CN107468341B - Controller matched with surgical mechanical arm - Google Patents
Controller matched with surgical mechanical arm Download PDFInfo
- Publication number
- CN107468341B CN107468341B CN201710977369.1A CN201710977369A CN107468341B CN 107468341 B CN107468341 B CN 107468341B CN 201710977369 A CN201710977369 A CN 201710977369A CN 107468341 B CN107468341 B CN 107468341B
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- Prior art keywords
- controller
- mechanical arm
- handle
- controller handle
- display
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00225—Systems for controlling multiple different instruments, e.g. microsurgical systems
Abstract
The invention discloses a novel controller matched with a surgical mechanical arm, which comprises a controller handle, a control inductor, a display and a right control rod, wherein the bottom end of the controller handle is installed on a fixed base through a support rod, a four-way groove is formed in the fixed base, the control inductor is installed in the four-way groove, an induction chip is installed in the control inductor, the control inductor is installed at the bottom of the support rod, a power switch is installed at the bottom of the front side of the controller handle, the display is installed on the upper side of the top end of the controller handle, a voice broadcast report port, a status indicator lamp and a plurality of buttons are installed on the controller handle, a left button and a right button are installed on two sides of the controller handle, and heat dissipation holes are formed in the side wall of the controller handle; the holding angle and the holding mode are improved, multi-angle operation is facilitated, and the operation difficulty is simplified. Meanwhile, the novel controller is matched with a multifunctional surgical mechanical arm, and the implementation control of different mechanical arms can be switched through a handle button.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a novel controller matched with a surgical mechanical arm.
Background
Development of high and new technologies, and emergence of new medical materials and new equipment liberate surgeons from complicated and complicated operations, improve the share of intelligence factors (for example, DTI imaging technology promotes change of operation access, and robot operation eliminates human body action errors), reduce operation difficulty and risk by means of equipment, improve refinement and precision degrees, and finally improve operation quality and efficiency. Not depending on equipment and technology to weaken the ability of doctors, but using the medical thinking model as a tool to innovate the medical thinking model and assist the rapidity, the precision, the micro-harm and the comfort of disease diagnosis and treatment! Robotic-assisted surgical systems have several advantages over traditional surgery. For example, it combines the decision-making ability of the human brain with the precision and accuracy of machine technology, it also facilitates surgery in a smaller space, and, in addition, combines real-time surgery and imaging to eliminate the problem of brain displacement during surgery. Therefore, the robot operation has become a trend of surgical operation development in the future, and the lack of corresponding auxiliary equipment in the neurosurgery field becomes a bottleneck for restricting the development thereof. Among them, a prerequisite for the success of robot-assisted neurosurgery is that the operator transmits the motion conforming to the characteristics of microsurgery to the robotic arm and controls the motion, so that it is necessary to develop a matching hand controller.
Disclosure of Invention
The invention aims to provide a novel controller matched with a surgical mechanical arm, wherein an operating tool of a shell mechanical arm is respectively connected to a hand controller, and differential displacement of the hand controller is mapped to a mechanical arm end effector with differential displacement. And simultaneously, the multiple arms are switched by buttons on the operating rod. The mechanical arm can be switched by a button when being added in the future so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a novel controller matched with a surgical mechanical arm comprises a controller handle, a control sensor, a display and a right control rod, wherein the bottom end of the controller handle is installed on a fixed base through a support rod, a four-way groove is formed in the fixed base, the control sensor is installed in the four-way groove, a sensing chip is installed in the control sensor, the control sensor is installed at the bottom of the support rod, a power switch is installed at the bottom of the front side of the controller handle, the display is installed on the upper side of the top end of the controller handle, the control sensor and the right control rod are installed on two sides of the display respectively, the sensing chips are installed at the tops of the control sensor and the right control rod, and the sensing chip installed in the control sensor is connected with a mechanical arm parameter display module on a circuit board; the display is embedded in the upper surface of the top end of the grab handle of the controller and is connected with a mechanical arm parameter display module arranged on the circuit board;
the controller comprises a controller handle, a sensing chip, a switching key, a button, a power switch, a mechanical arm controller, a mechanical arm driving mechanism and a mechanical arm driving mechanism, wherein a voice broadcasting port, a status indicator lamp and a plurality of buttons are arranged on the controller handle, a left button and a right button are arranged on two sides of the controller handle, heat dissipation holes are formed in the side wall of the controller handle, the sensing chip, the switching key, the button, the power switch, the left button and the right button form the mechanical arm controller, the mechanical arm controller is connected with the input end of a central processing unit, the output end of; the central processing unit is connected with a memory and a mechanical arm coordinate generator, the memory comprises a parameter recording module, an action description program and a control program, and the mechanical arm coordinate generator consists of a shooting part and a three-dimensional vision sensor which are installed on a mechanical arm.
As a further scheme of the invention: one end of the power switch is connected with a power line, the other end of the power switch is connected with a circuit board, the power line is connected with a mains supply or a storage battery, and the circuit board is arranged inside the controller grab handle.
As a further scheme of the invention: and a switching key is arranged on the side surface of the display.
As a further scheme of the invention: the voice broadcasting port and the state indicator lamp are respectively connected with the voice broadcasting module and the control circuit which are installed on the circuit board, and the heat dissipation holes are connected with the heat dissipation module which is installed on the circuit board.
As a further scheme of the invention: the driver is servo motor, the arm is constituteed by arm and hand, and arm and hand are connected with the driver respectively.
As a further scheme of the invention: .
Compared with the prior art, the invention has the beneficial effects that: the neurosurgery operation has high fineness and more complex operation, no special neurosurgery operation robot exists at present, meanwhile, the operation part of the existing robot is held by a ball part or an operating rod which needs to be switched only by moving left and right, the operation complexity of a neurosurgeon is increased, and particularly, compared with other surgical operations, the neurosurgery operation has long time, is easy to fatigue and has extremely high requirement on operation fineness. Meanwhile, the novel controller is matched with a multifunctional surgical mechanical arm, and the implementation control of different mechanical arms can be switched through a handle button.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a block diagram of the system of the present invention.
In the figure: 1-a fixed base, 2-a support rod, 3-a controller handle, 4-a heat dissipation hole, 5-a left button, 6-a four-way groove, 7-an operation sensor, 8-an induction chip, 9-a display, 10-a voice broadcast port, 11-a status indicator lamp, 12-a right operation rod, 13-a switch button, 14-a button, 15-a right button, 16-a circuit board, 17-a power switch, 18-a mechanical arm controller 18, 19-a central processing unit, 20-a memory, 21-a mechanical arm coordinate generator, 22-a driver, 23-an arm, 24-a hand, 25-a mechanical arm and 26-a mechanical arm driving mechanism.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, in the embodiment of the present invention, a novel controller matched with a surgical manipulator includes a controller handle 3, a manipulation sensor 7, a display 9, and a right manipulation rod 12, a bottom end of the controller handle 3 is mounted on a fixed base 1 through a support rod 2, a four-way groove 6 is formed in the fixed base 1, the manipulation sensor 7 is mounted in the four-way groove 6, a sensing chip 8 is mounted inside the manipulation sensor 7, the manipulation sensor 7 is mounted at a bottom of the support rod 2, and the controller handle 3 controls the manipulator to move up and down in a front-and-back manner, so as to facilitate a handheld operation; a power switch 17 is installed at the bottom of the front side of the controller grab handle 3, one end of the power switch 17 is connected with a power line, the other end of the power switch 17 is connected with a circuit board 16, the power line is connected with a mains supply or a storage battery, and the circuit board 16 is installed inside the controller grab handle 3; the display 9 is installed to controller grab handle 3 top upside, and display 9 side-mounting has the switching button 13, switches the arm that the button 13 switches display 9 and switches the demonstration, and the double pole operation, several arms of changeable control of every pole, switch like this and just solve the not enough problem of handle.
Specifically, the display 9 is embedded in the upper surface of the top end of the controller grab handle 3, and the display 9 is connected with a mechanical arm parameter display module installed on the circuit board.
Specifically, control inductor 7 internally mounted's response chip 8 and link to each other with the arm parameter display module on the circuit board, control inductor 7 real-time detection controller grab handle 3's three-dimensional motion parameter, movement speed and activity direction to carry inside response chip 8 after with data conversion, controller grab handle 3 operation drive operation arm, its operability, harmony and compatibility are improved greatly.
The controller grab handle 3 is provided with a voice broadcasting port 10, a status indicator lamp 11 and a plurality of buttons 14, and the buttons 14 are convenient for adjusting various parameters controlled by the surgical mechanical arm; the controller grab handle 3 is provided with a left button 5 and a right button 15 at two sides, and the side wall of the controller grab handle 3 is provided with a heat dissipation hole 4.
Specifically, the voice broadcast port 10 and the status indicator lamp 11 are respectively connected with a voice broadcast module and a control circuit which are installed on the circuit board, and the heat dissipation holes 4 are connected with a heat dissipation module which is installed on the circuit board.
The sensing chip 8, the switching key 13, the button 14, the power switch 17, the left key 5 and the right key 15 form a mechanical arm controller 18, the mechanical arm controller 18 is connected with the input end of the central processing unit 19, the output end of the central processing unit 19 is connected with a mechanical arm driving mechanism 26, and the mechanical arm driving mechanism 26 is composed of a driver 22 and a mechanical arm 25.
Specifically, the driver 22 adopts a servo motor, the mechanical arm 25 is composed of an arm portion 23 and a hand portion 24, and the arm portion 23 and the hand portion 24 are respectively connected with the driver 22, so that the motion of the mechanical arm 25 is conveniently controlled.
The feedback port of the central processing unit 19 is connected with a display 9, a voice broadcasting port 10 and a status indicator lamp 11, so that the parameters of the operation of the surgical manipulator can be conveniently broadcasted through the display 9 and the voice broadcasting port 10, and the operation status is indicated by the status indicator lamp 11.
The central processing unit 19 is connected with a memory 20 and a mechanical arm coordinate generator 21, specifically, the memory 20 comprises a parameter recording module, an action recording program and a control program, so that the motion parameters and the motion process of the surgical mechanical arm can be conveniently recorded; the mechanical arm coordinate generator 21 is composed of a shooting part and a three-dimensional vision sensor which are installed on the mechanical arm 25, records the coordinate position of the mechanical arm 25 in real time, and facilitates accurate operation of the mechanical arm 25.
The present invention is not limited to the above embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some simple modifications, equivalent changes and modifications to some technical features without creative efforts based on the disclosed technical contents, and all fall into the technical solution of the present invention.
In the description of the present specification, it is to be noted that, unless explicitly stated or limited otherwise, the terms "disposed", "connected" and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (6)
1. A controller matched with a surgical mechanical arm comprises a controller handle (3), an operation sensor (7), a display (9) and a right operation rod (12), and is characterized in that the bottom end of the controller handle (3) is installed on a fixed base (1) through a support rod (2), a four-way groove (6) is arranged on the fixed base (1), the operation sensor (7) is installed in the four-way groove (6), an induction chip (8) is installed inside the operation sensor (7), the operation sensor (7) is installed at the bottom of the support rod (2), a power switch (17) is installed at the bottom of the front side of the controller handle (3), the display (9) is installed on the upper side of the top end of the controller handle (3), the operation sensor (7) and the right operation rod (12) are installed on two sides of the display (9) respectively, and the induction chips (8) are installed at the tops of the operation sensor (7) and the right operation rod (12), the controller comprises a controller handle (3), a voice broadcasting port (10), a state indicator lamp (11) and a plurality of buttons (14) are mounted on the controller handle (3), a left key (5) and a right key (15) are mounted on two sides of the controller handle (3), heat dissipation holes (4) are formed in the side wall of the controller handle (3), a mechanical arm controller (18) is formed by an induction chip (8), a switching key (13), the buttons (14), a power switch (17), the left key (5) and the right key (15), the mechanical arm controller (18) is connected with the input end of a central processor (19), the output end of the central processor (19) is connected with a mechanical arm driving mechanism (26), and the mechanical arm driving mechanism (26) is composed of a driver (22) and a mechanical arm (25);
the central processing unit (19) is connected with a memory (20) and a mechanical arm coordinate generator (21), the memory (20) comprises a parameter recording module, an action description program and a control program, and the mechanical arm coordinate generator (21) consists of a shooting part and a three-dimensional vision sensor which are installed on a mechanical arm (25);
the operating tools of the surgical robotic arms are respectively connected to the controllers, and the differential displacements of the controllers are mapped to differentially displaced manipulator end effectors;
the induction chip (8) arranged inside the control inductor (7) is connected with the mechanical arm parameter display block on the circuit board, the control inductor (7) detects the three-dimensional motion parameters, the motion speed and the motion direction of the controller handle (3) in real time, data are converted and then are conveyed to the internal induction chip (8), the controller handle (3) operates and drives the surgical mechanical arm, and the operability, the coordination and the compatibility of the surgical mechanical arm are greatly improved.
2. A controller matched with a surgical mechanical arm as claimed in claim 1, wherein one end of the power switch (17) is connected with a power line, the other end is connected with a circuit board (16), the power line is connected with a commercial power or a storage battery, and the circuit board (16) is arranged inside the controller handle (3).
3. A controller matched with a surgical mechanical arm as claimed in claim 1, wherein a switching key (13) is installed on the side of the display (9).
4. A controller matched with a surgical mechanical arm as claimed in claim 1, wherein the display (9) is embedded in the upper surface of the top end of the controller handle (3), and the display (9) is connected with a mechanical arm parameter display module installed on a circuit board.
5. The controller matched with the surgical mechanical arm is characterized in that the voice broadcasting port (10) and the status indicator lamp (11) are respectively connected with a voice broadcasting module and a control circuit which are installed on a circuit board, and the heat dissipation holes (4) are connected with a heat dissipation module which is installed on the circuit board.
6. A controller adapted to a surgical robotic arm according to claim 1, wherein said driver (22) is a servo motor, and said robotic arm (25) is composed of an arm (23) and a hand (24), and the arm (23) and the hand (24) are respectively connected to the driver (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710977369.1A CN107468341B (en) | 2017-10-19 | 2017-10-19 | Controller matched with surgical mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710977369.1A CN107468341B (en) | 2017-10-19 | 2017-10-19 | Controller matched with surgical mechanical arm |
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| Publication Number | Publication Date |
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| CN107468341A CN107468341A (en) | 2017-12-15 |
| CN107468341B true CN107468341B (en) | 2019-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710977369.1A Active CN107468341B (en) | 2017-10-19 | 2017-10-19 | Controller matched with surgical mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5734065B2 (en) * | 2011-04-12 | 2015-06-10 | 東洋電装株式会社 | Joystick device |
| CN103505876B (en) * | 2013-10-18 | 2016-01-20 | 电子科技大学 | The control device of parallel connection type motion-sensing game motion platform and control method thereof |
| JP6626110B2 (en) * | 2014-09-04 | 2019-12-25 | メミック イノベーティブ サージェリー リミテッドＭｅｍｉｃ Ｉｎｎｏｖａｔｉｖｅ Ｓｕｒｇｅｒｙ Ｌｔｄ． | Devices and systems including mechanical arms |
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| CN101517508A (en) * | 2006-09-05 | 2009-08-26 | 博世力士乐Dsi公司 | Handle for the remote control of a moving vehicle, particularly a civil engineering works vehicle, an agricultural or handling vehicle |
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| Publication number | Publication date |
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| CN107468341A (en) | 2017-12-15 |
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