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High-precision soft tissue cutting robot with automatic control

A technology for cutting robots and soft tissues, applied in the field of robots, can solve problems such as tissue cutting that cannot be solved, achieve the effect of reducing cutting difficulties and solving cutting bottlenecks

Active Publication Date: 2018-06-19
北京科迈启元科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Virtual modeling cannot solve the problem of tissue cutting in reality, and it is difficult to organically combine virtual models with real cutting

Method used

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  • High-precision soft tissue cutting robot with automatic control
  • High-precision soft tissue cutting robot with automatic control
  • High-precision soft tissue cutting robot with automatic control

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Embodiment Construction

[0018] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0019] An automatic control high-precision soft tissue cutting robot, such as figure 2 and image 3 Shown: vertical rail fixing seat 1, vertical rail 2, screw linkage nut 3, horizontal rail stepping motor fixing seat 4, screw bearing 5, horizontal rail stepping motor 6, horizontal rail 7, slider 8, vertical rail Stepping motor 9, coupling 10, screw rod 11, scalpel fixture 12, screw rod bearing holder 13, flange plate 14, mounting hole for flange plate and mechanical arm 15, cutting device chassis 16, air suction duct 17. Vacuum suction cup 18, tissue to be cut 19, air guide tube 20, vacuum air pump 21, computer 22, scalpel fixture and screw mandrel linkage nut mounting hole 23, scalpel mounting hole 24, scalpel handle 25, scalpel blade 26;

[0020] The cutting device consists of a soft tissue fixed support bracket that can be configured with a vacu...

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Abstract

The invention discloses a high-precision soft tissue cutting robot with automatic control. The robot system comprises a perpendicular guide rail fixing base (1), a perpendicular rail (2), a lead screwlinkage nut (3), a horizontal rail stepping motor fixing base (4), a lead screw bearing (5), a horizontal rail stepping motor (6), a horizontal rail (7), a sliding block (8), a perpendicular rail stepping motor (9), a coupler (10), a lead screw (11), an operation knife clamp (12), a lead screw bearing fixing base (13), a flange plate (14), a flange plate and mechanical arm installing hole (15), acutting device bottom frame (16), air exhaust guide pipes (17), vacuum suckers (18), to-be-cut tissue (19), an air guiding pipe (20), a vacuum air pump (21), a computer (22), an operation knife clampand lead screw linkage nut installing hole (23), an operation knife fixing hole (24), an operation knife handle (25) and an operation blade (26). A robot fixing module can effectively solve the cutting problem caused by deformation of soft tissue; a transverse and longitudinal control module can realize accurate control over cutting length and depth. The robot is high in precision, accurately regulates the shape of an incision, and is easy to control.

Description

technical field [0001] The invention relates to an automatic control high-precision soft tissue cutting robot, which belongs to the technical field of robots, and in particular relates to the structural design of the robot. Background technique [0002] At present, the research on automatic control of high-precision soft tissue cutting robot system is blank, mainly based on virtual cutting models. The soft tissue cutting models proposed in most literatures are generally improved on the basis of classical deformation models, and mesh-based -based) method establishment. In the grid-based cutting model, the three-dimensional space occupied by the soft tissue object is generally divided into a grid formed by a collection of finite elements (tetrahedrons are often used) before simulation, and the cutting process is modeled as a surgical tool and a soft tissue geometric model The mesh cutting calculation between (that is, the cutting calculation between the cutting surface of the...

Claims

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Application Information

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IPC IPC(8): A61B34/30A61B34/32
CPCA61B34/30A61B34/32A61B34/70
Inventor 苏柏泉史沛轩程彬刘文勇匡绍龙
Owner 北京科迈启元科技有限公司
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