CN108888347A - Intervene Robot Force-Feedback type main manipulator - Google Patents
Intervene Robot Force-Feedback type main manipulator Download PDFInfo
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- CN108888347A CN108888347A CN201810721878.2A CN201810721878A CN108888347A CN 108888347 A CN108888347 A CN 108888347A CN 201810721878 A CN201810721878 A CN 201810721878A CN 108888347 A CN108888347 A CN 108888347A
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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
- A61B34/37—Master-slave robots
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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Abstract
The disclosure provides a kind of intervention Robot Force-Feedback type main manipulator, including：Pedestal, transmission mechanism, operation handle and device for force feedback, pedestal are used to provide support for main manipulator；Transmission mechanism is connect with pedestal, for converting push, rotation and deflection action for stress；Operation handle is connect with transmission mechanism, for active force to be applied to transmission mechanism；Device for force feedback is connect with transmission mechanism, for being transferred to the movement of transmission mechanism from manipulator, and will be fed back on transmission mechanism from the contact force of manipulator and tissue.The intervention Robot Force-Feedback type main manipulator that the disclosure provides is for the tailored version main manipulator for intervening operation in kidney, the operation to Flexible ureteroscope may be implemented with three degree of freedom, and feedback force can be applied respectively on three degree of freedom and achieve the purpose that improve operation precision.
Description
Technical field
This disclosure relates to operating robot technical field more particularly to a kind of intervention Robot Force-Feedback type main manipulator.
Background technique
It is the important directions of current micro-wound surgical operation, Flexible ureteroscope operation through natural cavity operation (NOTES)
(FURS) Typical Representative as NOTES operation, with the traditional operations skill such as percutaneous nephrolithotomy and extracorporeal shock-wave lithotripsy
Art is compared, and has many advantages, such as that good effect, wound are small, blood loss is few, complication rate is low, post-operative recovery is fast and sustainable treatment,
It is the important means for treating calculus and ureteral calculi in kidney.
In terms of clinical application, Flexible ureteroscope is still challenging on technical operation.Mainly moved including more curvatures,
Operation difficulty is high, positioning accuracy is poor, stability is low, patient's fatiguability and radiation hazradial bundle etc..In addition, hand operation soft lens needs
Attending physician and assistant cooperate, and operation is completed in common cooperation, inevitably generates communication disorder, cause it is not scientific with it is nonstandard
Operation be easy to cause danger in art, causes suffering to patient.Beginner is also possible to will cause the increasing of patient's incidence of complications
Add, these problems significantly limit the promotion and application of this technology.Robot manipulation can overcome disadvantages mentioned above, and it is fixed to have
The advantages such as position is accurate, stable operation, the not sense tired out of the mankind and physiology limit.Therefore, robotic assisted surgery technology is solution
The certainly important channel of Flexible ureteroscope operation problem.
Although the integrated operation performance of operation can be improved in assisted surgery for robots, have the shortcomings that one it is main
It is the absence of force feedback.Lack " feel " when the missing of force feedback function causes doctor to operate, can only be judged by visual information
Instrument lacks " feeling of immersion " when open surgery for the active force of tissue.When being performed the operation, if main manipulator can not receive
To effective force feedback, doctor's excessive normal tissue easy to operate causes wound, this can extend operating time, increases operation behaviour
The uncertainty and risk of work.
Disclosure
(1) technical problems to be solved
Based on above-mentioned technical problem, the disclosure provides a kind of intervention Robot Force-Feedback type main manipulator, existing to alleviate
The problem of assisted surgery robot lacks force feedback in technology.
(2) technical solution
The disclosure provides a kind of intervention Robot Force-Feedback type main manipulator, including：Pedestal, for being the main manipulator
Support is provided；Transmission mechanism is connect with the pedestal, for converting push, rotation and deflection action for stress；Manipulator
Handle is connect with the transmission mechanism, for active force to be applied to the transmission mechanism；And device for force feedback, and it is described
Transmission mechanism connection, for being transferred to the movement of the transmission mechanism from manipulator, and will be described from manipulator and human body
The contact force of tissue is fed back on the transmission mechanism.
In some embodiments of the present disclosure, the transmission mechanism includes：Delivery device is connect with the pedestal, by
It is subjected to displacement after power along straight line；Rotating mechanism is connect with the pedestal, and mobile with the delivery device, along it after stress
The rotary shaft rotation of itself；And deflection mechanism, it is connect with the rotating mechanism, and the rotation of its rotary shaft and the rotating mechanism
Shaft is vertical, rotates after the deflection mechanism stress along the rotary shaft of its own；Wherein, the device for force feedback is pushed away with described respectively
Mechanism, the rotating mechanism is sent to connect with the deflection mechanism.
In some embodiments of the present disclosure, wherein：The delivery device includes：First rocker arm, one end are provided with defeated
Enter master gear, the other end is provided with the first connecting shaft；Second rocker arm, one end and first connecting shaft are hinged, and the other end is set
It is equipped with output main gear；Third rocker arm, and the first rocker arm equal length, one end are provided with input from gear, and with institute
Input master gear engagement is stated, the other end is provided with the second connecting shaft；And the 4th rocker arm, and the second rocker arm equal length,
One end and second connecting shaft are hinged, and the other end is provided with output from gear, and the output is led from gear and the output
Gear engagement；The device for force feedback includes：First driving motor is coaxially arranged with the first transmission gear, institute on output shaft
The first transmission gear is stated to engage with the input master gear；Wherein, the output main gear and it is described output from gear in power
Under effect respectively along straight line close to or far from the input master gear and the input from gear；First rocker arm, second shake
The motion profile of arm, third rocker arm and the 4th rocker arm is in the same plane.
In some embodiments of the present disclosure, wherein first rocker arm, second rocker arm, the third rocker arm and
4th rocker arm includes：The identical upper connecting rod of length and lower link.
In some embodiments of the present disclosure, the pedestal includes：Bottom base, for being fixed with supporting plane；Rear portion
Pedestal, is folded in first rocker arm and the upper connecting rod in the third rocker arm and between the lower link, and with it is described
Bottom base is fixedly connected, for fixing first transmission gear, the input master gear and the input between gear
Relative position；And front base, it is folded in second rocker arm and the upper connecting rod in the 4th rocker arm and described
Between lower link, for fixing the output main gear and the output from the relative position between gear.
In some embodiments of the present disclosure, wherein：The device for force feedback further includes：Second driving motor, outer cover
Equipped with motor cylinder；The rotating mechanism includes：Link block is connect with the front base, for fixing the motor cylinder；
First shaft coupling, it is coaxially connected with the power output shaft of second driving motor, for transmitting torsion；The axis of rotation, one end
It is coaxially connected with the first shaft coupling, for connecting the first shaft coupling and runing rest；And runing rest, with institute
State the other end connection of the axis of rotation.
In some embodiments of the present disclosure, wherein：The device for force feedback further includes：Third driving motor, power
Output shaft is vertical with the power output shaft of second driving motor；The deflection mechanism includes：Electric machine support is arranged described
On runing rest, for fixing the third driving motor；Second shaft coupling, the power output shaft with the third driving motor
Connection, for transmitting torsion；First motor yawing axis is connect with the second shaft coupling, and with the third driving motor
The power output shaft coaxial arrangement；Second motor yawing axis is oppositely arranged on the third with the first motor yawing axis
The other end of driving motor, and be coaxially disposed with the power output shaft of the third driving motor, with first electricity
Machine yawing axis rotates synchronously；Wherein, the operation handle is separately positioned on the first motor yawing axis and second motor
The distal end of yawing axis.
In some embodiments of the present disclosure, the disk of coaxial arrangement is formed on the first motor yawing axis, it is described
It is provided with deflection connecting rod cap, the disk and the deflection connecting rod cap on second motor yawing axis and is connected by deflecting connecting rod, uses
It is rotated synchronously in realizing.
In some embodiments of the present disclosure, first driving motor, second driving motor and the third are driven
Dynamic motor passes through the variation of its own corner, the movement of the main manipulator is transferred to it is described from manipulator, and according to described
Its size with tissue contact force fed back from manipulator, changes the revolving speed of each motor, realizes contact force feedback.
In some embodiments of the present disclosure, the intervention Robot Force-Feedback type main manipulator is for intervention operation in kidney
In.
(3) beneficial effect
It can be seen from the above technical proposal that the intervention Robot Force-Feedback type main manipulator that the disclosure provides is with following
One of beneficial effect or in which a part：
(1) the intervention Robot Force-Feedback type main manipulator that the disclosure provides is for the tailored version master for intervening operation in kidney
There is three degree of freedom the operation to Flexible ureteroscope may be implemented, and can apply respectively on three degree of freedom by manipulator
Feedback force is added to achieve the purpose that improve operation precision；
(2) the intervention Robot Force-Feedback type main manipulator that the disclosure provides is isomorphism type main manipulator, and structure is simple, fortune
Dynamic intuitive is strong, and doctor's simulated training is simple, meets the operating habit of doctor, reduces doctor's degree of fatigue, while having distant behaviour
The potentiality of work；
(3) the first transmission gear, input master gear and input are fixed from gear by rear portion pedestal and front base respectively
Between relative position and output main gear and output from the relative position between gear, so that it is guaranteed that delivery device is moving
In the process, meshing state is maintained always between each gear, to keep operating status more stable.
Detailed description of the invention
Fig. 1 is the schematic perspective view for the intervention Robot Force-Feedback type main manipulator that the embodiment of the present disclosure provides.
Fig. 2 is the knot of delivery device and device for force feedback cooperation in intervention Robot Force-Feedback type main manipulator shown in Fig. 1
Structure schematic diagram.
Fig. 3 is the knot of rotating mechanism and device for force feedback cooperation in intervention Robot Force-Feedback type main manipulator shown in Fig. 1
Structure schematic diagram.
Fig. 4 is the knot of deflection mechanism and device for force feedback cooperation in intervention Robot Force-Feedback type main manipulator shown in Fig. 1
Structure schematic diagram.
【Embodiment of the present disclosure main element symbol description in attached drawing】
100- pedestal；
110- bottom base；
The rear portion 120- pedestal；
130- front base；
200- delivery device；
The first rocker arm of 210-；
211- inputs master gear；
The first connecting shaft of 212-；
213- upper connecting rod (the first rocker arm)；
214- lower link (the first rocker arm)；
The second rocker arm of 220-；
221- output main gear；
222- upper connecting rod (the second rocker arm)；
223- lower link (the second rocker arm)；
230- third rocker arm；
231- is inputted from gear；
The second connecting shaft of 232-；
233- upper connecting rod (third rocker arm)；
234- lower link (third rocker arm)；
The 4th rocker arm of 240-；
241- is exported from gear；
242- upper connecting rod (the 4th rocker arm)；
243- lower link (the 4th rocker arm)；300- rotating mechanism；
310- link block；
320- first shaft coupling；
The 330- axis of rotation；
340- runing rest；
400- deflection mechanism；
410- electric machine support；
420- second shaft coupling；
430- first motor yawing axis；
431- disk；
440- the second motor yawing axis；
450- deflects connecting rod cap；
460- deflects connecting rod；
The first driving motor of 500-；
The first transmission gear of 510-；
The second driving motor of 600-；
610- motor cylinder；
700- third driving motor；
800- operation handle.
Specific embodiment
The intervention Robot Force-Feedback type main manipulator that the embodiment of the present disclosure provides passes through setting delivery device, rotating mechanism
And deflection mechanism, making it have three degree of freedom may be implemented operation to Flexible ureteroscope, and be filled by setting force feedback
It sets and is connected with said mechanism, achieve the purpose that improve operation precision so that feedback force can be applied respectively on three degree of freedom.
For the purposes, technical schemes and advantages of the disclosure are more clearly understood, below in conjunction with specific embodiment, and reference
The disclosure is further described in attached drawing.
Fig. 1 is the schematic perspective view for the intervention Robot Force-Feedback type main manipulator that the embodiment of the present disclosure provides.Fig. 2
For the structural schematic diagram of delivery device and device for force feedback cooperation in intervention Robot Force-Feedback type main manipulator shown in Fig. 1.Fig. 3
For the structural schematic diagram of rotating mechanism and device for force feedback cooperation in intervention Robot Force-Feedback type main manipulator shown in Fig. 1.Fig. 4
For the structural schematic diagram of deflection mechanism and device for force feedback cooperation in intervention Robot Force-Feedback type main manipulator shown in Fig. 1.
The embodiment of the present disclosure provides a kind of intervention Robot Force-Feedback type main manipulator, as shown in Figure 1, including：Pedestal
100, for providing support for main manipulator；Transmission mechanism is connect with pedestal 100, for by stress be converted into push, rotation and
Deflection action；Operation handle 800, connect with transmission mechanism, for active force to be applied to transmission mechanism；And force feedback dress
It sets, is connect with transmission mechanism, for being transferred to the movement of transmission mechanism from manipulator, and will be from manipulator and tissue
Contact force feed back on transmission mechanism, by setting transmission mechanism complete push, rotation and deflecting operation, make it have three
The operation to Flexible ureteroscope may be implemented in freedom degree, and is connected by the way that device for force feedback is arranged with said mechanism, thus
Feedback force can be applied on three degree of freedom respectively to achieve the purpose that improve operation precision.
In addition, the intervention Robot Force-Feedback type main manipulator that the embodiment of the present disclosure provides is isomorphism type main manipulator, knot
Structure is simple, and movement intuitive is strong, and doctor's simulated training is simple, meets the operating habit of doctor, reduces doctor's degree of fatigue, simultaneously
Potentiality with remote operating.
In some embodiments of the present disclosure, as shown in Figures 1 to 4, transmission mechanism includes：Delivery device 200, with pedestal
100 connect, and are subjected to displacement after stress along straight line；Rotating mechanism 300 is connect with pedestal 100, and mobile with delivery device 200,
It is rotated after its stress along the rotary shaft of its own；And deflection mechanism 400, it is connect with rotating mechanism 300, and its rotary shaft and rotation
The rotary shaft of rotation mechanism 300 is vertical, rotates after 400 stress of deflection mechanism along the rotary shaft of its own；Wherein, device for force feedback
It is connect respectively with delivery device 200, rotating mechanism 300 and deflection mechanism 400.Delivery device 200 by being subjected to displacement along straight line,
Drive moves along a straight line in one degree of freedom from manipulator, and rotating mechanism 300 is rotated by itself, and drive exists from manipulator
It is rotated in second freedom degree, deflection mechanism 400 passes through to be rotated along the axis vertical with rotating mechanism 300, is driven from manipulator
It is deflected on three degree of freedom, to realize that transmission mechanism operates on three degree of freedom to from manipulator.
In some embodiments of the present disclosure, as shown in Fig. 2, delivery device 200 includes：First rocker arm 210, one end is set
It is equipped with input master gear 211, the other end is provided with the first connecting shaft 212；Second rocker arm 220, one end and the first connecting shaft 212
Hingedly, the other end is provided with output main gear 221；Third rocker arm 230, with 210 equal length of the first rocker arm, one end is provided with
Input is engaged from gear 231, and with input master gear 211, and the other end is provided with the second connecting shaft 232；And the 4th rocker arm
240, with 220 equal length of the second rocker arm, one end and the second connecting shaft 232 are hinged, and the other end is provided with output from gear
241, output is engaged from gear 241 with output main gear 221.
In some embodiments of the present disclosure, as shown in Fig. 2, device for force feedback includes：First driving motor 500, it is defeated
The first transmission gear 510 is coaxially arranged on shaft, the first transmission gear 510 is engaged with input master gear 211；Wherein, it exports
Master gear 221 and output from gear 241 under force respectively along straight line close to or far from input master gear 211 and input from
Gear 231；First rocker arm 210, the second rocker arm 220, third rocker arm 230 and the 4th rocker arm 240 motion profile same flat
In face, i.e., when thrust or pulling force effect are when output main gear 221 and output are from gear 241, output main gear 221 and output
It is translated under force from gear 241, due to the equal length of the first rocker arm 210 and third rocker arm 230, the second rocker arm
220 and the 4th rocker arm 240 equal length, and output main gear 221 and output from gear 241 be intermeshed, input master gear
211 and input from gear 231 be intermeshed, therefore output main gear 221 and output from gear 241 can along straight line close to or far from
Master gear 211 and input are inputted from gear 231.
In some embodiments of the present disclosure, as shown in Figure 2, wherein the first rocker arm 210, the second rocker arm 220, third are shaken
Arm 230 and the 4th rocker arm 240 include：The identical upper connecting rod 213/222/233/242 of length and lower link 214/223/234/
243。
In some embodiments of the present disclosure, as shown in Figure 1, pedestal 100 includes：Bottom base 110, for flat with support
Face is fixed；Rear portion pedestal 120, the upper connecting rod 213 (233) being folded in the first rocker arm 210 and third rocker arm 230 and lower link
It between 214 (234), and is fixedly connected with bottom base 110, for fixing the first transmission gear 510, input 211 and of master gear
It inputs from the relative position between gear 231；And front base 130, it is folded in the second rocker arm 220 and the 4th rocker arm 240
Upper connecting rod 222 (242) and lower link 223 (243) between, for fix output main gear 221 and output between gear 241
Relative position.The first transmission gear 510, input master gear 211 are fixed respectively by rear portion pedestal 120 and front base 130
And input from the relative position and output main gear 221 between gear 231 and is exported from the relative position between gear 241,
So that it is guaranteed that delivery device 200 is during the motion, meshing state is maintained always between each gear, to make operating status more
Steadily.
In some embodiments of the present disclosure, as shown in figure 3, device for force feedback further includes：Second driving motor 600,
It is covered with motor cylinder 610 outside.
In some embodiments of the present disclosure, as shown in figure 3, rotating mechanism 300 includes：Link block 310, with front base
130 connections, for fixing motor cylinder 610；First shaft coupling 320 coaxially connects with the power output shaft of the second driving motor 600
It connects, for transmitting torsion；The axis of rotation 330, one end and first shaft coupling 320 are coaxially connected, for connecting first shaft coupling 320
With runing rest 340；And runing rest 340, it is connect with the other end of the axis of rotation 330, under the action of torsion, rotation branch
Frame 340 drives the axis of rotation 330 to rotate, and then drives the rotation of the second driving motor 600 by first shaft coupling 320, realizes from behaviour
Make the rotation process of hand.
In some embodiments of the present disclosure, as shown in figure 4, device for force feedback further includes：Third driving motor 700,
Power output shaft is vertical with the power output shaft of the second driving motor 600.
In some embodiments of the present disclosure, as shown in figure 4, deflection mechanism 400 includes：Electric machine support 410, setting are being revolved
Turn on bracket 340, for fixing third driving motor 700；Second shaft coupling 420, the power output with third driving motor 700
Axis connection, for transmitting torsion；First motor yawing axis 430 is connect with second shaft coupling 420, and with third driving motor 700
Power output shaft coaxial arrangement；Second motor yawing axis 440 is oppositely arranged on third driving with first motor yawing axis 430
The other end of motor 700, and be coaxially disposed with the power output shaft of third driving motor 700, with first motor yawing axis 430
It rotates synchronously；Wherein, operation handle 800 is separately positioned on the remote of first motor yawing axis 430 and the second motor yawing axis 440
End, when twisting force is in operation handle 800, torsion is transferred to first motor yawing axis 430 and the second electricity by operation handle
On machine yawing axis 440, to realize that first motor yawing axis 430 and the second motor yawing axis 440 are rotatable around its axis, lead to simultaneously
Crossing second shaft coupling 420 drives third driving motor 700 to rotate, and realizes the deflecting operation from manipulator.
In some embodiments of the present disclosure, as shown in figure 4, being formed with coaxial arrangement on first motor yawing axis 430
Disk 431, deflection connecting rod cap 450 is provided on the second motor yawing axis 440, and disk 431 and deflection connecting rod cap 450 pass through deflection
Connecting rod 460 connects, and for realizing synchronous rotation, i.e. twisting force is connected when in operation handle 800 by disk 431 and deflection
Bowl cover 450 and the deflection connecting rod 460 being connected with the two, keep the corner of two operation handles 800 identical always, consequently facilitating
Torsion is transferred to third driving motor 700.
In some embodiments of the present disclosure, the first driving motor 500, the second driving motor 600 and third driving motor
700, by the variation of its own corner, the movement of main manipulator are transferred to from manipulator, and according to fed back from manipulator its
With the size of tissue contact force, change the revolving speed of each motor, realizes contact force feedback, i.e., turned over according to each motor
Angle calculates the movement range in each freedom degree of main manipulator, is transferred to from manipulator by communication device, from operation
Hand is converted to the contact force of itself and tissue in current feedback to each motor, to change the revolving speed of each motor, grasps
Author judges the size of contact force in each freedom degree according to the difference of each motor speed, to be operated.
In some embodiments of the present disclosure, the intervention Robot Force-Feedback type main manipulator is for intervention operation in kidney
In.
According to above description, those skilled in the art should be to the intervention Robot Force-Feedback type main operation of disclosure offer
Hand has clear understanding.
In conclusion the intervention Robot Force-Feedback type main manipulator that the disclosure provides is realized on three degree of freedom to defeated
The operation of urinary catheter soft lens, and feedback force can be applied respectively on three degree of freedom and achieve the purpose that improve operation precision.
It should also be noted that, the direction term mentioned in embodiment, for example, "upper", "lower", "front", "rear", " left side ",
" right side " etc. is only the direction with reference to attached drawing, not is used to limit the protection scope of the disclosure.Through attached drawing, identical element by
Same or similar appended drawing reference indicates.When may cause understanding of this disclosure and cause to obscure, conventional structure will be omitted
Or construction.
And the shape and size of each component do not reflect actual size and ratio in figure, and only illustrate the embodiment of the present disclosure
Content.In addition, in the claims, any reference symbol between parentheses should not be configured to the limit to claim
System.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of each open aspect,
Above in the description of the exemplary embodiment of the disclosure, each feature of the disclosure is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention：It is i.e. required to protect
The disclosure of shield requires features more more than feature expressly recited in each claim.More precisely, such as front
Claims reflect as, open aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as the separate embodiments of the disclosure.
Particular embodiments described above has carried out further in detail the purpose of the disclosure, technical scheme and beneficial effects
Describe in detail it is bright, it is all it should be understood that be not limited to the disclosure the foregoing is merely the specific embodiment of the disclosure
Within the spirit and principle of the disclosure, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the disclosure
Within the scope of shield.
Claims (10)
1. a kind of intervention Robot Force-Feedback type main manipulator, including：
Pedestal, for providing support for the main manipulator；
Transmission mechanism is connect with the pedestal, for converting push, rotation and deflection action for stress；
Operation handle is connect with the transmission mechanism, for active force to be applied to the transmission mechanism；And
Device for force feedback is connect with the transmission mechanism, for being transferred to the movement of the transmission mechanism from manipulator, and
The contact force from manipulator and tissue is fed back on the transmission mechanism.
2. intervention Robot Force-Feedback type main manipulator according to claim 1, the transmission mechanism include：
Delivery device connect with the pedestal, is subjected to displacement after stress along straight line；
Rotating mechanism is connect with the pedestal, and mobile with the delivery device, is turned after stress along the rotary shaft of its own
It is dynamic；And
Deflection mechanism is connect with the rotating mechanism, and its rotary shaft is vertical with the rotary shaft of the rotating mechanism, the deflection machine
It is rotated after structure stress along the rotary shaft of its own；
Wherein, the device for force feedback is connect with the delivery device, the rotating mechanism and the deflection mechanism respectively.
3. intervention Robot Force-Feedback type main manipulator according to claim 2, wherein：
The delivery device includes：
First rocker arm, one end are provided with input master gear, and the other end is provided with the first connecting shaft；
Second rocker arm, one end and first connecting shaft are hinged, and the other end is provided with output main gear；
Third rocker arm, and the first rocker arm equal length, one end are provided with input from gear, and with the input master gear
Engagement, the other end are provided with the second connecting shaft；And
4th rocker arm, with the second rocker arm equal length, one end and second connecting shaft are hinged, and the other end is provided with defeated
Out from gear, the output is engaged from gear with the output main gear；
The device for force feedback includes：First driving motor, is coaxially arranged with the first transmission gear on output shaft, and described first
Transmission gear is engaged with the input master gear；
Wherein, the output main gear and it is described output from gear under force respectively along straight line close to or far from described defeated
Enter master gear and the input from gear；
First rocker arm, the second rocker arm, third rocker arm and the 4th rocker arm motion profile in the same plane.
4. intervention Robot Force-Feedback type main manipulator according to claim 3, wherein first rocker arm, described
Two rocker arms, the third rocker arm and the 4th rocker arm include：The identical upper connecting rod of length and lower link.
5. intervention Robot Force-Feedback type main manipulator according to claim 4, the pedestal include：
Bottom base, for being fixed with supporting plane；
Rear portion pedestal, is folded in first rocker arm and the upper connecting rod in the third rocker arm and between the lower link,
And be fixedly connected with the bottom base, for fix first transmission gear, the input master gear and it is described input from
Relative position between gear；And
Front base, is folded in second rocker arm and the upper connecting rod in the 4th rocker arm and between the lower link,
For fixing the output main gear and the output from the relative position between gear.
6. intervention Robot Force-Feedback type main manipulator according to claim 5, wherein：
The device for force feedback further includes：Second driving motor, it is outer to be covered with motor cylinder；
The rotating mechanism includes：
Link block is connect with the front base, for fixing the motor cylinder；
First shaft coupling, it is coaxially connected with the power output shaft of second driving motor, for transmitting torsion；
The axis of rotation, one end and the first shaft coupling are coaxially connected, for connecting the first shaft coupling and runing rest；With
And
Runing rest is connect with the other end of the axis of rotation.
7. intervention Robot Force-Feedback type main manipulator according to claim 6, wherein：
The device for force feedback further includes：The power of third driving motor, power output shaft and second driving motor is defeated
Shaft is vertical；
The deflection mechanism includes：
Electric machine support is arranged on the runing rest, for fixing the third driving motor；
Second shaft coupling, the power output axis connection with the third driving motor, for transmitting torsion；
First motor yawing axis is connect with the second shaft coupling, and the power output shaft with the third driving motor
Coaxial arrangement；
Second motor yawing axis is oppositely arranged on the other end of the third driving motor with the first motor yawing axis, and
It is coaxially disposed with the power output shaft of the third driving motor, is rotated synchronously with the first motor yawing axis；
Wherein, the operation handle is separately positioned on the distal end of the first motor yawing axis and the second motor yawing axis.
8. intervention Robot Force-Feedback type main manipulator according to claim 7, formed on the first motor yawing axis
There is the disk of coaxial arrangement, deflection connecting rod cap, the disk and the deflection connecting rod are provided on the second motor yawing axis
Lid is by deflection connecting rod connection, for realizing synchronous rotation.
9. intervention Robot Force-Feedback type main manipulator according to claim 7, first driving motor, described second
Driving motor and the third driving motor pass through the variation of its own corner, the movement of the main manipulator are transferred to described
From manipulator, and according to described its size with tissue contact force fed back from manipulator, change the revolving speed of each motor,
Realize contact force feedback.
10. intervention Robot Force-Feedback type main manipulator according to any one of claim 1 to 9, the intervention robot
Force feedback type main manipulator in kidney for intervening in operation.
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