CN116138975A - Body surface laminating operation platform - Google Patents

Abstract

The invention discloses a body surface fitting operation platform, which comprises a bed assembly, a support frame, a six-axis manipulator and a control host, wherein the support frame is arranged on the bed assembly, and is provided with a structured light assembly, and the structured light assembly is used for acquiring a three-dimensional image of the skin surface of a human body lying on the bed surface; the six-axis mechanical arm is arranged on the machine body, and the free end of the six-axis mechanical arm is provided with a position to be installed, which is used for independently disassembling and installing different kinds of workpieces and is used for operating a human body lying on a bed surface; the body surface fitting operation platform provided by the invention can realize different human body surface operations, is more complete in function and more in use scene, can meet different use requirements of users, can realize different functions by switching different work pieces, and greatly increases the use rate of products.

Description

Translated fromChinese

体表贴合作业平台Body surface fitting business platform

技术领域Technical Field

本发明涉及医疗器械领域，特别涉及一种体表贴合作业平台。The present invention relates to the field of medical devices, and in particular to a body surface bonding operation platform.

背景技术Background Art

现在市面上机器人功能过于单一，同一台设备往往只能实现一个特定的功能，如现有的按摩机器人，只能用于对人体进行按摩，或是手术机器人，只能用于给人体特定部分作手术，机器人的整体利用率低，占地面积大，价格昂贵，为了满足产品多用途、多应用场景，需要设计一款可应用到不同的场景中的机器，通过该机器人可以满足用户不同的使用需求。The functions of robots on the market now are too single. The same device can often only realize one specific function. For example, the existing massage robots can only be used to massage the human body, or surgical robots can only be used to perform surgery on specific parts of the human body. The overall utilization rate of robots is low, they occupy a large area and are expensive. In order to meet the multi-purpose and multi-application scenarios of the product, it is necessary to design a machine that can be applied to different scenarios, so that the different usage needs of users can be met.

发明内容Summary of the invention

本发明的主要目的是提出一种体表贴合作业平台，旨在解决现有技术中机器人设备的功能单一，利用率低的问题。The main purpose of the present invention is to provide a body surface fitting operation platform, aiming to solve the problem of single function and low utilization rate of robot equipment in the prior art.

为实现上述目的，本发明提出的体表贴合作业平台，包括：To achieve the above-mentioned purpose, the body surface bonding operation platform proposed in the present invention comprises:

可床组件，所述床组件用于同地面基础固定，所述床组件具有供人体躺卧的床面；A bed assembly, the bed assembly is used to be fixed to a ground foundation, and the bed assembly has a bed surface for a person to lie on;

支撑架，安装于所述床组件，所述支撑架设置有结构光组件，用于获取获取躺在床面上的人体的皮肤表面三维图像；A support frame, mounted on the bed assembly, the support frame being provided with a structured light assembly for acquiring a three-dimensional image of the skin surface of a human body lying on the bed surface;

六轴机械手，设置于所述支撑架且置于所述床面的上方，所述六轴机械手的自由端设置有待安装位，用于供不同种类的工作件单独拆卸安装，所述六轴机械手用于带动工作件对躺卧在所述床面上的人体进行工作；A six-axis manipulator is arranged on the support frame and placed above the bed surface. A waiting position is arranged at the free end of the six-axis manipulator for separate disassembly and installation of different types of workpieces. The six-axis manipulator is used to drive the workpiece to work on a human body lying on the bed surface.

控制主机，分别与所述结构光组件和所述六轴机械手电连接，所述控制主机用于根据所述结构光组件获取到的人体皮肤表面三维图像生成有运动路线，所述控制主机还用于控制所述六轴机械手驱动安装于所述待安装位的工作件沿所述运动路线作业。A control host is electrically connected to the structured light component and the six-axis manipulator, respectively. The control host is used to generate a motion route according to the three-dimensional image of the human skin surface acquired by the structured light component. The control host is also used to control the six-axis manipulator to drive the workpiece installed at the to-be-installed position to operate along the motion route.

可选地，所述床组件包括床板和底座，所述底座的底面用于同地面基础固定，所述床板设置于所述底座的顶面；Optionally, the bed assembly includes a bed board and a base, the bottom surface of the base is used to be fixed to the ground foundation, and the bed board is arranged on the top surface of the base;

所示支撑架包括相对设置的第一支撑段和第二支撑段，以及连接所述第一支撑段和第二支撑段的安装段，所述第一支撑段和第二支撑段与所述床板连接，所述安装段置于所述床板上方。The support frame includes a first support section and a second support section that are arranged opposite to each other, and a mounting section connecting the first support section and the second support section. The first support section and the second support section are connected to the bed board, and the mounting section is placed above the bed board.

可选地，所述第一支撑段和所述第二支撑段沿所述床板的长度方向可滑动安装于所述床板。Optionally, the first supporting section and the second supporting section can be slidably mounted on the bed board along the length direction of the bed board.

可选地，所述支撑架为圆拱门状设置，所述六轴机械手的连接端设置于所述支撑架的弧形内壁面的顶部，且所述六轴机械手的自由端正对所述床面设置。Optionally, the support frame is arranged in a circular arch shape, the connecting end of the six-axis manipulator is arranged at the top of the arc-shaped inner wall surface of the support frame, and the free end of the six-axis manipulator is arranged opposite to the bed surface.

可选地，所述体表贴合作业平台还包括连接块，所述连接块的固定安装于所述支撑架，所述连接块设置有第一斜面，所述第一斜面与所述水平面之间的夹角为锐角，所述六轴机械手的初始关节臂与所述第一斜面垂直。Optionally, the body surface fitting operation platform also includes a connecting block, which is fixedly mounted on the support frame, and the connecting block is provided with a first inclined plane, the angle between the first inclined plane and the horizontal plane is an acute angle, and the initial joint arm of the six-axis manipulator is perpendicular to the first inclined plane.

可选地，所述结构光组件为多个，间隔设于所述支撑架的内周侧。Optionally, there are multiple structured light components, which are arranged at intervals on the inner circumference of the support frame.

可选地，所述体表贴合作业平台还包括显示器，所述显示器安装于所述支撑架，所述显示器包括用于显示人体皮肤表面三维图像、运动轨迹以及用于设置工作模式的触控显示屏和多个功能按键。Optionally, the body surface fitting operation platform further comprises a display, which is mounted on the support frame, and comprises a touch screen and a plurality of function buttons for displaying a three-dimensional image of the human skin surface, a motion trajectory, and for setting a working mode.

可选地，所述体表贴合作业平台还包括设置在所述床组件的急停装置。Optionally, the body surface fitting operation platform further includes an emergency stop device arranged on the bed assembly.

可选地，所述床板的一端设置有通孔，用于供人体躺卧在穿棉上时，用户的头部通过所述通孔；Optionally, a through hole is provided at one end of the bed board, for allowing the user's head to pass through the through hole when the user lies on the bed board;

所述体表贴合作业平台还包括显示屏，所述显示屏通过连接件固定在所述床组件，且置于所述通孔的下方。The body surface fitting operation platform also includes a display screen, which is fixed to the bed assembly through a connecting piece and is placed below the through hole.

可选地，所述连接件包括柔性管。Optionally, the connector comprises a flexible tube.

本发明技术方案通过安装在支撑架上的结构光组件，用于获取躺卧在床面上的人体皮肤表面的三维图像，控制主机根据安装在待安装位的工作件和人体皮肤表面的三维图像规划该工作件的工作路线，并控制六轴机械手驱动该工作件以预设的运动路线运动，以对置于第一检测区域内的人体进行进行作业。而由于该工作件与六轴机械手可拆卸连接，通过更换工作件的种类，并根据工作件的类型，控制主机切换到不同模式，并根据该结构光组件获取的人体表面三维图像规划出与该工作件相匹配的运动轨迹，如此，根据用户不同的使用需要，通过快速更换工作件类型或切换工作件的运动轨迹，该体表贴合作业平台可以实现不同的人体表面作业，其功能更加完全，使用场景多，可以满足用户不同的使用需求，产品的使用率大大增加。The technical solution of the present invention is used to obtain a three-dimensional image of the skin surface of a human body lying on a bed surface through a structured light component installed on a support frame, and the control host plans the working route of the work piece according to the three-dimensional image of the work piece installed at the position to be installed and the human skin surface, and controls the six-axis manipulator to drive the work piece to move in a preset motion route to perform operations on the human body placed in the first detection area. Since the work piece is detachably connected to the six-axis manipulator, by changing the type of the work piece and according to the type of the work piece, the control host switches to different modes, and plans a motion trajectory that matches the work piece according to the three-dimensional image of the human body surface obtained by the structured light component. In this way, according to the different usage needs of the user, by quickly changing the type of the work piece or switching the motion trajectory of the work piece, the body surface fitting operation platform can realize different human body surface operations, and its functions are more complete, with more usage scenarios, which can meet the different usage needs of users, and the utilization rate of the product is greatly increased.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

图1为本发明体表贴合作业平台一实施例的结构示意图。FIG. 1 is a schematic structural diagram of an embodiment of a body surface bonding operation platform of the present invention.

附图标号说明：Description of Figure Numbers:

本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

具体实施方式DETAILED DESCRIPTION

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

需要说明，若本发明实施例中有涉及方向性指示(诸如上、下、左、右、前、后……)，则该方向性指示仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

另外，若本发明实施例中有涉及“第一”、“第二”等的描述，则该“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

本发明提出一种体表贴合作业平台10，该体表贴合作业平台10配备有多个不同类型的工作件20，每个工作件20均可以单独可拆卸连接固定在六轴机械臂的待安装位上。The present invention provides a body surfacefitting operation platform 10, which is equipped with a plurality ofwork pieces 20 of different types, and eachwork piece 20 can be individually detachably connected and fixed on a waiting installation position of a six-axis robot arm.

针对现有机器人产品的功能单一，利用率低的问题。目前的医疗机器人，功能单一，如按摩机器人，通过机械臂按摩组件对人体进行按摩，其仅仅只有单一的按摩功能；或是乳腺超声扫描设备，通过在机械手的末端关节臂与超声探头连接，可以实现单一的乳腺检查功能，或是其他的检测或手术机器人，都是仅仅实现其特定的一种功能。且该机器人的占地范围大，成本高，利用率较低，进一步增加了其使用成本。基于此，本申请提出了该体表贴合作业平台10，该体表贴合作业平台10配备有多个不同类型的工作件20，每个工作件20均可以单独可拆卸连接固定在六轴机械臂的待安装位上。如此，根据用户的不同需要，切换该置于待安装位的工作件20类型，控制组件根据结构光组件300获取到的置于床面111上的人体三维图像生成运动路线，六轴机械手400进而驱动结构光工作件20沿所述运动路线作业，以对人体工作。安装在待安装位上的工作件20可以是按摩头、超声探头、手术刀、手术辅助装置等，在此不对其作限定。The problem of single function and low utilization rate of existing robot products. The current medical robots have single functions, such as massage robots, which massage the human body through the mechanical arm massage component, and only have a single massage function; or breast ultrasound scanning equipment, which can realize a single breast examination function by connecting the end joint arm of the manipulator with the ultrasound probe, or other detection or surgical robots, all of which only realize their specific functions. And the robot occupies a large area, has high cost, and has a low utilization rate, which further increases its use cost. Based on this, the present application proposes the body surfacefitting operation platform 10, which is equipped with a plurality of different types ofworkpieces 20, each of which can be individually detachably connected and fixed on the to-be-installed position of the six-axis manipulator. In this way, according to the different needs of the user, the type of theworkpiece 20 placed in the to-be-installed position is switched, and the control component generates a motion route according to the three-dimensional image of the human body placed on thebed surface 111 obtained by thestructured light component 300, and the six-axis manipulator 400 then drives thestructured light workpiece 20 to operate along the motion route to work on the human body. Theworking piece 20 installed at the to-be-installed position may be a massage head, an ultrasonic probe, a scalpel, a surgical auxiliary device, etc., which is not limited here.

在本发明实施例中，如图1所示，该体表贴合作业平台10包括床组件100、支撑架200、六轴机械手400、结构光组件300以及控制主机，所述床组件100用于同地面基础固定，所述床组件100具有供人体躺卧的床面111；支撑架200安装于所述床组件100，所述支撑架200设置有结构光组件300，用于获取获取躺在床面111上的人体的皮肤表面三维图像；六轴机械手400设置于所述支撑架200且置于所述床面111的上方，所述六轴机械手400的自由端设置有待安装位，用于供不同种类的工作件20单独拆卸安装，所述六轴机械手400用于带动工作件20对躺卧在所述床面111上的人体进行工作；控制主机分别与所述结构光组件300和所述六轴机械手400电连接，所述控制主机用于根据所述结构光组件300获取到的人体皮肤表面三维图像生成有运动路线，所述控制主机还用于控制所述六轴机械手400驱动安装于所述待安装位的工作件20沿所述运动路线作业。In an embodiment of the present invention, as shown in FIG1 , the body surfacefitting operation platform 10 includes abed assembly 100, asupport frame 200, a six-axis manipulator 400, astructured light assembly 300 and a control host, wherein thebed assembly 100 is used to be fixed to a ground foundation, and thebed assembly 100 has abed surface 111 for a human body to lie on; thesupport frame 200 is installed on thebed assembly 100, and thesupport frame 200 is provided with astructured light assembly 300 for obtaining a three-dimensional image of the skin surface of a human body lying on thebed surface 111; the six-axis manipulator 400 is arranged on thesupport frame 200 and is placed above thebed surface 111 The free end of the six-axis manipulator 400 is provided with a waiting installation position for different types ofworkpieces 20 to be disassembled and installed separately, and the six-axis manipulator 400 is used to drive theworkpiece 20 to work on the human body lying on thebed surface 111; the control host is electrically connected to thestructured light component 300 and the six-axis manipulator 400 respectively, and the control host is used to generate a motion route according to the three-dimensional image of the human skin surface obtained by thestructured light component 300, and the control host is also used to control the six-axis manipulator 400 to drive theworkpiece 20 installed in the waiting installation position to operate along the motion route.

可选地，该床组件100作为体表贴合作业平台10的配套装置，用于供用户躺卧，在此不对其形状与尺寸大小作限定，用户可以根据实际使用需要自行设计。支撑架200作为一个支撑件，用于供六轴机械手400和结构光组件300安装，其架设在床组件100上，可以为呈门框状的支架结构，横跨在床面111的上方，在此不作其形状一一限定，只要可供六轴机械手400和结构光组件300安装固定即可。Optionally, thebed assembly 100 is used as a supporting device of the body surfacecontact operation platform 10 for the user to lie down. The shape and size thereof are not limited here, and the user can design it according to the actual use needs. Thesupport frame 200 is used as a support member for the installation of the six-axis manipulator 400 and thestructured light assembly 300. It is mounted on thebed assembly 100 and can be a door frame-shaped support structure that spans above thebed surface 111. The shape thereof is not limited here, as long as it can be installed and fixed by the six-axis manipulator 400 and thestructured light assembly 300.

其中，控制主机根据结构光组件300获取到的人体皮肤表面三维图像可以生成有不同的运动路线。一般而言，根据待安装位上安装的工作件20，控制主机生成与该工作件20相匹配的运动路线，并控制六轴机械手400驱动工作件20按与之相匹配的运动路线作业，实现相应的功能。示例性地，以该工作件20为按摩头时，将结构光组件300获取置于床面111上的人体皮肤表面三维图像，此时控制主体根据该人体皮肤表面三维图像生成有该按摩头的运动轨迹，并控制六轴机械手400带动按摩头以该运动轨迹运动，以使按摩头对人体进行按摩。其中，该控制主机可以根据机构光组件获取的三维图像针对用户的不同按摩需求，生成不同的按摩运动路线，本申请还可以通过控制主机切换不同的运动路线，使得六轴机械手400控制该按摩头以不同的运动路线运动，满足用户不同部位的按摩需求，实现腰椎按摩、康复、全身按摩等。Among them, the control host can generate different motion routes according to the three-dimensional image of the human skin surface obtained by the structuredlight component 300. Generally speaking, according to theworkpiece 20 installed on the to-be-installed position, the control host generates a motion route that matches theworkpiece 20, and controls the six-axis manipulator 400 to drive theworkpiece 20 to operate according to the motion route that matches it, so as to realize the corresponding function. Exemplarily, when theworkpiece 20 is a massage head, the structuredlight component 300 obtains a three-dimensional image of the human skin surface placed on thebed surface 111. At this time, the control body generates a motion trajectory of the massage head according to the three-dimensional image of the human skin surface, and controls the six-axis manipulator 400 to drive the massage head to move along the motion trajectory, so that the massage head massages the human body. Among them, the control host can generate different massage motion routes according to the three-dimensional image obtained by the structured light component according to the different massage needs of the user. The present application can also switch different motion routes by the control host, so that the six-axis manipulator 400 controls the massage head to move along different motion routes to meet the massage needs of different parts of the user, and realize lumbar massage, rehabilitation, full body massage, etc.

又一示例性地，当该体表贴合作业平台10用于超声检查，诊断用户的乳腺疾病时，该工作件20选用超声探头，将按摩头自待安装取下来，在六轴机械手400的待安装位固定安装超声探头。在进行检测时，用户躺在床面111上，使得结构光组件300置于床面111上人体的上方，获取扫查床上人体的三维图像，控制主机根据该三维图像规划超声探头的扫查轨迹(即超声探头的运动路线)，六轴机械手400驱动超声波探头以所述扫查轨迹运动以对人体乳房进行自动扫查，实现对用户乳腺疾病的诊断，相比于现有技术中的手动扫描而言，而有利于提高获取超声扫查结果的精确度。同时，采用自动化的扫查方式还有利于实现超声扫查的自动化和标准化，大幅度提高超声扫查的效率。In another exemplary embodiment, when the body surfacebonding operation platform 10 is used for ultrasonic examination to diagnose the user's breast disease, theworkpiece 20 uses an ultrasonic probe, removes the massage head from the installation position, and fixes the ultrasonic probe at the installation position of the six-axis manipulator 400. During the inspection, the user lies on thebed surface 111, so that the structuredlight component 300 is placed above the human body on thebed surface 111, and a three-dimensional image of the human body on the bed is obtained. The control host plans the scanning trajectory of the ultrasonic probe (i.e., the movement route of the ultrasonic probe) according to the three-dimensional image, and the six-axis manipulator 400 drives the ultrasonic probe to move along the scanning trajectory to automatically scan the human breast, thereby realizing the diagnosis of the user's breast disease. Compared with the manual scanning in the prior art, it is conducive to improving the accuracy of obtaining the ultrasonic scanning results. At the same time, the use of an automated scanning method is also conducive to realizing the automation and standardization of ultrasonic scanning, greatly improving the efficiency of ultrasonic scanning.

又一示例性地，当该体表贴合作业平台10用于给用户手术，此时，安装在待安装位上的工作件20为手术刀，同理，使人体躺在床面111上，结构光组件300获取人体的三维图像，控制主机基于该三维图像生成手术刀的运动路线，六轴机械手400控制手术刀按照生成的运动路线对人体进行手术。需要说明的是，在其他实施例中，也可以根据用户的使用需求，在体表贴合作业平台10的待安装位上对应安装有工作件20即可，如手术辅助装置、乳腺旋切、可诊断或其他未定义的功能，只需要通过该结构光组件300获取到人体的三维图像，再通过控制主机生成工作件20的运动路线，六轴机械手400驱动工作件20沿运动路线运动可以实现该功能即可，在此不一一限定安装在待安装位的工作件20的具体类型。简而言之，该体表贴合作业平台10对应每一安装在待安装位的作用件具有相匹配的模式，In another exemplary embodiment, when the body surface fittingoperation platform 10 is used to perform surgery on a user, thework piece 20 installed at the position to be installed is a scalpel. Similarly, the human body is made to lie on thebed surface 111, and the structuredlight component 300 obtains a three-dimensional image of the human body. The control host generates a movement route of the scalpel based on the three-dimensional image, and the six-axis manipulator 400 controls the scalpel to perform surgery on the human body according to the generated movement route. It should be noted that in other embodiments, according to the user's use requirements, awork piece 20 can be installed at the position to be installed of the body surface fittingoperation platform 10, such as a surgical auxiliary device, breast excision, diagnosis or other undefined functions. It is only necessary to obtain a three-dimensional image of the human body through the structuredlight component 300, and then generate a movement route of thework piece 20 through the control host. The six-axis manipulator 400 drives thework piece 20 to move along the movement route to achieve the function. The specific types of thework piece 20 installed at the position to be installed are not limited one by one here. In short, the body surface fittingoperation platform 10 has a matching pattern corresponding to each working piece installed at the position to be installed.

进一步地，结构光组件300可包括摄像头和发射器，摄像头可包括红外光摄像头、可见光摄像头，发射器可为红外光发射器。在采集人体部位图像时，结构光组件300位于人体的正上方，通过可见光摄像头拍摄2D图片，采集人体部位的平面轴(即X、Y轴)信息；使用红外发射器发射经过特殊调制的不可见红外光至人体部位上，再通过红外摄像头接收被人体部位反射的红外光，采集深度轴(即Z轴)信息，确定被测部位的景深信息。当然，此时控制主机还包括与结构光组件300电连接的处理模块(即处理芯片)将拍摄的2D图片与获取的3D信息相结合，生成具备空间信息的三维图像，以供该体表贴合作业平台10的控制主机生成与置于待安装位上的工作件20相匹配的工作路径。具体地，对结构光组件300所采集的三维图像数据进行计算以得出工作路径的原理为：对结构光组件300所采集的点云进行裁剪、降采样、平滑等操作得到初步处理后的点云，利用点云切片算法得到切片点云，通过切片点云去重影去除以及点排序自动生成摄像头扫描坐标系下的轨迹点，然后将摄像头扫描坐标系下的轨迹点通过位姿变换转换成六轴机械手400坐标系下的轨迹点，并对该轨迹点进行法向、姿态等位姿计算而得出工作路径(运动路线)。Furthermore, the structuredlight component 300 may include a camera and a transmitter, and the camera may include an infrared camera and a visible light camera, and the transmitter may be an infrared transmitter. When collecting images of human body parts, the structuredlight component 300 is located directly above the human body, and a 2D picture is taken by a visible light camera to collect the plane axis (i.e., X and Y axis) information of the human body parts; an infrared transmitter is used to emit specially modulated invisible infrared light to the human body parts, and then the infrared camera is used to receive the infrared light reflected by the human body parts, collect the depth axis (i.e., Z axis) information, and determine the depth of field information of the measured part. Of course, at this time, the control host also includes a processing module (i.e., a processing chip) electrically connected to the structuredlight component 300 to combine the captured 2D picture with the acquired 3D information to generate a three-dimensional image with spatial information, so that the control host of the body surfacebonding operation platform 10 can generate a working path that matches theworkpiece 20 placed in the position to be installed. Specifically, the principle of calculating the three-dimensional image data collected by the structuredlight component 300 to obtain the working path is as follows: the point cloud collected by the structuredlight component 300 is cropped, downsampled, smoothed and other operations are performed to obtain a preliminarily processed point cloud, a sliced point cloud is obtained by using a point cloud slicing algorithm, and trajectory points in the camera scanning coordinate system are automatically generated by de-ghosting and point sorting of the sliced point cloud. The trajectory points in the camera scanning coordinate system are then converted into trajectory points in the six-axis manipulator 400 coordinate system through posture transformation, and the normal, posture and other posture calculations are performed on the trajectory points to obtain the working path (motion route).

在一较佳实施例中，如图1所示，为了方便在六轴机械手40030的自由端(即关节臂的末端)上安装工作件20，该六轴机械手400的自由端还包括夹具，夹具的夹持位为所述待安装位。而夹具固定工作件20的方式可以是夹持式、粘贴式或磁吸式等，夹具的结构根据实际情况进行设置即可，在此不作限定。例如，夹具包括连接板和两个夹板。其中，连接板与六轴机械手400的自动端连接，两个夹板相对布置在连接板的周向上，以使两夹板与连接板围合构成用于所述待安装位。此时，优选两夹板采用可产生形变的材料制成，如塑胶等，从而接口(待安装位)通过两夹板的弹性形变对工作件20进行夹持，以此增加夹具对工作件20的固定性能。In a preferred embodiment, as shown in FIG1 , in order to facilitate the installation of theworkpiece 20 on the free end (i.e., the end of the articulated arm) of the six-axis manipulator 40030, the free end of the six-axis manipulator 400 also includes a fixture, and the clamping position of the fixture is the position to be installed. The way in which the fixture fixes theworkpiece 20 can be clamping, pasting, or magnetic, etc. The structure of the fixture can be set according to the actual situation and is not limited here. For example, the fixture includes a connecting plate and two clamps. Among them, the connecting plate is connected to the automatic end of the six-axis manipulator 400, and the two clamps are arranged relatively on the circumference of the connecting plate so that the two clamps and the connecting plate are enclosed to form the position to be installed. At this time, it is preferred that the two clamps are made of a material that can produce deformation, such as plastic, so that the interface (position to be installed) clamps theworkpiece 20 through the elastic deformation of the two clamps, thereby increasing the fixing performance of the clamp on theworkpiece 20.

在一实施例中，所述床组件100包括床板110和底座120，所述底座120的底面用于同地面基础固定，所述床板110设置于所述底座120的顶面，所示支撑架200包括相对设置的第一支撑段和第二支撑段，以及连接所述第一支撑段和第二支撑段的安装段，所述第一支撑段和第二支撑段与所述床板110连接，所述安装段置于所述床板110上方。In one embodiment, thebed assembly 100 includes abed board 110 and abase 120, the bottom surface of thebase 120 is used to be fixed to the ground foundation, and thebed board 110 is arranged on the top surface of thebase 120. Thesupport frame 200 includes a first support segment and a second support segment that are relatively arranged, and an installation segment connecting the first support segment and the second support segment. The first support segment and the second support segment are connected to thebed board 110, and the installation segment is placed above thebed board 110.

可选地，该底座120可以呈圆盘、矩形块或是长条形块状，用于支撑床板110，同时供控制主机安装在底座120内，在此不对其形状一一限定。床板110可以设计成便于人体躺卧的板状，在本实施例中，该床板110为矩形板设计，其中部通过焊接、螺丝固定或是其他方式固定在底座120上。在本实施例中，支撑架200的底部安装在床板110上，如此，相比于支撑架200的底部固定安装底座120而言，其安装更加简单方便，整个体表贴合作业平台10的结构更加简单。且第一支撑段和第二支撑段分别固定安装在床板110宽度方向上的两侧，安装段横贯在床面111的上方，使得支撑架200整体呈槽钢形状，或是H形状，相比于支撑架200整体呈L形而言，其与床组件100的连接强度更大，且结构强度更高，方便六轴机械手400和结构光组件300的安装固定。在此不对支撑架200的具体形状一一限定，只要其能用于安装六轴机械手400的目的，以及安装在其上的结构光模组能够获取置于床面111的人体三维图像即可。Optionally, the base 120 can be in the shape of a disc, a rectangular block or a long strip, used to support thebed board 110, and at the same time, the control host is installed in thebase 120, and its shape is not limited here. Thebed board 110 can be designed to be a plate-shaped plate that is convenient for the human body to lie on. In this embodiment, thebed board 110 is designed as a rectangular plate, and the middle part is fixed to thebase 120 by welding, screws or other methods. In this embodiment, the bottom of thesupport frame 200 is installed on thebed board 110. In this way, compared with the bottom of thesupport frame 200 fixedly installing thebase 120, its installation is simpler and more convenient, and the structure of the entire body surface fittingoperation platform 10 is simpler. The first support section and the second support section are fixedly mounted on both sides of thebed board 110 in the width direction, and the mounting section is transversely across the top of thebed surface 111, so that thesupport frame 200 is in the shape of a channel steel or an H shape as a whole. Compared with the overall L-shape of thesupport frame 200, the connection strength between thesupport frame 200 and thebed assembly 100 is greater, and the structural strength is higher, which facilitates the installation and fixation of the six-axis manipulator 400 and the structuredlight assembly 300. The specific shape of thesupport frame 200 is not limited here, as long as it can be used for the purpose of installing the six-axis manipulator 400, and the structured light module installed thereon can obtain a three-dimensional image of a human body placed on thebed surface 111.

在一实施例中，所述第一支撑段和所述第二支撑段沿所述床板110的长度方向可滑动安装于所述床板110。In one embodiment, the first supporting section and the second supporting section are slidably mounted on thebed board 110 along the length direction of thebed board 110 .

可选地，所述床板110设置有沿所述床板110的长度方向延伸设置的滑轨，所述支撑架200的第一支撑段和第二支撑段的底端均设置有与所述滑轨相适配的滑槽，以使所述支撑架200与所述床板110滑动配合，用于将所述支撑架200在所述床板110的床头和床尾之间切换。如此设计，通过是支撑架200相对与床板110移动，从而带动六轴机械臂沿床板110的长度方向作位移，使得安装在六轴机械手400的自由端的工作件20的运动范围更广泛，在人体躺在床板110上保持不变的情况下，通过控制支撑架200相对于床板110移动，即可以实现对人体进行全面作业，用户体验感更好。Optionally, thebed board 110 is provided with a slide rail extending along the length direction of thebed board 110, and the bottom ends of the first support section and the second support section of thesupport frame 200 are both provided with a slide groove adapted to the slide rail, so that thesupport frame 200 and thebed board 110 can be slidably matched, and thesupport frame 200 is used to switch thesupport frame 200 between the head and the foot of thebed board 110. With such a design, thesupport frame 200 moves relative to thebed board 110, thereby driving the six-axis manipulator to move along the length direction of thebed board 110, so that the workingpiece 20 installed at the free end of the six-axis manipulator 400 has a wider range of motion. When the human body remains unchanged while lying on thebed board 110, by controlling thesupport frame 200 to move relative to thebed board 110, comprehensive operations on the human body can be achieved, and the user experience is better.

在其他实施例中，也可以是床板110设置有沿所述床板110的长度方向延伸设置的滑槽，第一支撑段和第二支撑段的底端具有与该滑槽滑动配合的滑块，如此，也能使支撑架200沿床板110的长度方向作往复运动。In other embodiments, thebed board 110 may be provided with a slide groove extending along the length direction of thebed board 110, and the bottom ends of the first support section and the second support section may have sliders that slide with the slide groove. In this way, thesupport frame 200 can also reciprocate along the length direction of thebed board 110.

在一实施例中，所述支撑架200为圆拱门状设置，所述六轴机械手400的连接端设置于所述支撑架200的弧形内壁面的顶部，且所述六轴机械手400的自由端正对所述床面111设置。In one embodiment, thesupport frame 200 is arranged in a circular arch shape, the connection end of the six-axis manipulator 400 is arranged at the top of the arc-shaped inner wall surface of thesupport frame 200, and the free end of the six-axis manipulator 400 is arranged opposite to thebed surface 111.

在本实施例中，该支撑架200呈圆供状，其下端滑动安装在床板110上，如此，支撑架200整体呈板状，一体弯折形成，其生产加工更加简单方便。需要说明的是，支撑架200的内部中空设计，预留有结构光组件300和六轴机械手400的内部轴线通道，使得体表贴合作业平台10的外观更加美观，且六轴机械手400以及结构光组件300更加可靠。进一步地，在本实施例中，将六轴机械手400的连接段固定安装在圆拱形支撑架200的弧形内壁面的顶部，如此设计，在保证六轴机械手400的工作可靠度的同时，该支撑架200的体积最小，降低了支撑架200的生产难度及生产成本。In the present embodiment, thesupport frame 200 is in a circular shape, and its lower end is slidably mounted on thebed board 110. In this way, thesupport frame 200 is in a plate shape as a whole, and is formed by bending in one piece, and its production and processing are simpler and more convenient. It should be noted that the internal hollow design of thesupport frame 200 reserves internal axis channels for the structuredlight component 300 and the six-axis manipulator 400, so that the appearance of the body surface fittingoperation platform 10 is more beautiful, and the six-axis manipulator 400 and the structuredlight component 300 are more reliable. Furthermore, in the present embodiment, the connecting section of the six-axis manipulator 400 is fixedly mounted on the top of the arc-shaped inner wall surface of thearched support frame 200. With such a design, while ensuring the working reliability of the six-axis manipulator 400, the volume of thesupport frame 200 is minimized, which reduces the production difficulty and production cost of thesupport frame 200.

在一实施例中，所述体表贴合作业平台10还包括连接块210，所述连接块210的固定安装于所述支撑架200，所述连接块210设置有第一斜面211，所述第一斜面211与所述水平面之间的夹角为锐角，所述六轴机械手400的初始关节臂410与所述第一斜面211垂直。In one embodiment, the body surface fittingoperation platform 10 also includes a connectingblock 210, which is fixedly installed on thesupport frame 200. The connectingblock 210 is provided with a firstinclined surface 211, and the angle between the firstinclined surface 211 and the horizontal plane is an acute angle. The initialjoint arm 410 of the six-axis manipulator 400 is perpendicular to the firstinclined surface 211.

可以理解的是，由于六轴机械手400本身具有一定的重量，当需要固定该六轴机械手400时，该支撑架200需要提供六轴机械手400一个较大的支撑力，因此，当支撑架200呈圆拱形板状设计时，若是其厚度交薄，不足以支撑该六轴机械手400，若是其厚度较大，圆拱形板状的支撑架200的生产成本高，不便于加工。基于此，本实施例中，增设有连接块210，该连接块210可以通过螺丝固定在支撑架200的底部，也可以通过焊接等方式固定在支撑架200上，在此不作限定。如此在支撑架200的整体厚度设计较薄时，通过增设该连接块210即可保证六轴机械手400的牢固安装。六轴机械手400包括多个依次连接的关节臂，从而方便利用关节臂中的初始关节臂410(自由端)带动置于待安装位的工作件20按预设轨迹运动以对患者进行扫查。此时，多个关节臂的形式可以是多个依次传动连接的转臂，位于始端的转臂设置在连接块210上，而位于末端的转臂则用于安装工作件20，以可带动工作件20进行多轴运动，且其中各个转臂的布置方式存在差异，如呈竖直状态或水平状态等，从而即可方便带动工作件20运动，而驱动各个杆体转动的方式可以是通过电机，当然，多个关节臂的形式还可以是直接利用多个电机依次传动连接，而电机的输出轴的布置方式参照转臂的布置方式即可。It is understandable that, since the six-axis manipulator 400 itself has a certain weight, when the six-axis manipulator 400 needs to be fixed, thesupport frame 200 needs to provide the six-axis manipulator 400 with a large supporting force. Therefore, when thesupport frame 200 is designed in a round arch plate shape, if its thickness is too thin, it is not enough to support the six-axis manipulator 400. If its thickness is large, the production cost of the round arch plate-shapedsupport frame 200 is high and it is not convenient to process. Based on this, in this embodiment, a connectingblock 210 is added. The connectingblock 210 can be fixed to the bottom of thesupport frame 200 by screws, or it can be fixed to thesupport frame 200 by welding or other methods, which is not limited here. In this way, when the overall thickness of thesupport frame 200 is designed to be thin, the six-axis manipulator 400 can be firmly installed by adding the connectingblock 210. The six-axis manipulator 400 includes a plurality of articulated arms connected in sequence, so that the initial articulated arm 410 (free end) in the articulated arms can be used to drive theworkpiece 20 placed in the installation position to move along a preset trajectory to scan the patient. At this time, the plurality of articulated arms can be in the form of a plurality of rotating arms connected in sequence, the rotating arm at the beginning is arranged on the connectingblock 210, and the rotating arm at the end is used to install theworkpiece 20, so as to drive theworkpiece 20 to perform multi-axis movement, and the arrangement of each rotating arm is different, such as being in a vertical state or a horizontal state, so that theworkpiece 20 can be easily driven to move, and the method of driving each rod body to rotate can be through a motor. Of course, the plurality of articulated arms can also be in the form of directly using a plurality of motors to be connected in sequence, and the arrangement of the output shaft of the motor can refer to the arrangement of the rotating arm.

进一步地，在本实施例中，该连接块210沿床板110的长度方向的一侧定位为该第一斜面211，该第一斜面211与水平面之间的夹角为锐角，可以是30°、45°、60°等，在本实施例中，选用第一斜面211与水平面之间的夹角为45°，初始关节臂410与该第一斜面211垂直，如此设计，使得该六轴机械手400的自由端的运动范围更广。Furthermore, in the present embodiment, one side of the connectingblock 210 along the length direction of thebed board 110 is positioned as the firstinclined surface 211, and the angle between the firstinclined surface 211 and the horizontal plane is an acute angle, which can be 30°, 45°, 60°, etc. In the present embodiment, the angle between the firstinclined surface 211 and the horizontal plane is selected to be 45°, and the initialjoint arm 410 is perpendicular to the firstinclined surface 211. Such a design allows the free end of the six-axis manipulator 400 to have a wider range of motion.

在一实施例中，所述结构光组件300为多个，间隔设于所述支撑架200的内周侧。例如，其可以是2个、3个、4个或是更多个，依次间隔设置在支撑架200的内周侧，共同对床面111上的人体进行拍摄。在本实施例中，以该支撑架200为圆拱形为例，该结构光组件300为3个，分设于床面111的左上角、右上角以及整上方，如此，该3个结构光组件300可以分别用于对躺在床面111上的人体的正面、以及左右两侧进行识别，获取到的人体三维图像的范围更大，能够实现对人体两侧的拍摄。需要说明的是，三个结构光组件300的拍摄视角可以根据实际需要自行设计，距离和角度是通过计算和实验确定的，既能保证采集的空间范围适合百分之99的人群也能保证结构光精度较精确，在此不对其作限定。In one embodiment, the structuredlight components 300 are multiple and are arranged at intervals on the inner circumference of thesupport frame 200. For example, there may be 2, 3, 4 or more structuredlight components 300, which are arranged at intervals on the inner circumference of thesupport frame 200 in sequence, and jointly shoot the human body on thebed surface 111. In this embodiment, taking thesupport frame 200 as an arch as an example, the structuredlight components 300 are three, which are arranged at the upper left corner, the upper right corner and the entire top of thebed surface 111. In this way, the three structuredlight components 300 can be used to identify the front and left and right sides of the human body lying on thebed surface 111, respectively, and the range of the obtained three-dimensional image of the human body is larger, and the shooting of both sides of the human body can be realized. It should be noted that the shooting angles of the three structuredlight components 300 can be designed according to actual needs, and the distance and angle are determined by calculation and experiment, which can ensure that the spatial range of the acquisition is suitable for 99% of the population and the accuracy of the structured light is relatively accurate, and it is not limited here.

需要说明的是，在其他实施例中，该结构光组件300也可以是一个，在此不作限定。It should be noted that in other embodiments, the number of the structuredlight component 300 may also be one, which is not limited herein.

在一实施例中，所述体表贴合作业平台10还包括显示器500，所述显示器500安装于所述支撑架200，所述显示器500包括用于显示人体皮肤表面三维图像、运动轨迹以及用于设置工作模式的触控显示屏700和多个功能按键。In one embodiment, the body surface fittingoperation platform 10 further includes adisplay 500, which is mounted on thesupport frame 200. Thedisplay 500 includes atouch screen 700 and a plurality of function buttons for displaying a three-dimensional image of the human skin surface, a motion trajectory, and for setting a working mode.

可选地，触控显示屏700上显示人体三维图像与按摩轨迹以及操作界面，可选择PC控制/PAD控制，操作界面便可在PC端和PAD端来回切换。在操作界面窗口上可设置工作件20参数，包括工作件20摆幅参数、能量参数、力度参数、速度参数、时间参数及自转幅度参数等，并通过操作界面对温度，工作件20的位置等信息进行状态监测，以优化体表贴合作业平台10的作业效果。Optionally, thetouch screen 700 displays a three-dimensional image of the human body, a massage trajectory, and an operation interface. PC control/PAD control can be selected, and the operation interface can be switched back and forth between the PC and PAD ends. The parameters of theworkpiece 20 can be set on the operation interface window, including the swing parameters, energy parameters, force parameters, speed parameters, time parameters, and rotation amplitude parameters of theworkpiece 20, and the temperature, position of theworkpiece 20, and other information can be monitored through the operation interface to optimize the operation effect of the body surfacebonding operation platform 10.

进一步地，该操作界面还可以切换模式，根据安装在待安装位的工作件20不同，可以通过该操作界面切换至与该工作件20相对应的模式，如工作件20为按摩头，用于为人体按摩理疗时，通过该操作界面切换至按摩模式，此时，控制主机根据获取到的人体三维图像，规划的运动路线为按摩路线，以实现对人体的按摩。同理，当安装在待安装位的工作件20为超声探头，通过在操作界面切换至超声检查模式，此时，控制组件根据获取的人体三维图像，规划超声检测路径(即超声探头的运动路线)，六轴机械手400带动超声探头按该超声检测路径运动，以实现对人体的超声检测。Furthermore, the operation interface can also switch modes. Depending on theworkpiece 20 installed at the position to be installed, the operation interface can be used to switch to a mode corresponding to theworkpiece 20. For example, when theworkpiece 20 is a massage head used for human body massage therapy, the operation interface is used to switch to the massage mode. At this time, the control host plans the movement route as the massage route based on the acquired three-dimensional image of the human body to achieve massage of the human body. Similarly, when theworkpiece 20 installed at the position to be installed is an ultrasonic probe, the operation interface is used to switch to the ultrasonic inspection mode. At this time, the control component plans the ultrasonic detection path (i.e., the movement path of the ultrasonic probe) based on the acquired three-dimensional image of the human body, and the six-axis manipulator 400 drives the ultrasonic probe to move along the ultrasonic detection path to achieve ultrasonic detection of the human body.

其中，功能按键包括开关按键、开始按键、暂停按键和复位按键等，其中，开关按键用于本体表贴合作业平台10的开关机操作，具体为长按开关按键预设秒数，如5秒，以完成开机或关机操作。开始按键用于六轴机械手40030的开始操作，暂停按键用于六轴机械手400的停止操作，复位按键则用于六轴机械手400的复位操作，以对六轴机械手400的位置进行初始化。The function buttons include a switch button, a start button, a pause button, and a reset button, etc. The switch button is used for the power on and off operation of the body surfacebonding operation platform 10, specifically, long pressing the switch button for a preset number of seconds, such as 5 seconds, to complete the power on or off operation. The start button is used for the start operation of the six-axis manipulator 40030, the pause button is used for the stop operation of the six-axis manipulator 400, and the reset button is used for the reset operation of the six-axis manipulator 400 to initialize the position of the six-axis manipulator 400.

需要说明的是，该显示器500可以是嵌设于支撑架200内，也可以是通过支架与支撑架200连接固定，在此不作限定。It should be noted that thedisplay 500 may be embedded in thesupport frame 200, or may be connected and fixed to thesupport frame 200 via a bracket, which is not limited here.

在一实施例中，所述体表贴合作业平台10还包括设置在所述床组件100的急停装置。急停装置用于对六轴机械手400进行紧急制动，急停装置包括设置在底座120上的急停按钮600，以用于在出现紧急情况之时，按下急停按钮600进行紧急制动，提高体表贴合作业平台10的使用安全性。需要说明的是，该急停按钮600的数量可以为1个，也可以是为多个为三个，在此不作限定，具体可以根据使用需求自行设定。In one embodiment, the body surface fittingoperation platform 10 further includes an emergency stop device disposed on thebed assembly 100. The emergency stop device is used to perform emergency braking on the six-axis manipulator 400, and the emergency stop device includes anemergency stop button 600 disposed on thebase 120, so that in an emergency, theemergency stop button 600 is pressed to perform emergency braking, thereby improving the safety of the use of the body surface fittingoperation platform 10. It should be noted that the number of theemergency stop button 600 can be one, or multiple or three, which is not limited here and can be set according to the use requirements.

在一实施例中，所述床板110的一端设置有通孔130；所述体表贴合作业平台10还包括显示屏700，所述显示屏700通过连接件710固定在所述床组件100，且置于所述通孔130的下方。In one embodiment, a throughhole 130 is provided at one end of thebed board 110 ; the body surfacecontact operation platform 10 further includes adisplay screen 700 , which is fixed to thebed assembly 100 via aconnector 710 and is placed below the throughhole 130 .

可选地，当该体表贴合作业平台10用于对人体进行作业时，以按摩为例，此时该六轴机械手400上的待安装位安装有按摩头，用于给用户进行背部按摩。用户趴卧在床面111上，用户头部正对该通孔130，使得人眼可以透过该通孔130看向显示屏700的显示面，如此，在进行作业时，用户还可以看电视、视频，提高了用户的体验度。Optionally, when the body surface fittingoperation platform 10 is used to perform operations on the human body, for example, massage, the waiting position on the six-axis manipulator 400 is installed with a massage head for performing back massage on the user. The user lies prone on thebed surface 111, with the user's head facing the throughhole 130, so that the human eye can see the display surface of thedisplay screen 700 through the throughhole 130. In this way, the user can also watch TV and videos while performing the operation, thereby improving the user experience.

在一实施例中，所述连接件710包括柔性管。如该连接件710为不锈钢波纹管等，其内部中空，用于走线，一端与床板110连接，另一端与显示屏700的背侧连接，起到固定支撑板的作用。同时，由于该柔性管具有一定的柔韧度，其便于变形以调整显示屏700的位置，便于用户观看。In one embodiment, theconnector 710 includes a flexible tube. For example, theconnector 710 is a stainless steel corrugated tube, etc., which is hollow inside and used for wiring. One end is connected to thebed board 110, and the other end is connected to the back side of thedisplay screen 700, which plays a role in fixing the support plate. At the same time, since the flexible tube has a certain degree of flexibility, it is easy to deform to adjust the position of thedisplay screen 700, which is convenient for users to watch.

以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的发明构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly/indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims (10)

1. A body surface fitting work platform, comprising:

the bed assembly is used for being fixed with a ground foundation and is provided with a bed surface for a human body to lie down;

the support frame is arranged on the bed assembly and is provided with a structured light assembly for acquiring a three-dimensional image of the skin surface of a human body lying on the bed surface;

the six-axis mechanical arm is arranged on the support frame and above the bed surface, the free end of the six-axis mechanical arm is provided with a position to be installed and used for independently disassembling and installing different kinds of workpieces, and the six-axis mechanical arm is used for driving the workpieces to work on a human body lying on the bed surface;

the control host is connected with the structure light assembly and the six-axis mechanical flashlight respectively, the control host is used for generating a movement route according to the three-dimensional image of the surface of the human skin obtained by the structure light assembly, and the control host is also used for controlling the six-axis manipulator to drive the workpiece arranged at the position to be installed to operate along the movement route.

2. The body surface fitting work platform of claim 1, wherein the bed assembly comprises a bed plate and a base, the bottom surface of the base is used for being fixed with a ground foundation, and the bed plate is arranged on the top surface of the base;

the support frame comprises a first support section, a second support section and a mounting section, wherein the first support section and the second support section are oppositely arranged, the mounting section is connected with the first support section and the second support section, the first support section and the second support section are connected with the bed board, and the mounting section is arranged above the bed board.

3. The body surface fitting work platform of claim 2, wherein the first support section and the second support section are slidably mounted to the bed plate along a length direction of the bed plate.

4. The body surface fitting work platform of any one of claims 1-3, wherein the support frame is arranged in a dome shape, the connecting end of the six-axis manipulator is arranged at the top of the arc-shaped inner wall surface of the support frame, and the free end of the six-axis manipulator is arranged opposite to the bed surface.

5. The body surface fitting work platform of claim 4, further comprising a connection block fixedly mounted to the support frame, wherein the connection block is provided with a first inclined plane, an included angle between the first inclined plane and the horizontal plane is an acute angle, and an initial articulated arm of the six-axis manipulator is perpendicular to the first inclined plane.

6. The body surface fitting work platform of claim 1, wherein the structured light assemblies are a plurality of and are spaced apart from the inner periphery of the support frame.

7. The body surface fitting work platform of claim 1, further comprising a display mounted to the support frame, the display comprising a touch display screen for displaying three-dimensional images of the skin surface of the human body, a motion trajectory, and a plurality of function keys for setting an operational mode.

8. The body surface fitting work platform of claim 1, further comprising a scram device disposed on the body.

9. The body surface fitting operation platform according to claim 2, wherein one end of the bed board is provided with a through hole for a user's head to pass through when lying on cotton;

the body surface laminating operation platform also comprises a display screen, wherein the display screen is fixed on the bed assembly through a connecting piece and is arranged below the through hole.

10. The body surface fitting work platform of claim 9, wherein the connector comprises a flexible tube.

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