CN210749485U

CN210749485U - Multi freedom surgical robot controlling means

Info

Publication number: CN210749485U
Application number: CN201821605180.6U
Authority: CN
Inventors: 郑杨; 郑兴
Original assignee: Sihong Zhengxin Medical Technology Co ltd
Current assignee: Sihong Zhengxin Medical Technology Co ltd
Priority date: 2018-09-30
Filing date: 2018-09-30
Publication date: 2020-06-16
Anticipated expiration: 2028-09-30

Abstract

The utility model provides a multi-degree-of-freedom surgical robot control device, which is provided with a hollow hard rod body, wherein the two ends of the rod body are respectively provided with a control part and a wrist structure, the control part is provided with a first ball-and-socket joint and a driving device, the wrist structure is provided with a second ball-and-socket joint, the second ball-and-socket joint is connected with a front end execution device, and a transmission inhaul cable is connected between the first ball head and the second ball socket; the first ball-and-socket joint comprises a first ball head and a first ball seat, and the second ball-and-socket joint comprises a second ball head and a second ball seat; the first ball joint and the second ball joint connected to each other by a transmission cable synchronize an operation of an operator in the control unit and an execution of the wrist structure. The utility model has the advantages of reasonable design, convenient to use possesses good portability and economic nature simultaneously.

Description

Multi freedom surgical robot controlling means

Technical Field

The utility model relates to a surgical device, in particular to a control device of a multi-degree-of-freedom surgical robot.

Background

In minimally invasive surgery, a surgeon performs surgical tasks by accessing the body with elongated minimally invasive surgical instruments through a small opening in the patient. Compared with the traditional open surgery, the minimally invasive surgery has the advantages of small wound, quick postoperative recovery, low recurrence rate, less complications and the like. Based on the characteristic of small wound of the minimally invasive surgery, the minimally invasive surgery requires a complicated surgical path and a narrow surgical operation space, and the situation of a surgical shielding area is often encountered in the operation. In addition, the different operational tasks (clamping, suturing, knotting, etc.) in the operation all increase the difficulty of the operation. These situations require surgical instruments with sufficient wrist freedom to ensure the end effector to reach the surgical site and perform its actions. However, a special instrument capable of performing complex surgical operations in a more complex surgical environment is lacking. The existing products mainly realize the bending and rotation of the laparoscopic surgical forceps by pre-bending and rotatable wrists. Due to the defects that mutual interference exists among instruments of the pre-bending single-port laparoscopic surgical forceps, the handle lacks directivity, the positions of the instruments are difficult to control due to the rotation of the handle and the like, the single-shape surgical forceps cannot meet the requirements of various surgical positions, and are high in manufacturing cost and not beneficial to long-term use and maintenance. Some surgical instruments, such as the bendable surgical device disclosed in chinese patent CN 106264665A, can perform active bending, but have less bending freedom. The laparoscopic surgical forceps capable of rotating the wrist and controlled by a plurality of servo motors in the prior art can control the movement of the head of an instrument according to the movement of the wrist, realize flexible operation of a plurality of degrees of freedom, and simultaneously lock the angle.

However, the 'da vinci' surgical robot has a complex structure, high price, huge and heavy mechanical arms and a control device. Therefore, the development of a compact and light robot and a control device thereof have great significance for the development of the robot field all over the world.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects existing in the prior art, the utility model provides a control device of a multi-degree-of-freedom surgical robot.

The technical scheme is as follows: in order to solve the technical problem, the multi-degree-of-freedom surgical robot control device provided by the utility model comprises a universal joint, a supporting device, an induction component and a driving device; the universal joint is respectively connected with the supporting device and the driving device; the sensing assembly is used for sensing the movement of the universal joint.

Specifically, the induction component comprises an induction piece and an inductor, and the induction piece and the inductor are directly connected or connected through a transmission device.

Specifically, the surface of the driving device is in close contact with the sensing assembly.

In particular, the universal joint comprises a universal coupling. Driving shaft connection driving device and driven shaft connection supporting device in optimized universal coupling

Preferably, the universal coupling is a cross-type universal coupling or a rzeppa universal coupling. Preferably, the single-joint cross shaft type universal coupling is adopted.

In particular, the driving means has a surface suitable for gripping, the surface of the driving means being in close contact with the inductive component. Preferably, the driving device is a hollow ball, the inner cavity is spherical, the outer part of the driving device is provided with a surface suitable for being held by hands, and the universal joint is positioned in the center of the hollow ball. The inner surface of the hollow ball is in close contact with the induction component. The induction component is fixedly connected with the driven shaft through a curved lever.

Preferably, the universal joint is wrapped in the center of the hollow ball and is connected with the universal joint through the driving shaft. When a user holds the hollow ball, the universal joint can be used as a round point to rotate in multiple directions.

Specifically, the universal joint comprises a ball-and-socket joint, the ball-and-socket joint comprises a ball seat and a ball head, the ball seat is provided with a ball-shaped outer surface, and the ball-shaped outer surface is in close contact with the sensing assembly; the induction assembly is fixedly connected with the supporting device through a curved bar.

Specifically, the induction assembly and the universal joint are respectively provided with an induction magnetic sensor or a magnetic pole, and the magnetic sensor can induce the magnetic field change generated after the induction magnetic pole moves to generate a pulse signal.

The surgical instrument control device comprises a driving device, a finger control device and a control device, wherein the driving device is used for driving the surgical instrument. Preferably, the trigger structure, the pulling of trigger can cause spring deformation, drives the cable and produces the signal of telecommunication. Or the finger stall is provided with a structure similar to scissors, and the switch and the closing of the finger stall cause the fixed shaft to rotate so as to drive the rotary encoder to generate an electric signal.

The induction device comprises a shell, a sensor and a sensor, wherein the shell is provided with a through hole; the induction device penetrates through the through hole.

Preferably, a friction piece is arranged between the shell and the universal joint, and a supporting spring is arranged in the supporting device; when an operator presses the driving device, the universal joint is separated from the friction piece, and when the operator releases the driving device, the supporting spring enables the universal joint to be in contact with the friction piece and locks the relative position of the universal joint and the shell.

Specifically, the universal joint further comprises a driving assembly, and the driving assembly is used for driving the universal joint to move. Preferably, the drive arrangement is the clean shot, and the drive assembly is servo motor, through the internal surface in close contact with of roller and clean shot, can drive the clean shot and use universal joint as the center rotation, lets the user have the resistance sensation.

The utility model also provides a surgical robot, its characterized in that: based on the structure of any one of the multiple-degree-of-freedom surgical robot control devices, the induction component in the robot control device is replaced by the driving component.

Has the advantages that: the utility model discloses possess following apparent progress:

1. can flexibly rotate and bend, and has the degree of freedom comparable to that of the wrist of a human.

2. The operation is convenient. Manual example: the operator can control rotation and clamping simultaneously with one hand. The palm holding driving device can realize the front-back and left-right rotation with two degrees of freedom. After the finger is sleeved in the finger sleeve, the opening and closing movement of the executing device at the tail end of the surgical robot can be controlled.

In addition to the technical problems addressed by the present invention, the technical features that constitute the technical solutions, and the advantages brought by the technical features of these technical solutions. To make the objects, technical solutions and advantages of the present invention clearer, the drawings in the embodiments of the present invention will be combined below to make clearer and more complete descriptions of other technical problems, technical solutions and advantages brought by these technical features that the present invention can solve, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Drawings

Fig. 1 is a schematic structural diagram of a control device according to a first embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view of the first embodiment;

FIG. 3 is a schematic diagram of the internal structure of the sensing assembly;

FIG. 4 is a schematic view of a drive assembly coupled to a servo motor;

FIG. 5 is a schematic view of a control apparatus using a universal joint cross coupling according to the second embodiment;

FIG. 6 is a schematic view of a control device using hollow spheres as a driving device in the third embodiment;

FIG. 7 is a schematic sectional view of a control device according to a third embodiment;

FIG. 8 is a schematic view of the hollow ball of the third embodiment rotated to the left;

FIG. 9 is a schematic view of the hollow ball of the third embodiment rotated forward;

wherein:

1-universal joint, 2-supporting device, 3-induction component, 4-driving device, 5-finger sleeve, 6-control rod and 7-ball-socket joint;

11-a universal joint pin type universal coupling, 12-a driving fork, 13-a driven fork, 14-a cross pin, 15-a curved bar, 16-a ball seat, 17-a ball head and 18-a direction control piece;

20-trigger, 21-support spring, 22-support rod, 23-support frame, 24-handle, 25-arc ring, 26-execution cable, 27-trigger locking tooth, 28-execution cable hole, 29-shell;

31-sensing element, 32-rotary encoder, 33-sensing roller, 34-sensing magnetic ring, 35-Hall sensor and circuit board, 37-transmission device, 38-rotary rod;

41-hollow ball, 42-gap, 43-connecting rod, 44-hemispherical head.

Detailed Description

Example one

The robotic surgery control device of the present embodiment, as shown in fig. 1 and 2, is easy to operate in a manual mode, is overall gun-shaped, has a hand-held handle 24, conforms to the bending direction of the hand of the operator, and has a bending radian conforming to ergonomics.

The operator controls the ball-and-socket joint which can move in multiple directions to move, and the induction component 3 is driven to generate an electric signal to control the movement of the surgical robot. The ball joint consists of a hemispherical ball seat 16 and a ball head 17. The bottom surface of the ball seat 16 is provided with a hemispherical depression, the size of which is matched with that of the ball head 17, and a ball-and-socket joint is formed together.

The ball head 17 is connected to a support rod 22, a support spring 21 is arranged on the support rod 22, and the support spring 21 is arranged between a support frame 23 and the ball head 17. The support frame 23 is fixedly connected with a control device shell 29, the part of the shell 29, which is contacted with the ball seat 16, is a hemispherical spherical shell, and the rear part of the shell is provided with a circular through hole, the diameter of the through hole is smaller than the spherical diameter of the ball seat 16, so that the ball seat 16 is limited to move only in the hollow hemispherical shell 29.

At least one induction assembly 3 is fixedly connected to the housing 29, and 2 driving assemblies 8 are also mounted in the embodiment, and the driving directions of the driving assemblies are perpendicular to each other. The sensing assembly 3 and the driving assembly 8 are fixedly connected to the housing 29 through the curved rod 15.

The sensing assembly 3 is constructed as shown in fig. 3, and a ball-type sensing member 31 is closely contacted with the ball seat 16 through a small through hole of the housing 29, and can be driven to rotate by the ball seat 16. The rotation of the sensing member 31 drives the sensing roller 33 to rotate, and the sensing magnetic ring 34 installed on the sensing roller 33 rotates accordingly. The hall sensor 35 mounted on the circuit board senses the change of the magnetic pole on the induction magnetic ring 34, generates a pulse signal, and transmits the pulse signal to the surgical robot through the signal transmission system.

In one non-limiting embodiment, the sensing assembly 3 is equipped with a magnetic sensor and the ball socket 16 is equipped with a sensing pole. When the ball seat 16 rotates, the distance between the induction magnetic pole and the magnetic sensor and the magnetism change, so that a signal is generated and processed by a computer to form an effective signal for controlling the robot to move.

As shown in fig. 4, the driving assembly 8 has a ball-type driving member 30 for driving the ball seat 16 to rotate by closely contacting the ball seat 16 through a small through hole of the housing 29. Rotation of the servo motor 39 is transmitted to the rotary rod 38 via the transmission 37, which rotates the driving member 30, thereby providing a certain resistance to the movement of the tee 16 and a certain force feedback to the user.

The direction control member 18 may be selected from a spherical shape, a ring shape, a cylindrical shape, a bowl shape, etc., preferably a bowl shape, and is attached to the ball seat 16, and the operator can control the ball seat 16 to rotate in multiple directions with his thumb. And the device can be connected with a flexible cylindrical thumb sleeve, so that the device is convenient for an operator with a short thumb to use.

There is a friction lock between the outer surface of the ball seat 16 and the inner surface of the housing 29, which is a friction material with a high coefficient of friction installed. The friction material may be fixed to the inner surface of the housing 29 or the outer surface of the ball seat 16, or both. The center of the section of the ball seat 16 is provided with a smooth depression which forms a frictionless ball-and-socket joint with a smooth ball head 17. When pressed by the ball head 17, the ball seat 16 is tightly attached to the friction material in the housing 29, and is locked at the current position. When the operator presses the ball seat 16 through the direction control member 18, the ball seat 16 is separated from the friction material, and the direction of rotation can be flexibly performed on the smooth ball joint. When turned to the operator's satisfaction, the depression pressure is reduced and the ball seat 16 again comes into contact with the friction material, the tighter the contact the greater the friction. When the operator stops pressing, the ball seat 16 is locked at the current position by friction. The flexible rod 15 can always give pressure to the sensing unit 3 and the driving unit 8, and keep the sensing unit 31 and the driving unit 30 always in close contact with the ball seat 16.

The grip portion includes a handle 24, an arc 20, a trigger 25, an actuation cable hole 28, and a trigger lock tooth 27. When in use, the trigger 25 is pulled backwards to drive the actuating cable 26, the actuating cable 26 passes through the actuating cable hole 28 to be connected with the trigger 25, and the other end pulls the spring. The actuating cable hole 28 is provided with a sensing component 3, and when the actuating cable 26 moves back and forth, the sensing component 3 can record the movement displacement.

The arc 20 of the trigger 25 is used to shield the trigger 25 from inadvertent operation. In addition, the thumb needs to be nested in the control direction and cannot participate in holding the handle 25. The large arc ring 20 is designed, the middle finger can be sleeved in, and the arc ring 20 is clamped between the middle finger and the ring finger, so that the holding is more stable and powerful.

Trigger lock teeth 27 are provided on the loop 20, and fingers can hook the trigger 25 inward into the gullets to lock the trigger 25, maintaining the actuation cable 26 fixed in position. The finger continues to pull on the trigger 25 which slides along the slope of the gullet into the next gullet. The trigger lock tooth 27 can be slid out by pushing lightly sideways to allow free movement of the trigger 25. The trigger 25 is released and the actuation cable 26 is initially restored to its state under the spring force of the spring.

Example two

This embodiment is an improvement of the ball-and-socket joint of the first embodiment, as shown in fig. 5, in that the ball-and-socket joint is changed to a universal joint cross 11.

The driving fork 12 of the universal joint cross type universal coupling 11 is connected to the hemispherical head 44, the driven fork 13 is connected to the support rod 22, and the driving fork and the driven fork are connected through the cross shaft 14 and can swing in any direction around the center of the cross shaft. The universal joint cross 11 provides a flexible support for the hemispherical head 44 and also limits the hemispherical head 44 from rotating around the support rod 22.

In one embodiment, the cross-shaft universal coupling 11 is replaced by a ball-and-fork universal coupling. In another embodiment, the birfield universal coupling 11 is replaced by a birfield universal coupling.

EXAMPLE III

As shown in fig. 6-9, the surgical device of this embodiment uses a hollow driving device 4, the inner cavity is spherical, the outer surface is suitable for being held by hands, and the driving device 4 of this embodiment is a hollow ball 41. The universal joint 1 is wrapped in the center of the hollow ball 41, the center of the cross shaft 14 is also the spherical center of the hollow ball 41, and when a user holds the hollow ball 41, the universal joint 1 can rotate around the center.

The universal joint 1 adopts a cross shaft type universal coupling 11, the driving fork 12 is fixedly connected with the hollow ball 41 through a connecting rod 43, and the driven fork 13 is connected with the control rod 6. The control rod 6 is connected with a ball-and-socket joint control device 7, and can control the movement of the internal ball-and-socket joint to drive the sensor to generate a control signal.

The sensing component 3 is fixedly connected to the driven fork 13 or the control rod 6 through a curved rod 15. The flexible rod 15 can always give pressure to the sensing assembly 3 and keep the sensing member 31 always in close contact with the inner wall of the hollow ball 41. When the hollow ball 41 rotates, the sensing element 3 is driven to generate a control signal.

In one non-limiting embodiment, the drive assembly 8 is also fixedly attached to the driven fork 13 or the control lever 6 by a curved rod 15. The flexible rod 15 can always give pressure to the driving unit 8 to keep the driving unit 30 always in close contact with the inner wall of the hollow ball 41. When the servo motor 39 rotates the driving member 30, the hollow ball 41 is driven to move, and a certain force feedback is generated for the user.

Example four

This embodiment is similar with the third structure of embodiment, and the difference lies in still installing similar scissors structure finger control device on the clean shot 41, is equipped with the dactylotheca of forefinger and thumb, connects on same rotation axis through rotatory handle, and opening and shutting of dactylotheca arouses the rotation of rotation axis, drives the rotary encoder who is connected with the rotation axis and produces the control signal of telecommunication.

The utility model has the advantages of reasonable design, convenient to use possesses good portability and economic nature simultaneously.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various changes and modifications may be made by those skilled in the art, and various changes, modifications, equivalents and improvements may be made to the embodiments within the scope of the principles and technical ideas of the present invention, and all shall be included in the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom surgical robot control device is characterized in that: comprises a universal joint, a supporting device, an induction component and a driving device; the universal joint is a ball-and-socket joint or a universal coupling, and is respectively connected with the supporting device and the driving device; the driving device is a hollow ball, the inner cavity is spherical, and the outer part of the driving device is provided with a surface suitable for being held by hands; the sensing assembly is used for sensing the movement of the driving device.

2. The multiple degree of freedom surgical robot control apparatus of claim 1, characterized in that: the induction assembly comprises an induction piece and an inductor, and the induction piece and the inductor are directly connected or connected through a transmission device.

3. The multiple degree of freedom surgical robot control apparatus of claim 1, characterized in that: the surface of the driving device is in close contact with the sensing assembly.

4. The multiple degree of freedom surgical robot control apparatus of claim 1, characterized in that: the universal coupling is a cross-axle type universal coupling or a rzeppa universal coupling.

5. The multiple degree of freedom surgical robot control apparatus of claim 1, characterized in that: the induction assembly and the universal joint are respectively provided with an induction magnetic sensor or a magnetic pole, and the magnetic sensor can induce the magnetic field change generated after the induction magnetic pole moves to generate a pulse signal.

6. The multiple degree of freedom surgical robot control apparatus of claim 1, characterized in that: the surgical instrument control device is characterized by further comprising a finger control device, wherein the finger control device is arranged on the driving device and controls the surgical instrument through fingers.

7. The multiple degree of freedom surgical robot control apparatus of claim 1, characterized in that: the driving device further comprises a driving assembly, and the driving assembly is used for driving the driving device to move.