflect the depth in liposuction needle insertion fat deposit, and judge according to needle point depth informationWhether needle point in addition can also estimate distance that needle point back and forth stretch close to epidermis and fascia
On the basis of the above embodiments, further, a kind of liposuction robot system setting first mechanical arm 1 is as pumpingRouge operates arm, using the liposuction mode combined with epidermis traction fixing device 4.First mechanical arm 1 is multivariant machineArm is connected with liposuction tool 2, realizes any position, the liposuction around fixed point in direction operates, inserting needle mouth and skin incision base in artOriginally it is consistent.
Photoelectric positioning system and force snesor 7 realize power-position dual safety monitoring, judge organization type, guarantee liposuction behaviourIt safely and effectively carries out, and there is real-time power-position data feedback.Traction fixing device 4 may be configured as negative pressure sucker, proposeThe fixed subcutaneous fat of traction for carrying out epidermis using sucker.Negative pressure sucker draws epidermis by appropriate underpressure, and effectively traction is fixedEpidermis, while not damaging epidermis.
Magnechuck also can be used in traction fixing device 4, there is ferromagnetic ventilative medical adhesive-bonded fabric dressing, changes dressingMiddle ferromagnetic component reticular density and component type realize the attraction to magnechuck varying strength.It is logical by magnechuckPositive counter current realizes that epidermis is drawn and puts down in attraction and repulsion to dressing, switching.
What traction fixing device 4 can simulate liposuction nondominant hand by the mechanical device of mechanical claw the liposuctions hand such as presses, presses, squeezesMethod.Liposuction operates control algolithm, realizes liposuction of stretching back and forth, and according to power-position data feedback, realization is taken out safely in fat depositRouge.
With reference to Fig. 4, the process of liposuction is carried out using the liposuction robot system are as follows:
It is preoperative that patient abdomen fat depth information is determined by way of the medical images such as ultrasound, using the method for registration,For the relationship of 2 position of liposuction tool and fatty depth is registrated in art in real time.Program interface screen carry out liposuction track and direction,The planning of frequency, time etc. (can plan the liposuction operation of entire liposuction process, can also only plan the suction at a certain position of abdomenRouge operation).
Process control first mechanical arm 1 carries out liposuction back and forth and operates.Traction fixing device 4 is fixed subcutaneous by sucker tractionFat, convenient for the progress of liposuction operation.Robot space constraint algorithm ensures fat suction needle inserting needle mouth and actual patient abdomen simultaneouslySmall notch does not have biggish offset.
In this process, the force snesor 7 on liposuction tool 2 and photoelectric positioning system are capable of the power of Real-time Feedback needle pointAnd location information, are reflected on program interface, convenient for the autonomous judgement of doctor's real-time monitoring and program.Until entirely having plannedAt robot stop motion, liposuction operation is completed.
A kind of liposuction robot system and method provided in this embodiment, may be implemented robot autonomous completion liposuction handArt.Robot can determine optimal liposuction operation early period by the liposuction gimmick of the skilled director rank liposuction doctor of learning manipulationParameter (such as frequency, motion profile, dynamics), realize director's rank zero defect liposuction.Avoid liposuction postoperative effect byThe influence of patient's subjectivity qualification, while robot manipulation is accurate, safety, instead of the artificial high-intensitive behaviour that stretches back and forthMake, avoids fatigue problem.On the other hand reduce the thresholds of liposuction procedures, some insufficient liposuction doctors of qualification byThe liposuction postoperative effect being no different with skilled doctor may be implemented in this system, mitigates the pressure of doctors and patients significantly.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the inventionWithin mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.