Medical mechanical arm with active and passive freedom degree combination characteristic in photodynamic therapy

Abstract

The invention discloses a medical mechanical arm with an active and passive freedom degree combination characteristic in photodynamic therapy, comprising a navigation arm. The navigation arm is sequentially provided with a passive type joint A, a passive type joint B, a passive type joint C, a passive type joint D, an active type joint E, an active type joint F and a power on-off switch, wherein the power on-off switch controls the passive type joint A, the passive type joint B, the passive type joint C and the passive type joint D; the active type joint E can realize circumferential rotation; the active type joint F can realize swing along a radius direction; the passive type joint A is connected with the passive type joint B through a telescopic arm joint; and the power on-off switch isarranged between the telescopic arm joint and the passive type joint B. The invention organically combines active freedom degrees with passive freedom degrees and can reduce the requirement for a control system and the complexity of the control system, thereby enhancing the control precision of the system, the operation effect as well as the rigidity and the reliability of the system.

Description

technical field [0001] The invention belongs to the field of medical appliances, in particular to a medical mechanical arm with the characteristics of combining active and passive degrees of freedom in photodynamic therapy. Background technique [0002] Laser photodynamic therapy for port wine stains: [0003] 1) The patient lies down, and the erythema area faces up as much as possible. The doctor observes the patient's erythema area, divides the erythema area into a treatment area according to a plane, and covers the part outside the treatment area with white tape; [0004] 2) Protect the non-lesional area of ​​the patient's face with a thick cloth to prevent laser burns; [0005] 3) Inject the photosensitizer, so far, the preoperative preparations are all over, and the next step is the surgical treatment process; [0006] 4) The operation process lasts for tens of minutes or even more than an hour, and the doctor needs to constantly adjust the irradiation position and an...

AI Technical Summary

Problems solved by technology

[0006] 4) The operation process lasts for tens of minutes or even more than an hour, and the doctor needs to constantly adjust the irradiation position and angle of the laser during the treatment process;

[0009] 1) Surgery requires a high level of doctor experience. From the division of the preoperative irradiation plane to the continuous adjustment of the incident position and angle during the operation, the operating doctor needs to have rich experience, which seriously affects the effect of treatment and the popularization of treatment methods;

[0010] 2) The treatment process takes a long time, and the doctor needs to hold the laser pointer all the time during the treatment process, and constantly adjust the irradiation angle and position. At the same time, this is a very boring labor. The doctor is prone to fatigue and sleepiness, which affects the treatment effect and even causes medical malpractice;

[0011] 3) During the operation, the stent is used to reduce the labor intensity of the doctor, but the stent will not be locked tightly after a long time of use, and when the stent is used, the laser pointer is stopped, which will inevitably reduce the irradiation effect

Therefore, robot-assisted photodynamic therapy surgery has been carried out in the prior art. Although this method can solve the above-mentioned technical problems, it has a complex system, is difficult to control, and cannot play the role of precise positioning and accurate and uniform implementation of the treatment process.

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